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taken over source lis3mdl device

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Robin Müller 2020-12-03 12:49:14 +01:00 committed by Robin Mueller
parent f610d6f050
commit 0a4a7de58e
2 changed files with 158 additions and 81 deletions
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201
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,13 +1,18 @@
#include "MGMHandlerLIS3MDL.h" #include "MGMHandlerLIS3MDL.h"
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie): object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) { DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
registers[0] = 0x00; #if OBSW_ENHANCED_PRINTOUT == 1
registers[1] = 0x00; debugDivider = new PeriodicOperationDivider(10);
registers[2] = 0x00; #endif
registers[3] = 0x00; // Set to default values right away.
registers[4] = 0x00; 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; internalState = STATE_CHECK_REGISTERS;
break; break;
case STATE_CHECK_REGISTERS: case STATE_CHECK_REGISTERS: {
if (setupMGM() == RETURN_OK) { // Set up cached registers which will be used to configure the MGM.
for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) { if(commandExecuted) {
if (registers[i - 1] != commandBuffer[i]) { commandExecuted = false;
setMode(MODE_NORMAL);
}
break; break;
} }
}
setMode(_MODE_TO_ON);
}
break;
default: default:
break; break;
} }
@ -63,7 +64,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
break; break;
case STATE_CHECK_REGISTERS: case STATE_CHECK_REGISTERS:
*id = MGMLIS3MDL::READALL_MGM; *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break; break;
default: default:
@ -88,39 +89,56 @@ uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
return command; return command;
} }
ReturnValue_t MGMHandlerLIS3MDL::setupMGM() { void MGMHandlerLIS3MDL::setupMgm() {
registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1) registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
| (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1) registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
| (1 << MGMLIS3MDL::DO2); registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[1] = 0; registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[2] = 0; registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
registers[3] = (1 << MGMLIS3MDL::OMZ1);
registers[4] = 0;
return prepareCtrlRegisterWrite();
prepareCtrlRegisterWrite();
} }
ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand( ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
DeviceCommandId_t *id) { DeviceCommandId_t *id) {
//defines CommandID of MGM in normal operation and build command from command // Data/config register will be read in an alternating manner.
*id = MGMLIS3MDL::READALL_MGM; if(communicationStep == CommunicationStep::DATA) {
lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0); 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( ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
lastSentCommand = deviceCommand; lastSentCommand = deviceCommand;
switch(deviceCommand) { switch(deviceCommand) {
case(MGMLIS3MDL::READALL_MGM): { case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer)); std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(0, true); commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = sizeof(commandBuffer); rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
return HasReturnvaluesIF::RETURN_OK; 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): { case(MGMLIS3MDL::IDENTIFY_DEVICE): {
return identifyDevice(); return identifyDevice();
} }
@ -128,7 +146,8 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
return enableTemperatureSensor(commandData, commandDataLen); return enableTemperatureSensor(commandData, commandDataLen);
} }
case(MGMLIS3MDL::SETUP_MGM): { case(MGMLIS3MDL::SETUP_MGM): {
return setupMGM(); setupMgm();
return HasReturnvaluesIF::RETURN_OK;
} }
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen); return setOperatingMode(commandData, commandDataLen);
@ -137,7 +156,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
lastSentCommand = DeviceHandlerIF::NO_COMMAND; lastSentCommand = DeviceHandlerIF::NO_COMMAND;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
}
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -155,22 +173,33 @@ ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start, ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len; *foundLen = len;
if (len == MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1) { if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::READALL_MGM; *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
//WHO AM I test // Check validity by checking config registers
if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) { 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; 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; *foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM; *foundId = MGMLIS3MDL::SETUP_MGM;
} else if (len == SINGLE_COMMAND_ANSWER_LEN) { }
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len; *foundLen = len;
*foundId = lastSentCommand; *foundId = lastSentCommand;
} else { }
else {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
@ -193,40 +222,50 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
case MGMLIS3MDL::SETUP_MGM: { case MGMLIS3MDL::SETUP_MGM: {
break; break;
} }
case MGMLIS3MDL::READALL_MGM: { case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
// TODO: Store configuration and sensor values in new local datasets. // 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(registers[2]);
uint8_t scale = getFullScale(&reg2_value);
float sensitivityFactor = getSensitivityFactor(scale); float sensitivityFactor = getSensitivityFactor(scale);
int16_t x_value_raw; int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
int16_t y_value_raw; | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
int16_t z_value_raw; int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
int16_t temp_value_raw; | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
//size_t size = 2; int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
uint8_t *accessBuffer; | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
accessBuffer = const_cast<uint8_t*>(packet + 41);
x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); // Target value in microtesla
accessBuffer += 2; float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
accessBuffer += 2; float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
accessBuffer += 2; float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer); #if OBSW_ENHANCED_PRINTOUT == 1
if(debugDivider->checkAndIncrement()) {
float x_value = static_cast<float>(x_value_raw) * sensitivityFactor; sif::info << "MGMHandlerLIS3: Magnetic field strength in"
float y_value = static_cast<float>(y_value_raw) * sensitivityFactor; " microtesla:" << std::endl;
float z_value = static_cast<float>(z_value_raw) * sensitivityFactor; // Set terminal to utf-8 if there is an issue with micro printout.
