eive-obsw/mission/devices/MGMHandlerLIS3MDL.h

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#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
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#include "OBSWConfig.h"
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#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
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#include "events/subsystemIdRanges.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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class PeriodicOperationDivider;
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/**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
* by STMicroeletronics
* @details
* Datasheet can be found online by googling LIS3MDL.
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* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
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* @author L. Loidold, R. Mueller
*/
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
public:
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enum class CommunicationStep {
DATA,
TEMPERATURE
};
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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);
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MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~MGMHandlerLIS3MDL();
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protected:
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/** 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;
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private:
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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
*/
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MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
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/**
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* The 16 bit value needs to be multiplied with a sensitivity factor
* which depends on the sensitivity configuration
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*
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* @param sens Configured sensitivity of the LIS3 device
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* @return Multiplication factor to get the sensor value from raw data.
*/
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float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
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/**
* 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;
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#if OBSW_VERBOSE_LEVEL >= 1
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PeriodicOperationDivider* debugDivider;
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#endif
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};
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#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */