371 lines
13 KiB
C++
371 lines
13 KiB
C++
#include "MgmRM3100Handler.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
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#include "fsfw/globalfunctions/bitutility.h"
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/returnvalues/returnvalue.h"
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MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, uint32_t transitionDelay)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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primaryDataset(sharedPool),
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transitionDelay(transitionDelay) {}
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MgmRM3100Handler::~MgmRM3100Handler() {}
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void MgmRM3100Handler::doStartUp() {
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switch (internalState) {
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case (InternalState::NONE): {
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internalState = InternalState::CONFIGURE_CMM;
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break;
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}
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case (InternalState::CONFIGURE_CMM): {
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internalState = InternalState::READ_CMM;
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break;
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}
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case (InternalState::READ_CMM): {
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if (commandExecuted) {
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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}
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break;
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}
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case (InternalState::STATE_CONFIGURE_TMRC): {
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if (commandExecuted) {
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internalState = InternalState::STATE_READ_TMRC;
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}
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break;
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}
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case (InternalState::STATE_READ_TMRC): {
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if (commandExecuted) {
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internalState = InternalState::NORMAL;
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if (goToNormalModeAtStartup) {
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setMode(MODE_NORMAL);
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} else {
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setMode(_MODE_TO_ON);
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}
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}
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break;
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}
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default: {
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break;
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}
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}
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}
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void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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size_t commandLen = 0;
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switch (internalState) {
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case (InternalState::NONE):
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case (InternalState::NORMAL): {
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return NOTHING_TO_SEND;
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}
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case (InternalState::CONFIGURE_CMM): {
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*id = mgmRm3100::CONFIGURE_CMM;
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break;
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}
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case (InternalState::READ_CMM): {
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*id = mgmRm3100::READ_CMM;
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break;
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}
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case (InternalState::STATE_CONFIGURE_TMRC): {
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commandBuffer[0] = mgmRm3100::TMRC_DEFAULT_VALUE;
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commandLen = 1;
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*id = mgmRm3100::CONFIGURE_TMRC;
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break;
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}
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case (InternalState::STATE_READ_TMRC): {
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*id = mgmRm3100::READ_TMRC;
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break;
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}
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default:
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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// Might be a configuration error
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sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
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"Unknown internal state"
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<< std::endl;
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#else
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sif::printWarning(
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"MgmRM3100Handler::buildTransitionDeviceCommand: "
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"Unknown internal state\n");
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#endif
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#endif
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return returnvalue::OK;
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}
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return buildCommandFromCommand(*id, commandBuffer, commandLen);
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}
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ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,
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size_t commandDataLen) {
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switch (deviceCommand) {
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case (mgmRm3100::CONFIGURE_CMM): {
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commandBuffer[0] = mgmRm3100::CMM_REGISTER;
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commandBuffer[1] = mgmRm3100::CMM_VALUE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case (mgmRm3100::READ_CMM): {
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commandBuffer[0] = mgmRm3100::CMM_REGISTER | mgmRm3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case (mgmRm3100::CONFIGURE_TMRC): {
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return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
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}
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case (mgmRm3100::READ_TMRC): {
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commandBuffer[0] = mgmRm3100::TMRC_REGISTER | mgmRm3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case (mgmRm3100::CONFIGURE_CYCLE_COUNT): {
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return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
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}
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case (mgmRm3100::READ_CYCLE_COUNT): {
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commandBuffer[0] = mgmRm3100::CYCLE_COUNT_START_REGISTER | mgmRm3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 6);
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rawPacket = commandBuffer;
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rawPacketLen = 7;
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break;
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}
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case (mgmRm3100::READ_DATA): {
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commandBuffer[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 9);
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rawPacketLen = 10;
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return returnvalue::OK;
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}
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ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = mgmRm3100::READ_DATA;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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// For SPI, ID will always be the one of the last sent command
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*foundId = this->getPendingCommand();
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*foundLen = len;
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return returnvalue::OK;
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}
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ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
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ReturnValue_t result = returnvalue::OK;
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switch (id) {
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case (mgmRm3100::CONFIGURE_CMM):
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case (mgmRm3100::CONFIGURE_CYCLE_COUNT):
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case (mgmRm3100::CONFIGURE_TMRC): {
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// We can only check whether write was successful with read operation
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if (getMode() == _MODE_START_UP) {
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commandExecuted = true;
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}
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break;
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}
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case (mgmRm3100::READ_CMM): {
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uint8_t cmmValue = packet[1];
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// We clear the seventh bit in any case
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// because this one is zero sometimes for some reason
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bitutil::clear(&cmmValue, 6);
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if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
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commandExecuted = true;
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} else {
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// Attempt reconfiguration
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internalState = InternalState::CONFIGURE_CMM;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case (mgmRm3100::READ_TMRC): {
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if (packet[1] == tmrcRegValue) {
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commandExecuted = true;
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// Reading TMRC was commanded. Trigger event to inform ground
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if (getMode() != _MODE_START_UP) {
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triggerEvent(tmrcSet, tmrcRegValue, 0);
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}
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} else {
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// Attempt reconfiguration
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case (mgmRm3100::READ_CYCLE_COUNT): {
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uint16_t cycleCountX = packet[1] << 8 | packet[2];
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uint16_t cycleCountY = packet[3] << 8 | packet[4];
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uint16_t cycleCountZ = packet[5] << 8 | packet[6];
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if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
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cycleCountZ != cycleCountRegValueZ) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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// Reading TMRC was commanded. Trigger event to inform ground
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if (getMode() != _MODE_START_UP) {
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uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
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triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
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}
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break;
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}
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case (mgmRm3100::READ_DATA): {
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result = handleDataReadout(packet);
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break;
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}
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default:
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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return result;
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}
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ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,
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size_t commandDataLen) {
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if (commandData == nullptr) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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// Set cycle count
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if (commandDataLen == 2) {
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handleCycleCommand(true, commandData, commandDataLen);
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} else if (commandDataLen == 6) {
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handleCycleCommand(false, commandData, commandDataLen);
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} else {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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commandBuffer[0] = mgmRm3100::CYCLE_COUNT_VALUE;
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std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
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std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
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std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
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rawPacketLen = 7;
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rawPacket = commandBuffer;
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return returnvalue::OK;
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}
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ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
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size_t commandDataLen) {
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mgmRm3100::CycleCountCommand command(oneCycleValue);
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ReturnValue_t result =
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command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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return result;
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}
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// Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
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if (command.cycleCountX > 450) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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cycleCountRegValueX = command.cycleCountX;
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cycleCountRegValueY = command.cycleCountY;
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cycleCountRegValueZ = command.cycleCountZ;
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return returnvalue::OK;
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}
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ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,
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size_t commandDataLen) {
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if (commandData == nullptr or commandDataLen != 1) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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commandBuffer[0] = mgmRm3100::TMRC_REGISTER;
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commandBuffer[1] = commandData[0];
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tmrcRegValue = commandData[0];
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rawPacketLen = 2;
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rawPacket = commandBuffer;
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return returnvalue::OK;
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}
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void MgmRM3100Handler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CMM, 3);
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insertInCommandAndReplyMap(mgmRm3100::READ_CMM, 3);
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insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_TMRC, 3);
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insertInCommandAndReplyMap(mgmRm3100::READ_TMRC, 3);
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insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CYCLE_COUNT, 3);
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insertInCommandAndReplyMap(mgmRm3100::READ_CYCLE_COUNT, 3);
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insertInCommandAndReplyMap(mgmRm3100::READ_DATA, 3, &primaryDataset);
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}
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void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
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// TODO: Fix
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/*
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ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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PeriodicHkGenerationHelper &poolManager) {
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localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
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poolManager.setPeriodicFrequency(primaryDataset.getSid(), 10'000);
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return returnvalue::OK;
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}
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*/
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uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return this->transitionDelay;
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}
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void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
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ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
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// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
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// trickery here to calculate the raw values first
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int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
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int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
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int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
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// Now scale to physical value in microtesla
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float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
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float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
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float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
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if (periodicPrintout) {
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if (debugDivider.checkAndIncrement()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MgmRM3100Handler: Magnetic field strength in"
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" microtesla:"
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<< std::endl;
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sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
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sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
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sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
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#else
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sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
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sif::printInfo("X: %f uT\n", fieldStrengthX);
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sif::printInfo("Y: %f uT\n", fieldStrengthY);
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sif::printInfo("Z: %f uT\n", fieldStrengthZ);
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#endif
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}
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}
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// TODO: Sanity check on values?
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PoolReadGuard readGuard(&primaryDataset);
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if (readGuard.getReadResult() == returnvalue::OK) {
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primaryDataset.fieldStrengths[0] = fieldStrengthX;
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primaryDataset.fieldStrengths[1] = fieldStrengthY;
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primaryDataset.fieldStrengths[2] = fieldStrengthZ;
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primaryDataset.valid = true;
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}
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return returnvalue::OK;
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}
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void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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