From 08fa7d9e8b6ae22193fb38396a9c2b222008674d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Dec 2020 12:57:44 +0100 Subject: [PATCH] device definition adaptions taken over --- .../MGMHandlerLIS3Definitions.h | 62 ++++++++++++++++--- 1 file changed, 55 insertions(+), 7 deletions(-) diff --git a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h index 388b11e2..2518af15 100644 --- a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h +++ b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h @@ -1,6 +1,9 @@ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ +#include +#include +#include #include namespace MGMLIS3MDL { @@ -12,11 +15,14 @@ enum opMode { LOW, MEDIUM, HIGH, ULTRA }; +static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100; + static const DeviceCommandId_t SETUP_MGM = 0x00; -static const DeviceCommandId_t READALL_MGM = 0x01; -static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02; -static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03; -static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04; +static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01; +static const DeviceCommandId_t READ_TEMPERATURE = 0x02; +static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03; +static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04; +static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05; //Number of all control registers static const uint8_t NR_OF_CTRL_REGISTERS = 5; @@ -24,7 +30,9 @@ static const uint8_t NR_OF_CTRL_REGISTERS = 5; static const uint8_t NR_OF_REGISTERS = 19; //Total number of adresses for all registers static const uint8_t TOTAL_NR_OF_ADRESSES = 52; -static const uint8_t SETUP_REPLY = 6; +static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14; +static const uint8_t TEMPERATURE_REPLY_LEN = 3; +static const uint8_t SETUP_REPLY_LEN = 6; /*------------------------------------------------------------------------*/ /* Register adresses */ @@ -45,19 +53,26 @@ static const uint8_t CTRL_REG4 = 0b00100011; static const uint8_t CTRL_REG5 = 0b00100100; //Register adress to access status register +static const uint8_t STATUS_REG_IDX = 8; static const uint8_t STATUS_REG = 0b00100111; //Register adress to access low byte of x-axis +static const uint8_t X_LOWBYTE_IDX = 9; static const uint8_t X_LOWBYTE = 0b00101000; //Register adress to access high byte of x-axis +static const uint8_t X_HIGHBYTE_IDX = 10; static const uint8_t X_HIGHBYTE = 0b00101001; //Register adress to access low byte of y-axis +static const uint8_t Y_LOWBYTE_IDX = 11; static const uint8_t Y_LOWBYTE = 0b00101010; //Register adress to access high byte of y-axis +static const uint8_t Y_HIGHBYTE_IDX = 12; static const uint8_t Y_HIGHBYTE = 0b00101011; //Register adress to access low byte of z-axis +static const uint8_t Z_LOWBYTE_IDX = 13; static const uint8_t Z_LOWBYTE = 0b00101100; //Register adress to access high byte of z-axis +static const uint8_t Z_HIGHBYTE_IDX = 14; static const uint8_t Z_HIGHBYTE = 0b00101101; //Register adress to access low byte of temperature sensor @@ -66,7 +81,7 @@ static const uint8_t TEMP_LOWBYTE = 0b00101110; static const uint8_t TEMP_HIGHBYTE = 0b00101111; /*------------------------------------------------------------------------*/ -/* Initialize Setup Register set bits +/* Initialize Setup Register set bits */ /*------------------------------------------------------------------------*/ /* General transfer bits */ // Read=1 / Write=0 Bit @@ -84,6 +99,8 @@ static const uint8_t DO2 = 4; // Output data rate bit 4 static const uint8_t OM0 = 5; // XY operating mode bit 5 static const uint8_t OM1 = 6; // XY operating mode bit 6 static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1 +static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) | + (1 << DO0) | (1 << DO1) | (1 << DO2); /* CTRL_REG2 bits */ //reset configuration registers and user registers @@ -91,6 +108,7 @@ static const uint8_t SOFT_RST = 2; static const uint8_t REBOOT = 3; //reboot memory content static const uint8_t FSO = 5; //full-scale selection bit 5 static const uint8_t FS1 = 6; //full-scale selection bit 6 +static const uint8_t CTRL_REG2_DEFAULT = 0; /* CTRL_REG3 bits */ static const uint8_t MD0 = 0; //Operating mode bit 0 @@ -98,18 +116,48 @@ static const uint8_t MD1 = 1; //Operating mode bit 1 //SPI serial interface mode selection enabled = 3-wire-mode static const uint8_t SIM = 2; static const uint8_t LP = 5; //low-power mode +static const uint8_t CTRL_REG3_DEFAULT = 0; /* CTRL_REG4 bits */ //big/little endian data selection enabled = MSb at lower adress static const uint8_t BLE = 1; static const uint8_t OMZ0 = 2; //Z operating mode bit 2 static const uint8_t OMZ1 = 3; //Z operating mode bit 3 +static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1); /* CTRL_REG5 bits */ static const uint8_t BDU = 6; //Block data update static const uint8_t FAST_READ = 7; //Fast read enabled = 1 +static const uint8_t CTRL_REG5_DEFAULT = 0; + +static const uint32_t MGM_DATA_SET_ID = 0; + +enum MgmPoolIds: lp_id_t { + FIELD_STRENGTH_X, + FIELD_STRENGTH_Y, + FIELD_STRENGTH_Z, + TEMPERATURE_CELCIUS +}; + +class MgmPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> { +public: + MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner): + StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {} + + MgmPrimaryDataset(object_id_t mgmId): + StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {} + + lp_var_t angVelocityX = lp_var_t(sid.objectId, + FIELD_STRENGTH_X, this); + lp_var_t angVelocityY = lp_var_t(sid.objectId, + FIELD_STRENGTH_Y, this); + lp_var_t angVelocityZ = lp_var_t(sid.objectId, + FIELD_STRENGTH_Z, this); + lp_var_t temperature = lp_var_t(sid.objectId, + TEMPERATURE_CELCIUS, this); +}; + } - #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */