#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ #include <cstdint> #include "fsfw/datapoollocal/LocalPoolVariable.h" #include "fsfw/datapoollocal/StaticLocalDataSet.h" #include "fsfw/devicehandlers/DeviceHandlerIF.h" #include "fsfw/serialize/SerialLinkedListAdapter.h" namespace mgmRm3100 { /* 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_STRENGTHS = 0, VALID = 1 }; class Rm3100PrimaryDataset : public StaticLocalDataSet<3> { public: Rm3100PrimaryDataset(localpool::SharedPool& sharedPool) : StaticLocalDataSet(sharedPool, MGM_DATASET_ID) {} Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {} /** * Field strenghts in uT */ lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this); lp_var_t<uint8_t> valid = lp_var_t<uint8_t>(sid.objectId, VALID, this); }; } // namespace mgmRm3100 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */