#include "adcs_drivers/adcs_types.h"
#include "adcs_drivers/adcs_command_ids.h"
#include "adcs_drivers/adcs_struct_packers.h"
#include "adcs_drivers/adcs_types_to_json.h"
#include "adcs_drivers/adcs_commands.h"
#include "adcs_drivers/adcs_internal_drivers.h"
#include "adcs_drivers/adcs_types_enum_to_str.h"
#include "timekeeping/timekeeping.h"
#include "log/log.h"
#include "stm32/stm32_watchdog.h"
#include <string.h>
#include <stdio.h>
#include <stdbool.h>
#include <math.h>
#include "stm32l4xx_hal.h"

Include dependency graph for adcs_commands.c:

Functions
uint8_t	ADCS_initialize ()
	Initialize the ADCS CRC, timestamp, and file system directory.

uint8_t	ADCS_cmd_ack (ADCS_cmd_ack_struct_t *ack)
	Instructs the ADCS to determine whether the last command succeeded. (Doesn't work for telemetry requests, by design.)

uint8_t	ADCS_reset ()
	Instruct the ADCS to execute the ADCS_Reset command.

uint8_t	ADCS_get_identification (ADCS_id_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Identification command.

uint8_t	ADCS_get_program_status (ADCS_boot_running_status_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Program_Status command.

uint8_t	ADCS_get_communication_status (ADCS_comms_status_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Communication_Status command.

uint8_t	ADCS_deploy_magnetometer (uint8_t deploy_timeout)
	Instruct the ADCS to execute the ADCS_Deploy_Magnetometer command.

uint8_t	ADCS_set_run_mode (ADCS_run_mode_enum_t mode)
	Instruct the ADCS to execute the ADCS_Set_Run_Mode command.

uint8_t	ADCS_clear_errors ()
	Instruct the ADCS to execute the ADCS_Clear_Errors command.

uint8_t	ADCS_attitude_control_mode (ADCS_control_mode_enum_t mode, uint16_t timeout)
	Instruct the ADCS to execute the titular command.

uint8_t	ADCS_attitude_estimation_mode (ADCS_estimation_mode_enum_t mode)
	Instruct the ADCS to execute the ADCS_Attitude_Estimation_Mode command.

uint8_t	ADCS_run_once ()
	Instruct the ADCS to execute the ADCS_Run_Once command.

uint8_t	ADCS_set_magnetometer_mode (ADCS_magnetometer_mode_enum_t mode)
	Instruct the ADCS to execute the titular command.

uint8_t	ADCS_set_magnetorquer_output (double x_duty, double y_duty, double z_duty)
	Instruct the ADCS to execute the ADCS_Set_Magnetorquer_Output command.

uint8_t	ADCS_set_wheel_speed (int16_t x_speed, int16_t y_speed, int16_t z_speed)
	Instruct the ADCS to execute the titular command.

uint8_t	ADCS_set_power_control (ADCS_power_select_enum_t cube_control_signal, ADCS_power_select_enum_t cube_control_motor, ADCS_power_select_enum_t cube_sense1, ADCS_power_select_enum_t cube_sense2, ADCS_power_select_enum_t cube_star_power, ADCS_power_select_enum_t cube_wheel1_power, ADCS_power_select_enum_t cube_wheel2_power, ADCS_power_select_enum_t cube_wheel3_power, ADCS_power_select_enum_t motor_power, ADCS_power_select_enum_t gps_power)
	Set the power control mode of each component of the ADCS; for each, 0 turns the component off, 1 turns it on, and 2 keeps it the same as previously.

uint8_t	ADCS_get_power_control (ADCS_power_control_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Power_Control command.

uint8_t	ADCS_set_magnetometer_config (double mounting_transform_alpha_angle, double mounting_transform_beta_angle, double mounting_transform_gamma_angle, double channel_1_offset, double channel_2_offset, double channel_3_offset, double sensitivity_matrix_s11, double sensitivity_matrix_s22, double sensitivity_matrix_s33, double sensitivity_matrix_s12, double sensitivity_matrix_s13, double sensitivity_matrix_s21, double sensitivity_matrix_s23, double sensitivity_matrix_s31, double sensitivity_matrix_s32)
	Instruct the ADCS to set the magnetometer configuration.

uint8_t	ADCS_save_config ()
	Instruct the ADCS to execute the ADCS_Save_Config command.

uint8_t	ADCS_save_orbit_params ()
	Instruct the ADCS to execute the ADCS_Save_Orbit_Params command.

uint8_t	ADCS_get_estimate_angular_rates (ADCS_angular_rates_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Estimate_Angular_Rates command.

uint8_t	ADCS_get_llh_position (ADCS_llh_position_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_LLH_Position command.

uint8_t	ADCS_bootloader_clear_errors ()
	Instruct the ADCS to execute the ADCS_Bootloader_Clear_Errors command.

uint8_t	ADCS_set_unix_time_save_mode (bool save_now, bool save_on_update, bool save_periodic, uint8_t period_s)
	Instruct the ADCS to execute the ADCS_Set_Unix_Time_Save_Mode command.

uint8_t	ADCS_get_unix_time_save_mode (ADCS_set_unix_time_save_mode_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Unix_Time_Save_Mode command.

uint8_t	ADCS_set_sgp4_orbit_params (double inclination, double eccentricity, double ascending_node_right_ascension, double perigee_argument, double b_star_drag_term, double mean_motion, double mean_anomaly, double epoch)
	Instruct the ADCS to execute the ADCS_Set_SGP4_Orbit_Params command.

uint8_t	ADCS_get_sgp4_orbit_params (ADCS_orbit_params_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_SGP4_Orbit_Params command.

uint8_t	ADCS_get_rate_sensor_rates (ADCS_rated_sensor_rates_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Rate_Sensor_Rates command.

uint8_t	ADCS_get_wheel_speed (ADCS_wheel_speed_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Wheel_Speed command.

uint8_t	ADCS_get_magnetorquer_command (ADCS_magnetorquer_command_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Magnetorquer_Command command.

uint8_t	ADCS_get_raw_magnetometer_values (ADCS_raw_magnetometer_values_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Raw_Magnetometer_Values command.

uint8_t	ADCS_get_estimate_fine_angular_rates (ADCS_fine_angular_rates_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Estimate_Fine_Angular_Rates command.

uint8_t	ADCS_get_magnetometer_config (ADCS_magnetometer_config_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Magnetometer_Config command.

uint8_t	ADCS_get_commanded_attitude_angles (ADCS_commanded_angles_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Commanded_Attitude_Angles command.

uint8_t	ADCS_set_commanded_attitude_angles (double x, double y, double z)
	Instruct the ADCS to execute the ADCS_Set_Commanded_Attitude_Angles command.

uint8_t	ADCS_set_estimation_params (float magnetometer_rate_filter_system_noise, float extended_kalman_filter_system_noise, float coarse_sun_sensor_measurement_noise, float sun_sensor_measurement_noise, float nadir_sensor_measurement_noise, float magnetometer_measurement_noise, float star_tracker_measurement_noise, bool use_sun_sensor, bool use_nadir_sensor, bool use_css, bool use_star_tracker, bool nadir_sensor_terminator_test, bool automatic_magnetometer_recovery, ADCS_magnetometer_mode_enum_t magnetometer_mode, ADCS_magnetometer_mode_enum_t magnetometer_selection_for_raw_magnetometer_telemetry, bool automatic_estimation_transition_due_to_rate_sensor_errors, bool wheel_30s_power_up_delay, uint8_t error_counter_reset_period_min)
	Instruct the ADCS to execute the ADCS_Set_Estimation_Params command.

uint8_t	ADCS_get_estimation_params (ADCS_estimation_params_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Estimation_Params command.

uint8_t	ADCS_set_augmented_sgp4_params (double incl_coefficient, double raan_coefficient, double ecc_coefficient, double aop_coefficient, double time_coefficient, double pos_coefficient, double maximum_position_error, ADCS_augmented_sgp4_filter_enum_t augmented_sgp4_filter, double xp_coefficient, double yp_coefficient, uint8_t gps_roll_over, double position_sd, double velocity_sd, uint8_t min_satellites, double time_gain, double max_lag, uint16_t min_samples)
	Set the Augmented SGP4 Parameters of the ADCS.

uint8_t	ADCS_get_augmented_sgp4_params (ADCS_augmented_sgp4_params_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Augmented_SGP4_Params command.

uint8_t	ADCS_set_tracking_controller_target_reference (float lon, float lat, float alt)
	Instruct the ADCS to execute the ADCS_Set_Tracking_Controller_Target_Reference command.

uint8_t	ADCS_get_tracking_controller_target_reference (ADCS_tracking_controller_target_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Tracking_Controller_Target_Reference command.

uint8_t	ADCS_set_rate_gyro_config (ADCS_axis_select_enum_t gyro1, ADCS_axis_select_enum_t gyro2, ADCS_axis_select_enum_t gyro3, double x_rate_offset, double y_rate_offset, double z_rate_offset, uint8_t rate_sensor_mult)
	Instruct the ADCS to execute the ADCS_Set_Rate_Gyro_Config command.

uint8_t	ADCS_get_rate_gyro_config (ADCS_rate_gyro_config_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Get_Rate_Gyro_Config command.

uint8_t	ADCS_get_estimated_attitude_angles (ADCS_estimated_attitude_angles_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Estimated_Attitude_Angles command.

uint8_t	ADCS_get_magnetic_field_vector (ADCS_magnetic_field_vector_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Magnetic_Field_Vector command.

uint8_t	ADCS_get_fine_sun_vector (ADCS_fine_sun_vector_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Fine_Sun_Vector command.

uint8_t	ADCS_get_nadir_vector (ADCS_nadir_vector_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Nadir_Vector command.

uint8_t	ADCS_get_commanded_wheel_speed (ADCS_wheel_speed_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Commanded_Wheel_Speed command.

uint8_t	ADCS_get_igrf_magnetic_field_vector (ADCS_magnetic_field_vector_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_IGRF_Magnetic_Field_Vector command.

uint8_t	ADCS_get_quaternion_error_vector (ADCS_quaternion_error_vector_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Quaternion_Error_Vector command.

uint8_t	ADCS_get_estimated_gyro_bias (ADCS_estimated_gyro_bias_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Estimated_Gyro_Bias command.

uint8_t	ADCS_get_estimation_innovation_vector (ADCS_estimation_innovation_vector_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Estimation_Innovation_Vector command.

uint8_t	ADCS_get_raw_cam1_sensor (ADCS_raw_cam_sensor_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Raw_Cam1_Sensor command.

uint8_t	ADCS_get_raw_cam2_sensor (ADCS_raw_cam_sensor_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Raw_Cam2_Sensor command.

uint8_t	ADCS_get_raw_coarse_sun_sensor_1_to_6 (ADCS_raw_coarse_sun_sensor_1_to_6_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Raw_Coarse_Sun_Sensor_1_to_6 command.

uint8_t	ADCS_get_raw_coarse_sun_sensor_7_to_10 (ADCS_raw_coarse_sun_sensor_7_to_10_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Raw_Coarse_Sun_Sensor_7_to_10 command.

uint8_t	ADCS_get_cubecontrol_current (ADCS_cubecontrol_current_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_CubeControl_Current command.

uint8_t	ADCS_get_measurements (ADCS_measurements_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_Measurements command.

uint8_t	ADCS_reset_file_list_read_pointer ()
	Instruct the ADCS to execute the ADCS_reset_file_list_read_pointer command.

uint8_t	ADCS_advance_file_list_read_pointer ()
	Instruct the ADCS to execute the ADCS_advance_file_list_read_pointer command.

uint8_t	ADCS_get_file_info_telemetry (ADCS_file_info_struct_t *output_struct)
	Request file information telemetry from the ADCS.

uint8_t	ADCS_load_file_download_block (ADCS_file_type_enum_t file_type, uint8_t counter, uint32_t offset, uint16_t block_length)
	Instruct the ADCS to load a file download block into the download buffer.

uint8_t	ADCS_get_download_block_ready_telemetry (ADCS_download_block_ready_struct_t *output_struct)
	Request Download Block Ready telemetry from the ADCS.

uint8_t	ADCS_get_acp_execution_state (ADCS_acp_execution_state_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_execution_state command.

uint8_t	ADCS_initiate_download_burst (bool ignore_hole_map)
	Send the Initiate Download Burst command to the ADCS.

