#include <smart_dock.h>

Classes
struct	BerthState

struct	DockState

Public Types
enum	ConnectionState { CONN_DISCONNECTED = 0x00, CONN_CONNECTING = 0x01, CONN_CONNECTED = 0x02, NUM_CONNECTION_STATES }

enum	ActuatorState { ACT_RETRACT = 0x00, ACT_RETRACTING = 0x01, ACT_DEPLOYED = 0x03 }

enum	BerthCommand { COMMAND_UNKNOWN, COMMAND_SET_POWER_MODE_HIBERNATE, COMMAND_SET_POWER_MODE_AWAKE_NOMINAL, COMMAND_SET_POWER_MODE_AWAKE_SAFE, COMMAND_SET_POWER_MODE_CRITICAL_FAULT, COMMAND_CLEAR_TERMINATE, COMMAND_CLEAR_FAULTS, COMMAND_ENABLE_ALL_PAYLOADS, COMMAND_DISABLE_ALL_PAYLOADS, COMMAND_ENABLE_ALL_PMCS, COMMAND_DISABLE_ALL_PMCS, COMMAND_REBOOT, NUM_COMMANDS }

enum	Berth { BERTH_1, BERTH_2, NUM_BERTHS }

enum	String : uint32_t { STRING_SW_VERSION, STRING_BUILD, STRING_SERIAL, NUM_STRINGS }

enum	Channel : uint32_t { CHANNEL_DEV_EN, CHANNEL_EC_PWR_EN, CHANNEL_DEV2_PWR_EN, CHANNEL_DEV1_PWR_EN, CHANNEL_RESERVED0, CHANNEL_RESERVED1, CHANNEL_RESERVED2, CHANNEL_RESERVED3, CHANNEL_ACT_SIGOUT2, CHANNEL_ACT_SIGOUT1, CHANNEL_AS2_PWR_EN, CHANNEL_AS1_PWR_EN, CHANNEL_FAN_EN, CHANNEL_RESERVED4, CHANNEL_RESERVED5, CHANNEL_RESERVED6, CHANNEL_LED_1, CHANNEL_LED_2, CHANNEL_LED_3, CHANNEL_LED_4, CHANNEL_LED_5, CHANNEL_LED_6, CHANNEL_RESERVED7, CHANNEL_RESERVED8, CHANNEL_RESERVED9, CHANNEL_RESERVED10, CHANNEL_RESERVED11, CHANNEL_RESERVED12, CHANNEL_RESERVED13, CHANNEL_RESERVED14, CHANNEL_RESERVED15, CHANNEL_RESERVED16, NUM_CHANNELS }

enum	Fault : uint32_t { FAULT_OC_BERTH_1, FAULT_OC_BERTH_2, FAULT_OC_SYSTEM, FAULT_OC_DOCK_PROCESSOR, FAULT_OT_CHARGER, FAULT_OT_ACTUATOR_1, FAULT_OT_ACTUATOR_2, FAULT_WDT1_EPS_REBOOT, FAULT_WDT2_DOCKCTL_REBOOT, FAULT_WDT3_DOCKPC_REBOOT, FAULT_WDT4_DOCKCTL_REBOOT, NUM_FAULTS }

enum	Housekeeping : uint32_t { HK_FAN_MAG_I, HK_CHR_V_V, HK_CHR_T_PROTECT, HK_VLIVE_I, HK_MAIN5_PWR_I, HK_DEV_I, HK_EC_PWR_I, HK_A_GND_V1, HK_AS2_I, HK_AS1_I, HK_A_GND_V2, HK_DEV1_T_PROTECT, HK_DEV2_T_PROTECT, HK_A_GND_V3, HK_DEV2_I, HK_DEV1_I, NUM_HOUSEKEEPING }

enum	Led : uint32_t { LED_1, LED_2, LED_3, LED_4, LED_5, LED_6, NUM_LEDS }

enum	LedMode : uint8_t { LED_MODE_OFF, LED_MODE_ON, LED_MODE_BLINK_2HZ, LED_MODE_BLINK_1HZ, LED_MODE_BLINK_0_5HZ, NUM_LED_MODES }

Public Member Functions
	SmartDock (const i2c::Device &i2c_dev)

	~SmartDock (void)

bool	ClearFaults (void)

bool	Reboot (void)

bool	SendBerthCommand (uint32_t mask, BerthCommand const value)

bool	GetStrings (uint32_t mask, std::map< String, std::string > &data)

bool	GetHousekeeping (uint32_t mask, std::map< Housekeeping, double > &data)

bool	GetFaults (uint32_t mask, std::map< Fault, bool > &data)

bool	GetChannels (uint32_t mask, std::map< Channel, bool > &data)

bool	GetBerthStates (uint32_t mask, std::map< Berth, BerthState > &data)

bool	GetSystemState (DockState &data)

bool	SetLeds (uint32_t mask, LedMode const value)

bool	SetChannels (uint32_t mask, bool const value)

Static Public Attributes
static constexpr uint8_t	OFF = 0

static constexpr uint8_t	ON = 1

Protected Member Functions
void	Sleep (uint32_t microseconds)

uint16_t	Read (uint8_t *buff)

uint16_t	Read (uint8_t *buff, uint16_t len)

uint16_t	Write (uint8_t *buff, uint16_t len)

uint8_t	ComputeChecksum (uint8_t *buf, size_t size)

Static Protected Attributes
static constexpr size_t	I2C_BUF_MAX_LEN = 256

static constexpr uint8_t	I2C_RESP_ACK = 0xEE

static constexpr uint8_t	I2C_RESP_NACK = 0xFF

static constexpr uint8_t	I2C_CMD_NONE = 0x00

static constexpr uint8_t	I2C_CMD_GET_SW_VERSION = 0x02

static constexpr uint8_t	I2C_CMD_GET_BUILD_TIME = 0x03

static constexpr uint8_t	I2C_CMD_SW_ON = 0x04

static constexpr uint8_t	I2C_CMD_SW_OFF = 0x05

static constexpr uint8_t	I2C_CMD_GET_SW_STATES = 0x06

static constexpr uint8_t	I2C_CMD_GET_SYSTEM_STATE = 0x07

static constexpr uint8_t	I2C_CMD_SET_LED_MODES = 0x08

static constexpr uint8_t	I2C_CMD_GET_HK = 0x09

static constexpr uint8_t	I2C_CMD_GET_HW_EXCEPTIONS = 0x0A

static constexpr uint8_t	I2C_CMD_CLR_HW_EXCEPTIONS = 0x0B

static constexpr uint8_t	I2C_CMD_GET_DIGITAL_TEMPS = 0x0C

static constexpr uint8_t	I2C_CMD_GET_SERIAL_NUMBER = 0x0D

static constexpr uint8_t	I2C_CMD_REBOOT = 0x0F

static constexpr uint8_t	I2C_CMD_ENTER_BOOTLOADER = 0x0E

static constexpr uint8_t	I2C_CMD_GET_BATTERY_STATUS = 0x40

static constexpr uint8_t	I2C_CMD_RING_BUZZER = 0x41

static constexpr uint8_t	I2C_CMD_CLR_TERMINATE_EVT = 0x42

static constexpr uint8_t	I2C_CMD_UNDOCK = 0x43

static constexpr uint8_t	I2C_CMD_GET_CONNECTION_STATE = 0x44

static constexpr uint8_t	I2C_CMD_SET_CHARGE_STATE = 0x45

static constexpr uint8_t	I2C_CMD_GET_CHARGE_STATE = 0x46

static constexpr uint8_t	I2C_CMD_SET_EPS_POWER_MODE = 0x47

static constexpr uint8_t	I2C_CMD_GET_EPS_POWER_MODE = 0x48

static constexpr uint8_t	I2C_CMD_GET_CONNECTED_EPS_STATE = 0x71

static constexpr uint8_t	I2C_CMD_GET_CONN_STATE = 0x72

static constexpr uint8_t	I2C_CMD_GET_EPS_CMD = 0x75

static constexpr uint8_t	I2C_CMD_SET_EPS_CMD = 0x76

static constexpr uint8_t	I2C_CMD_SEND_EPS_STATE_TO_DOCK = 0xD0

static constexpr uint8_t	DOCK_BERTH_ID_MIN = 1

static constexpr uint8_t	DOCK_BERTH_ID_MAX = 2

static constexpr size_t	kDockStateLength = 19

Member Enumeration Documentation

◆ ActuatorState

enum smart_dock::SmartDock::ActuatorState

Enumerator
ACT_RETRACT
ACT_RETRACTING
ACT_DEPLOYED

◆ Berth

enum smart_dock::SmartDock::Berth

Enumerator
BERTH_1
BERTH_2
NUM_BERTHS

◆ BerthCommand

enum smart_dock::SmartDock::BerthCommand

Enumerator
COMMAND_UNKNOWN
COMMAND_SET_POWER_MODE_HIBERNATE
COMMAND_SET_POWER_MODE_AWAKE_NOMINAL
COMMAND_SET_POWER_MODE_AWAKE_SAFE
COMMAND_SET_POWER_MODE_CRITICAL_FAULT
COMMAND_CLEAR_TERMINATE
COMMAND_CLEAR_FAULTS
COMMAND_ENABLE_ALL_PAYLOADS
COMMAND_DISABLE_ALL_PAYLOADS
COMMAND_ENABLE_ALL_PMCS
COMMAND_DISABLE_ALL_PMCS
COMMAND_REBOOT
NUM_COMMANDS

◆ Channel

enum smart_dock::SmartDock::Channel : uint32_t

Enumerator
CHANNEL_DEV_EN
CHANNEL_EC_PWR_EN
CHANNEL_DEV2_PWR_EN
CHANNEL_DEV1_PWR_EN
CHANNEL_RESERVED0
CHANNEL_RESERVED1
CHANNEL_RESERVED2
CHANNEL_RESERVED3
CHANNEL_ACT_SIGOUT2
CHANNEL_ACT_SIGOUT1
CHANNEL_AS2_PWR_EN
CHANNEL_AS1_PWR_EN
CHANNEL_FAN_EN
CHANNEL_RESERVED4
CHANNEL_RESERVED5
CHANNEL_RESERVED6
CHANNEL_LED_1
CHANNEL_LED_2
CHANNEL_LED_3
CHANNEL_LED_4
CHANNEL_LED_5
CHANNEL_LED_6
CHANNEL_RESERVED7
CHANNEL_RESERVED8
CHANNEL_RESERVED9
CHANNEL_RESERVED10
CHANNEL_RESERVED11
CHANNEL_RESERVED12
CHANNEL_RESERVED13
CHANNEL_RESERVED14
CHANNEL_RESERVED15
CHANNEL_RESERVED16
NUM_CHANNELS

◆ ConnectionState

enum smart_dock::SmartDock::ConnectionState

Enumerator
CONN_DISCONNECTED
CONN_CONNECTING
CONN_CONNECTED
NUM_CONNECTION_STATES

◆ Fault

enum smart_dock::SmartDock::Fault : uint32_t

Enumerator
FAULT_OC_BERTH_1
FAULT_OC_BERTH_2
FAULT_OC_SYSTEM
FAULT_OC_DOCK_PROCESSOR
FAULT_OT_CHARGER
FAULT_OT_ACTUATOR_1
FAULT_OT_ACTUATOR_2
FAULT_WDT1_EPS_REBOOT
FAULT_WDT2_DOCKCTL_REBOOT
FAULT_WDT3_DOCKPC_REBOOT
FAULT_WDT4_DOCKCTL_REBOOT
NUM_FAULTS

◆ Housekeeping

enum smart_dock::SmartDock::Housekeeping : uint32_t

Enumerator
HK_FAN_MAG_I
HK_CHR_V_V
HK_CHR_T_PROTECT
HK_VLIVE_I
HK_MAIN5_PWR_I
HK_DEV_I
HK_EC_PWR_I
HK_A_GND_V1
HK_AS2_I
HK_AS1_I
HK_A_GND_V2
HK_DEV1_T_PROTECT
HK_DEV2_T_PROTECT
HK_A_GND_V3
HK_DEV2_I
HK_DEV1_I
NUM_HOUSEKEEPING

◆ Led

enum smart_dock::SmartDock::Led : uint32_t

Enumerator
LED_1
LED_2
LED_3
LED_4
LED_5
LED_6
NUM_LEDS

◆ LedMode

enum smart_dock::SmartDock::LedMode : uint8_t

Enumerator
LED_MODE_OFF
LED_MODE_ON
LED_MODE_BLINK_2HZ
LED_MODE_BLINK_1HZ
LED_MODE_BLINK_0_5HZ
NUM_LED_MODES

◆ String

enum smart_dock::SmartDock::String : uint32_t

Enumerator
STRING_SW_VERSION
STRING_BUILD
STRING_SERIAL
NUM_STRINGS

Constructor & Destructor Documentation

◆ SmartDock()

smart_dock::SmartDock::SmartDock ( const i2c::Device & i2c_dev )

explicit

◆ ~SmartDock()

smart_dock::SmartDock::~SmartDock ( void )

Member Function Documentation

◆ ClearFaults()

bool smart_dock::SmartDock::ClearFaults ( void )

◆ ComputeChecksum()

uint8_t smart_dock::SmartDock::ComputeChecksum	(	uint8_t *	buf,
		size_t	size
	)

protected

◆ GetBerthStates()

bool smart_dock::SmartDock::GetBerthStates	(	uint32_t	mask,
		std::map< Berth, BerthState > &	data
	)

◆ GetChannels()

bool smart_dock::SmartDock::GetChannels	(	uint32_t	mask,
		std::map< Channel, bool > &	data
	)

◆ GetFaults()

bool smart_dock::SmartDock::GetFaults	(	uint32_t	mask,
		std::map< Fault, bool > &	data
	)

◆ GetHousekeeping()

bool smart_dock::SmartDock::GetHousekeeping	(	uint32_t	mask,
		std::map< Housekeeping, double > &	data
	)

◆ GetStrings()

bool smart_dock::SmartDock::GetStrings	(	uint32_t	mask,
		std::map< String, std::string > &	data
	)

◆ GetSystemState()

bool smart_dock::SmartDock::GetSystemState ( DockState & data )

◆ Read() [1/2]

uint16_t smart_dock::SmartDock::Read ( uint8_t * buff )

protected

◆ Read() [2/2]

uint16_t smart_dock::SmartDock::Read	(	uint8_t *	buff,
		uint16_t	len
	)

protected

◆ Reboot()

bool smart_dock::SmartDock::Reboot ( void )

◆ SendBerthCommand()

bool smart_dock::SmartDock::SendBerthCommand	(	uint32_t	mask,
		BerthCommand const	value
	)

◆ SetChannels()

bool smart_dock::SmartDock::SetChannels	(	uint32_t	mask,
		bool const	value
	)

◆ SetLeds()

bool smart_dock::SmartDock::SetLeds	(	uint32_t	mask,
		LedMode const	value
	)

◆ Sleep()

void smart_dock::SmartDock::Sleep ( uint32_t microseconds )

protected

◆ Write()

uint16_t smart_dock::SmartDock::Write	(	uint8_t *	buff,
		uint16_t	len
	)

protected

Member Data Documentation

◆ DOCK_BERTH_ID_MAX

constexpr uint8_t smart_dock::SmartDock::DOCK_BERTH_ID_MAX = 2

staticconstexprprotected

◆ DOCK_BERTH_ID_MIN

constexpr uint8_t smart_dock::SmartDock::DOCK_BERTH_ID_MIN = 1

staticconstexprprotected

◆ I2C_BUF_MAX_LEN

constexpr size_t smart_dock::SmartDock::I2C_BUF_MAX_LEN = 256

staticconstexprprotected

◆ I2C_CMD_CLR_HW_EXCEPTIONS

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_CLR_HW_EXCEPTIONS = 0x0B

staticconstexprprotected

◆ I2C_CMD_CLR_TERMINATE_EVT

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_CLR_TERMINATE_EVT = 0x42

staticconstexprprotected

◆ I2C_CMD_ENTER_BOOTLOADER

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_ENTER_BOOTLOADER = 0x0E

staticconstexprprotected

◆ I2C_CMD_GET_BATTERY_STATUS

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_BATTERY_STATUS = 0x40

staticconstexprprotected

◆ I2C_CMD_GET_BUILD_TIME

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_BUILD_TIME = 0x03

staticconstexprprotected

◆ I2C_CMD_GET_CHARGE_STATE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_CHARGE_STATE = 0x46

staticconstexprprotected

◆ I2C_CMD_GET_CONN_STATE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_CONN_STATE = 0x72

staticconstexprprotected

◆ I2C_CMD_GET_CONNECTED_EPS_STATE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_CONNECTED_EPS_STATE = 0x71

staticconstexprprotected

◆ I2C_CMD_GET_CONNECTION_STATE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_CONNECTION_STATE = 0x44

staticconstexprprotected

◆ I2C_CMD_GET_DIGITAL_TEMPS

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_DIGITAL_TEMPS = 0x0C

staticconstexprprotected

◆ I2C_CMD_GET_EPS_CMD

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_EPS_CMD = 0x75

staticconstexprprotected

◆ I2C_CMD_GET_EPS_POWER_MODE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_EPS_POWER_MODE = 0x48

staticconstexprprotected

◆ I2C_CMD_GET_HK

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_HK = 0x09

staticconstexprprotected

◆ I2C_CMD_GET_HW_EXCEPTIONS

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_HW_EXCEPTIONS = 0x0A

staticconstexprprotected

◆ I2C_CMD_GET_SERIAL_NUMBER

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_SERIAL_NUMBER = 0x0D

staticconstexprprotected

◆ I2C_CMD_GET_SW_STATES

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_SW_STATES = 0x06

staticconstexprprotected

◆ I2C_CMD_GET_SW_VERSION

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_SW_VERSION = 0x02

staticconstexprprotected

◆ I2C_CMD_GET_SYSTEM_STATE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_GET_SYSTEM_STATE = 0x07

staticconstexprprotected

◆ I2C_CMD_NONE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_NONE = 0x00

staticconstexprprotected

◆ I2C_CMD_REBOOT

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_REBOOT = 0x0F

staticconstexprprotected

◆ I2C_CMD_RING_BUZZER

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_RING_BUZZER = 0x41

staticconstexprprotected

◆ I2C_CMD_SEND_EPS_STATE_TO_DOCK

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_SEND_EPS_STATE_TO_DOCK = 0xD0

staticconstexprprotected

◆ I2C_CMD_SET_CHARGE_STATE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_SET_CHARGE_STATE = 0x45

