ISIS iMTQ API

Core

Command Response Flags

RESP_NEW

First time retrieving this response.

RESP_IVA_X

X-axis measurement might be invalid.

RESP_IVA_Y

Y-axis measurement might be invalid.

RESP_IVA_Z

Z-axis measurement might be invalid.

Enums

enum KADCSStatus

ADCS function return values.

Values:

ADCS_OK
ADCS_ERROR

Generic error.

ADCS_ERROR_CONFIG

Configuration error.

ADCS_ERROR_NO_RESPONSE

No response received from subsystem.

ADCS_ERROR_INTERNAL

An error was thrown by the subsystem.

ADCS_ERROR_MUTEX

Mutex-related error.

ADCS_ERROR_NOT_IMPLEMENTED

Requested function has not been implemented for the subsystem.

enum KIMTQStatus

iMTQ Return Values Error codes which may be returned in the imtq_resp_header.status byte of a response message

Values:

IMTQ_OK
IMTQ_ERROR = 0x01

Generic error.

IMTQ_ERROR_BAD_CMD = 0x02

Invalid command.

IMTQ_ERROR_NO_PARAM = 0x03

Parameter missing.

IMTQ_ERROR_BAD_PARAM = 0x04

Parameter invalid.

IMTQ_ERROR_MODE = 0x05

Command unavailable in current mode.

IMTQ_ERROR_RESERVED = 0x06

(Internal reserved value)

IMTQ_ERROR_INTERNAL = 0x07

Internal error.

enum ADCSMode

Available iMTQ system modes.

Values:

IDLE

Idle mode.

SELFTEST

Self-test mode.

DETUMBLE

Detumble mode.

Functions

KADCSStatus k_adcs_init(char *bus, uint16_t addr, int timeout)

Initialize the ADCS interface.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • bus: I2C bus device name
  • addr: I2C address
  • timeout: Watchdog timeout in seconds

void k_adcs_terminate(void)

Terminate the ADCS interface.

KADCSStatus k_imtq_watchdog_start(void)

Start a thread to kick the iMTQ’s watchdog at an interval of (timeout/3) seconds (timeout specified in k_adcs_init)

Return
KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_watchdog_stop(void)

Stop the watchdog thread.

Return
KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_reset(void)

Reboot the iMTQ.

Note
All configuration options will be reset to their default values
Return
KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_adcs_passthrough(const uint8_t *tx, int tx_len, uint8_t *rx, int rx_len, const struct timespec *delay)

Pass a command packet directly through to the ADCS.

Useful for executing commands which have not been implemented in either the generic or specific ADCS APIs.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • tx: Pointer to command packet to send
  • tx_len: Size of command packet
  • rx: Pointer to storage for command response
  • rx_len: Expected length of command response
  • delay: Time to wait inbetween sending the command packet and requesting a response

KADCSStatus kprv_imtq_transfer(const uint8_t *tx, int tx_len, uint8_t *rx, int rx_len, const struct timespec *delay)

Send an iMTQ request and fetch the response.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • tx: Pointer to data to send
  • tx_len: Length of data to send
  • rx: Pointer to buffer for response data
  • rx_len: Length of data to read for response
  • delay: Delay between sending data to the iMTQ and reading the response. A value of NULL indicates that the default should be used.

static KIMTQStatus kprv_imtq_check_error(uint8_t status)

Extract the return code in a response status byte.

Return
Converted KIMTQStatus value
Parameters

Variables

pthread_mutex_t imtq_mutex

System mutex to preserve iMTQ command/response ordering.

struct imtq_resp_header
#include <imtq.h>

Response header structure.

Public Members

uint8_t cmd

Command which produced this response.

uint8_t status

Status byte.

Contains command response flags, like RESP_IVA_X, and a return code which can be extracted with kprv_imtq_check_error

struct imtq_axis_data
#include <imtq.h>

Generic structure for data relating to the axes.

Public Members

int16_t x

X-axis.

int16_t y

Y-axis.

int16_t z

Z-axis.

Configuration

Magnetometer Configuration Parameter Codes

MTM_SELECT

Select MTM to use for measurement.

0 - Internal, 1 - External

MTM_INTERNAL_TIME

Integration time selection for idle mode MTM measurements.

Refer to Table 3-10 of the iMTQ User Manual for more information

MTM_EXTERNAL_TIME

Integration time selection for idle mode MTM measurements.