uint8_t	ADCS_set_hole_map (uint8_t *hole_map, uint8_t which_map)
	Send a File Upload Hole Map command to the ADCS.

uint8_t	ADCS_get_hole_map (uint8_t *hole_map_struct, uint8_t which_map)
	Retrieve a File Upload Hole Map telemetry from the ADCS.

uint8_t	ADCS_format_sd ()
	Instruct the ADCS to format the SD card.

uint8_t	ADCS_erase_file (ADCS_file_type_enum_t filetype, uint8_t filecounter, bool erase_all)
	Send the Erase File command to the ADCS.

uint8_t	ADCS_get_sd_card_format_erase_progress (ADCS_sd_card_format_erase_progress_struct_t *output_struct)
	Retrieve the SD card format/erase progress telemetry from the ADCS.

uint8_t	ADCS_get_file_download_buffer (ADCS_file_download_buffer_struct_t *output_struct)
	Retrieve the File Download Buffer telemetry from the ADCS.

uint8_t	ADCS_get_current_state_1 (ADCS_current_state_1_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_get_current_state_1 command. (There's an ADCS_current_state_2 command which is presently not implemented)

uint8_t	ADCS_get_raw_star_tracker_data (ADCS_raw_star_tracker_struct_t *output_struct)
	Instruct the ADCS to execute the ADCS_get_raw_star_tracker_data command.

uint8_t	ADCS_save_image_to_sd (ADCS_camera_select_enum_t camera_select, ADCS_image_size_enum_t image_size)
	Instruct the ADCS to save an image to the SD card.

uint8_t	ADCS_synchronize_unix_time ()
	Instruct the ADCS to synchronize its Unix epoch time to the current OBC Unix time.

uint8_t	ADCS_get_current_unix_time (uint64_t *epoch_time_ms)
	Instruct the ADCS to execute the ADCS_get_current_unix_time command.

uint8_t	ADCS_set_sd_log_config (uint8_t which_log, const uint8_t **log_array, uint8_t log_array_len, uint16_t log_period, ADCS_sd_log_destination_enum_t which_sd)
	Instruct the ADCS to execute the ADCS_set_sd_log_config command.

uint8_t	ADCS_get_sd_log_config (uint8_t which_log, ADCS_sd_log_config_struct *config)
	Instruct the ADCS to execute the ADCS_get_sd_log_config command.

int16_t	ADCS_load_sd_file_block_to_filesystem (ADCS_file_info_struct_t file_info, uint8_t current_block, lfs_file_t *file)
	Save one block of the ADCS SD card file pointed to by the file pointer into the ADCS download buffer, then append it to the file in LittleFS.

uint8_t	ADCS_get_sd_card_file_list (uint16_t num_to_read, uint16_t index_offset)
	Get the list of files from the SD card.

int16_t	ADCS_save_sd_file_to_lfs (bool index_file_bool, uint16_t file_index)
	Save a specified file from the ADCS SD card to the ADCS subfolder in LittleFS.

uint8_t	ADCS_disable_SD_logging ()
	Disable all active ADCS SD card logs.

uint8_t	ADCS_disable_peripherals_and_SD_logs_without_stabilisation ()
	Disable all ADCS peripherals and active SD card logs.

uint8_t	ADCS_disable_peripherals_and_SD_logs_with_stabilisation ()
	Disable all ADCS peripherals and active SD card logs except the CubeSense Motor and Signal power, required for attitude stabilisation.

uint8_t	ADCS_erase_sd_file_by_index (uint16_t file_index)
	Given the index on the SD card of a file, erase that file.

uint8_t	ADCS_bootloader_run_program ()
	Run the internal flash (CubeACP) program, exiting the bootloader. If CubeACP is already running, this function does nothing.

Variables
uint8_t	adcs_download_buffer [20480]

Function Documentation

◆ ADCS_advance_file_list_read_pointer()

uint8_t ADCS_advance_file_list_read_pointer ( )

Instruct the ADCS to execute the ADCS_advance_file_list_read_pointer command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_attitude_control_mode()

uint8_t ADCS_attitude_control_mode	(	ADCS_control_mode_enum_t	mode,
		uint16_t	timeout )

Instruct the ADCS to execute the titular command.

Parameters

mode	Control mode to set (Table 77 in Firmware Manual)
timeout	Timeout to set control mode

Returns: 0 if successful, non-zero if an error occurred in transmission.

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◆ ADCS_attitude_estimation_mode()

uint8_t ADCS_attitude_estimation_mode ( ADCS_estimation_mode_enum_t mode )

Instruct the ADCS to execute the ADCS_Attitude_Estimation_Mode command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_bootloader_clear_errors()

uint8_t ADCS_bootloader_clear_errors ( )

Instruct the ADCS to execute the ADCS_Bootloader_Clear_Errors command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_bootloader_run_program()

uint8_t ADCS_bootloader_run_program ( )

Run the internal flash (CubeACP) program, exiting the bootloader. If CubeACP is already running, this function does nothing.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred.

Note: This function always returns an error, because if the ADCS leaves the bootloader it can't confirm this command, which commands it to leave the bootloader

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◆ ADCS_clear_errors()

uint8_t ADCS_clear_errors ( )

Instruct the ADCS to execute the ADCS_Clear_Errors command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_cmd_ack()

uint8_t ADCS_cmd_ack ( ADCS_cmd_ack_struct_t * ack )

Instructs the ADCS to determine whether the last command succeeded. (Doesn't work for telemetry requests, by design.)

Parameters

[out] ack Structure containing the formatted information about the last command sent.

Returns: 0 if successful, non-zero if an error occurred in transmission.

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◆ ADCS_deploy_magnetometer()

uint8_t ADCS_deploy_magnetometer ( uint8_t deploy_timeout )

Instruct the ADCS to execute the ADCS_Deploy_Magnetometer command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_disable_peripherals_and_SD_logs_with_stabilisation()

uint8_t ADCS_disable_peripherals_and_SD_logs_with_stabilisation ( )

Disable all ADCS peripherals and active SD card logs except the CubeSense Motor and Signal power, required for attitude stabilisation.

Note: If CubeSense Motor and/or Signal Power are already off, they will remain off.; Compared to without_stabilisation, this costs average 250 mW, maximum 1 W extra.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred.

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◆ ADCS_disable_peripherals_and_SD_logs_without_stabilisation()

uint8_t ADCS_disable_peripherals_and_SD_logs_without_stabilisation ( )

Disable all ADCS peripherals and active SD card logs.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred.

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◆ ADCS_disable_SD_logging()

uint8_t ADCS_disable_SD_logging ( )

Disable all active ADCS SD card logs.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred.

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◆ ADCS_erase_file()

uint8_t ADCS_erase_file	(	ADCS_file_type_enum_t	filetype,
		uint8_t	filecounter,
		bool	erase_all )

Send the Erase File command to the ADCS.

Parameters

[in] erase_file_command Pointer to a struct containing the file type, file counter, and erase all flag.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_erase_sd_file_by_index()

uint8_t ADCS_erase_sd_file_by_index ( uint16_t file_index )

Given the index on the SD card of a file, erase that file.

Parameters

[in] file_index The index of the file.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred.

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◆ ADCS_format_sd()

uint8_t ADCS_format_sd ( )

Instruct the ADCS to format the SD card.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_acp_execution_state()

uint8_t ADCS_get_acp_execution_state ( ADCS_acp_execution_state_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_execution_state command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_augmented_sgp4_params()

uint8_t ADCS_get_augmented_sgp4_params ( ADCS_augmented_sgp4_params_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Augmented_SGP4_Params command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_commanded_attitude_angles()

uint8_t ADCS_get_commanded_attitude_angles ( ADCS_commanded_angles_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Commanded_Attitude_Angles command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_commanded_wheel_speed()

uint8_t ADCS_get_commanded_wheel_speed ( ADCS_wheel_speed_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Commanded_Wheel_Speed command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_communication_status()

uint8_t ADCS_get_communication_status ( ADCS_comms_status_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Communication_Status command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_cubecontrol_current()

uint8_t ADCS_get_cubecontrol_current ( ADCS_cubecontrol_current_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_CubeControl_Current command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_current_state_1()

uint8_t ADCS_get_current_state_1 ( ADCS_current_state_1_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_get_current_state_1 command. (There's an ADCS_current_state_2 command which is presently not implemented)

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_current_unix_time()

uint8_t ADCS_get_current_unix_time ( uint64_t * epoch_time_ms )

Instruct the ADCS to execute the ADCS_get_current_unix_time command.

Parameters

epoch_time_ms Pointer to uint64 to store the time since the Unix epoch in ms, according to the ADCS

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_download_block_ready_telemetry()

uint8_t ADCS_get_download_block_ready_telemetry ( ADCS_download_block_ready_struct_t * output_struct )

Request Download Block Ready telemetry from the ADCS.

Parameters

[out] output_struct Pointer to the struct to populate with telemetry data.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_estimate_angular_rates()

uint8_t ADCS_get_estimate_angular_rates ( ADCS_angular_rates_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Estimate_Angular_Rates command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_estimate_fine_angular_rates()

uint8_t ADCS_get_estimate_fine_angular_rates ( ADCS_fine_angular_rates_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Estimate_Fine_Angular_Rates command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_estimated_attitude_angles()

uint8_t ADCS_get_estimated_attitude_angles ( ADCS_estimated_attitude_angles_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Estimated_Attitude_Angles command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_estimated_gyro_bias()

uint8_t ADCS_get_estimated_gyro_bias ( ADCS_estimated_gyro_bias_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Estimated_Gyro_Bias command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_estimation_innovation_vector()

uint8_t ADCS_get_estimation_innovation_vector ( ADCS_estimation_innovation_vector_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Estimation_Innovation_Vector command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_estimation_params()

uint8_t ADCS_get_estimation_params ( ADCS_estimation_params_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Estimation_Params command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_file_download_buffer()

uint8_t ADCS_get_file_download_buffer ( ADCS_file_download_buffer_struct_t * output_struct )

Retrieve the File Download Buffer telemetry from the ADCS.

Parameters

[out] output_struct Pointer to the struct where the telemetry data will be stored.

Returns: 0 if successful, non-zero if an error occurred in transmission or processing.

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◆ ADCS_get_file_info_telemetry()

uint8_t ADCS_get_file_info_telemetry ( ADCS_file_info_struct_t * output_struct )

Request file information telemetry from the ADCS.

Parameters

[out] output_struct Pointer to the struct to store parsed telemetry data.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_fine_sun_vector()

uint8_t ADCS_get_fine_sun_vector ( ADCS_fine_sun_vector_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Fine_Sun_Vector command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_hole_map()

uint8_t ADCS_get_hole_map	(	uint8_t *	hole_map_struct,
		uint8_t	which_map )

Retrieve a File Upload Hole Map telemetry from the ADCS.

Parameters

[out]	hole_map_struct	Pointer to an array of uint8 to store the retrieved hole map.
[in]	which_map	Number between 1 and 8 to choose the hole map to upload.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_identification()

uint8_t ADCS_get_identification ( ADCS_id_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Identification command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_igrf_magnetic_field_vector()

uint8_t ADCS_get_igrf_magnetic_field_vector ( ADCS_magnetic_field_vector_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_IGRF_Magnetic_Field_Vector command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_llh_position()

uint8_t ADCS_get_llh_position ( ADCS_llh_position_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_LLH_Position command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_magnetic_field_vector()

uint8_t ADCS_get_magnetic_field_vector ( ADCS_magnetic_field_vector_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Magnetic_Field_Vector command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_magnetometer_config()

uint8_t ADCS_get_magnetometer_config ( ADCS_magnetometer_config_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Magnetometer_Config command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_magnetorquer_command()

uint8_t ADCS_get_magnetorquer_command ( ADCS_magnetorquer_command_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Magnetorquer_Command command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_measurements()

uint8_t ADCS_get_measurements ( ADCS_measurements_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Measurements command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_nadir_vector()

uint8_t ADCS_get_nadir_vector ( ADCS_nadir_vector_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Nadir_Vector command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_power_control()

uint8_t ADCS_get_power_control ( ADCS_power_control_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Power_Control command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_program_status()

uint8_t ADCS_get_program_status ( ADCS_boot_running_status_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Program_Status command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_quaternion_error_vector()

uint8_t ADCS_get_quaternion_error_vector ( ADCS_quaternion_error_vector_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Quaternion_Error_Vector command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_rate_gyro_config()

uint8_t ADCS_get_rate_gyro_config ( ADCS_rate_gyro_config_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Rate_Gyro_Config command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_rate_sensor_rates()

uint8_t ADCS_get_rate_sensor_rates ( ADCS_rated_sensor_rates_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Rate_Sensor_Rates command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_raw_cam1_sensor()

uint8_t ADCS_get_raw_cam1_sensor ( ADCS_raw_cam_sensor_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Raw_Cam1_Sensor command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_raw_cam2_sensor()

uint8_t ADCS_get_raw_cam2_sensor ( ADCS_raw_cam_sensor_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Raw_Cam2_Sensor command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_raw_coarse_sun_sensor_1_to_6()

uint8_t ADCS_get_raw_coarse_sun_sensor_1_to_6 ( ADCS_raw_coarse_sun_sensor_1_to_6_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Raw_Coarse_Sun_Sensor_1_to_6 command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_raw_coarse_sun_sensor_7_to_10()

uint8_t ADCS_get_raw_coarse_sun_sensor_7_to_10 ( ADCS_raw_coarse_sun_sensor_7_to_10_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Raw_Coarse_Sun_Sensor_7_to_10 command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_raw_magnetometer_values()

uint8_t ADCS_get_raw_magnetometer_values ( ADCS_raw_magnetometer_values_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Raw_Magnetometer_Values command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_raw_star_tracker_data()

uint8_t ADCS_get_raw_star_tracker_data ( ADCS_raw_star_tracker_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_get_raw_star_tracker_data command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_sd_card_file_list()

uint8_t ADCS_get_sd_card_file_list	(	uint16_t	num_to_read,
		uint16_t	index_offset )

Get the list of files from the SD card.

Parameters

[in]	num_to_read	The maximum number of file entries to read.
[in]	index_offset	The index (starting at 0) from which to start reading files.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission, negative if an LFS or snprintf error code occurred.

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◆ ADCS_get_sd_card_format_erase_progress()

uint8_t ADCS_get_sd_card_format_erase_progress ( ADCS_sd_card_format_erase_progress_struct_t * output_struct )

Retrieve the SD card format/erase progress telemetry from the ADCS.

Parameters

[out] output_struct Pointer to the struct where the telemetry data will be stored.

Returns: 0 if successful, non-zero if an error occurred in transmission or processing.

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◆ ADCS_get_sd_log_config()

uint8_t ADCS_get_sd_log_config	(	uint8_t	which_log,
		ADCS_sd_log_config_struct *	config )

Instruct the ADCS to execute the ADCS_get_sd_log_config command.

Parameters

[in]	config	Pointer to struct to store the config data
[in]	which_log	1 or 2; which specific log number to log to the SD card

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_sgp4_orbit_params()

uint8_t ADCS_get_sgp4_orbit_params ( ADCS_orbit_params_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_SGP4_Orbit_Params command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_tracking_controller_target_reference()

uint8_t ADCS_get_tracking_controller_target_reference ( ADCS_tracking_controller_target_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Tracking_Controller_Target_Reference command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_unix_time_save_mode()

uint8_t ADCS_get_unix_time_save_mode ( ADCS_set_unix_time_save_mode_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Unix_Time_Save_Mode command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_get_wheel_speed()

uint8_t ADCS_get_wheel_speed ( ADCS_wheel_speed_struct_t * output_struct )

Instruct the ADCS to execute the ADCS_Get_Wheel_Speed command.

Parameters

output_struct Pointer to struct in which to place packed ADCS telemetry data

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_initialize()

uint8_t ADCS_initialize ( )

Initialize the ADCS CRC, timestamp, and file system directory.

Returns: 0 when successful

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◆ ADCS_initiate_download_burst()

uint8_t ADCS_initiate_download_burst ( bool ignore_hole_map )

Send the Initiate Download Burst command to the ADCS.

Parameters

[in] ignore_hole_map Boolean flag to ignore the hole map.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_load_file_download_block()

uint8_t ADCS_load_file_download_block	(	ADCS_file_type_enum_t	file_type,
		uint8_t	counter,
		uint32_t	offset,
		uint16_t	block_length )

Instruct the ADCS to load a file download block into the download buffer.

Parameters

[in]	file_type	File type to load (e.g., telemetry log, JPG, etc.).
[in]	counter	Counter value for file block.
[in]	offset	Offset in the file from which to start downloading.
[in]	block_length	Number of packets to send.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_load_sd_file_block_to_filesystem()

int16_t ADCS_load_sd_file_block_to_filesystem	(	ADCS_file_info_struct_t	file_info,
		uint8_t	current_block,
		lfs_file_t *	file )

Save one block of the ADCS SD card file pointed to by the file pointer into the ADCS download buffer, then append it to the file in LittleFS.

Parameters

[in]	file_info	A struct containing information about the currently-pointed-to file
[in]	current_block	The block to load into the download buffer
[in]	file	Pointer to LittleFS file to store everything to

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission. Specifically: bytes 0-2 are the ADCS error, bytes 3-10 are which command failed, bytes 11-16 are the index of the failure if applicable

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◆ ADCS_reset()

uint8_t ADCS_reset ( )

Instruct the ADCS to execute the ADCS_Reset command.

Returns: 0 if successful, non-zero if a HAL error occurred in transmission.

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◆ ADCS_reset_file_list_read_pointer()

uint8_t ADCS_reset_file_list_read_pointer ( )

Instruct the ADCS to execute the ADCS_reset_file_list_read_pointer command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_run_once()

uint8_t ADCS_run_once ( )

Instruct the ADCS to execute the ADCS_Run_Once command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_save_config()

uint8_t ADCS_save_config ( )

Instruct the ADCS to execute the ADCS_Save_Config command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_save_image_to_sd()

uint8_t ADCS_save_image_to_sd	(	ADCS_camera_select_enum_t	camera_select,
		ADCS_image_size_enum_t	image_size )

Instruct the ADCS to save an image to the SD card.

Parameters

[in]	camera_select	(int) Which camera to save the image from; can be Camera 1 (0) [sun], Camera 2 (1) [nadir, boom-side], or Star (2) [not on CTS-SAT-1]
[in]	image_size	(int) Resolution of the image to save; can be 1024x1024 (0), 512x512 (1), 256x256 (2), 128x128 (3), or 64x64 (4)

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_save_orbit_params()

uint8_t ADCS_save_orbit_params ( )

Instruct the ADCS to execute the ADCS_Save_Orbit_Params command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_save_sd_file_to_lfs()

int16_t ADCS_save_sd_file_to_lfs	(	bool	index_file_bool,
		uint16_t	file_index )

Save a specified file from the ADCS SD card to the ADCS subfolder in LittleFS.

Parameters

[in]	index_file_bool	Whether this is the index file or not
[in]	file_index	Index of the file in the SD card; only used if index_file_bool is false

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission, negative if an LFS or snprintf error code occurred. Specifically, assuming no HAL or LFS error: bytes 0-2 are the ADCS error, bytes 3-10 are which command failed, bytes 11-16 are the index of the failure if applicable

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◆ ADCS_set_augmented_sgp4_params()

uint8_t ADCS_set_augmented_sgp4_params	(	double	incl_coefficient,
		double	raan_coefficient,
		double	ecc_coefficient,
		double	aop_coefficient,
		double	time_coefficient,
		double	pos_coefficient,
		double	maximum_position_error,
		ADCS_augmented_sgp4_filter_enum_t	augmented_sgp4_filter,
		double	xp_coefficient,
		double	yp_coefficient,
		uint8_t	gps_roll_over,
		double	position_sd,
		double	velocity_sd,
		uint8_t	min_satellites,
		double	time_gain,
		double	max_lag,
		uint16_t	min_samples )

Set the Augmented SGP4 Parameters of the ADCS.

Parameters

[in]	incl_coefficient	Set inclination filter coefficient
[in]	raan_coefficient	Set RAAN filter coefficient
[in]	ecc_coefficient	Set eccentricity filter coefficient
[in]	aop_coefficient	Set argument of perigee filter coefficient
[in]	time_coefficient	Set time filter coefficient
[in]	pos_coefficient	Set position filter coefficient
[in]	maximum_position_error	Maximum position error for Augmented_SGP4 to continue working
[in]	augmented_sgp4_filter	The type of filter being used (enum)
[in]	xp_coefficient	Polar coefficient xp
[in]	yp_coefficient	Polar coefficient yp
[in]	gps_roll_over	GPS roll over number
[in]	position_sd	Maximum position standard deviation for Augmented_SGP4 to continue working
[in]	velocity_sd	Maximum velocity standard deviation for Augmented_SGP4 to continue working
[in]	min_satellites	Minimum satellites required for Augmented_SGP4 to continue working
[in]	time_gain	Time offset compensation gain
[in]	max_lag	Maximum lagged timestamp measurements to incorporate
[in]	min_samples	Minimum samples to use to get Augmented_SGP4

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_commanded_attitude_angles()

uint8_t ADCS_set_commanded_attitude_angles	(	double	x,
		double	y,
		double	z )

Instruct the ADCS to execute the ADCS_Set_Commanded_Attitude_Angles command.

Parameters

[in]	x	x attitude angle
[in]	y	y attitude angle
[in]	z	z attitude angle

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_estimation_params()

uint8_t ADCS_set_estimation_params	(	float	magnetometer_rate_filter_system_noise,
		float	extended_kalman_filter_system_noise,
		float	coarse_sun_sensor_measurement_noise,
		float	sun_sensor_measurement_noise,
		float	nadir_sensor_measurement_noise,
		float	magnetometer_measurement_noise,
		float	star_tracker_measurement_noise,
		bool	use_sun_sensor,
		bool	use_nadir_sensor,
		bool	use_css,
		bool	use_star_tracker,
		bool	nadir_sensor_terminator_test,
		bool	automatic_magnetometer_recovery,
		ADCS_magnetometer_mode_enum_t	magnetometer_mode,
		ADCS_magnetometer_mode_enum_t	magnetometer_selection_for_raw_magnetometer_telemetry,
		bool	automatic_estimation_transition_due_to_rate_sensor_errors,
		bool	wheel_30s_power_up_delay,
		uint8_t	error_counter_reset_period_min )

Instruct the ADCS to execute the ADCS_Set_Estimation_Params command.

Parameters

[in]	magnetometer_rate_filter_system_noise	Magnetometer rate filter system noise parameter
[in]	extended_kalman_filter_system_noise	EKS system noise parameter
[in]	coarse_sun_sensor_measurement_noise	CSS measurement noise parameter
[in]	sun_sensor_measurement_noise	sun sensor measurement noise parameter
[in]	nadir_sensor_measurement_noise	nadir sensor measurement noise parameter
[in]	magnetometer_measurement_noise	magnetometer measurement noise parameter
[in]	star_tracker_measurement_noise	star tracker measurement noise parameter
[in]	use_sun_sensor	whether or not to use the sun sensor measurement in extended kalman filter
[in]	use_nadir_sensor	whether or not to use the nadir sensor measurement in extended kalman filter
[in]	use_css	whether or not to use the CSS measurement in extended kalman filter
[in]	use_star_tracker	whether or not to use the star tracker measurement in extended kalman filter
[in]	nadir_sensor_terminator_test	select to ignore nadir sensor measurements when terminator is in FOV
[in]	automatic_magnetometer_recovery	select whether automatic switch to redundant magnetometer should occur in case of failure
[in]	magnetometer_mode	select magnetometer mode for estimation and control
[in]	magnetometer_selection_for_raw_magnetometer_telemetry	select magnetometer mode for the second raw telemetry frame
[in]	automatic_estimation_transition_due_to_rate_sensor_errors	enable/disable automatic transition from MEMS rate estimation mode to RKF in case of rate sensor error
[in]	wheel_30s_power_up_delay	present in CubeSupport but not in the manual – need to test
[in]	error_counter_reset_period_min	reset period for error counter

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_hole_map()

uint8_t ADCS_set_hole_map	(	uint8_t *	hole_map,
		uint8_t	which_map )

Send a File Upload Hole Map command to the ADCS.

Parameters

[in]	hole_map	Pointer to a 16-byte array representing the hole map.
[in]	which_map	Number between 1 and 8 to choose the hole map to upload.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_magnetometer_config()

uint8_t ADCS_set_magnetometer_config	(	double	mounting_transform_alpha_angle,
		double	mounting_transform_beta_angle,
		double	mounting_transform_gamma_angle,
		double	channel_1_offset,
		double	channel_2_offset,
		double	channel_3_offset,
		double	sensitivity_matrix_s11,
		double	sensitivity_matrix_s22,
		double	sensitivity_matrix_s33,
		double	sensitivity_matrix_s12,
		double	sensitivity_matrix_s13,
		double	sensitivity_matrix_s21,
		double	sensitivity_matrix_s23,
		double	sensitivity_matrix_s31,
		double	sensitivity_matrix_s32 )

Instruct the ADCS to set the magnetometer configuration.

Parameters

mounting_transform_alpha_angle	Mounting transform alpha angle [deg]
mounting_transform_beta_angle	Mounting transform beta angle [deg]
mounting_transform_gamma_angle	Mounting transform gamma angle [deg]
channel_1_offset	Channel 1 offset value
channel_2_offset	Channel 2 offset value
channel_3_offset	Channel 3 offset value
sensitivity_matrix_s11	Value (1, 1) of the magnetometer sensitivity matrix
sensitivity_matrix_s22	Value (2, 2) of the magnetometer sensitivity matrix
sensitivity_matrix_s33	Value (3, 3) of the magnetometer sensitivity matrix
sensitivity_matrix_s12	Value (1, 2) of the magnetometer sensitivity matrix
sensitivity_matrix_s13	Value (1, 3) of the magnetometer sensitivity matrix
sensitivity_matrix_s21	Value (2, 1) of the magnetometer sensitivity matrix
sensitivity_matrix_s23	Value (2, 3) of the magnetometer sensitivity matrix
sensitivity_matrix_s31	Value (3, 1) of the magnetometer sensitivity matrix
sensitivity_matrix_s32	Value (3, 2) of the magnetometer sensitivity matrix

Returns: 0 if successful, non-zero if an error occurred in transmission.

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◆ ADCS_set_magnetometer_mode()

uint8_t ADCS_set_magnetometer_mode ( ADCS_magnetometer_mode_enum_t mode )

Instruct the ADCS to execute the titular command.

Parameters

mode	Mode to set (Table 89 in Firmware Manual)

Returns: 0 if successful, non-zero if an error occurred in transmission.

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◆ ADCS_set_magnetorquer_output()

uint8_t ADCS_set_magnetorquer_output	(	double	x_duty,
		double	y_duty,
		double	z_duty )

Instruct the ADCS to execute the ADCS_Set_Magnetorquer_Output command.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_power_control()

uint8_t ADCS_set_power_control	(	ADCS_power_select_enum_t	cube_control_signal,
		ADCS_power_select_enum_t	cube_control_motor,
		ADCS_power_select_enum_t	cube_sense1,
		ADCS_power_select_enum_t	cube_sense2,
		ADCS_power_select_enum_t	cube_star_power,
		ADCS_power_select_enum_t	cube_wheel1_power,
		ADCS_power_select_enum_t	cube_wheel2_power,
		ADCS_power_select_enum_t	cube_wheel3_power,
		ADCS_power_select_enum_t	motor_power,
		ADCS_power_select_enum_t	gps_power )

Set the power control mode of each component of the ADCS; for each, 0 turns the component off, 1 turns it on, and 2 keeps it the same as previously.

Parameters

cube_control_signal	Power control mode for cube control signal
cube_control_motor	Power control mode for cube control motor
cube_sense1	Power control mode for cube sense 1
cube_sense2	Power control mode for cube sense 2
cube_star_power	Power control mode for cube star
cube_wheel1_power	Power control mode for cube wheel 1
cube_wheel2_power	Power control mode for cube wheel 2
cube_wheel3_power	Power control mode for cube wheel 3
motor_power	Power control mode for motor
gps_power	Power control mode for gps

Returns: 0 if successful, non-zero if an error occurred in transmission.

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◆ ADCS_set_rate_gyro_config()

uint8_t ADCS_set_rate_gyro_config	(	ADCS_axis_select_enum_t	gyro1,
		ADCS_axis_select_enum_t	gyro2,
		ADCS_axis_select_enum_t	gyro3,
		double	x_rate_offset,
		double	y_rate_offset,
		double	z_rate_offset,
		uint8_t	rate_sensor_mult )

Instruct the ADCS to execute the ADCS_Set_Rate_Gyro_Config command.

Parameters

[in]	gyro1	Axis for Gyro #1 (options are pos/neg x, pos/neg y, pos/neg z)
[in]	gyro2	Axis for Gyro #2 (options are pos/neg x, pos/neg y, pos/neg z)
[in]	gyro3	Axis for Gyro #3 (options are pos/neg x, pos/neg y, pos/neg z)
[in]	x_rate_offset	x-rate sensor offset
[in]	y_rate_offset	y-rate sensor offset
[in]	z_rate_offset	z-rate sensor offset
[in]	rate_sensor_mult	multiplier of rate sensor measurement

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_run_mode()

uint8_t ADCS_set_run_mode ( ADCS_run_mode_enum_t mode )

Instruct the ADCS to execute the ADCS_Set_Run_Mode command.

Parameters

[in] mode Run mode to set; can be can be off (0), enabled (1), triggered (2), or simulation (3)

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_sd_log_config()

uint8_t ADCS_set_sd_log_config	(	uint8_t	which_log,
		const uint8_t **	log_array,
		uint8_t	log_array_len,
		uint16_t	log_period,
		ADCS_sd_log_destination_enum_t	which_sd )

Instruct the ADCS to execute the ADCS_set_sd_log_config command.

Parameters

[in]	which_log	1 or 2; which specific log number to log to the SD card
[in]	log_array	Pointer to list of bitmasks to set the log config
[in]	log_array_len	Number of things to log
[in]	log_period	Period to log data to the SD card; if zero, then disable logging
[in]	which_sd	Which SD card to log to; 0 for primary, 1 for secondary

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_sgp4_orbit_params()

uint8_t ADCS_set_sgp4_orbit_params	(	double	inclination,
		double	eccentricity,
		double	ascending_node_right_ascension,
		double	perigee_argument,
		double	b_star_drag_term,
		double	mean_motion,
		double	mean_anomaly,
		double	epoch )

Instruct the ADCS to execute the ADCS_Set_SGP4_Orbit_Params command.

Parameters

[in]	inclination	inclination (degrees)
[in]	eccentricity	eccentricity (dimensionless)
[in]	ascending_node_right_ascension	right ascension of the ascending node (degrees)
[in]	perigee_argument	argument of perigee (degrees)
[in]	b_star_drag_term	b-star drag term (dimensionless)
[in]	mean_motion	mean motion (orbits per day)
[in]	mean_anomaly	mean anomaly (degrees)
[in]	epoch	epoch (double; integer component is year, decimal component is day)

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_tracking_controller_target_reference()

uint8_t ADCS_set_tracking_controller_target_reference	(	float	lon,
		float	lat,
		float	alt )

Instruct the ADCS to execute the ADCS_Set_Tracking_Controller_Target_Reference command.

Parameters

[in]	lon	longitude
[in]	lat	latitude
[in]	alt	altitude

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_unix_time_save_mode()

uint8_t ADCS_set_unix_time_save_mode	(	bool	save_now,
		bool	save_on_update,
		bool	save_periodic,
		uint8_t	period_s )

Instruct the ADCS to execute the ADCS_Set_Unix_Time_Save_Mode command.

Parameters

[in]	save_now	whether to save the current Unix time immediately (bool passed as int; 1 = save immediately, 0 = don't save immediately)
[in]	save_on_update	whether to save the current Unix time whenever a command is used to update it (bool passed as int; 1 = save on command, 0 = don't)
[in]	save_periodic	whether to save the current Unix time periodically (bool passed as int; 1 = save periodically, 0 = don't)
[in]	period_s	the period of saving the current Unix time

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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◆ ADCS_set_wheel_speed()

uint8_t ADCS_set_wheel_speed	(	int16_t	x_speed,
		int16_t	y_speed,
		int16_t	z_speed )

Instruct the ADCS to execute the titular command.

Parameters

x_speed	Wheel speed X value
y_speed	Wheel speed Y value
z_speed	Wheel speed Z value

Returns: 0 if successful, non-zero if an error occurred in transmission.

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◆ ADCS_synchronize_unix_time()

uint8_t ADCS_synchronize_unix_time ( )

Instruct the ADCS to synchronize its Unix epoch time to the current OBC Unix time.

Returns: 0 if successful, non-zero if a HAL or ADCS error occurred in transmission.

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Variable Documentation

◆ adcs_download_buffer

uint8_t adcs_download_buffer[20480]

Functions

Variables

Function Documentation

◆ ADCS_advance_file_list_read_pointer()

◆ ADCS_attitude_control_mode()

◆ ADCS_attitude_estimation_mode()

◆ ADCS_bootloader_clear_errors()

◆ ADCS_bootloader_run_program()

◆ ADCS_clear_errors()

◆ ADCS_cmd_ack()

◆ ADCS_deploy_magnetometer()

◆ ADCS_disable_peripherals_and_SD_logs_with_stabilisation()

◆ ADCS_disable_peripherals_and_SD_logs_without_stabilisation()

◆ ADCS_disable_SD_logging()

◆ ADCS_erase_file()

◆ ADCS_erase_sd_file_by_index()

◆ ADCS_format_sd()

◆ ADCS_get_acp_execution_state()

◆ ADCS_get_augmented_sgp4_params()

◆ ADCS_get_commanded_attitude_angles()

◆ ADCS_get_commanded_wheel_speed()

◆ ADCS_get_communication_status()

◆ ADCS_get_cubecontrol_current()

◆ ADCS_get_current_state_1()

◆ ADCS_get_current_unix_time()

◆ ADCS_get_download_block_ready_telemetry()

◆ ADCS_get_estimate_angular_rates()

◆ ADCS_get_estimate_fine_angular_rates()

◆ ADCS_get_estimated_attitude_angles()

◆ ADCS_get_estimated_gyro_bias()

◆ ADCS_get_estimation_innovation_vector()

◆ ADCS_get_estimation_params()

◆ ADCS_get_file_download_buffer()

◆ ADCS_get_file_info_telemetry()

◆ ADCS_get_fine_sun_vector()

◆ ADCS_get_hole_map()

◆ ADCS_get_identification()

◆ ADCS_get_igrf_magnetic_field_vector()

◆ ADCS_get_llh_position()

◆ ADCS_get_magnetic_field_vector()

◆ ADCS_get_magnetometer_config()

◆ ADCS_get_magnetorquer_command()

◆ ADCS_get_measurements()

◆ ADCS_get_nadir_vector()

◆ ADCS_get_power_control()

◆ ADCS_get_program_status()

◆ ADCS_get_quaternion_error_vector()

◆ ADCS_get_rate_gyro_config()

◆ ADCS_get_rate_sensor_rates()

◆ ADCS_get_raw_cam1_sensor()

◆ ADCS_get_raw_cam2_sensor()

◆ ADCS_get_raw_coarse_sun_sensor_1_to_6()

◆ ADCS_get_raw_coarse_sun_sensor_7_to_10()

◆ ADCS_get_raw_magnetometer_values()

◆ ADCS_get_raw_star_tracker_data()

◆ ADCS_get_sd_card_file_list()

◆ ADCS_get_sd_card_format_erase_progress()

◆ ADCS_get_sd_log_config()

◆ ADCS_get_sgp4_orbit_params()

◆ ADCS_get_tracking_controller_target_reference()

◆ ADCS_get_unix_time_save_mode()

◆ ADCS_get_wheel_speed()

◆ ADCS_initialize()

◆ ADCS_initiate_download_burst()

◆ ADCS_load_file_download_block()

◆ ADCS_load_sd_file_block_to_filesystem()

◆ ADCS_reset()

◆ ADCS_reset_file_list_read_pointer()

◆ ADCS_run_once()

◆ ADCS_save_config()

◆ ADCS_save_image_to_sd()

◆ ADCS_save_orbit_params()

◆ ADCS_save_sd_file_to_lfs()

◆ ADCS_set_augmented_sgp4_params()

◆ ADCS_set_commanded_attitude_angles()

◆ ADCS_set_estimation_params()

◆ ADCS_set_hole_map()

◆ ADCS_set_magnetometer_config()

◆ ADCS_set_magnetometer_mode()

◆ ADCS_set_magnetorquer_output()