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rm3100 continued

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This commit is contained in:
Robin Müller
2020-12-21 19:52:00 +01:00
parent 1e33f810cf
commit 24cf9a661f
6 changed files with 70 additions and 9 deletions
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60
mission/devices/MGMHandlerRM3100.cpp
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@ -11,11 +11,6 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
MGMHandlerRM3100::~MGMHandlerRM3100() {}
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
return RETURN_OK;
}
void MGMHandlerRM3100::doStartUp() {
if(internalState == STATE_NONE) {
internalState = STATE_CONFIGURE_CMM;
@ -40,6 +35,27 @@ void MGMHandlerRM3100::doStartUp() {
void MGMHandlerRM3100::doShutDown() {
}
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
if(internalState == STATE_CONFIGURE_CMM) {
*id = RM3100::CONFIGURE_CMM;
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
this->rawPacket = commandBuffer;
this->rawPacketLen = 2;
}
if(internalState == STATE_READ_CMM) {
*id = RM3100::READ_CMM;
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
this->rawPacket = commandBuffer;
this->rawPacketLen = 2;
}
return RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
return RETURN_OK;
@ -54,10 +70,42 @@ ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
return RETURN_OK;
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
// Data with SPI Interface has always this answer
if (start[0] == 0b11111111) {
return RETURN_OK;
}
else {
return DeviceHandlerIF::INVALID_DATA;
}
}
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) {
if(id == RM3100::CONFIGURE_CMM or id == RM3100::CONFIGURE_TMRC) {
commandExecuted = true;
}
else if(id == RM3100::READ_CMM) {
if(packet[1] == cmmRegValue) {
commandExecuted = true;
}
}
else if(id == RM3100::READ_TMRC) {
if(packet[1] == tmrcRegValue) {
commandExecuted = true;
}
else {
// Attempt reconfiguration.
internalState = STATE_CONFIGURE_TMRC;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
else {
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
return RETURN_OK;
}