eive-obsw/mission/devices/MGMHandlerLIS3MDL.h

#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_

#include "devicedefinitions/MGMHandlerLIS3Definitions.h"

#include <OBSWConfig.h>
#include <events/subsystemIdRanges.h>

#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.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 class CommunicationStep {
        DATA,
        TEMPERATURE
    };

    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
    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 */
    void doShutDown() override;
    void doStartUp() override;
    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
    ReturnValue_t buildCommandFromCommand(
            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
            size_t commandDataLen) override;
    ReturnValue_t buildTransitionDeviceCommand(
            DeviceCommandId_t *id) override;
    ReturnValue_t buildNormalDeviceCommand(
            DeviceCommandId_t *id) override;
    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
            DeviceCommandId_t *foundId, size_t *foundLen) override;
    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
            const uint8_t *packet) override;
    void fillCommandAndReplyMap() override;
    void modeChanged(void) override;
    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
            LocalDataPoolManager &poolManager) override;

private:
    MGMLIS3MDL::MgmPrimaryDataset dataset;

    /*------------------------------------------------------------------------*/
    /* 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. See p.25 datasheet.
     *  @return The ReturnValue does not contain the sign of the value
     */
    uint8_t getFullScale(uint8_t ctrlReg2);

    /**
     * The 16 bit value needs to be divided by the full range of a 16bit value
     * and then multiplied with the current scale of the MGM.
     * This factor returns the factor required to achieve this with
     * one multiplication.
     *
     * @param scale is the return value of the getFulscale Method
     * @return Multiplication factor to get the sensor value from raw data.
     */
    float getSensitivityFactor(uint8_t scale);

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

    virtual void 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);


    //Length a sindgle command SPI answer
    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;

    //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[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 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[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];

    uint8_t statusRegister = 0;

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

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

    InternalState internalState = InternalState::STATE_NONE;
    CommunicationStep communicationStep = CommunicationStep::DATA;
    bool commandExecuted = false;

#if OBSW_VERBOSE_LEVEL >= 1
    PeriodicOperationDivider* debugDivider;
#endif

    void performOperationHook() override;

};

#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */