device definition adaptions taken over
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@ -1,6 +1,9 @@
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
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#include <fsfw/datapoollocal/StaticLocalDataSet.h>
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#include <fsfw/datapoollocal/LocalPoolVariable.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <cstdint>
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namespace MGMLIS3MDL {
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@ -12,11 +15,14 @@ enum opMode {
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LOW, MEDIUM, HIGH, ULTRA
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};
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static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
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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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static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01;
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static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
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static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
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static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
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static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
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//Number of all control registers
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static const uint8_t NR_OF_CTRL_REGISTERS = 5;
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@ -24,7 +30,9 @@ static const uint8_t NR_OF_CTRL_REGISTERS = 5;
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static const uint8_t NR_OF_REGISTERS = 19;
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//Total number of adresses for all registers
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static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
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static const uint8_t SETUP_REPLY = 6;
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static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
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static const uint8_t TEMPERATURE_REPLY_LEN = 3;
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static const uint8_t SETUP_REPLY_LEN = 6;
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/*------------------------------------------------------------------------*/
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/* Register adresses */
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@ -45,19 +53,26 @@ static const uint8_t CTRL_REG4 = 0b00100011;
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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_IDX = 8;
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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_IDX = 9;
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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_IDX = 10;
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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_IDX = 11;
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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_IDX = 12;
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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_IDX = 13;
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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_IDX = 14;
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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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@ -66,7 +81,7 @@ static const uint8_t TEMP_LOWBYTE = 0b00101110;
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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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/* Initialize Setup Register set bits */
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/*------------------------------------------------------------------------*/
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/* General transfer bits */
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// Read=1 / Write=0 Bit
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@ -84,6 +99,8 @@ 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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static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
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(1 << DO0) | (1 << DO1) | (1 << DO2);
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/* CTRL_REG2 bits */
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//reset configuration registers and user registers
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@ -91,6 +108,7 @@ static const uint8_t SOFT_RST = 2;
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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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static const uint8_t CTRL_REG2_DEFAULT = 0;
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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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@ -98,18 +116,48 @@ static const uint8_t MD1 = 1; //Operating mode bit 1
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//SPI serial interface mode selection enabled = 3-wire-mode
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static const uint8_t SIM = 2;
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static const uint8_t LP = 5; //low-power mode
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static const uint8_t CTRL_REG3_DEFAULT = 0;
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/* CTRL_REG4 bits */
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//big/little endian data selection enabled = MSb at lower adress
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static const uint8_t BLE = 1;
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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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static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
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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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static const uint8_t CTRL_REG5_DEFAULT = 0;
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static const uint32_t MGM_DATA_SET_ID = 0;
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enum MgmPoolIds: lp_id_t {
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FIELD_STRENGTH_X,
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FIELD_STRENGTH_Y,
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FIELD_STRENGTH_Z,
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TEMPERATURE_CELCIUS
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};
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class MgmPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
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public:
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MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
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StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
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MgmPrimaryDataset(object_id_t mgmId):
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StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
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lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
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FIELD_STRENGTH_X, this);
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lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
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FIELD_STRENGTH_Y, this);
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lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
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FIELD_STRENGTH_Z, this);
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lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
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TEMPERATURE_CELCIUS, this);
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};
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}
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */
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