taken over source lis3mdl device
This commit is contained in:
parent
f610d6f050
commit
0a4a7de58e
@ -1,13 +1,18 @@
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#include "MGMHandlerLIS3MDL.h"
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MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
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object_id_t deviceCommunication, CookieIF* comCookie):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
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registers[0] = 0x00;
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registers[1] = 0x00;
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registers[2] = 0x00;
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registers[3] = 0x00;
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registers[4] = 0x00;
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#if OBSW_ENHANCED_PRINTOUT == 1
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debugDivider = new PeriodicOperationDivider(10);
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#endif
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// Set to default values right away.
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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}
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@ -29,18 +34,14 @@ void MGMHandlerLIS3MDL::doStartUp() {
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internalState = STATE_CHECK_REGISTERS;
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break;
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case STATE_CHECK_REGISTERS:
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if (setupMGM() == RETURN_OK) {
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for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
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if (registers[i - 1] != commandBuffer[i]) {
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case STATE_CHECK_REGISTERS: {
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// Set up cached registers which will be used to configure the MGM.
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if(commandExecuted) {
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commandExecuted = false;
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setMode(MODE_NORMAL);
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}
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break;
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}
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}
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setMode(_MODE_TO_ON);
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}
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break;
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default:
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break;
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}
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@ -63,7 +64,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
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break;
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case STATE_CHECK_REGISTERS:
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*id = MGMLIS3MDL::READALL_MGM;
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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break;
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default:
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@ -88,39 +89,56 @@ uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
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return command;
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}
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ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
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void MGMHandlerLIS3MDL::setupMgm() {
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registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1)
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| (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1)
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| (1 << MGMLIS3MDL::DO2);
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registers[1] = 0;
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registers[2] = 0;
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registers[3] = (1 << MGMLIS3MDL::OMZ1);
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registers[4] = 0;
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return prepareCtrlRegisterWrite();
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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prepareCtrlRegisterWrite();
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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//defines CommandID of MGM in normal operation and build command from command
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*id = MGMLIS3MDL::READALL_MGM;
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// Data/config register will be read in an alternating manner.
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if(communicationStep == CommunicationStep::DATA) {
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lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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communicationStep = CommunicationStep::TEMPERATURE;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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else {
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lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE;
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*id = MGMLIS3MDL::READ_TEMPERATURE;
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communicationStep = CommunicationStep::DATA;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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lastSentCommand = deviceCommand;
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switch(deviceCommand) {
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case(MGMLIS3MDL::READALL_MGM): {
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case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(0, true);
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commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
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rawPacket = commandBuffer;
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rawPacketLen = sizeof(commandBuffer);
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return HasReturnvaluesIF::RETURN_OK;
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rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::READ_TEMPERATURE): {
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std::memset(commandBuffer, 0, 3);
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commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::IDENTIFY_DEVICE): {
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return identifyDevice();
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}
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@ -128,7 +146,8 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case(MGMLIS3MDL::SETUP_MGM): {
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return setupMGM();
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setupMgm();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
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return setOperatingMode(commandData, commandDataLen);
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@ -137,7 +156,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
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lastSentCommand = DeviceHandlerIF::NO_COMMAND;
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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@ -155,22 +173,33 @@ ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
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ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
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size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundLen = len;
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if (len == MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1) {
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if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READALL_MGM;
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//WHO AM I test
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if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) {
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*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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// Check validity by checking config registers
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if (start[1] != registers[0] or start[2] != registers[1] or
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start[3] != registers[2] or start[4] != registers[3] or
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start[5] != registers[4]) {
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return DeviceHandlerIF::INVALID_DATA;
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}
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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} else if (len == MGMLIS3MDL::SETUP_REPLY) {
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}
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else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_TEMPERATURE;
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}
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else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::SETUP_MGM;
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} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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}
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else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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*foundLen = len;
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*foundId = lastSentCommand;
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} else {
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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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@ -193,40 +222,50 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
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case MGMLIS3MDL::SETUP_MGM: {
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break;
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}
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case MGMLIS3MDL::READALL_MGM: {
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case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
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// TODO: Store configuration and sensor values in new local datasets.