float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0); 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<float>(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; break;
} }
@ -238,12 +277,12 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
return RETURN_OK; return RETURN_OK;
} }
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) { uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
bool FS0 = false; bool FS0 = false;
bool FS1 = false; bool FS1 = false;
if ((*reg2 >> 5) == 1) if ((ctrlRegister2 >> 5) == 1)
FS0 = true; FS0 = true;
if ((*reg2 >> 6) == 1) if ((ctrlRegister2 >> 6) == 1)
FS1 = true; FS1 = true;
if ((FS0 == true) && (FS1 == true)) if ((FS0 == true) && (FS1 == true))
return 16; return 16;
@ -333,7 +372,8 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
* We dont read single registers, we just expect special * We dont read single registers, we just expect special
* reply from he Readall_MGM * 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::SETUP_MGM, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
@ -348,7 +388,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
commandBuffer[i + 1] = registers[i]; commandBuffer[i + 1] = registers[i];
} }
rawPacket = commandBuffer; 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 // We dont have to check if this is working because we just did it
return RETURN_OK; return RETURN_OK;
@ -369,3 +409,16 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
void MGMHandlerLIS3MDL::modeChanged(void) { void MGMHandlerLIS3MDL::modeChanged(void) {
internalState = STATE_NONE; internalState = STATE_NONE;
} }
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
}

34
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -1,9 +1,14 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/MGMHandlerLIS3Definitions.h" #include "devicedefinitions/MGMHandlerLIS3Definitions.h"
#include <subsystemIdRanges.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <events/subsystemIdRanges.h>
/** /**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer * @brief Device handler object for the LIS3MDL 3-axis magnetometer
@ -14,6 +19,12 @@
*/ */
class MGMHandlerLIS3MDL: public DeviceHandlerBase { class MGMHandlerLIS3MDL: public DeviceHandlerBase {
public: public:
enum class CommunicationStep {
DATA,
TEMPERATURE
};
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL; static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
//Notifies a command to change the setup parameters //Notifies a command to change the setup parameters
@ -44,8 +55,12 @@ protected:
virtual void fillCommandAndReplyMap() override; virtual void fillCommandAndReplyMap() override;
virtual void modeChanged(void) override; virtual void modeChanged(void) override;
void setNormalDatapoolEntriesInvalid() override; void setNormalDatapoolEntriesInvalid() override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private: private:
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Device specific commands and variables */ /* Device specific commands and variables */
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
@ -68,7 +83,7 @@ private:
* e.g.: +- 4 gauss. See p.25 datasheet. * e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value * @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 * The 16 bit value needs to be divided by the full range of a 16bit value
@ -86,7 +101,7 @@ private:
*/ */
ReturnValue_t identifyDevice(); ReturnValue_t identifyDevice();
virtual ReturnValue_t setupMGM(); virtual void setupMgm();
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Non normal commands */ /* Non normal commands */
@ -114,7 +129,7 @@ private:
//Single SPIcommand has 2 bytes, first for adress, second for content //Single SPIcommand has 2 bytes, first for adress, second for content
size_t singleComandSize = 2; size_t singleComandSize = 2;
//has the size for all adresses of the lis3mdl + the continous write bit //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 * 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 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 * 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. * the next read cycle, so we could check the command for identification.
@ -142,6 +160,12 @@ private:
}; };
InternalState internalState = STATE_NONE; InternalState internalState = STATE_NONE;
CommunicationStep communicationStep = CommunicationStep::DATA;
bool commandExecuted = false;
#if OBSW_ENHANCED_PRINTOUT == 1
PeriodicOperationDivider* debugDivider;
#endif
}; };