eive-obsw/mission/devices/MGMHandlerLIS3MDL.h

#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_

#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <subsystemIdRanges.h>

/**
 * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
 *          by STMicroeletronics
 * @details
 * Datasheet can be found online by googling LIS3MDL.
 * @author  L. Loidold, R. Mueller
 */
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
public:

	enum set {
		ON, OFF
	};
	enum opMode {
		LOW, MEDIUM, HIGH, ULTRA
	};

	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;

	static const DeviceCommandId_t SETUP_MGM = 0x00;
	static const DeviceCommandId_t READALL_MGM = 0x01;
	static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
	static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
	static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;

	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);

	MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
	        CookieIF* comCookie);
	virtual ~MGMHandlerLIS3MDL();

protected:

	/** DeviceHandlerBase overrides */
	virtual void doShutDown() override;
	virtual void doStartUp() override;
	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
	virtual ReturnValue_t buildCommandFromCommand(
			DeviceCommandId_t deviceCommand, const uint8_t *commandData,
			size_t commandDataLen) override;
	virtual ReturnValue_t buildTransitionDeviceCommand(
	        DeviceCommandId_t *id) override;
	virtual ReturnValue_t buildNormalDeviceCommand(
	        DeviceCommandId_t *id) override;
	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
	        DeviceCommandId_t *foundId, size_t *foundLen) override;
	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
			const uint8_t *packet) override;
	virtual void fillCommandAndReplyMap() override;
	virtual void modeChanged(void) override;
	void setNormalDatapoolEntriesInvalid() override;

private:
	/*------------------------------------------------------------------------*/
	/* Device specific commands and variables */
	/*------------------------------------------------------------------------*/
	/**
	 * Sets the read bit for the command
	 * @param single command to set the read-bit at
	 * @param boolean to select a continuous read bit, default = false
	 */
	uint8_t readCommand(uint8_t command, bool continuousCom = false);

	/**
	 * Sets the write bit for the command
	 * @param single command to set the write-bit at
	 * @param boolean to select a continuous write bit, default = false
	 */
	uint8_t writeCommand(uint8_t command, bool continuousCom = false);

	/**
	 * This Method gets the full scale for the measurement range
	 * e.g.: +- 4 gauss
	 *
	 *  @return The ReturnValue does not contain the sign of the value
	 */
	uint8_t getFullScale(uint8_t *reg2);

	/**
	 * after detecting the fullScale the 16bit Value for the data is
	 * devided with the fullScale to the sensitivity of the scale
	 *
	 * @param scale is the return value of the getFulscale Method
	 */
	float getSensitivity(uint8_t scale);

	/**
	 * This Command detects the device ID
	 */
	ReturnValue_t identifyDevice();

	virtual ReturnValue_t 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);

	//Number of all control registers
	static const uint8_t NR_OF_CTRL_REGISTERS = 5;
	//Number of registers in the MGM
	static const uint8_t NR_OF_REGISTERS = 19;
	//Total number of adresses for all registers
	static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
	static const uint8_t SETUP_REPLY = 6;
	//Length a sindgle command SPI answer
	static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;

	/*------------------------------------------------------------------------*/
	/* Register adresses */
	/*------------------------------------------------------------------------*/
	// Register adress returns identifier of device with default 0b00111101
	static const uint8_t IDENTIFYDEVICE = 0b00001111;
	static const uint8_t DEVICEID = 0b00111101;			// Identifier for Device

	//Register adress to access register 1
	static const uint8_t CTRL_REG1 = 0b00100000;
	//Register adress to access register 2
	static const uint8_t CTRL_REG2 = 0b00100001;
	//Register adress to access register 3
	static const uint8_t CTRL_REG3 = 0b00100010;
	//Register adress to access register 4
	static const uint8_t CTRL_REG4 = 0b00100011;
	//Register adress to access register 5
	static const uint8_t CTRL_REG5 = 0b00100100;

	//Register adress to access status register
	static const uint8_t STATUS_REG = 0b00100111;

	 //Register adress to access low byte of x-axis
	static const uint8_t X_LOWBYTE = 0b00101000;
	//Register adress to access high byte of x-axis
	static const uint8_t X_HIGHBYTE = 0b00101001;
	//Register adress to access low byte of y-axis
	static const uint8_t Y_LOWBYTE = 0b00101010;
	//Register adress to access high byte of y-axis
	static const uint8_t Y_HIGHBYTE = 0b00101011;
	//Register adress to access low byte of z-axis
	static const uint8_t Z_LOWBYTE = 0b00101100;
	//Register adress to access high byte of z-axis
	static const uint8_t Z_HIGHBYTE = 0b00101101;

	//Register adress to access low byte of temperature sensor
	static const uint8_t TEMP_LOWBYTE = 0b00101110;
	//Register adress to access high byte of temperature sensor
	static const uint8_t TEMP_HIGHBYTE = 0b00101111;

	/*------------------------------------------------------------------------*/
	/* Initialize Setup Register set bits
	/*------------------------------------------------------------------------*/
	/* General transfer bits */
	// Read=1 / Write=0 Bit
	static const uint8_t RW_BIT = 7;
	// Continous Read/Write Bit, increment adress
	static const uint8_t MS_BIT = 6;

	/* CTRL_REG1 bits */
	static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
	// Enable rates higher than 80 Hz enabled = 1
	static const uint8_t FAST_ODR = 1;
	static const uint8_t DO0 = 2;       // Output data rate bit 2
	static const uint8_t DO1 = 3;       // Output data rate bit 3
	static const uint8_t DO2 = 4;       // Output data rate bit 4
	static const uint8_t OM0 = 5;       // XY operating mode bit 5
	static const uint8_t OM1 = 6;       // XY operating mode bit 6
	static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1

	/* CTRL_REG2 bits */
	//reset configuration registers and user registers
	static const uint8_t SOFT_RST = 2;
	static const uint8_t REBOOT = 3;    //reboot memory content
	static const uint8_t FSO = 5;       //full-scale selection bit 5
	static const uint8_t FS1 = 6;       //full-scale selection bit 6

	/* CTRL_REG3 bits */
	static const uint8_t MD0 = 0;       //Operating mode bit 0
	static const uint8_t MD1 = 1;       //Operating mode bit 1
	//SPI serial interface mode selection enabled = 3-wire-mode
	static const uint8_t SIM = 2;
	static const uint8_t LP = 5;        //low-power mode

	/* CTRL_REG4 bits */
	//big/little endian data selection enabled = MSb at lower adress
	static const uint8_t BLE = 1;
	static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
	static const uint8_t OMZ1 = 3;      //Z operating mode bit 3

	/* CTRL_REG5 bits */
	static const uint8_t BDU = 6;       //Block data update
	static const uint8_t FAST_READ = 7; //Fast read enabled = 1

	//Single SPIcommand 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[TOTAL_NR_OF_ADRESSES + 1];

	/**
	 * 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[NR_OF_CTRL_REGISTERS];

	/**
	 * As this is a SPI Device, we get the Answer of the last sent command in
	 * the next read cycle, so we could check the command for identification.
	 */
	DeviceCommandId_t lastSentCommand = DeviceHandlerIF::NO_COMMAND;

	/**
	 * We always update all registers together, so this method updates
	 * the rawpacket and rawpacketLen, so we just manipulate the local
	 * saved register
	 *
	 */
	ReturnValue_t prepareRegisterWrite();

	enum InternalState {
		STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
	};

	InternalState internalState = STATE_NONE;

};

#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */