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again, indentation..

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Robin Müller 2020-12-14 22:21:47 +01:00 committed by Robin.Mueller
parent 68d0fa95b0
commit 269b8ee9b8
2 changed files with 317 additions and 318 deletions
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610
mission/devices/MGMHandlerLIS3MDL.cpp
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@ -2,17 +2,17 @@
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie): object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) { DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
#if OBSW_ENHANCED_PRINTOUT == 1 #if OBSW_ENHANCED_PRINTOUT == 1
debugDivider = new PeriodicOperationDivider(10); debugDivider = new PeriodicOperationDivider(10);
#endif #endif
// Set to default values right away. // Set to default values right away.
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
} }
@ -21,381 +21,381 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
void MGMHandlerLIS3MDL::doStartUp() { void MGMHandlerLIS3MDL::doStartUp() {
switch (internalState) { switch (internalState) {
case STATE_NONE: case STATE_NONE:
internalState = STATE_FIRST_CONTACT; internalState = STATE_FIRST_CONTACT;
break; break;
case STATE_FIRST_CONTACT: case STATE_FIRST_CONTACT:
internalState = STATE_SETUP; internalState = STATE_SETUP;
break; break;
case STATE_SETUP: case STATE_SETUP:
internalState = STATE_CHECK_REGISTERS; internalState = STATE_CHECK_REGISTERS;
break; break;
case STATE_CHECK_REGISTERS: { case STATE_CHECK_REGISTERS: {
// Set up cached registers which will be used to configure the MGM. // Set up cached registers which will be used to configure the MGM.
if(commandExecuted) { if(commandExecuted) {
commandExecuted = false; commandExecuted = false;
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} }
break; break;
} }
default: default:
break; break;
} }
} }
void MGMHandlerLIS3MDL::doShutDown() { void MGMHandlerLIS3MDL::doShutDown() {
setMode(_MODE_POWER_DOWN); setMode(_MODE_POWER_DOWN);
} }
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand( ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
DeviceCommandId_t *id) { DeviceCommandId_t *id) {
switch (internalState) { switch (internalState) {
case STATE_FIRST_CONTACT: case STATE_FIRST_CONTACT:
*id = MGMLIS3MDL::IDENTIFY_DEVICE; *id = MGMLIS3MDL::IDENTIFY_DEVICE;
break; break;
case STATE_SETUP: case STATE_SETUP:
*id = MGMLIS3MDL::SETUP_MGM; *id = MGMLIS3MDL::SETUP_MGM;
break; break;
case STATE_CHECK_REGISTERS: case STATE_CHECK_REGISTERS:
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA; *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break; break;
default: default:
break; break;
} }
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} }
uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) { uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
command |= (1 << MGMLIS3MDL::RW_BIT); command |= (1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) { if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT); command |= (1 << MGMLIS3MDL::MS_BIT);
} }
return command; return command;
} }
uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) { uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
command &= ~(1 << MGMLIS3MDL::RW_BIT); command &= ~(1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) { if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT); command |= (1 << MGMLIS3MDL::MS_BIT);
} }
return command; return command;
} }
void MGMHandlerLIS3MDL::setupMgm() { void MGMHandlerLIS3MDL::setupMgm() {
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
prepareCtrlRegisterWrite(); prepareCtrlRegisterWrite();
} }
ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand( ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
DeviceCommandId_t *id) { DeviceCommandId_t *id) {
// Data/config register will be read in an alternating manner. // Data/config register will be read in an alternating manner.
if(communicationStep == CommunicationStep::DATA) { if(communicationStep == CommunicationStep::DATA) {
lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA; lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA; *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE; communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} }
else { else {
lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE; lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE;
*id = MGMLIS3MDL::READ_TEMPERATURE; *id = MGMLIS3MDL::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA; communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} }
} }
ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
lastSentCommand = deviceCommand; lastSentCommand = deviceCommand;
switch(deviceCommand) { switch(deviceCommand) {
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer)); std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
return RETURN_OK; return RETURN_OK;
} }
case(MGMLIS3MDL::READ_TEMPERATURE): { case(MGMLIS3MDL::READ_TEMPERATURE): {
std::memset(commandBuffer, 0, 3); std::memset(commandBuffer, 0, 3);
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 3; rawPacketLen = 3;
return RETURN_OK; return RETURN_OK;
} }
case(MGMLIS3MDL::IDENTIFY_DEVICE): { case(MGMLIS3MDL::IDENTIFY_DEVICE): {
return identifyDevice(); return identifyDevice();
} }
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
return enableTemperatureSensor(commandData, commandDataLen); return enableTemperatureSensor(commandData, commandDataLen);
} }
case(MGMLIS3MDL::SETUP_MGM): { case(MGMLIS3MDL::SETUP_MGM): {
setupMgm(); setupMgm();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen); return setOperatingMode(commandData, commandDataLen);
} }
default: default:
lastSentCommand = DeviceHandlerIF::NO_COMMAND; lastSentCommand = DeviceHandlerIF::NO_COMMAND;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() { ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
uint32_t size = 2; uint32_t size = 2;
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR); commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
commandBuffer[1] = 0x00; commandBuffer[1] = 0x00;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = size; rawPacketLen = size;
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start, ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len; *foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
// Check validity by checking config registers // Check validity by checking config registers
if (start[1] != registers[0] or start[2] != registers[1] or if (start[1] != registers[0] or start[2] != registers[1] or
start[3] != registers[2] or start[4] != registers[3] or start[3] != registers[2] or start[4] != registers[3] or
start[5] != registers[4]) { start[5] != registers[4]) {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
if(mode == _MODE_START_UP) { if(mode == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
} }
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) { else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::READ_TEMPERATURE; *foundId = MGMLIS3MDL::READ_TEMPERATURE;
} }
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) { else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM; *foundId = MGMLIS3MDL::SETUP_MGM;
} }
else if (len == SINGLE_COMMAND_ANSWER_LEN) { else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len; *foundLen = len;
*foundId = lastSentCommand; *foundId = lastSentCommand;
} }
else { else {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
// Data with SPI Interface has always this answer // Data with SPI Interface has always this answer
if (start[0] == 0b11111111) { if (start[0] == 0b11111111) {
return RETURN_OK; return RETURN_OK;
} }
else { else {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
} }
ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) { const uint8_t *packet) {
switch (id) { switch (id) {
case MGMLIS3MDL::IDENTIFY_DEVICE: { case MGMLIS3MDL::IDENTIFY_DEVICE: {
break; break;
} }
case MGMLIS3MDL::SETUP_MGM: { case MGMLIS3MDL::SETUP_MGM: {
break; break;
} }
case MGMLIS3MDL::READ_CONFIG_AND_DATA: { case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
// TODO: Store configuration and sensor values in new local datasets. // TODO: Store configuration and sensor values in new local datasets.
uint8_t scale = getFullScale(registers[2]); uint8_t scale = getFullScale(registers[2]);
float sensitivityFactor = getSensitivityFactor(scale); float sensitivityFactor = getSensitivityFactor(scale);
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
// Target value in microtesla // Target value in microtesla
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if OBSW_ENHANCED_PRINTOUT == 1 #if OBSW_ENHANCED_PRINTOUT == 1
if(debugDivider->checkAndIncrement()) { if(debugDivider->checkAndIncrement()) {
sif::info << "MGMHandlerLIS3: Magnetic field strength in" sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl; " microtesla:" << std::endl;
// Set terminal to utf-8 if there is an issue with micro printout. // Set terminal to utf-8 if there is an issue with micro printout.
sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl; sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl; sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl; sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
} }
#endif #endif
break; break;
} }
case MGMLIS3MDL::READ_TEMPERATURE: { case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1]; int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0); float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if OBSW_ENHANCED_PRINTOUT == 1 #if OBSW_ENHANCED_PRINTOUT == 1
if(debugDivider->check()) { if(debugDivider->check()) {
// Set terminal to utf-8 if there is an issue with micro printout. // Set terminal to utf-8 if there is an issue with micro printout.
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C" sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C"
<< std::endl; << std::endl;
} }
#endif #endif
break; break;
} }
default: { default: {
return DeviceHandlerIF::UNKNOW_DEVICE_REPLY; return DeviceHandlerIF::UNKNOW_DEVICE_REPLY;
} }
} }
return RETURN_OK; return RETURN_OK;
} }
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) { uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
bool FS0 = false; bool FS0 = false;
bool FS1 = false; bool FS1 = false;
if ((ctrlRegister2 >> 5) == 1) if ((ctrlRegister2 >> 5) == 1)
FS0 = true; FS0 = true;
if ((ctrlRegister2 >> 6) == 1) if ((ctrlRegister2 >> 6) == 1)
FS1 = true; FS1 = true;
if ((FS0 == true) && (FS1 == true)) if ((FS0 == true) && (FS1 == true))
return 16; return 16;
else if ((FS0 == false) && (FS1 == true)) else if ((FS0 == false) && (FS1 == true))
return 12; return 12;
else if ((FS0 == true) && (FS1 == false)) else if ((FS0 == true) && (FS1 == false))
return 8; return 8;
else else
return 4; return 4;
} }
float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) { float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
return (float) scale / (INT16_MAX); return (float) scale / (INT16_MAX);
} }
ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor( ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData, size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER); triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2; uint32_t size = 2;
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1); commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
if (commandDataLen > 1) { if (commandDataLen > 1) {
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
} }
switch (*commandData) { switch (*commandData) {
case (MGMLIS3MDL::ON): case (MGMLIS3MDL::ON):
commandBuffer[1] = registers[0] | (1 << 7); commandBuffer[1] = registers[0] | (1 << 7);
break; break;
case (MGMLIS3MDL::OFF): case (MGMLIS3MDL::OFF):
commandBuffer[1] = registers[0] & ~(1 << 7); commandBuffer[1] = registers[0] & ~(1 << 7);
break; break;
default: default:
return INVALID_COMMAND_PARAMETER; return INVALID_COMMAND_PARAMETER;
break; break;
} }
registers[0] = commandBuffer[1]; registers[0] = commandBuffer[1];
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = size; rawPacketLen = size;
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData, ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER); triggerEvent(CHANGE_OF_SETUP_PARAMETER);
if (commandDataLen != 1) { if (commandDataLen != 1) {
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
} }
switch (commandData[0]) { switch (commandData[0]) {
case MGMLIS3MDL::LOW: case MGMLIS3MDL::LOW:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0)); registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0)); registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
break; break;
case MGMLIS3MDL::MEDIUM: case MGMLIS3MDL::MEDIUM:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0); registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0); registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
break; break;
case MGMLIS3MDL::HIGH: case MGMLIS3MDL::HIGH:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0)); registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0)); registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
break; break;
case MGMLIS3MDL::ULTRA: case MGMLIS3MDL::ULTRA:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0); registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0); registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
break; break;
default: default:
break; break;
} }
return prepareCtrlRegisterWrite(); return prepareCtrlRegisterWrite();
} }
void MGMHandlerLIS3MDL::fillCommandAndReplyMap() { void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
/* /*
* Regarding ArduinoBoard: * Regarding ArduinoBoard:
* Actually SPI answers directly, but as commanding ArduinoBoard the * Actually SPI answers directly, but as commanding ArduinoBoard the
* communication could be delayed * communication could be delayed
* SPI always has to be triggered, so there could be no periodic answer of * 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. * the device, the device has to asked with a command, so periodic is zero.
* *
* We dont read single registers, we just expect special * We dont read single registers, we just expect special
* reply from he Readall_MGM * reply from he Readall_MGM
*/ */
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1); insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1); insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1); insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
} }
ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() { 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++) { for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
commandBuffer[i + 1] = registers[i]; commandBuffer[i + 1] = registers[i];
} }
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1; rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
// We dont have to check if this is working because we just did it // We dont have to check if this is working because we just did it
return RETURN_OK; return RETURN_OK;
} }
void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() { void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
// TODO: use new distributed datapools here. // TODO: use new distributed datapools here.
} }
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { 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) { uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000; return 5000;
} }
void MGMHandlerLIS3MDL::modeChanged(void) { void MGMHandlerLIS3MDL::modeChanged(void) {
internalState = STATE_NONE; internalState = STATE_NONE;
} }
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool( ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
new PoolEntry<float>({0.0})); new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
new PoolEntry<float>({0.0})); new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
new PoolEntry<float>({0.0})); new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
new PoolEntry<float>({0.0})); new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

25
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -3,13 +3,12 @@
#include "devicedefinitions/MGMHandlerLIS3Definitions.h" #include "devicedefinitions/MGMHandlerLIS3Definitions.h"
#include <fsfwconfig/OBSWConfig.h> #include <OBSWConfig.h>
#include <events/subsystemIdRanges.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <events/subsystemIdRanges.h>
/** /**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer * @brief Device handler object for the LIS3MDL 3-axis magnetometer
* by STMicroeletronics * by STMicroeletronics
@ -20,10 +19,10 @@
class MGMHandlerLIS3MDL: public DeviceHandlerBase { class MGMHandlerLIS3MDL: public DeviceHandlerBase {
public: public:
enum class CommunicationStep { enum class CommunicationStep {
DATA, DATA,
TEMPERATURE TEMPERATURE
}; };
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL; static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
@ -31,7 +30,7 @@ public:
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW); static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication, MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie); CookieIF* comCookie);
virtual ~MGMHandlerLIS3MDL(); virtual ~MGMHandlerLIS3MDL();
protected: protected:
@ -45,18 +44,18 @@ protected:
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override; size_t commandDataLen) override;
virtual ReturnValue_t buildTransitionDeviceCommand( virtual ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override; DeviceCommandId_t *id) override;
virtual ReturnValue_t buildNormalDeviceCommand( virtual ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override; DeviceCommandId_t *id) override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len, 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, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override; const uint8_t *packet) override;
virtual void fillCommandAndReplyMap() override; virtual void fillCommandAndReplyMap() override;
virtual void modeChanged(void) override; virtual void modeChanged(void) override;
void setNormalDatapoolEntriesInvalid() override; void setNormalDatapoolEntriesInvalid() override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
@ -164,7 +163,7 @@ private:
bool commandExecuted = false; bool commandExecuted = false;
#if OBSW_ENHANCED_PRINTOUT == 1 #if OBSW_ENHANCED_PRINTOUT == 1
PeriodicOperationDivider* debugDivider; PeriodicOperationDivider* debugDivider;
#endif #endif
}; };