eive-obsw/mission/devices/MGMHandlerLIS3MDL.cpp

#include "MGMHandlerLIS3MDL.h"

MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
        object_id_t deviceCommunication, CookieIF* comCookie):
		DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
	registers[0] = 0x00;
	registers[1] = 0x00;
	registers[2] = 0x00;
	registers[3] = 0x00;
	registers[4] = 0x00;

}

MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
}

uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
	command |= (1 << RW_BIT);
	if (continuousCom == true) {
		command |= (1 << MS_BIT);
	}
	return command;
}

uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
	command &= ~(1 << RW_BIT);
	if (continuousCom == true) {
		command |= (1 << MS_BIT);
	}
	return command;
}

ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {

	registers[0] = (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1)
			| (1 << DO2);
	registers[1] = 0;
	registers[2] = 0;
	registers[3] = (1 << OMZ1);
	registers[4] = 0;

	return prepareRegisterWrite();

}

ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
		DeviceCommandId_t *id) { //defines CommandID of MGM in normal operation and build command from command
	*id = READALL_MGM;

	return buildCommandFromCommand(*id, NULL, 0);

}

ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	lastSentCommand = deviceCommand;
	switch(deviceCommand) {
	case(READALL_MGM): {
	    if (commandDataLen == 0) {
	        for (size_t i = 0; i < sizeof(commandBuffer); i++) {
	            commandBuffer[i] = 0;
	        }
	        commandBuffer[0] = readCommand(0, true);

	        rawPacket = commandBuffer;
	        rawPacketLen = sizeof(commandBuffer);
	        return RETURN_OK;
	    }
	case(IDENTIFY_DEVICE): {
	    return identifyDevice();
	}
	case(TEMP_SENSOR_ENABLE): {
	    return enableTemperatureSensor(commandData, commandDataLen);
	}
	case(SETUP_MGM): {
	    return setupMGM();
	}
	case(ACCURACY_OP_MODE_SET): {
	    return setOperatingMode(commandData, commandDataLen);
	}
	default:
	    lastSentCommand = NO_COMMAND;
	    return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	}
	return HasReturnvaluesIF::RETURN_FAILED;
}

ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
		DeviceCommandId_t *id) {
	switch (internalState) {
	case STATE_FIRST_CONTACT:
		*id = IDENTIFY_DEVICE;
		break;

	case STATE_SETUP:
		*id = SETUP_MGM;
		break;

	case STATE_CHECK_REGISTERS:
		*id = READALL_MGM;
		break;

	default:
		break;
	}
	return buildCommandFromCommand(*id, NULL, 0);

}

ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
		uint32_t len, DeviceCommandId_t *foundId, uint32_t *foundLen) {
	*foundLen = len;
	if (len == TOTAL_NR_OF_ADRESSES + 1) {
		*foundLen = len;
		*foundId = READALL_MGM;
		//WHO AM I test
		if (*(start + 16) != DEVICEID) {
			return DeviceHandlerIF::INVALID_DATA;
		}

	} else if (len == SETUP_REPLY) {
		*foundLen = len;
		*foundId = SETUP_MGM;
	} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
		*foundLen = len;
		*foundId = lastSentCommand;
	} else {

		return DeviceHandlerIF::INVALID_DATA;
	}

	if (start[0] == 0b11111111) { //Data with SPI Interface has always this answer
		return RETURN_OK;
	} else {
		return DeviceHandlerIF::INVALID_DATA;
	}

}
ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
		const uint8_t *packet) {

	switch (id) {
	case IDENTIFY_DEVICE: {
		break;
	}
	case SETUP_MGM: {
		break;
	}
	case READALL_MGM: {
		//DataSet mySet;

		registers[0] = *(packet + 33);
		registers[1] = *(packet + 34);
		registers[2] = *(packet + 35);
		registers[3] = *(packet + 36);
		registers[4] = *(packet + 37);

		uint8_t reg2_value = *(packet + 34);
		uint8_t scale = getFullScale(&reg2_value);
		float sensitivity = getSensitivity(scale);

		int16_t x_value_raw;
		int16_t y_value_raw;
		int16_t z_value_raw;
		int16_t temp_value_raw;
		//size_t size = 2;
		uint8_t *accessBuffer;
		accessBuffer = (uint8_t*) (packet + 41);

		x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
		accessBuffer += 2;
		y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
		accessBuffer += 2;
		z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
		accessBuffer += 2;

		temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);

		float x_value = (float) x_value_raw * sensitivity;
		float y_value = (float) y_value_raw * sensitivity;
		float z_value = (float) z_value_raw * sensitivity;
		float temp_value = 25.0 + (((float) temp_value_raw) / 8.0);

//		PoolVector<float, 3> mgm_measurement(mgmMagneticPoolId, &mySet,
//				PoolVariableIF::VAR_WRITE);
//		PoolVariable<float> mgm_temperature(mgmTempPoolId, &mySet,
//				PoolVariableIF::VAR_WRITE);

//		mgm_measurement[0] = x_value;
//		mgm_measurement[1] = y_value;
//		mgm_measurement[2] = z_value;
//
//		mgm_temperature = temp_value;
//		handleDeviceTM(&mySet, id);

		break;
	}

	default: {
		return DeviceHandlerIF::UNKNOW_DEVICE_REPLY;
	}

	}
	return RETURN_OK;
}

uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) {
	bool FS0 = false;
	bool FS1 = false;
	if ((*reg2 >> 5) == 1)
		FS0 = true;
	if ((*reg2 >> 6) == 1)
		FS1 = true;
	if ((FS0 == true) && (FS1 == true))
		return 16;
	else if ((FS0 == false) && (FS1 == true))
		return 12;
	else if ((FS0 == true) && (FS1 == false))
		return 8;
	else
		return 4;

}

float MGMHandlerLIS3MDL::getSensitivity(uint8_t scale) {

	return (float) scale / (INT16_MAX);

}
ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
	uint32_t size = 2;
	commandBuffer[0] = readCommand(IDENTIFYDEVICE);
	commandBuffer[1] = 0x00;

	rawPacket = commandBuffer;
	rawPacketLen = size;

	return RETURN_OK;
}

ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
		const uint8_t *commandData, size_t commandDataLen) {
	triggerEvent(CHANGE_OF_SETUP_PARAMETER);
	uint32_t size = 2;
	commandBuffer[0] = writeCommand(CTRL_REG1);
	if (commandDataLen > 1) {
		return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
	}
	switch (*commandData) {
	case (ON):
		commandBuffer[1] = registers[0] | (1 << 7);
		break;

	case (OFF):
		commandBuffer[1] = registers[0] & ~(1 << 7);
		break;

	default:
		return INVALID_COMMAND_PARAMETER;
		break;
	}
	registers[0] = commandBuffer[1];

	rawPacket = commandBuffer;
	rawPacketLen = size;

	return RETURN_OK;
}

void MGMHandlerLIS3MDL::doStartUp() {
	switch (internalState) {
	case STATE_NONE:
		internalState = STATE_FIRST_CONTACT;
		break;

	case STATE_FIRST_CONTACT:
		internalState = STATE_SETUP;
		break;

	case STATE_SETUP:
		internalState = STATE_CHECK_REGISTERS;
		break;

	case STATE_CHECK_REGISTERS:
		if (setupMGM() == RETURN_OK) {
			for (size_t i = 1; i <= NR_OF_CTRL_REGISTERS; i++) {
				if (registers[i - 1] != commandBuffer[i]) {
					break;
				}
			}
			setMode(_MODE_TO_ON);
		}

		break;

	default:
		break;
	}

}

void MGMHandlerLIS3MDL::doShutDown() {
	setMode(_MODE_POWER_DOWN);
}

ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
		size_t commandDataLen) {
	triggerEvent(CHANGE_OF_SETUP_PARAMETER);
	if (commandDataLen != 1) {
		return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
	}

	switch (commandData[0]) {
	case LOW:
		registers[0] = (registers[0] & (~(1 << OM1))) & (~(1 << OM0));
		registers[3] = (registers[3] & (~(1 << OMZ1))) & (~(1 << OMZ0));
		break;
	case MEDIUM:
		registers[0] = (registers[0] & (~(1 << OM1))) | (1 << OM0);
		registers[3] = (registers[3] & (~(1 << OMZ1))) | (1 << OMZ0);
		break;

	case HIGH:
		registers[0] = (registers[0] | (1 << OM1)) & (~(1 << OM0));
		registers[3] = (registers[3] | (1 << OM1)) & (~(1 << OM0));
		break;

	case ULTRA:
		registers[0] = (registers[0] | (1 << OM1)) | (1 << OM0);
		registers[3] = (registers[3] | (1 << OM1)) | (1 << OM0);
		break;
	default:
		break;
	}

	return prepareRegisterWrite();
}

void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
	/*Actually SPI answers directly, but as commanding ArduinoBoard the communication could be delayed
	 * SPI always has to be triggered, so there could be no periodic answer of the device, the device has
	 * to asked with a command, so periodic is zero.
	 *
	 * We dont read single registers, we just expect special
	 * reply from he Readall_MGM
	 */

	insertInCommandAndReplyMap(READALL_MGM, 1, 0);
	insertInCommandAndReplyMap(SETUP_MGM, 1, 0);
	insertInCommandAndReplyMap(IDENTIFY_DEVICE, 1, 0);
	insertInCommandAndReplyMap(TEMP_SENSOR_ENABLE, 1, 0);
	insertInCommandAndReplyMap(ACCURACY_OP_MODE_SET, 1, 0);
}

ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() {

	commandBuffer[0] = writeCommand(CTRL_REG1, true);

	for (size_t i = 1; i <= NR_OF_CTRL_REGISTERS; i++) {
		commandBuffer[i] = registers[i];
	}
	rawPacket = commandBuffer;
	rawPacketLen = NR_OF_CTRL_REGISTERS;

	// We dont have to check if this is working because we just did it
	return RETURN_OK;
}

void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
//	DataSet mySet;
//	PoolVector<float, 3> mgmMeasurements(mgmMagneticPoolId, &mySet,
//			PoolVariableIF::VAR_WRITE);
//	PoolVariable<float> mgmTemperature(mgmTempPoolId, &mySet,
//			PoolVariableIF::VAR_WRITE);
//
//	mgmMeasurements[0] = 0;
//	mgmMeasurements[1] = 0;
//	mgmMeasurements[2] = 0;
//
//	mgmTemperature = 999;

//	mySet.commit(PoolVariableIF::INVALID);

}

void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {

}

uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
    return 5000;
}

void MGMHandlerLIS3MDL::modeChanged(void) {
	internalState = STATE_NONE;
}