again, indentation..
This commit is contained in:
parent
512cf58579
commit
20911a15a2
@ -2,17 +2,17 @@
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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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object_id_t deviceCommunication, CookieIF* comCookie):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
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#if OBSW_ENHANCED_PRINTOUT == 1
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debugDivider = new PeriodicOperationDivider(10);
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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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// 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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@ -21,381 +21,381 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
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void MGMHandlerLIS3MDL::doStartUp() {
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switch (internalState) {
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case STATE_NONE:
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internalState = STATE_FIRST_CONTACT;
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break;
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switch (internalState) {
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case STATE_NONE:
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internalState = STATE_FIRST_CONTACT;
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break;
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case STATE_FIRST_CONTACT:
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internalState = STATE_SETUP;
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break;
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case STATE_FIRST_CONTACT:
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internalState = STATE_SETUP;
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break;
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case STATE_SETUP:
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internalState = STATE_CHECK_REGISTERS;
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break;
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case STATE_SETUP:
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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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// 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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default:
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break;
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}
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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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default:
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break;
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}
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}
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void MGMHandlerLIS3MDL::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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switch (internalState) {
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case STATE_FIRST_CONTACT:
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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DeviceCommandId_t *id) {
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switch (internalState) {
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case STATE_FIRST_CONTACT:
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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case STATE_SETUP:
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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case STATE_SETUP:
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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case STATE_CHECK_REGISTERS:
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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break;
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case STATE_CHECK_REGISTERS:
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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break;
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default:
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break;
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}
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return buildCommandFromCommand(*id, NULL, 0);
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default:
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break;
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
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command |= (1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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command |= (1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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}
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uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
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command &= ~(1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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command &= ~(1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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}
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void MGMHandlerLIS3MDL::setupMgm() {
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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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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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prepareCtrlRegisterWrite();
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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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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DeviceCommandId_t *id) {
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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::READ_CONFIG_AND_DATA): {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
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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::READ_CONFIG_AND_DATA): {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
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rawPacket = commandBuffer;
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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 = 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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case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case(MGMLIS3MDL::SETUP_MGM): {
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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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}
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default:
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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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return HasReturnvaluesIF::RETURN_FAILED;
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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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case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case(MGMLIS3MDL::SETUP_MGM): {
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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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}
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default:
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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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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
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uint32_t size = 2;
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commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
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commandBuffer[1] = 0x00;
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uint32_t size = 2;
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commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
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commandBuffer[1] = 0x00;
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rawPacket = commandBuffer;
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rawPacketLen = size;
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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return RETURN_OK;
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}
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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::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
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*foundLen = len;
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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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size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundLen = len;
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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::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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}
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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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}
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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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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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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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}
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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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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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// Data with SPI Interface has always this answer
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if (start[0] == 0b11111111) {
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return RETURN_OK;
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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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// Data with SPI Interface has always this answer
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if (start[0] == 0b11111111) {
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return RETURN_OK;
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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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}
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ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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const uint8_t *packet) {
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switch (id) {
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case MGMLIS3MDL::IDENTIFY_DEVICE: {
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break;
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}
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case MGMLIS3MDL::SETUP_MGM: {
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break;
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}
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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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switch (id) {
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case MGMLIS3MDL::IDENTIFY_DEVICE: {
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break;
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}
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case MGMLIS3MDL::SETUP_MGM: {
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break;
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}
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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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uint8_t scale = getFullScale(registers[2]);
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float sensitivityFactor = getSensitivityFactor(scale);
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uint8_t scale = getFullScale(registers[2]);
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float sensitivityFactor = getSensitivityFactor(scale);
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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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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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// 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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// 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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#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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if(debugDivider->checkAndIncrement()) {
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sif::info << "MGMHandlerLIS3: Magnetic field strength in"
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||||
" 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;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
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;
|
||||
}
|
||||
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;
|
||||
}
|
||||
|
||||
default: {
|
||||
return DeviceHandlerIF::UNKNOW_DEVICE_REPLY;
|
||||
}
|
||||
default: {
|
||||
return DeviceHandlerIF::UNKNOW_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
|
||||
bool FS0 = false;
|
||||
bool FS1 = false;
|
||||
if ((ctrlRegister2 >> 5) == 1)
|
||||
FS0 = true;
|
||||
if ((ctrlRegister2 >> 6) == 1)
|
||||
FS1 = true;
|
||||
if ((FS0 == true) && (FS1 == true))
|
||||
return 16;
|
||||
else if ((FS0 == false) && (FS1 == true))
|
||||
return 12;
|
||||
else if ((FS0 == true) && (FS1 == false))
|
||||
return 8;
|
||||
else
|
||||
return 4;
|
||||
bool FS0 = false;
|
||||
bool FS1 = false;
|
||||
if ((ctrlRegister2 >> 5) == 1)
|
||||
FS0 = true;
|
||||
if ((ctrlRegister2 >> 6) == 1)
|
||||
FS1 = true;
|
||||
if ((FS0 == true) && (FS1 == true))
|
||||
return 16;
|
||||
else if ((FS0 == false) && (FS1 == true))
|
||||
return 12;
|
||||
else if ((FS0 == true) && (FS1 == false))
|
||||
return 8;
|
||||
else
|
||||
return 4;
|
||||
}
|
||||
|
||||
float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
|
||||
return (float) scale / (INT16_MAX);
|
||||
return (float) scale / (INT16_MAX);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON):
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON):
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
|
||||
case (MGMLIS3MDL::OFF):
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
case (MGMLIS3MDL::OFF):
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
break;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
break;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
|
||||
switch (commandData[0]) {
|
||||
case MGMLIS3MDL::LOW:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::MEDIUM:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
switch (commandData[0]) {
|
||||
case MGMLIS3MDL::LOW:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::MEDIUM:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::HIGH:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::HIGH:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::ULTRA:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::ULTRA:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return prepareCtrlRegisterWrite();
|
||||
return prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
|
||||
/*
|
||||
* Regarding ArduinoBoard:
|
||||
* Actually SPI answers directly, but as commanding ArduinoBoard the
|
||||
* communication could be delayed
|
||||
* SPI always has to be triggered, so there could be no periodic answer of
|
||||
* the device, the device has to asked with a command, so periodic is zero.
|
||||
*
|
||||
* We dont read single registers, we just expect special
|
||||
* reply from he Readall_MGM
|
||||
*/
|
||||
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);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
/*
|
||||
* Regarding ArduinoBoard:
|
||||
* Actually SPI answers directly, but as commanding ArduinoBoard the
|
||||
* communication could be delayed
|
||||
* SPI always has to be triggered, so there could be no periodic answer of
|
||||
* the device, the device has to asked with a command, so periodic is zero.
|
||||
*
|
||||
* We dont read single registers, we just expect special
|
||||
* reply from he Readall_MGM
|
||||
*/
|
||||
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);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
|
||||
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
|
||||
// We dont have to check if this is working because we just did it
|
||||
return RETURN_OK;
|
||||
// We dont have to check if this is working because we just did it
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
|
||||
// TODO: use new distributed datapools here.
|
||||
// TODO: use new distributed datapools here.
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
@ -403,22 +403,22 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
}
|
||||
|
||||
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 5000;
|
||||
return 5000;
|
||||
}
|
||||
|
||||
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;
|
||||
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;
|
||||
}
|
||||
|
||||
@ -3,13 +3,12 @@
|
||||
|
||||
#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
|
||||
|
||||
#include <fsfwconfig/OBSWConfig.h>
|
||||
#include <OBSWConfig.h>
|
||||
#include <events/subsystemIdRanges.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
|
||||
* by STMicroeletronics
|
||||
@ -20,10 +19,10 @@
|
||||
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
||||
public:
|
||||
|
||||
enum class CommunicationStep {
|
||||
DATA,
|
||||
TEMPERATURE
|
||||
};
|
||||
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;
|
||||
@ -31,7 +30,7 @@ public:
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||
|
||||
MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
CookieIF* comCookie);
|
||||
virtual ~MGMHandlerLIS3MDL();
|
||||
|
||||
protected:
|
||||
@ -45,18 +44,18 @@ protected:
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
virtual ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
virtual void fillCommandAndReplyMap() override;
|
||||
virtual void modeChanged(void) override;
|
||||
void setNormalDatapoolEntriesInvalid() override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
|
||||
private:
|
||||
@ -164,7 +163,7 @@ private:
|
||||
bool commandExecuted = false;
|
||||
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
Loading…
Reference in New Issue
Block a user