From 269b8ee9b8e736eba0c52ec0ec0d24164f336f8e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 22:21:47 +0100 Subject: [PATCH] again, indentation.. --- mission/devices/MGMHandlerLIS3MDL.cpp | 610 +++++++++++++------------- mission/devices/MGMHandlerLIS3MDL.h | 25 +- 2 files changed, 317 insertions(+), 318 deletions(-) diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp index 50d0ce3c..acc6d749 100644 --- a/mission/devices/MGMHandlerLIS3MDL.cpp +++ b/mission/devices/MGMHandlerLIS3MDL.cpp @@ -2,17 +2,17 @@ MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, - object_id_t deviceCommunication, CookieIF* comCookie): - DeviceHandlerBase(objectId, deviceCommunication, comCookie) { + object_id_t deviceCommunication, CookieIF* comCookie): + DeviceHandlerBase(objectId, deviceCommunication, comCookie) { #if OBSW_ENHANCED_PRINTOUT == 1 - debugDivider = new PeriodicOperationDivider(10); + debugDivider = new PeriodicOperationDivider(10); #endif - // Set to default values right away. - registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; - registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; - registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; - registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; - registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; + // Set to default values right away. + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; } @@ -21,381 +21,381 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() { void MGMHandlerLIS3MDL::doStartUp() { - switch (internalState) { - case STATE_NONE: - internalState = STATE_FIRST_CONTACT; - break; + switch (internalState) { + case STATE_NONE: + internalState = STATE_FIRST_CONTACT; + break; - case STATE_FIRST_CONTACT: - internalState = STATE_SETUP; - break; + case STATE_FIRST_CONTACT: + internalState = STATE_SETUP; + break; - case STATE_SETUP: - internalState = STATE_CHECK_REGISTERS; - break; + case STATE_SETUP: + internalState = STATE_CHECK_REGISTERS; + break; - case STATE_CHECK_REGISTERS: { - // Set up cached registers which will be used to configure the MGM. - if(commandExecuted) { - commandExecuted = false; - setMode(MODE_NORMAL); - } - break; - } - default: - break; - } + case STATE_CHECK_REGISTERS: { + // Set up cached registers which will be used to configure the MGM. + if(commandExecuted) { + commandExecuted = false; + setMode(MODE_NORMAL); + } + break; + } + default: + break; + } } void MGMHandlerLIS3MDL::doShutDown() { - setMode(_MODE_POWER_DOWN); + setMode(_MODE_POWER_DOWN); } ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand( - DeviceCommandId_t *id) { - switch (internalState) { - case STATE_FIRST_CONTACT: - *id = MGMLIS3MDL::IDENTIFY_DEVICE; - break; + DeviceCommandId_t *id) { + switch (internalState) { + case STATE_FIRST_CONTACT: + *id = MGMLIS3MDL::IDENTIFY_DEVICE; + break; - case STATE_SETUP: - *id = MGMLIS3MDL::SETUP_MGM; - break; + case STATE_SETUP: + *id = MGMLIS3MDL::SETUP_MGM; + break; - case STATE_CHECK_REGISTERS: - *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; - break; + case STATE_CHECK_REGISTERS: + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; + break; - default: - break; - } - return buildCommandFromCommand(*id, NULL, 0); + default: + break; + } + return buildCommandFromCommand(*id, NULL, 0); } uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) { - command |= (1 << MGMLIS3MDL::RW_BIT); - if (continuousCom == true) { - command |= (1 << MGMLIS3MDL::MS_BIT); - } - return command; + command |= (1 << MGMLIS3MDL::RW_BIT); + if (continuousCom == true) { + command |= (1 << MGMLIS3MDL::MS_BIT); + } + return command; } uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) { - command &= ~(1 << MGMLIS3MDL::RW_BIT); - if (continuousCom == true) { - command |= (1 << MGMLIS3MDL::MS_BIT); - } - return command; + command &= ~(1 << MGMLIS3MDL::RW_BIT); + if (continuousCom == true) { + command |= (1 << MGMLIS3MDL::MS_BIT); + } + return command; } void MGMHandlerLIS3MDL::setupMgm() { - 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; + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; - prepareCtrlRegisterWrite(); + prepareCtrlRegisterWrite(); } ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand( - DeviceCommandId_t *id) { - // Data/config register will be read in an alternating manner. - if(communicationStep == CommunicationStep::DATA) { - lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA; - *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; - communicationStep = CommunicationStep::TEMPERATURE; - return buildCommandFromCommand(*id, NULL, 0); - } - else { - lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE; - *id = MGMLIS3MDL::READ_TEMPERATURE; - communicationStep = CommunicationStep::DATA; - return buildCommandFromCommand(*id, NULL, 0); - } + DeviceCommandId_t *id) { + // Data/config register will be read in an alternating manner. + if(communicationStep == CommunicationStep::DATA) { + lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA; + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; + communicationStep = CommunicationStep::TEMPERATURE; + return buildCommandFromCommand(*id, NULL, 0); + } + else { + lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE; + *id = MGMLIS3MDL::READ_TEMPERATURE; + communicationStep = CommunicationStep::DATA; + return buildCommandFromCommand(*id, NULL, 0); + } } ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( - DeviceCommandId_t deviceCommand, const uint8_t *commandData, - size_t commandDataLen) { - lastSentCommand = deviceCommand; - switch(deviceCommand) { - case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { - std::memset(commandBuffer, 0, sizeof(commandBuffer)); - commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) { + lastSentCommand = deviceCommand; + switch(deviceCommand) { + case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { + std::memset(commandBuffer, 0, sizeof(commandBuffer)); + commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); - rawPacket = commandBuffer; - rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; - return RETURN_OK; - } - case(MGMLIS3MDL::READ_TEMPERATURE): { - std::memset(commandBuffer, 0, 3); - commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); + rawPacket = commandBuffer; + rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; + return RETURN_OK; + } + case(MGMLIS3MDL::READ_TEMPERATURE): { + std::memset(commandBuffer, 0, 3); + commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); - rawPacket = commandBuffer; - rawPacketLen = 3; - return RETURN_OK; - } - case(MGMLIS3MDL::IDENTIFY_DEVICE): { - return identifyDevice(); - } - case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { - return enableTemperatureSensor(commandData, commandDataLen); - } - case(MGMLIS3MDL::SETUP_MGM): { - setupMgm(); - return HasReturnvaluesIF::RETURN_OK; - } - case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { - return setOperatingMode(commandData, commandDataLen); - } - default: - lastSentCommand = DeviceHandlerIF::NO_COMMAND; - return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; - } - return HasReturnvaluesIF::RETURN_FAILED; + rawPacket = commandBuffer; + rawPacketLen = 3; + return RETURN_OK; + } + case(MGMLIS3MDL::IDENTIFY_DEVICE): { + return identifyDevice(); + } + case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { + return enableTemperatureSensor(commandData, commandDataLen); + } + case(MGMLIS3MDL::SETUP_MGM): { + setupMgm(); + return HasReturnvaluesIF::RETURN_OK; + } + case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { + return setOperatingMode(commandData, commandDataLen); + } + default: + lastSentCommand = DeviceHandlerIF::NO_COMMAND; + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; } ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() { - uint32_t size = 2; - commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR); - commandBuffer[1] = 0x00; + uint32_t size = 2; + commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR); + commandBuffer[1] = 0x00; - rawPacket = commandBuffer; - rawPacketLen = size; + rawPacket = commandBuffer; + rawPacketLen = size; - return RETURN_OK; + return RETURN_OK; } ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start, - size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { - *foundLen = len; - if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { - *foundLen = len; - *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; - // Check validity by checking config registers - if (start[1] != registers[0] or start[2] != registers[1] or - start[3] != registers[2] or start[4] != registers[3] or - start[5] != registers[4]) { - return DeviceHandlerIF::INVALID_DATA; - } - if(mode == _MODE_START_UP) { - commandExecuted = true; - } + size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { + *foundLen = len; + if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { + *foundLen = len; + *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; + // Check validity by checking config registers + if (start[1] != registers[0] or start[2] != registers[1] or + start[3] != registers[2] or start[4] != registers[3] or + start[5] != registers[4]) { + return DeviceHandlerIF::INVALID_DATA; + } + if(mode == _MODE_START_UP) { + commandExecuted = true; + } - } - else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) { - *foundLen = len; - *foundId = MGMLIS3MDL::READ_TEMPERATURE; - } - else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) { - *foundLen = len; - *foundId = MGMLIS3MDL::SETUP_MGM; - } - else if (len == SINGLE_COMMAND_ANSWER_LEN) { - *foundLen = len; - *foundId = lastSentCommand; - } - else { - return DeviceHandlerIF::INVALID_DATA; - } + } + else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) { + *foundLen = len; + *foundId = MGMLIS3MDL::READ_TEMPERATURE; + } + else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) { + *foundLen = len; + *foundId = MGMLIS3MDL::SETUP_MGM; + } + else if (len == SINGLE_COMMAND_ANSWER_LEN) { + *foundLen = len; + *foundId = lastSentCommand; + } + else { + return DeviceHandlerIF::INVALID_DATA; + } - // Data with SPI Interface has always this answer - if (start[0] == 0b11111111) { - return RETURN_OK; - } - else { - return DeviceHandlerIF::INVALID_DATA; - } + // Data with SPI Interface has always this answer + if (start[0] == 0b11111111) { + return RETURN_OK; + } + else { + return DeviceHandlerIF::INVALID_DATA; + } } ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id, - const uint8_t *packet) { + const uint8_t *packet) { - switch (id) { - case MGMLIS3MDL::IDENTIFY_DEVICE: { - break; - } - case MGMLIS3MDL::SETUP_MGM: { - break; - } - case MGMLIS3MDL::READ_CONFIG_AND_DATA: { - // TODO: Store configuration and sensor values in new local datasets. + switch (id) { + case MGMLIS3MDL::IDENTIFY_DEVICE: { + break; + } + case MGMLIS3MDL::SETUP_MGM: { + break; + } + case MGMLIS3MDL::READ_CONFIG_AND_DATA: { + // TODO: Store configuration and sensor values in new local datasets. - uint8_t scale = getFullScale(registers[2]); - float sensitivityFactor = getSensitivityFactor(scale); + uint8_t scale = getFullScale(registers[2]); + float sensitivityFactor = getSensitivityFactor(scale); - int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 - | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; - int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 - | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; - int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 - | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; - // Target value in microtesla - float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor - * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; - float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor - * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; - float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor - * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + // Target value in microtesla + float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; #if OBSW_ENHANCED_PRINTOUT == 1 - if(debugDivider->checkAndIncrement()) { - sif::info << "MGMHandlerLIS3: Magnetic field strength in" - " microtesla:" << std::endl; - // Set terminal to utf-8 if there is an issue with micro printout. - sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl; - sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl; - sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl; - } + if(debugDivider->checkAndIncrement()) { + sif::info << "MGMHandlerLIS3: Magnetic field strength in" + " microtesla:" << std::endl; + // Set terminal to utf-8 if there is an issue with micro printout. + sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl; + sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl; + sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl; + } #endif - break; - } + break; + } - case MGMLIS3MDL::READ_TEMPERATURE: { - int16_t tempValueRaw = packet[2] << 8 | packet[1]; - float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); + case MGMLIS3MDL::READ_TEMPERATURE: { + int16_t tempValueRaw = packet[2] << 8 | packet[1]; + float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); #if OBSW_ENHANCED_PRINTOUT == 1 - if(debugDivider->check()) { - // Set terminal to utf-8 if there is an issue with micro printout. - sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C" - << std::endl; - } + 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({0.0})); - localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, - new PoolEntry({0.0})); - localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, - new PoolEntry({0.0})); - localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, - new PoolEntry({0.0})); - return HasReturnvaluesIF::RETURN_OK; + LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, + new PoolEntry({0.0})); + return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MGMHandlerLIS3MDL.h index 4c06e001..ff95268c 100644 --- a/mission/devices/MGMHandlerLIS3MDL.h +++ b/mission/devices/MGMHandlerLIS3MDL.h @@ -3,13 +3,12 @@ #include "devicedefinitions/MGMHandlerLIS3Definitions.h" -#include +#include +#include #include #include -#include - /** * @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 };