From 0a4a7de58e0f02ffc8374f42d974da904395a3b6 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Dec 2020 12:49:14 +0100 Subject: [PATCH] taken over source lis3mdl device --- mission/devices/MGMHandlerLIS3MDL.cpp | 205 ++++++++++++++++---------- mission/devices/MGMHandlerLIS3MDL.h | 34 ++++- 2 files changed, 158 insertions(+), 81 deletions(-) diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp index 099f0da4..77b1a300 100644 --- a/mission/devices/MGMHandlerLIS3MDL.cpp +++ b/mission/devices/MGMHandlerLIS3MDL.cpp @@ -1,13 +1,18 @@ #include "MGMHandlerLIS3MDL.h" + MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, object_id_t deviceCommunication, CookieIF* comCookie): DeviceHandlerBase(objectId, deviceCommunication, comCookie) { - registers[0] = 0x00; - registers[1] = 0x00; - registers[2] = 0x00; - registers[3] = 0x00; - registers[4] = 0x00; +#if OBSW_ENHANCED_PRINTOUT == 1 + debugDivider = new PeriodicOperationDivider(10); +#endif + // Set to default values right away. + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; } @@ -29,18 +34,14 @@ void MGMHandlerLIS3MDL::doStartUp() { internalState = STATE_CHECK_REGISTERS; break; - case STATE_CHECK_REGISTERS: - if (setupMGM() == RETURN_OK) { - for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) { - if (registers[i - 1] != commandBuffer[i]) { - break; - } - } - setMode(_MODE_TO_ON); + case STATE_CHECK_REGISTERS: { + // Set up cached registers which will be used to configure the MGM. + if(commandExecuted) { + commandExecuted = false; + setMode(MODE_NORMAL); } - break; - + } default: break; } @@ -63,7 +64,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand( break; case STATE_CHECK_REGISTERS: - *id = MGMLIS3MDL::READALL_MGM; + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; break; default: @@ -88,25 +89,33 @@ uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) { return command; } -ReturnValue_t MGMHandlerLIS3MDL::setupMGM() { +void MGMHandlerLIS3MDL::setupMgm() { - registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1) - | (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1) - | (1 << MGMLIS3MDL::DO2); - registers[1] = 0; - registers[2] = 0; - registers[3] = (1 << MGMLIS3MDL::OMZ1); - registers[4] = 0; - - return prepareCtrlRegisterWrite(); + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; + prepareCtrlRegisterWrite(); } ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand( DeviceCommandId_t *id) { - //defines CommandID of MGM in normal operation and build command from command - *id = MGMLIS3MDL::READALL_MGM; - return buildCommandFromCommand(*id, NULL, 0); + // Data/config register will be read in an alternating manner. + if(communicationStep == CommunicationStep::DATA) { + lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA; + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; + communicationStep = CommunicationStep::TEMPERATURE; + return buildCommandFromCommand(*id, NULL, 0); + } + else { + lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE; + *id = MGMLIS3MDL::READ_TEMPERATURE; + communicationStep = CommunicationStep::DATA; + return buildCommandFromCommand(*id, NULL, 0); + } + } ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( @@ -114,13 +123,22 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( size_t commandDataLen) { lastSentCommand = deviceCommand; switch(deviceCommand) { - case(MGMLIS3MDL::READALL_MGM): { + case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { std::memset(commandBuffer, 0, sizeof(commandBuffer)); - commandBuffer[0] = readCommand(0, true); + commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); rawPacket = commandBuffer; - rawPacketLen = sizeof(commandBuffer); - return HasReturnvaluesIF::RETURN_OK; + rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; + return RETURN_OK; + } + case(MGMLIS3MDL::READ_TEMPERATURE): { + std::memset(commandBuffer, 0, 3); + commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); + + rawPacket = commandBuffer; + rawPacketLen = 3; + return RETURN_OK; + } case(MGMLIS3MDL::IDENTIFY_DEVICE): { return identifyDevice(); } @@ -128,7 +146,8 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( return enableTemperatureSensor(commandData, commandDataLen); } case(MGMLIS3MDL::SETUP_MGM): { - return setupMGM(); + setupMgm(); + return HasReturnvaluesIF::RETURN_OK; } case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { return setOperatingMode(commandData, commandDataLen); @@ -137,7 +156,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( lastSentCommand = DeviceHandlerIF::NO_COMMAND; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; } - } return HasReturnvaluesIF::RETURN_FAILED; } @@ -155,22 +173,33 @@ ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() { ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { *foundLen = len; - if (len == MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1) { + if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { *foundLen = len; - *foundId = MGMLIS3MDL::READALL_MGM; - //WHO AM I test - if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) { + *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; + // Check validity by checking config registers + if (start[1] != registers[0] or start[2] != registers[1] or + start[3] != registers[2] or start[4] != registers[3] or + start[5] != registers[4]) { return DeviceHandlerIF::INVALID_DATA; } + if(mode == _MODE_START_UP) { + commandExecuted = true; + } - } else if (len == MGMLIS3MDL::SETUP_REPLY) { + } + else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) { + *foundLen = len; + *foundId = MGMLIS3MDL::READ_TEMPERATURE; + } + else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) { *foundLen = len; *foundId = MGMLIS3MDL::SETUP_MGM; - } else if (len == SINGLE_COMMAND_ANSWER_LEN) { + } + else if (len == SINGLE_COMMAND_ANSWER_LEN) { *foundLen = len; *foundId = lastSentCommand; - } else { - + } + else { return DeviceHandlerIF::INVALID_DATA; } @@ -193,43 +222,53 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id, case MGMLIS3MDL::SETUP_MGM: { break; } - case MGMLIS3MDL::READALL_MGM: { + case MGMLIS3MDL::READ_CONFIG_AND_DATA: { // TODO: Store configuration and sensor values in new local datasets. - registers[0] = *(packet + 33); - registers[1] = *(packet + 34); - registers[2] = *(packet + 35); - registers[3] = *(packet + 36); - registers[4] = *(packet + 37); - uint8_t reg2_value = *(packet + 34); - uint8_t scale = getFullScale(®2_value); + uint8_t scale = getFullScale(registers[2]); float sensitivityFactor = getSensitivityFactor(scale); - int16_t x_value_raw; - int16_t y_value_raw; - int16_t z_value_raw; - int16_t temp_value_raw; - //size_t size = 2; - uint8_t *accessBuffer; - accessBuffer = const_cast(packet + 41); + int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; - x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); - accessBuffer += 2; - y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); - accessBuffer += 2; - z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); - accessBuffer += 2; - - temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); - - float x_value = static_cast(x_value_raw) * sensitivityFactor; - float y_value = static_cast(y_value_raw) * sensitivityFactor; - float z_value = static_cast(z_value_raw) * sensitivityFactor; - float temp_value = 25.0 + ((static_cast(temp_value_raw)) / 8.0); + // Target value in microtesla + float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; +#if OBSW_ENHANCED_PRINTOUT == 1 + if(debugDivider->checkAndIncrement()) { + sif::info << "MGMHandlerLIS3: Magnetic field strength in" + " microtesla:" << std::endl; + // Set terminal to utf-8 if there is an issue with micro printout. + sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl; + sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl; + sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl; + } +#endif break; } + case MGMLIS3MDL::READ_TEMPERATURE: { + int16_t tempValueRaw = packet[2] << 8 | packet[1]; + float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); +#if OBSW_ENHANCED_PRINTOUT == 1 + if(debugDivider->check()) { + // Set terminal to utf-8 if there is an issue with micro printout. + sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C" + << std::endl; + } +#endif + break; + } + default: { return DeviceHandlerIF::UNKNOW_DEVICE_REPLY; } @@ -238,12 +277,12 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id, return RETURN_OK; } -uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) { +uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) { bool FS0 = false; bool FS1 = false; - if ((*reg2 >> 5) == 1) + if ((ctrlRegister2 >> 5) == 1) FS0 = true; - if ((*reg2 >> 6) == 1) + if ((ctrlRegister2 >> 6) == 1) FS1 = true; if ((FS0 == true) && (FS1 == true)) return 16; @@ -333,7 +372,8 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() { * We dont read single registers, we just expect special * reply from he Readall_MGM */ - insertInCommandAndReplyMap(MGMLIS3MDL::READALL_MGM, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1); insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1); @@ -348,7 +388,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() { commandBuffer[i + 1] = registers[i]; } rawPacket = commandBuffer; - rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS; + rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1; // We dont have to check if this is working because we just did it return RETURN_OK; @@ -369,3 +409,16 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) { void MGMHandlerLIS3MDL::modeChanged(void) { internalState = STATE_NONE; } + +ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool( + LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, + new PoolEntry({0.0})); + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MGMHandlerLIS3MDL.h index eaac4381..0ff4d198 100644 --- a/mission/devices/MGMHandlerLIS3MDL.h +++ b/mission/devices/MGMHandlerLIS3MDL.h @@ -1,9 +1,14 @@ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ -#include #include "devicedefinitions/MGMHandlerLIS3Definitions.h" -#include + +#include + +#include +#include + +#include /** * @brief Device handler object for the LIS3MDL 3-axis magnetometer @@ -14,6 +19,12 @@ */ 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 @@ -44,8 +55,12 @@ protected: virtual void fillCommandAndReplyMap() override; virtual void modeChanged(void) override; void setNormalDatapoolEntriesInvalid() override; + ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) override; + private: + /*------------------------------------------------------------------------*/ /* Device specific commands and variables */ /*------------------------------------------------------------------------*/ @@ -68,7 +83,7 @@ private: * e.g.: +- 4 gauss. See p.25 datasheet. * @return The ReturnValue does not contain the sign of the value */ - uint8_t getFullScale(uint8_t *reg2); + uint8_t getFullScale(uint8_t ctrlReg2); /** * The 16 bit value needs to be divided by the full range of a 16bit value @@ -86,7 +101,7 @@ private: */ ReturnValue_t identifyDevice(); - virtual ReturnValue_t setupMGM(); + virtual void setupMgm(); /*------------------------------------------------------------------------*/ /* Non normal commands */ @@ -114,7 +129,7 @@ private: //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::TOTAL_NR_OF_ADRESSES + 1]; + 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 @@ -123,6 +138,9 @@ private: */ uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS]; + uint8_t statusRegister = 0; + + /** * 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. @@ -142,6 +160,12 @@ private: }; InternalState internalState = STATE_NONE; + CommunicationStep communicationStep = CommunicationStep::DATA; + bool commandExecuted = false; + +#if OBSW_ENHANCED_PRINTOUT == 1 + PeriodicOperationDivider* debugDivider; +#endif };