Refer to Table 3-10 of the iMTQ User Manual for more information

MTM_INTERNAL_MAP_X

iMTQ axis to which the MTM x-axis is mapped

MTM_INTERNAL_MAP_Y

iMTQ axis to which the MTM y-axis is mapped

MTM_INTERNAL_MAP_Z

iMTQ axis to which the MTM z-axis is mapped

MTM_EXTERNAL_MAP_X

iMTQ axis to which the MTM x-axis is mapped

MTM_EXTERNAL_MAP_Y

iMTQ axis to which the MTM y-axis is mapped

MTM_EXTERNAL_MAP_Z

iMTQ axis to which the MTM z-axis is mapped

MTM_MATRIX_R1_C1

MTM raw -> corrected correction matrix (Row 1, Column 1)

MTM_MATRIX_R1_C2

MTM raw -> corrected correction matrix (Row 1, Column 2)

MTM_MATRIX_R1_C3

MTM raw -> corrected correction matrix (Row 1, Column 3)

MTM_MATRIX_R2_C1

MTM raw -> corrected correction matrix (Row 2, Column 1)

MTM_MATRIX_R2_C2

MTM raw -> corrected correction matrix (Row 2, Column 2)

MTM_MATRIX_R2_C3

MTM raw -> corrected correction matrix (Row 2, Column 3)

MTM_MATRIX_R3_C1

MTM raw -> corrected correction matrix (Row 3, Column 1)

MTM_MATRIX_R3_C2

MTM raw -> corrected correction matrix (Row 3, Column 2)

MTM_MATRIX_R3_C3

MTM raw -> corrected correction matrix (Row 3, Column 3)

MTM_BIAS_X

MTM raw -> corrected correction bias vector (X-axis value)

MTM_BIAS_Y

MTM raw -> corrected correction bias vector (Y-axis value)

MTM_BIAS_Z

MTM raw -> corrected correction bias vector (Z-axis value)

Current/Temperature Measurement Configuration Parameter Codes

ADC_COIL_CURRENT_BIAS_X

X-axis voltage bias for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_BIAS_Y

Y-axis voltage bias for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_BIAS_Z

Z-axis voltage bias for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_MULT_X

X-axis pre-multiplier for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_MULT_Y

Y-axis pre-multiplier for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_MULT_Z

Z-axis pre-multiplier for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_DIV_X

X-axis post-divider for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_DIV_Y

Y-axis post-divider for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_DIV_Z

Z-axis post-divider for coil current ADC -> engineering value conversion.

ADC_COIL_TEMP_BIAS_X

X-axis voltage bias for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_BIAS_Y

Y-axis voltage bias for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_BIAS_Z

Z-axis voltage bias for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_MULT_X

X-axis pre-multiplier for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_MULT_Y

Y-axis pre-multiplier for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_MULT_Z

Z-axis pre-multiplier for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_DIV_X

X-axis post-divider for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_DIV_Y

Y-axis post-divider for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_DIV_Z

Z-axis post-divider for coil temperature ADC -> engineering value conversion.

Detumble Configuration Parameter Codes

DETUMBLE_FREQUENCY

Control frequency of the detumble mode control loop.

Values: 1, 2, 4, or 8 Hz

BDOT_GAIN

B-Dot algorithm gain when converting from B-Dot to dipole.

Value should be negative

MTM_FILTER_SENSITIVITY

Adaptive sensitivity of low-pass filter applied to calibrated MTM measurements during detumble mode.

MTM_FILTER_WEIGHT

Adaptive weight of low-pass filter applied to calibrated MTM measurements during detumble mode.

Dipole to Current Conversion Configuration Parameter Codes

COIL_AREA_X

X-axis area of the coil used to calculate the dipole from the current flowing through the coil.

COIL_AREA_Y

Y-axis area of the coil used to calculate the dipole from the current flowing through the coil.

COIL_AREA_Z

Z-axis area of the coil used to calculate the dipole from the current flowing through the coil.

COIL_CURRENT_LIMIT

Maximum total coil current allowed for dipole generation (excluding idle current consumption)

Current to Actuation-percentage Conversion Configuration Parameter Codes

CURRENT_FEEDBACK_ENABLE

Current feedback control.

0 - Open-loop temperature-compensated, 1 - Software-based closed-loop

CURRENT_FEEDBACK_GAIN_X

X-axis feedback gain of the proportional difference controller.

CURRENT_FEEDBACK_GAIN_Y

Y-axis feedback gain of the proportional difference controller.

CURRENT_FEEDBACK_GAIN_Z

Z-axis feedback gain of the proportional difference controller.

CURRENT_MAP_TEMP_T1

Current-map profile temperature 1 (lowest)

CURRENT_MAP_TEMP_T2

Current-map profile temperature 2.

CURRENT_MAP_TEMP_T3

Current-map profile temperature 3.

CURRENT_MAP_TEMP_T4

Current-map profile temperature 4.

CURRENT_MAP_TEMP_T5

Current-map profile temperature 5.

CURRENT_MAP_TEMP_T6

Current-map profile temperature 6.

CURRENT_MAP_TEMP_T7

Current-map profile temperature 7 (highest)

CURRENT_MAX_X_T1

X-axis maximum current at temperature 1.

CURRENT_MAX_X_T2

X-axis maximum current at temperature 2.

CURRENT_MAX_X_T3

X-axis maximum current at temperature 3.

CURRENT_MAX_X_T4

X-axis maximum current at temperature 4.

CURRENT_MAX_X_T5

X-axis maximum current at temperature 5.

CURRENT_MAX_X_T6

X-axis maximum current at temperature 6.

CURRENT_MAX_X_T7

X-axis maximum current at temperature 7.

CURRENT_MAX_Y_T1

Y-axis maximum current at temperature 1.

CURRENT_MAX_Y_T2

Y-axis maximum current at temperature 2.

CURRENT_MAX_Y_T3

Y-axis maximum current at temperature 3.

CURRENT_MAX_Y_T4

Y-axis maximum current at temperature 4.

CURRENT_MAX_Y_T5

Y-axis maximum current at temperature 5.

CURRENT_MAX_Y_T6

Y-axis maximum current at temperature 6.

CURRENT_MAX_Y_T7

Y-axis maximum current at temperature 7.

CURRENT_MAX_Z_T1

Z-axis maximum current at temperature 1.

CURRENT_MAX_Z_T2

Z-axis maximum current at temperature 2.

CURRENT_MAX_Z_T3

Z-axis maximum current at temperature 3.

CURRENT_MAX_Z_T4

Z-axis maximum current at temperature 4.

CURRENT_MAX_Z_T5

Z-axis maximum current at temperature 5.

CURRENT_MAX_Z_T6

Z-axis maximum current at temperature 6.

CURRENT_MAX_Z_T7

Z-axis maximum current at temperature 7.

Read-Only Configuration Parameter Codes

HW_CONFIG

iMTQ hardware configuration.

0 - Internal config, 1 - External config

WATCHDOG_TIMEOUT

I2C watchdog timeout interval in seconds.

Value of 0 indicates the watchdog is disabled

SLAVE_ADDRESS

iMTQ’s I2C address

SOFTWARE_VERSION

iMTQ’s software version.

v[second byte].[third byte].[fourth byte]; first byte is ignored

Functions

KADCSStatus k_adcs_configure(const JsonNode *config)

Configure the ADCS.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • config: ADCS configuration structure

KADCSStatus k_imtq_get_param(uint16_t param, imtq_config_resp *response)

Get the current value of a configuration parameter.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • param: ID of parameter value to fetch
  • response: Pointer to storage for response message. Returns the current value of the parameter.

KADCSStatus k_imtq_set_param(uint16_t param, const imtq_config_value *value, imtq_config_resp *response)

Set the value of a configuration parameter.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • param: ID of parameter to update
  • value: Pointer to new parameter value
  • response: Pointer to storage for response message. Returns the updated value of the parameter. If successful, the new value should match the requested value.

KADCSStatus k_imtq_reset_param(uint16_t param, imtq_config_resp *response)

Reset the value of a configuration parameter to its default.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • param: ID of parameter value to reset
  • response: Pointer to storage for response message. Returns the new value of the parameter.

union imtq_config_value
#include <imtq-config.h>

Configuration value storage union Using a union allows one common variable type to be used for all configuration functions.

Public Members

int8_t int8_val

Storage for signed single-byte values.

uint8_t uint8_val

Storage for unsigned single-byte values.

int16_t int16_val

Storage for signed byte-pair values.

uint16_t uint16_val

Storage for unsigned byte-pair values.

int32_t int32_val

Storage for signed four-byte values.

uint32_t uint32_val

Storage for unsigned four-byte values.

float float_val

Storage for IEEE754 single-precision floating point values (four bytes)

int64_t int64_val

Storage for signed eight-byte values.

uint64_t uint64_val

Storage for unsigned eight-byte values.

double double_val

Storage for IEEE754 double-precision floating point values (eight bytes)

struct imtq_config_resp
#include <imtq-config.h>

Message structure returned by all get/set/reset configuration requests.

Public Members

imtq_resp_header hdr

Response message header.

uint16_t param

Echo of requested parameter ID.

imtq_config_value value

Current value of requested parameter.

Operations

Typedefs

typedef uint16_t adcs_mode_param

Parameter for k_adcs_set_mode

For the iMTQ, exclusively used to specify the duration when entering DETUMBLE mode

typedef JsonNode *adcs_test_results

Pointer to self-test results JSON structure created by k_adcs_run_test

Enums

enum KADCSReset

Available iMTQ system reset types.

Values:

SOFT_RESET

Software reset.

enum ADCSTestType

Self-Test Axis Options.

Values:

TEST_ALL

Test all axes.

TEST_X_POS

Test positive x-axis.

TEST_X_NEG

Test negative x-axis.

TEST_Y_POS

Test positive y-axis.

TEST_Y_NEG

Test negative y-axis.

TEST_Z_POS

Test positive z-axis.

TEST_Z_NEG

Test negative z-axis.

Functions

KADCSStatus k_adcs_noop(void)

Execute ADCS no-op command.

Note
This function might not be implemented for all ADCSs.
Return
KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_adcs_reset(KADCSReset type)

Reset the ADCS.

Note
This function might not be implemented for all ADCSs
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • type: Type of reset to perform (hard, soft, etc)

KADCSStatus k_adcs_set_mode(ADCSMode mode, const adcs_mode_param *params)

Set the ADCS’s operating mode.

Note
See specific ADCS API documentation for available modes
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • mode: Operating mode to change to
  • params: Pointer to optional parameters which may be needed to configure the new operational mode

KADCSStatus k_adcs_run_test(ADCSTestType test, adcs_test_results buffer)

Run an ADCS self-test.

Note
This function might not be implemented for all ADCSs. See specific ADCS API documentation for available self-tests.
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • test: Type of self-test to run
  • buffer: (Pointer to) structure which the test-results should be copied to

KADCSStatus k_imtq_cancel_op(void)

Switch to idle mode and cancel any ongoing actuation.

Return
KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_start_measurement(void)

Start a 3-axis measurement of the magnetic field using the MTM.

Return
KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_start_actuation_current(imtq_axis_data current, uint16_t time)

Turn on the coils by current.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • current: Axes current values in [10-4 Am2]
  • time: Amount of time coils should remain at the specified levels, in milliseconds. If time is zero, the coils will stay on until another command capable of changing the coils’ states/levels is run.

KADCSStatus k_imtq_start_actuation_dipole(imtq_axis_data dipole, uint16_t time)

Turn on the coils by desired dipole.

Note
If the specified values exceed the coils’ capabilities, the dipole will be scaled. The resulting values can be retrieved with k_imtq_get_dipole.
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • dipole: Axes dipole values in [10-4 Am2]
  • time: Amount of time coils should remain at the specified levels, in milliseconds. If time is zero, the coils will stay on until another command capable of changing the coils’ states/levels is run.

KADCSStatus k_imtq_start_actuation_PWM(imtq_axis_data pwm, uint16_t time)

Turn on the coils by PWM duty cycle.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • pwm: Axes PWM duty cycles in [0.1%]. Max single-axis value: 1000 (100%)
  • time: Amount of time coils should remain at the specified levels, in milliseconds. If time is zero, the coils will stay on until another command capable of changing the coils’ states/levels is run.

KADCSStatus k_imtq_start_test(ADCSTestType axis)

Start axis self-test.

Use k_imtq_get_test_results_single or k_imtq_get_test_results_all to check the output

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters

KADCSStatus k_imtq_start_detumble(uint16_t time)

Switch to detumble mode.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • time: Length of time to spend in detumble mode (seconds)

Data Requests

Self-Test Error Byte Flags

TEST_ERROR_I2C

I2C Failure.

TEST_ERROR_SPI

SPI Failure (MTM connectivity)

TEST_ERROR_ADC

ADC Failure (current/temp measurement)

TEST_ERROR_PWM

PWM Failure (coil actuation)

TEST_ERROR_TC

System Failure.

TEST_ERROR_MTM

MTM values outside of expected range.

TEST_ERROR_COIL

Coil currents outside of expected range.

