244 lines
9.3 KiB
C
244 lines
9.3 KiB
C
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#ifndef MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_
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#define MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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/**
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* @brief Device handler object for the LIS3MDL 3-axis magnetometer
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* by STMicroeletronics
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* @details
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* Datasheet can be found online by googling LIS3MDL.
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* @author L. Loidold, R. Mueller
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*/
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class MGMHandlerLIS3MDL: public DeviceHandlerBase {
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public:
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enum set {
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ON, OFF
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};
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enum opMode {
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LOW, MEDIUM, HIGH, ULTRA
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};
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static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
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static const DeviceCommandId_t SETUP_MGM = 0x00;
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static const DeviceCommandId_t READALL_MGM = 0x01;
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static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
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static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
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static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
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// This Command is needed to use for lastSentCommand, if there is no
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// command set, you have to set this.
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static const DeviceCommandId_t NO_COMMAND = 0xffffffff;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
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//Notifies a command to change the setup parameters
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static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW);
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MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
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CookieIF* comCookie);
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virtual ~MGMHandlerLIS3MDL();
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protected:
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/** DeviceHandlerBase overrides */
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virtual void doShutDown();
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virtual void doStartUp();
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virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
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virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to);
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virtual ReturnValue_t buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen);
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virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id);
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virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id);
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virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
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DeviceCommandId_t *foundId, uint32_t *foundLen);
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virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet);
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virtual void fillCommandAndReplyMap();
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virtual void modeChanged(void);
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void setNormalDatapoolEntriesInvalid();
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private:
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/*------------------------------------------------------------------------*/
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/* Device specific commands and variables */
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/*------------------------------------------------------------------------*/
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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
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*
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* @return The ReturnValue does not contain the sign of the value
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*/
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uint8_t getFullScale(uint8_t *reg2);
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/**
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* after detecting the fullScale the 16bit Value for the data is
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* devided with the fullScale to the sensitivity of the scale
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*
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* @param scale is the return value of the getFulscale Method
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*/
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float getSensitivity(uint8_t scale);
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/**
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* This Command detects the device ID
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*/
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ReturnValue_t identifyDevice();
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virtual ReturnValue_t setupMGM();
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/*------------------------------------------------------------------------*/
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/* Non normal commands */
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/*------------------------------------------------------------------------*/
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/**
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* Enables/Disables the integrated Temperaturesensor
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* @param commandData On or Off
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* @param length of the commandData: has to be 1
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*/
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virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
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size_t commandDataLen);
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/**
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* Sets the accuracy of the measurement of the axis. The noise is changing.
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* @param commandData LOW, MEDIUM, HIGH, ULTRA
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* @param length of the command, has to be 1
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*/
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virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
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size_t commandDataLen);
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static const uint8_t NR_OF_CTRL_REGISTERS = 5; //Number of all control registers
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static const uint8_t NR_OF_REGISTERS = 19; //Number of registers in the MGM
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static const uint8_t TOTAL_NR_OF_ADRESSES = 52; //Total number of adresses for all registers
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static const uint8_t SETUP_REPLY = 6;
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static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; //Length a sindgle command SPI answer
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//static const uint8_t LIS3MDL_IDENTIFIER = 0b00111101; //Identifier for Device
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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 IDENTIFYDEVICE = 0b00001111;
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static const uint8_t DEVICEID = 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 = 0b00100111;
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//Register adress to access low byte of x-axis
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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 = 0b00101001;
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//Register adress to access low byte of y-axis
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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 = 0b00101011;
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//Register adress to access low byte of z-axis
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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 = 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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static const uint8_t RW_BIT = 7; //Read=1 / Write=0 Bit
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static const uint8_t MS_BIT = 6; //Continous Read/Write Bit, increment adress
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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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static const uint8_t FAST_ODR = 1; //Enable rates higher than 80 Hz enabled = 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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//CTRL_REG2 bits
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static const uint8_t SOFT_RST = 2; //reset configuration registers and user registers
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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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//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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static const uint8_t SIM = 2; //SPI serial interface mode selection enabled = 3-wire-mode
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static const uint8_t LP = 5; //low-power mode
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//CTRL_REG4 bits
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static const uint8_t BLE = 1; //big/little endian data selection enabled = MSb at lower adress
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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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//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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//Single SPIcommand has 2 bytes, first for adress, second for content
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size_t singleComandSize = 2;
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//has the size for all adresses of the lis3mdl + the continous write bit
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uint8_t commandBuffer[TOTAL_NR_OF_ADRESSES + 1];
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/**
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* We want to save the registers we set, so we dont have to read the registers
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* when we want to change something
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* --> everytime we change set a register we have to save it
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*/
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uint8_t registers[NR_OF_CTRL_REGISTERS];
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/**
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* As this is a SPI Device, we get the Answer of the last sent command in
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* the next read cycle, so we could check the command for identification.
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*/
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DeviceCommandId_t lastSentCommand = 0xffffffff;
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/**
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* We always update all registers together, so this method updates
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* the rawpacket and rawpacketLen, so we just manipulate the local
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* saved register
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*
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*/
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ReturnValue_t prepareRegisterWrite();
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enum InternalState {
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STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
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};
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InternalState internalState = STATE_NONE;
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};
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#endif /* MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_ */
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