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Tickets/dm 40878 #764

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Oct 17, 2023
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Tickets/dm 40878 #764

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e53e20c
Update the rotator for the simplified state machine.
teweitsai Oct 3, 2023
86b5be9
Update the history.
teweitsai Oct 3, 2023
381026c
Update the telemetry of MTHexapod.
teweitsai Oct 10, 2023
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13 changes: 13 additions & 0 deletions doc/version-history.rst
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Expand Up @@ -8,6 +8,19 @@ v20.1.0
-------

* Updated the contents of the README.
* Interface updates:

* MTRotator

* Add FaultSubstate enumeration.
* Add the new item ``copleyFaultStatus`` in ``MTRotator_electrical`` topic.
* Rename the item ``offlineSubstate`` to ``faultSubstate`` in ``MTRotator_logevent_controllerState`` topic.
* Add the new item ``drivesEnabled`` to ``MTRotator_logevent_configuration`` topic.

* MTHexapod

* Fix and improve the description in ``MTHexapod_actuators`` topic.
* Add the new item ``copleyFaultStatus`` and improve the description in ``MTHexapod_electrical`` topic.

v20.0.0
-------
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21 changes: 14 additions & 7 deletions python/lsst/ts/xml/data/sal_interfaces/MTHexapod/MTHexapod_Telemetry.xml
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Expand Up @@ -6,21 +6,21 @@
<EFDB_Topic>MTHexapod_actuators</EFDB_Topic>
<item>
<EFDB_Name>calibrated</EFDB_Name>
<Description>Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns</Description>
<Description>Estimated strut length from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns</Description>
<IDL_Type>double</IDL_Type>
<Units>um</Units>
<Count>6</Count>
</item>
<item>
<EFDB_Name>raw</EFDB_Name>
<Description>Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in counts</Description>
<Description>Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in counts/nanometer (raw linear load encoder, 0x6064)</Description>
<IDL_Type>double</IDL_Type>
<Units>unitless</Units>
<Count>6</Count>
</item>
<item>
<EFDB_Name>positionError</EFDB_Name>
<Description>Position error of each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns</Description>
<Description>Position error of each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns (following error actual value, 0x60F4)</Description>
<IDL_Type>double</IDL_Type>
<Units>micron</Units>
<Count>6</Count>
Expand Down Expand Up @@ -63,28 +63,35 @@
<EFDB_Topic>MTHexapod_electrical</EFDB_Topic>
<item>
<EFDB_Name>copleyStatusWordDrive</EFDB_Name>
<Description>Bus undervoltage fault, bus overvoltage fault, and overcurrent fault are all being monitored for each drive channel</Description>
<Description>Bus undervoltage fault, bus overvoltage fault, and overcurrent fault are all being monitored for each drive channel (drive status word, 0x6041).</Description>
<IDL_Type>unsigned short</IDL_Type>
<Units>unitless</Units>
<Count>6</Count>
</item>
<item>
<EFDB_Name>copleyLatchingFaultStatus</EFDB_Name>
<Description>Copley latching fault status</Description>
<Description>Copley latching fault status (0x2183).</Description>
<IDL_Type>unsigned short</IDL_Type>
<Units>unitless</Units>
<Count>6</Count>
</item>
<item>
<EFDB_Name>copleyFaultStatus</EFDB_Name>
<Description>Copley sticky amplifier event status register (0x2180).</Description>
<IDL_Type>unsigned int</IDL_Type>
<Units>unitless</Units>
<Count>6</Count>
</item>
<item>
<EFDB_Name>motorCurrent</EFDB_Name>
<Description>Actual current for each strut motor</Description>
<Description>Actual current for each strut motor.</Description>
<IDL_Type>double</IDL_Type>
<Units>A</Units>
<Count>6</Count>
</item>
<item>
<EFDB_Name>busVoltage</EFDB_Name>
<Description>Actual bus voltage for each pair of strut motors</Description>
<Description>Actual bus voltage for each pair of strut motors.</Description>
<IDL_Type>double</IDL_Type>
<Units>V</Units>
<Count>3</Count>
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16 changes: 14 additions & 2 deletions python/lsst/ts/xml/data/sal_interfaces/MTRotator/MTRotator_Events.xml
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Expand Up @@ -20,6 +20,11 @@
EnabledSubstate_Initializing=4,
EnabledSubstate_Relative=5,
EnabledSubstate_ConstantVelocity=6
</Enumeration>
<Enumeration>
FaultSubstate_EmergencyStopping=0,
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FaultSubstate_WaitClearError=1,
FaultSubstate_NoError=2
</Enumeration>
<Enumeration>
ApplicationStatus_EUI_CONNECTED = 0x4,
Expand Down Expand Up @@ -47,8 +52,8 @@
<Count>1</Count>
</item>
<item>
<EFDB_Name>offlineSubstate</EFDB_Name>
<Description>Substate in OFFLINE mode. An OfflineSubstate enumeration value.</Description>
<EFDB_Name>faultSubstate</EFDB_Name>
<Description>Substate in FAULT mode. A FaultSubstate enumeration value.</Description>
<IDL_Type>long</IDL_Type>
<Units>unitless</Units>
<Count>1</Count>
Expand Down Expand Up @@ -244,6 +249,13 @@
<Units>deg/s</Units>
<Count>1</Count>
</item>
<item>
<EFDB_Name>drivesEnabled</EFDB_Name>
<Description>Drives are enabled or not.</Description>
<IDL_Type>boolean</IDL_Type>
<Units>unitless</Units>
<Count>1</Count>
</item>
</SALEvent>
<SALEvent>
<Subsystem>MTRotator</Subsystem>
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11 changes: 9 additions & 2 deletions python/lsst/ts/xml/data/sal_interfaces/MTRotator/MTRotator_Telemetry.xml
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Expand Up @@ -101,18 +101,25 @@
<EFDB_Topic>MTRotator_electrical</EFDB_Topic>
<item>
<EFDB_Name>copleyStatusWordDrive</EFDB_Name>
<Description>Copley drive status word.</Description>
<Description>Copley drive status word (0x6041).</Description>
<IDL_Type>unsigned short</IDL_Type>
<Units>unitless</Units>
<Count>2</Count>
</item>
<item>
<EFDB_Name>copleyLatchingFaultStatus</EFDB_Name>
<Description>Copley latching fault status register.</Description>
<Description>Copley latching fault status register (0x2183).</Description>
<IDL_Type>unsigned short</IDL_Type>
<Units>unitless</Units>
<Count>2</Count>
</item>
<item>
<EFDB_Name>copleyFaultStatus</EFDB_Name>
<Description>Copley sticky amplifier event status register (0x2180).</Description>
<IDL_Type>unsigned int</IDL_Type>
<Units>unitless</Units>
<Count>2</Count>
</item>
</SALTelemetry>
<SALTelemetry>
<Subsystem>MTRotator</Subsystem>
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26 changes: 22 additions & 4 deletions python/lsst/ts/xml/enums/MTRotator.py
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Expand Up @@ -22,6 +22,7 @@
"ControllerState",
"OfflineSubstate",
"EnabledSubstate",
"FaultSubstate",
"ApplicationStatus",
"ErrorCode",
]
Expand All @@ -41,9 +42,9 @@ class ControllerState(enum.IntEnum):
"""

STANDBY = 0
DISABLED = enum.auto()
DISABLED = enum.auto() # Deprecated in rotator
ENABLED = enum.auto()
OFFLINE = enum.auto()
OFFLINE = enum.auto() # Deprecated in rotator
FAULT = enum.auto()


Expand All @@ -53,6 +54,10 @@ class OfflineSubstate(enum.IntEnum):
Value reported in ``telemetry.offline_substate``.

This is enum ``OfflineSubStates`` in Moog code.

Deprecated in the rotator.

TODO: Remove this after simplifying the state machine in hexapod, DM-39787.
"""

PUBLISH_ONLY = 0
Expand All @@ -71,11 +76,24 @@ class EnabledSubstate(enum.IntEnum):
MOVING_POINT_TO_POINT = enum.auto()
SLEWING_OR_TRACKING = enum.auto()
CONTROLLED_STOPPING = enum.auto()
INITIALIZING = enum.auto()
RELATIVE = enum.auto()
INITIALIZING = enum.auto() # Deprecated in rotator
RELATIVE = enum.auto() # Deprecated in rotator
CONSTANT_VELOCITY = enum.auto()


class FaultSubstate(enum.IntEnum):
"""Controller substate for the FAULT state.

Value reported in ``telemetry.fault_substate``.

This is enum ``FaultSubStates`` in Simulink model.
"""

EMERGENCY_STOPPING = 0
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WAIT_CLEAR_ERROR = enum.auto()
NO_ERROR = enum.auto()


class ApplicationStatus(enum.IntFlag):
"""Bit masks for the value reported in ``telemetry.application_status``.

Expand Down