Typedefs

typedef uint32_t adcs_power_status

System uptime returned by k_adcs_get_power_status

typedef imtq_axis_msg imtq_coil_current

Coil currents in [10-4 A] returned by k_imtq_get_coil_current.

typedef imtq_axis_msg imtq_coil_temp

Coil temperatures in [oC] returned by k_imtq_get_coil_temps.

typedef imtq_axis_msg imtq_dipole

Commanded actuation dipole in [10-4 Am2] returned by k_imtq_get_dipole.

Enums

enum ADCSTelemType

Categories of telemetry which can be returned by k_adcs_get_telemetry

Values:

NOMINAL

System state, all system measurements.

DEBUG

System state, current configuration, last test results.

Functions

KADCSStatus k_adcs_get_power_status(adcs_power_status *data)

Get the ADCS’s power status.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for returned system uptime. If the value is zero, then the ADCS is offline.

KADCSStatus k_adcs_get_mode(ADCSMode *mode)

Get the ADCS’s current operating mode.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • mode: Pointer to storage which the mode value should be copied to

KADCSStatus k_adcs_get_orientation(adcs_orient *data)

Get the ADCS’s current orientation.

Note
This function might not be implemented for all ADCSs.
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for returned data.

KADCSStatus k_adcs_get_spin(adcs_spin *data)

Get the ADCS’s current spin.

Note
This function might not be implemented for all ADCSs.
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for returned data.

KADCSStatus k_adcs_get_telemetry(ADCSTelemType type, JsonNode *buffer)

Read ADCS telemetry values.

Note
See specific ADCS API documentation for available telemetry types
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • type: Telemetry packet to read
  • buffer: (Pointer to) structure which data should be copied to

KADCSStatus k_imtq_get_system_state(imtq_state *state)

Get iMTQ system state.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • state: Pointer to storage for state data

KADCSStatus k_imtq_get_raw_mtm(imtq_mtm_msg *data)

Get raw data values from MTM.

Measurement units are in [7.5 * 10-9 T], as documented in the XEN1210 datasheet

Note
The k_imtq_start_measurement function must have been called in order for this function to be able to retrieve data
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_calib_mtm(imtq_mtm_msg *data)

Get calibrated data values from MTM.

Measurement units are in [10-9 T]

Note
The k_imtq_start_measurement function must have been called in order for this function to be able to retrieve data
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_coil_current(imtq_coil_current *data)

Get coil currents.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_coil_temps(imtq_coil_temp *data)

Get coil temperatures.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_dipole(imtq_dipole *data)

Get commanded actuation dipole.

Note
Only applies to coil actuations started with k_imtq_start_actuation_dipole. Can also be used in detumble mode to retrieve the latest actuation dipole
Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_test_results_single(imtq_test_result_single *data)

Get results from a single-axis self-test.

The test can be started with k_imtq_start_test

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_test_results_all(imtq_test_result_all *data)

Get results from an all-axes self-test.

The test can be started with k_imtq_start_test by specifying TEST_ALL

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_detumble(imtq_detumble *data)

Get detumble data.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_raw_housekeeping(imtq_housekeeping_raw *data)

Get the housekeeping data of the iMTQ as raw ADC values.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus k_imtq_get_eng_housekeeping(imtq_housekeeping_eng *data)

Get the housekeeping data of the iMTQ in interpreted engineering units.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • data: Pointer to storage for data

KADCSStatus kprv_adcs_get_status_telemetry(JsonNode *buffer)

Get the current system status and add it to the telemetry JSON.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • buffer: Pointer to telemetry JSON structure

KADCSStatus kprv_adcs_get_nominal_telemetry(JsonNode *buffer)

Get the current system measurements and add them to the telemetry JSON.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • buffer: Pointer to telemetry JSON structure

KADCSStatus kprv_adcs_get_debug_telemetry(JsonNode *buffer)

Get the current system configuration and last self-test results and add them to the telemetry JSON.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • buffer: Pointer to telemetry JSON structure

void kprv_adcs_process_test(JsonNode *parent, imtq_test_result test)

Add a self-test result to the requested JSON structure.

Return
KADCSStatus ADCS_OK if OK, error otherwise
Parameters
  • parent: Pointer to JSON structure results should be added to
  • test: Self-test results to be parsed into JSON

struct imtq_state
#include <imtq-data.h>

iMTQ system state data returned by k_imtq_get_system_state

Public Members

imtq_resp_header hdr

Response message header.

uint8_t mode

Current system mode.

uint8_t error

Error encountered during previous interation.

uint8_t config

Parameter updated since system startup? 0 - No, 1 - Yes.

uint32_t uptime

System uptime in seconds.

struct imtq_mtm_data
#include <imtq-data.h>

MTM measurements data structure.

Public Members

int32_t x

X-axis.

int32_t y

Y-axis.

int32_t z

Z-axis.

struct imtq_mtm_msg
#include <imtq-data.h>

MTM measurement returned by k_imtq_get_raw_mtm and k_imtq_get_calib_mtm.

Public Members

imtq_resp_header hdr

Response message header.

imtq_mtm_data data

MTM measurement data.

Units dependent on function used

uint8_t act_status

Coils actuation status during measurement.

0 - Not actuating, 1 - Actuating

struct imtq_axis_msg
#include <imtq-data.h>

Generic structure for messages relating to the axes.

Public Members

imtq_resp_header hdr

Response message header.

imtq_axis_data data

Axes data.

struct imtq_test_result
#include <imtq-data.h>

Self-test step result structure.

Public Members

imtq_resp_header hdr

Response message header.

uint8_t error

Return code for the step.

uint8_t step

Axis being tested.

imtq_mtm_data mtm_raw

Raw MTM data in [7.5*10-9 T] per count.

imtq_mtm_data mtm_calib

Calibrated MTM data in [10-9 T].

imtq_axis_data coil_current

Coil currents in [10-4 A].

imtq_axis_data coil_temp

Coil temperatures in [oC].

struct imtq_test_result_single
#include <imtq-data.h>

Self-test single-axis result structure returned by k_imtq_get_test_results_single.

Public Members

imtq_test_result init

Measurements before actuation.

imtq_test_result step

Measurements during actuation of requested axis.

imtq_test_result final

Measurements after actuation.

struct imtq_test_result_all
#include <imtq-data.h>

Self-test all-axes result structure returned by k_imtq_get_test_results_all.

Public Members

imtq_test_result init

Measurements before actuation.

imtq_test_result x_pos

Measurements during actuation of positive x-axis.

imtq_test_result x_neg

Measurements during actuation of negative x-axis.

imtq_test_result y_pos

Measurements during actuation of positive y-axis.

imtq_test_result y_neg

Measurements during actuation of negative y-axis.

imtq_test_result z_pos

Measurements during actuation of positive z-axis.

imtq_test_result z_neg

Measurements during actuation of negative z-axis.

imtq_test_result final

Measurements after actuation.

struct imtq_detumble
#include <imtq-data.h>

Detumble data returned by k_imtq_get_detumble.

Public Members

imtq_resp_header hdr

Response message header.

imtq_mtm_data mtm_calib

Calibrated MTM data in [10-9 T].

imtq_mtm_data mtm_filter

Filtered MTM data in [10-9 T].

imtq_mtm_data bdot

B-Dot in [10-9 T*s-1].

imtq_axis_data dipole

Commanded actuation dipole in [10-4 Am2].

imtq_axis_data cmd_current

Command current in [10-4 A].

imtq_axis_data coil_current

Coil currents in [10-4 A].

struct imtq_axis_data_raw
#include <imtq-data.h>

Generic structure for raw ADC data relating to the axes.

Public Members

int16_t x

X-axis.

int16_t y

Y-axis.

int16_t z

Z-axis.

struct imtq_housekeeping_raw
#include <imtq-data.h>

Housekeeping data (raw ADC values) returned by k_imtq_get_raw_housekeeping.

Public Members

imtq_resp_header hdr

Response message header.

uint16_t voltage_d

Digital supply voltage.

uint16_t voltage_a

Analog supply voltage.

uint16_t current_d

Digital supply current.

uint16_t current_a

Analog supply current.

imtq_axis_data_raw coil_current

Coil currents.

imtq_axis_data_raw coil_temp

Coil temperatures.

uint16_t mcu_temp

MCU temperature.

struct imtq_housekeeping_eng
#include <imtq-data.h>

Housekeeping data (engineering values) returned by k_imtq_get_eng_housekeeping.

Public Members

imtq_resp_header hdr

Response message header.

uint16_t voltage_d

Digital supply voltage in [mV].

uint16_t voltage_a

Analog supply voltage in [mV].

uint16_t current_d

Digital supply current in [10-4 A].

uint16_t current_a

Analog supply current in [10-4 A].

imtq_axis_data coil_current

Coil currents in [10-4 A].

imtq_axis_data coil_temp

Coil temperatures in [oC].

int16_t mcu_temp

MCU temperature in [oC].