192 lines
7.5 KiB
C++
192 lines
7.5 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
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#include "fsfw/datapoollocal/LocalPoolVariable.h"
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#include "fsfw/datapoollocal/StaticLocalDataSet.h"
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#include "fsfw/devicehandlers/DeviceHandlerIF.h"
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#include <cstdint>
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namespace mgmLis3 {
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enum Set { ON, OFF };
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enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
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enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
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/**
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* Sets the read bit for the command
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* @param single command to set the read-bit at
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* @param boolean to select a continuous read bit, default = false
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*/
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uint8_t readCommand(uint8_t command, bool continuousCom = false);
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/**
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* Sets the write bit for the command
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* @param single command to set the write-bit at
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* @param boolean to select a continuous write bit, default = false
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*/
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uint8_t writeCommand(uint8_t command, bool continuousCom = false);
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/**
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* This Method gets the full scale for the measurement range
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* e.g.: +- 4 gauss. See p.25 datasheet.
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* @return The ReturnValue does not contain the sign of the value
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*/
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mgmLis3::Sensitivies getSensitivity(uint8_t ctrlReg2);
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/**
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* The 16 bit value needs to be multiplied with a sensitivity factor
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* which depends on the sensitivity configuration
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*
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* @param sens Configured sensitivity of the LIS3 device
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* @return Multiplication factor to get the sensor value from raw data.
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*/
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float getSensitivityFactor(mgmLis3::Sensitivies sens);
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/* Actually 15, we just round up a bit */
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static constexpr size_t MAX_BUFFER_SIZE = 16;
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/* Field data register scaling */
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static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
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static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
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static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
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static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
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static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
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static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
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static const DeviceCommandId_t SETUP_MGM = 0x01;
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static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
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static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
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static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
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static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
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/* Number of all control registers */
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static const uint8_t NR_OF_CTRL_REGISTERS = 5;
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/* Number of registers in the MGM */
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static const uint8_t NR_OF_REGISTERS = 19;
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/* Total number of adresses for all registers */
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static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
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static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
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static const uint8_t TEMPERATURE_REPLY_LEN = 3;
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static const uint8_t SETUP_REPLY_LEN = 6;
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/*------------------------------------------------------------------------*/
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/* Register adresses */
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/*------------------------------------------------------------------------*/
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/* Register adress returns identifier of device with default 0b00111101 */
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static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
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static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
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/* Register adress to access register 1 */
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static const uint8_t CTRL_REG1 = 0b00100000;
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/* Register adress to access register 2 */
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static const uint8_t CTRL_REG2 = 0b00100001;
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/* Register adress to access register 3 */
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static const uint8_t CTRL_REG3 = 0b00100010;
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/* Register adress to access register 4 */
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static const uint8_t CTRL_REG4 = 0b00100011;
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/* Register adress to access register 5 */
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static const uint8_t CTRL_REG5 = 0b00100100;
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/* Register adress to access status register */
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static const uint8_t STATUS_REG_IDX = 8;
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static const uint8_t STATUS_REG = 0b00100111;
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/* Register adress to access low byte of x-axis */
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static const uint8_t X_LOWBYTE_IDX = 9;
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static const uint8_t X_LOWBYTE = 0b00101000;
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/* Register adress to access high byte of x-axis */
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static const uint8_t X_HIGHBYTE_IDX = 10;
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static const uint8_t X_HIGHBYTE = 0b00101001;
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/* Register adress to access low byte of y-axis */
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static const uint8_t Y_LOWBYTE_IDX = 11;
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static const uint8_t Y_LOWBYTE = 0b00101010;
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/* Register adress to access high byte of y-axis */
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static const uint8_t Y_HIGHBYTE_IDX = 12;
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static const uint8_t Y_HIGHBYTE = 0b00101011;
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/* Register adress to access low byte of z-axis */
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static const uint8_t Z_LOWBYTE_IDX = 13;
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static const uint8_t Z_LOWBYTE = 0b00101100;
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/* Register adress to access high byte of z-axis */
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static const uint8_t Z_HIGHBYTE_IDX = 14;
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static const uint8_t Z_HIGHBYTE = 0b00101101;
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/* Register adress to access low byte of temperature sensor */
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static const uint8_t TEMP_LOWBYTE = 0b00101110;
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/* Register adress to access high byte of temperature sensor */
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static const uint8_t TEMP_HIGHBYTE = 0b00101111;
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/*------------------------------------------------------------------------*/
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/* Initialize Setup Register set bits */
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/*------------------------------------------------------------------------*/
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/* General transfer bits */
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// Read=1 / Write=0 Bit
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static const uint8_t RW_BIT = 7;
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// Continous Read/Write Bit, increment adress
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static const uint8_t MS_BIT = 6;
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/* CTRL_REG1 bits */
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static const uint8_t ST = 0; // Self test enable bit, enabled = 1
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// Enable rates higher than 80 Hz enabled = 1
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static const uint8_t FAST_ODR = 1;
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static const uint8_t DO0 = 2; // Output data rate bit 2
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static const uint8_t DO1 = 3; // Output data rate bit 3
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static const uint8_t DO2 = 4; // Output data rate bit 4
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static const uint8_t OM0 = 5; // XY operating mode bit 5
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static const uint8_t OM1 = 6; // XY operating mode bit 6
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static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
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static const uint8_t CTRL_REG1_DEFAULT =
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(1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
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/* CTRL_REG2 bits */
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// reset configuration registers and user registers
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static const uint8_t SOFT_RST = 2;
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static const uint8_t REBOOT = 3; // reboot memory content
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static const uint8_t FSO = 5; // full-scale selection bit 5
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static const uint8_t FS1 = 6; // full-scale selection bit 6
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static const uint8_t CTRL_REG2_DEFAULT = 0;
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/* CTRL_REG3 bits */
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static const uint8_t MD0 = 0; // Operating mode bit 0
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static const uint8_t MD1 = 1; // Operating mode bit 1
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// SPI serial interface mode selection enabled = 3-wire-mode
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static const uint8_t SIM = 2;
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static const uint8_t LP = 5; // low-power mode
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static const uint8_t CTRL_REG3_DEFAULT = 0;
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/* CTRL_REG4 bits */
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// big/little endian data selection enabled = MSb at lower adress
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static const uint8_t BLE = 1;
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static const uint8_t OMZ0 = 2; // Z operating mode bit 2
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static const uint8_t OMZ1 = 3; // Z operating mode bit 3
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static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
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/* CTRL_REG5 bits */
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static const uint8_t BDU = 6; // Block data update
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static const uint8_t FAST_READ = 7; // Fast read enabled = 1
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static const uint8_t CTRL_REG5_DEFAULT = 0;
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static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
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enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS = 0, TEMPERATURE_CELCIUS = 1, SET_IS_VALID = 2 };
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class MgmPrimaryDataset : public StaticLocalDataSet<4> {
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public:
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MgmPrimaryDataset(localpool::SharedPool& sharedPool)
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: StaticLocalDataSet(sharedPool, MGM_DATA_SET_ID) {}
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MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
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/**
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* Field strenghts in uT
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*/
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lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
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lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
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lp_var_t<uint8_t> setIsValid = lp_var_t<uint8_t>(sid.objectId, SET_IS_VALID, this);
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};
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} // namespace mgmLis3
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
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