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registers[0] = *(packet + 33);
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registers[1] = *(packet + 34);
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registers[2] = *(packet + 35);
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registers[3] = *(packet + 36);
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registers[4] = *(packet + 37);
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uint8_t reg2_value = *(packet + 34);
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uint8_t scale = getFullScale(®2_value);
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uint8_t scale = getFullScale(registers[2]);
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float sensitivityFactor = getSensitivityFactor(scale);
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int16_t x_value_raw;
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int16_t y_value_raw;
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int16_t z_value_raw;
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int16_t temp_value_raw;
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//size_t size = 2;
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uint8_t *accessBuffer;
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accessBuffer = const_cast<uint8_t*>(packet + 41);
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int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
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int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
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int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
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x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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// Target value in microtesla
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float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
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* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
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* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
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* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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float x_value = static_cast<float>(x_value_raw) * sensitivityFactor;
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float y_value = static_cast<float>(y_value_raw) * sensitivityFactor;
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float z_value = static_cast<float>(z_value_raw) * sensitivityFactor;
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float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0);
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#if OBSW_ENHANCED_PRINTOUT == 1
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if(debugDivider->checkAndIncrement()) {
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sif::info << "MGMHandlerLIS3: Magnetic field strength in"
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" microtesla:" << std::endl;
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// Set terminal to utf-8 if there is an issue with micro printout.
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sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
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sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
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sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
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}
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#endif
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break;
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}
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case MGMLIS3MDL::READ_TEMPERATURE: {
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int16_t tempValueRaw = packet[2] << 8 | packet[1];
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float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
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#if OBSW_ENHANCED_PRINTOUT == 1
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if(debugDivider->check()) {
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// Set terminal to utf-8 if there is an issue with micro printout.
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sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C"
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<< std::endl;
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}
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#endif
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break;
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}
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@ -238,12 +277,12 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
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return RETURN_OK;
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}
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uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) {
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uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
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bool FS0 = false;
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bool FS1 = false;
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if ((*reg2 >> 5) == 1)
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if ((ctrlRegister2 >> 5) == 1)
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FS0 = true;
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if ((*reg2 >> 6) == 1)
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if ((ctrlRegister2 >> 6) == 1)
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FS1 = true;
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if ((FS0 == true) && (FS1 == true))
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return 16;
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@ -333,7 +372,8 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
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* We dont read single registers, we just expect special
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* reply from he Readall_MGM
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*/
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insertInCommandAndReplyMap(MGMLIS3MDL::READALL_MGM, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
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@ -348,7 +388,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
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commandBuffer[i + 1] = registers[i];
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}
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rawPacket = commandBuffer;
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rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS;
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rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
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// We dont have to check if this is working because we just did it
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return RETURN_OK;
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@ -369,3 +409,16 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
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void MGMHandlerLIS3MDL::modeChanged(void) {
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internalState = STATE_NONE;
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}
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ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
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LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
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new PoolEntry<float>({0.0}));
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -1,9 +1,14 @@
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#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
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#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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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#include <events/subsystemIdRanges.h>
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/**
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* @brief Device handler object for the LIS3MDL 3-axis magnetometer
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@ -14,6 +19,12 @@
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*/
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class MGMHandlerLIS3MDL: public DeviceHandlerBase {
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public:
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enum class CommunicationStep {
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DATA,
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TEMPERATURE
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};
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static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
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//Notifies a command to change the setup parameters
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@ -44,8 +55,12 @@ protected:
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virtual void fillCommandAndReplyMap() override;
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virtual void modeChanged(void) override;
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void setNormalDatapoolEntriesInvalid() override;
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ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
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private:
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/*------------------------------------------------------------------------*/
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/* Device specific commands and variables */
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/*------------------------------------------------------------------------*/
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@ -68,7 +83,7 @@ private:
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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
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*/
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uint8_t getFullScale(uint8_t *reg2);
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uint8_t getFullScale(uint8_t ctrlReg2);
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/**
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* The 16 bit value needs to be divided by the full range of a 16bit value
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@ -86,7 +101,7 @@ private:
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*/
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ReturnValue_t identifyDevice();
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virtual ReturnValue_t setupMGM();
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virtual void setupMgm();
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/*------------------------------------------------------------------------*/
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/* Non normal commands */
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@ -114,7 +129,7 @@ private:
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//Single SPIcommand has 2 bytes, first for adress, second for content
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size_t singleComandSize = 2;
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//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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uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
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/**
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* We want to save the registers we set, so we dont have to read the
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@ -123,6 +138,9 @@ private:
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*/
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uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
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uint8_t statusRegister = 0;
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/**
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* As this is a SPI Device, we get the Answer of the last sent command in
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* the next read cycle, so we could check the command for identification.
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@ -142,6 +160,12 @@ private:
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};
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InternalState internalState = STATE_NONE;
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CommunicationStep communicationStep = CommunicationStep::DATA;
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bool commandExecuted = false;
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#if OBSW_ENHANCED_PRINTOUT == 1
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PeriodicOperationDivider* debugDivider;
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#endif
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};
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Reference in New Issue
Block a user