fsfw/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_

#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <cstdint>

namespace RM3100 {

/* Actually 10, we round up a little bit */
static constexpr size_t MAX_BUFFER_SIZE = 12;

static constexpr uint8_t READ_MASK = 0x80;

/*----------------------------------------------------------------------------*/
/* CMM Register */
/*----------------------------------------------------------------------------*/
static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
static constexpr uint8_t SET_CMM_CMY = 1 << 5;
static constexpr uint8_t SET_CMM_CMX = 1 << 4;
static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
static constexpr uint8_t SET_CMM_START = 1;
static constexpr uint8_t CMM_REGISTER = 0x01;

static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
		SET_CMM_DRDM | SET_CMM_START;

/*----------------------------------------------------------------------------*/
/* Cycle count register */
/*----------------------------------------------------------------------------*/
// Default value (200)
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;

static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
		100 * 38;
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;

/*----------------------------------------------------------------------------*/
/* TMRC register */
/*----------------------------------------------------------------------------*/
static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;

static constexpr uint8_t TMRC_REGISTER = 0x0B;
static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;

static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
static constexpr uint8_t BIST_REGISTER = 0x33;
static constexpr uint8_t DATA_READY_VAL = 0b10000000;
static constexpr uint8_t STATUS_REGISTER = 0x34;
static constexpr uint8_t REVID_REGISTER = 0x36;

// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
static constexpr uint16_t RANGE = 800;

static constexpr DeviceCommandId_t READ_DATA = 0;

static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
static constexpr DeviceCommandId_t READ_CMM = 2;

static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
static constexpr DeviceCommandId_t READ_TMRC = 4;

static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;

class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
public:
	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
		setLinks(oneCycleCount);
	}

	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
			Endianness streamEndianness) override {
		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
				size, streamEndianness);
		if(oneCycleCount) {
			cycleCountY = cycleCountX;
			cycleCountZ = cycleCountX;
		}
		return result;
	}

	SerializeElement<uint16_t> cycleCountX;
	SerializeElement<uint16_t> cycleCountY;
	SerializeElement<uint16_t> cycleCountZ;

private:
	void setLinks(bool oneCycleCount) {
		setStart(&cycleCountX);
		if(not oneCycleCount) {
			cycleCountX.setNext(&cycleCountY);
			cycleCountY.setNext(&cycleCountZ);
		}
	}

	bool oneCycleCount;
};

static constexpr uint32_t MGM_DATASET_ID = READ_DATA;

enum MgmPoolIds: lp_id_t {
    FIELD_STRENGTH_X,
    FIELD_STRENGTH_Y,
    FIELD_STRENGTH_Z,
};

class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
public:
	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}

	Rm3100PrimaryDataset(object_id_t mgmId):
        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}

	// Field strengths in micro Tesla.
    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
            FIELD_STRENGTH_X, this);
    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
            FIELD_STRENGTH_Y, this);
    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
            FIELD_STRENGTH_Z, this);
};

}



#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */