Update and clean up HK and Local Pool Modules

misc/archive/MgmLIS3MDLHandler.h

@@ -0,0 +1,148 @@
+#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+
+#include "mgmLis3Helpers.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+
+class PeriodicOperationDivider;
+
+/**
+ * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
+ *          by STMicroeletronics
+ * @details
+ * Datasheet can be found online by googling LIS3MDL.
+ * Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
+ * @author  L. Loidold, R. Mueller
+ */
+class MgmLIS3MDLHandler : public DeviceHandlerBase {
+ public:
+  enum class CommunicationStep { DATA, TEMPERATURE };
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
+  // Notifies a command to change the setup parameters
+  static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
+
+  MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
+                    uint32_t transitionDelay);
+  virtual ~MgmLIS3MDLHandler();
+
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
+  /**
+   * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+   * be marked as invalid if that limit is exceeded
+   * @param xLimit
+   * @param yLimit
+   * @param zLimit
+   */
+  void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
+  void setToGoToNormalMode(bool enable);
+
+ protected:
+  /** DeviceHandlerBase overrides */
+  void doShutDown() override;
+  void doStartUp() override;
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  /**
+   * This implementation is tailored towards space applications and will flag values larger
+   * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
+   * @param id
+   * @param packet
+   * @return
+   */
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  void modeChanged(void) override;
+  // ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+  // PeriodicHkGenerationHelper &poolManager) override;
+
+ private:
+  mgmLis3::MgmPrimaryDataset dataset;
+  // Length a single command SPI answer
+  static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
+
+  uint32_t transitionDelay;
+  // Single SPI command has 2 bytes, first for adress, second for content
+  size_t singleComandSize = 2;
+  // Has the size for all adresses of the lis3mdl + the continous write bit
+  uint8_t commandBuffer[mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1];
+
+  float absLimitX = 100;
+  float absLimitY = 100;
+  float absLimitZ = 150;
+
+  /**
+   * We want to save the registers we set, so we dont have to read the
+   * registers when we want to change something.
+   * --> everytime we change set a register we have to save it
+   */
+  uint8_t registers[mgmLis3::NR_OF_CTRL_REGISTERS];
+
+  uint8_t statusRegister = 0;
+  bool goToNormalMode = false;
+
+  enum class InternalState {
+    STATE_NONE,
+    STATE_FIRST_CONTACT,
+    STATE_SETUP,
+    STATE_CHECK_REGISTERS,
+    STATE_NORMAL
+  };
+
+  InternalState internalState = InternalState::STATE_NONE;
+  CommunicationStep communicationStep = CommunicationStep::DATA;
+  bool commandExecuted = false;
+
+  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
+  PoolEntry<float> temperature = PoolEntry<float>();
+  /*------------------------------------------------------------------------*/
+  /* Device specific commands and variables */
+  /*------------------------------------------------------------------------*/
+
+  /**
+   * This Command detects the device ID
+   */
+  ReturnValue_t identifyDevice();
+
+  virtual void setupMgm();
+
+  /*------------------------------------------------------------------------*/
+  /* Non normal commands */
+  /*------------------------------------------------------------------------*/
+  /**
+   * Enables/Disables the integrated Temperaturesensor
+   * @param commandData On or Off
+   * @param length of the commandData: has to be 1
+   */
+  virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
+
+  /**
+   * Sets the accuracy of the measurement of the axis. The noise is changing.
+   * @param commandData LOW, MEDIUM, HIGH, ULTRA
+   * @param length of the command, has to be 1
+   */
+  virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
+
+  /**
+   * We always update all registers together, so this method updates
+   * the rawpacket and rawpacketLen, so we just manipulate the local
+   * saved register
+   *
+   */
+  ReturnValue_t prepareCtrlRegisterWrite();
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+};
+
+#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */