org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenMG550P

java.lang.Object

org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

org.lsst.ccs.subsystems.fcs.drivers.CanOpenMG550P

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, AlertRaiser, NamedComponent, PieceOfHardware, EmergencyMessageListener

public class CanOpenMG550P
extends CanOpenDevice

A class for carousel accelerometer. Each PDO includes a 16-bit trigger * counter (unsigned), followed by three 16-bit (signed) pieces of data. For the first PDO, this is the angular velocity along the three axes, with a conversion factor of 0.008 dps/LSB. The second PDO encodes the acceleration along the three axes (gravity if there is no movement), with a conversion factor of 0.2 mG/LSB.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
static double	ACCELERATION_CF
static double	ANGULARVELOCITY_CF
protected int	cobid1 define cobid to be able to read values from PDO data.
protected int	cobid2

Fields inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

booted, dataProviderDictionaryService, errorHistory, errorRegister, inError, initialized, lastErrorCode, lastErrorName, name, nodeID, serialNB, subs, tcpProxy

Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenMG550P()

Method Summary

Modifier and Type	Method and Description
StatusDataPublishedByAccelerometer	createStatusDataPublishedByAccelerometer()
void	doInitializePDOs() Do nothing if this device doesn't send PDOs except log for debug purpose.
static short	extractValue(long pdo, int axe) Extract angular velocity or acceleration for one axe.
double[]	getAccelerations()
double[]	getAngularVelocities()
void	init()
String	printAccelerations() for tests and debug
String	printAngularVelocities() for tests and debug
String	printSerialNumber() For accelerometer return deviceType because serial number is not configured on device.
void	publishDataAccelero()
void	updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo) process PDOData to retrieve data from this device.

Methods inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

build, configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorHistory, displayErrorRegister, getAlertService, getErrorHistory, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, initializeAndCheckHardware, isBooted, isInError, isInitialized, onEmergencyMessage, publishData, readDeviceType, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateDeviceInfo, updateErrorHistory, writeSDO, writeTransmissionTypeToDevice

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.PieceOfHardware

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, initializePDOs, printState, raiseAlarmIfMissing, raiseWarningIfMissing

Methods inherited from interface org.lsst.ccs.subsystems.fcs.drivers.EmergencyMessageListener

onFault, onFaultReset

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

postBuild, postInit, postShutdown, postStart, shutdown, start

Field Detail

cobid1

protected int cobid1

define cobid to be able to read values from PDO data.

cobid2

protected int cobid2

ANGULARVELOCITY_CF

public static final double ANGULARVELOCITY_CF

See Also:

Constant Field Values

ACCELERATION_CF

public static final double ACCELERATION_CF

See Also:

Constant Field Values

Constructor Detail

CanOpenMG550P

public CanOpenMG550P()

Method Detail

getAngularVelocities

public double[] getAngularVelocities()

getAccelerations

public double[] getAccelerations()

init

public void init()

Specified by:

init in interface org.lsst.ccs.framework.HasLifecycle

Overrides:

init in class CanOpenDevice

doInitializePDOs

public void doInitializePDOs()
                      throws org.lsst.ccs.drivers.commons.DriverException

Description copied from class: CanOpenDevice

Do nothing if this device doesn't send PDOs except log for debug purpose. To be overriden if this device sends PDOS.

Specified by:

doInitializePDOs in interface PieceOfHardware

Overrides:

doInitializePDOs in class CanOpenDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

updateFromPDO

public void updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo)

process PDOData to retrieve data from this device.

Specified by:

updateFromPDO in interface PieceOfHardware

Overrides:

updateFromPDO in class CanOpenDevice

Parameters:

pdo -

printSerialNumber

public String printSerialNumber()

For accelerometer return deviceType because serial number is not configured on device.

Overrides:

printSerialNumber in class CanOpenDevice

Returns:

printAngularVelocities

@Command(type=QUERY,
         level=1,
         description="print values updated by PDOs to debug and test")
public String printAngularVelocities()

for tests and debug

Returns:

printAccelerations

@Command(type=QUERY,
         level=1,
         description="print values updated by PDOs to debug and test")
public String printAccelerations()

for tests and debug

Returns:

extractValue

public static short extractValue(long pdo,
                                 int axe)

Extract angular velocity or acceleration for one axe. Value returned is coded on 2 bytes and SIGNED.

Parameters:

pdo -

axe -

Returns:

publishDataAccelero

public void publishDataAccelero()

createStatusDataPublishedByAccelerometer

public StatusDataPublishedByAccelerometer createStatusDataPublishedByAccelerometer()