staticconstexprprotected

◆ I2C_CMD_SET_EPS_CMD

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_SET_EPS_CMD = 0x76

staticconstexprprotected

◆ I2C_CMD_SET_EPS_POWER_MODE

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_SET_EPS_POWER_MODE = 0x47

staticconstexprprotected

◆ I2C_CMD_SET_LED_MODES

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_SET_LED_MODES = 0x08

staticconstexprprotected

◆ I2C_CMD_SW_OFF

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_SW_OFF = 0x05

staticconstexprprotected

◆ I2C_CMD_SW_ON

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_SW_ON = 0x04

staticconstexprprotected

◆ I2C_CMD_UNDOCK

constexpr uint8_t smart_dock::SmartDock::I2C_CMD_UNDOCK = 0x43

staticconstexprprotected

◆ I2C_RESP_ACK

constexpr uint8_t smart_dock::SmartDock::I2C_RESP_ACK = 0xEE

staticconstexprprotected

◆ I2C_RESP_NACK

constexpr uint8_t smart_dock::SmartDock::I2C_RESP_NACK = 0xFF

staticconstexprprotected

◆ kDockStateLength

constexpr size_t smart_dock::SmartDock::kDockStateLength = 19

staticconstexprprotected

◆ OFF

constexpr uint8_t smart_dock::SmartDock::OFF = 0

staticconstexpr

◆ ON

constexpr uint8_t smart_dock::SmartDock::ON = 1

staticconstexpr

The documentation for this class was generated from the following files:

hardware/smart_dock/include/smart_dock/smart_dock.h
hardware/smart_dock/src/smart_dock.cc

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Attributes

Member Enumeration Documentation

◆ ActuatorState

◆ Berth

◆ BerthCommand

◆ Channel

◆ ConnectionState

◆ Fault

◆ Housekeeping

◆ Led

◆ LedMode

◆ String

Constructor & Destructor Documentation

◆ SmartDock()

◆ ~SmartDock()

Member Function Documentation

◆ ClearFaults()

◆ ComputeChecksum()

◆ GetBerthStates()

◆ GetChannels()

◆ GetFaults()

◆ GetHousekeeping()

◆ GetStrings()

◆ GetSystemState()

◆ Read() [1/2]

◆ Read() [2/2]

◆ Reboot()

◆ SendBerthCommand()

◆ SetChannels()

◆ SetLeds()

◆ Sleep()

◆ Write()

Member Data Documentation

◆ DOCK_BERTH_ID_MAX

◆ DOCK_BERTH_ID_MIN

◆ I2C_BUF_MAX_LEN

◆ I2C_CMD_CLR_HW_EXCEPTIONS

◆ I2C_CMD_CLR_TERMINATE_EVT

◆ I2C_CMD_ENTER_BOOTLOADER

◆ I2C_CMD_GET_BATTERY_STATUS

◆ I2C_CMD_GET_BUILD_TIME

◆ I2C_CMD_GET_CHARGE_STATE

◆ I2C_CMD_GET_CONN_STATE

◆ I2C_CMD_GET_CONNECTED_EPS_STATE

◆ I2C_CMD_GET_CONNECTION_STATE

◆ I2C_CMD_GET_DIGITAL_TEMPS

◆ I2C_CMD_GET_EPS_CMD

◆ I2C_CMD_GET_EPS_POWER_MODE

◆ I2C_CMD_GET_HK

◆ I2C_CMD_GET_HW_EXCEPTIONS

◆ I2C_CMD_GET_SERIAL_NUMBER

◆ I2C_CMD_GET_SW_STATES

◆ I2C_CMD_GET_SW_VERSION

◆ I2C_CMD_GET_SYSTEM_STATE

◆ I2C_CMD_NONE

◆ I2C_CMD_REBOOT

◆ I2C_CMD_RING_BUZZER

◆ I2C_CMD_SEND_EPS_STATE_TO_DOCK

◆ I2C_CMD_SET_CHARGE_STATE

◆ I2C_CMD_SET_EPS_CMD

◆ I2C_CMD_SET_EPS_POWER_MODE

◆ I2C_CMD_SET_LED_MODES

◆ I2C_CMD_SW_OFF

◆ I2C_CMD_SW_ON

◆ I2C_CMD_UNDOCK

◆ I2C_RESP_ACK

◆ I2C_RESP_NACK

◆ kDockStateLength

◆ OFF

◆ ON