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Merge branch 'mueller/group-mgm-data' into develop

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Robin Müller 2022-08-15 10:50:10 +02:00
commit 7f89022f5b
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7 changed files with 30 additions and 42 deletions
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3
CMakeLists.txt
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@ -119,7 +119,8 @@ option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
if(UNIX)
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers" OFF)
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
OFF)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
endif()

26
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -286,26 +286,22 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
PoolReadGuard readHelper(&dataset);
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
std::abs(mgmZ) > absLimitZ) {
dataset.fieldStrengths.setValid(false);
}
if (std::abs(mgmX) < absLimitX) {
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthX.setValid(true);
} else {
dataset.fieldStrengthX.setValid(false);
dataset.fieldStrengths[0] = mgmX;
}
if (std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthY.setValid(true);
} else {
dataset.fieldStrengthY.setValid(false);
dataset.fieldStrengths[1] = mgmY;
}
if (std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ;
dataset.fieldStrengthZ.setValid(true);
} else {
dataset.fieldStrengthZ.setValid(false);
dataset.fieldStrengths[2] = mgmZ;
}
dataset.fieldStrengths.setValid(true);
}
break;
}
@ -471,10 +467,8 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
return HasReturnvaluesIF::RETURN_OK;
}

2
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
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@ -103,6 +103,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
CommunicationStep communicationStep = CommunicationStep::DATA;
bool commandExecuted = false;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
PoolEntry<float> temperature = PoolEntry<float>();
/*------------------------------------------------------------------------*/
/* Device specific commands and variables */
/*------------------------------------------------------------------------*/

10
src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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@ -309,9 +309,7 @@ void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE;
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
@ -355,9 +353,9 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset);
if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.fieldStrengths[0] = fieldStrengthX;
primaryDataset.fieldStrengths[1] = fieldStrengthY;
primaryDataset.fieldStrengths[2] = fieldStrengthZ;
primaryDataset.setValidity(true, true);
}
return RETURN_OK;

1
src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
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@ -85,6 +85,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
bool goToNormalModeAtStartup = false;
uint32_t transitionDelay;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen);

14
src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
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@ -139,12 +139,7 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
enum MgmPoolIds : lp_id_t {
FIELD_STRENGTH_X,
FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z,
TEMPERATURE_CELCIUS
};
enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
class MgmPrimaryDataset : public StaticLocalDataSet<4> {
public:
@ -152,9 +147,10 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {
MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
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);
/**
* Field strenghts in uT
*/
lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
};

14
src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
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@ -101,11 +101,7 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
enum MgmPoolIds : lp_id_t {
FIELD_STRENGTH_X,
FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z,
};
enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
public:
@ -113,10 +109,10 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
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);
/**
* Field strenghts in uT
*/
lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
};
} // namespace RM3100