#ts_cRIOcpp

Common functions for C++ development.

OSPL setup

To get history data, and faster/lower bandwidth communication, OSPL shall be run on a machine for multiple users. For that, /tmp/ispddskey_XXXXXX file shall be accessible to users requiring OSPL access. Please see OSPL_SETUP.md for details.

Command hierarchy, Controller processing

Provides abstract Command class. This shall be enqued into ControllerThread internal Command queue. ControllerThread command queue is thread safe (access to it is guarded by mutex and condition_variable). Please see ControllerThread tests for examples.

ILC communication

ILC (Inner-Loop Controller) is a board used on various M1M3 subsystems. ILCs are commanded through serial Modbus connection. The connections are organized on buses, operating on master-worker bus. Either unicasts or broadcasts commands are supported. Broadcasts commands obviously doesn't return anything.

Receiving data from ModBus

After command is send on ModBus, received data are held in a per bus dedicated FIFO. Request code is available to copy content of this FIFO into response FIFO. Synchronization of sending/receiving is done in FPGA class.

Response data are passed to ILC subclass in processResponse call. This method check if responses matches non-broadcast request functions and addresses stored in commanded buffer.

Data are send and received via Common FPGA Modbus module. Please see it for details how Modbus frames are written as UINT 16 values on command FIFO and how data are received from response FIFO.

ILC Modbus Functions

ILC Modbus communication is described in LTS-646. Please see it for detailed description of ILC functions.

ILCs are commanded using custom Modbus functions, which is assigning the following codes (both decimal and hexadecimal code values are shown):

Generic functions

ILCs provides those generic functions:

Code	Hex	Error	Description
17	0x11	145	Report Server ID
18	0x12	146	Report Server Status
65	0x41	193	Change ILC Mode
72	0x48	200	Set Temp ILC Address
107	0x6b	235	Reset Server

Firmware flash functions

Code	Hex	Description
100	0x64	Write Application Stats - writes CRC etc. after flashing)
101	0x65	Erase ILC application
102	0x66	Write Application Page
103	0x67	Write Verify Application

Pneumatic (FA) ILC functions

Code	Hex	Description
68	0x44	Freeze Sensor Values
73	0x49	Set Boost Value DCA Gains
74	0x4a	Read Boost Value DCA Gains
75	0x4b	Force Demand
76	0x4c	Force & Status
80	0x50	Set ADC scanrate
110	0x6e	Read callibration
119	0x77	Read mezzanine pressure sensors
120	0x78	Report DCA ID
121	0x79	Report DCA Status

Electromechanical (Hardpoint) ILC functions

Code	Hex	Description
66	0x42	Step motor move
67	0x4c	Force & Status
68	0x44	Freeze Sensor Values
80	0x50	Set ADC scanrate
81	0x51	Set ADC Ch Offsets & Sensors
110	0x6e	Read callibration

Hardpoint monitoring ILC functions

Code	Hex	Description
119	0x77	Read mezzanine pressure sensor
120	0x78	Report mezzanine DCP ID
121	0x79	Report mezzanine DCP Status
122	0x7a	Read DCP mezzanine board LVDT instruments

Thermal ILC functions

Code	Hex	Error	Description
88	0x58	216	Thermal demand
89	0x59	217	Thermal status

FPGA

Commands are written into 2 bytes (16 bits) commandQueue FIFO in the following format:

Offse	Description
0	Command - see FPGA code for details
1	payload length
2-data length	payload bytes

Where payload for Modbus uses highest 7 bits for operation code, next 8 bits for data, and last bit as start bit (shall be always 0). See Support System FPGA and Thermal System FPGA for details.