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 <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
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#include <subsystemIdRanges.h>
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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.
* @author L. Loidold, R. Mueller
*/
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
public:
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 */
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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;
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virtual ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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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;
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virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
virtual void fillCommandAndReplyMap() override;
virtual void modeChanged(void) override;
void setNormalDatapoolEntriesInvalid() override;
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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
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* e.g.: +- 4 gauss. See p.25 datasheet.
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* @return The ReturnValue does not contain the sign of the value
*/
uint8_t getFullScale(uint8_t *reg2);
/**
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* 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.
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*
* @param scale is the return value of the getFulscale Method
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* @return Multiplication factor to get the sensor value from raw data.
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*/
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float getSensitivityFactor(uint8_t scale);
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/**
* 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);
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//Length a sindgle command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
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//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
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uint8_t commandBuffer[MGMLIS3MDL::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 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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uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
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/**
* 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.
*/
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DeviceCommandId_t lastSentCommand = DeviceHandlerIF::NO_COMMAND;
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/**
* We always update all registers together, so this method updates
* the rawpacket and rawpacketLen, so we just manipulate the local
* saved register
*
*/
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ReturnValue_t prepareCtrlRegisterWrite();
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enum InternalState {
STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
};
InternalState internalState = STATE_NONE;
};
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#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */