Merge branch 'mueller/master' into develop
This commit is contained in:
commit
29c07461b3
@ -15,7 +15,7 @@ CUSTOM_DEFINES :=
|
||||
|
||||
# Chip & board used for compilation
|
||||
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
|
||||
BOARD_FILE_ROOT = hosted
|
||||
BOARD_FILE_ROOT = bsp_hosted
|
||||
BOARD = host
|
||||
OS_FSFW = host
|
||||
CUSTOM_DEFINES += -D$(OS_FSFW)
|
||||
|
||||
@ -4,7 +4,6 @@
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/datapool/DataPool.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||||
@ -29,9 +28,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
|
||||
|
||||
ObjectManagerIF *objectManager = nullptr;
|
||||
|
||||
//Initialize Data Pool
|
||||
DataPool dataPool(nullptr);
|
||||
|
||||
void InitMission::initMission() {
|
||||
sif::info << "Building global objects.." << std::endl;
|
||||
/* Instantiate global object manager and also create all objects */
|
||||
@ -1,7 +1,7 @@
|
||||
#include "ObjectFactory.h"
|
||||
|
||||
#include <objects/systemObjectList.h>
|
||||
#include <OBSWConfig.h>
|
||||
#include <objects/systemObjectList.h>
|
||||
#include <tmtc/apid.h>
|
||||
#include <tmtc/pusIds.h>
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#include "print.h"
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
void printChar(const char* character, bool errStream) {
|
||||
8
bsp_hosted/boardconfig/print.h
Normal file
8
bsp_hosted/boardconfig/print.h
Normal file
@ -0,0 +1,8 @@
|
||||
#ifndef BSP_HOSTED_BOARDCONFIG_PRINT_H_
|
||||
#define BSP_HOSTED_BOARDCONFIG_PRINT_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
void printChar(const char* character, bool errStream);
|
||||
|
||||
#endif /* BSP_HOSTED_BOARDCONFIG_PRINT_H_ */
|
||||
@ -7,4 +7,5 @@ CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
|
||||
|
||||
INCLUDES += $(CURRENTPATH)/boardconfig
|
||||
INCLUDES += $(CURRENTPATH)/boardconfig
|
||||
INCLUDES += $(CURRENTPATH)/fsfwconfig
|
||||
@ -1,6 +1,5 @@
|
||||
#include "ArduinoComIF.h"
|
||||
#include "ArduinoCookie.h"
|
||||
|
||||
#include <bsp_hosted/comIF/ArduinoComIF.h>
|
||||
#include <bsp_hosted/comIF/ArduinoCookie.h>
|
||||
#include <fsfw/globalfunctions/DleEncoder.h>
|
||||
#include <fsfw/globalfunctions/CRC.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
@ -1,4 +1,4 @@
|
||||
#include "ArduinoCookie.h"
|
||||
#include <bsp_hosted/comIF/ArduinoCookie.h>
|
||||
|
||||
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
|
||||
const size_t maxReplySize) :
|
||||
@ -1,7 +1,6 @@
|
||||
#ifndef CONFIG_FSFWCONFIG_H_
|
||||
#define CONFIG_FSFWCONFIG_H_
|
||||
|
||||
#include <FSFWVersion.h>
|
||||
#include <cstddef>
|
||||
|
||||
//! Used to determine whether C++ ostreams are used
|
||||
@ -1,5 +1,5 @@
|
||||
#include "MissionMessageTypes.h"
|
||||
#include <fsfw/ipc/CommandMessage.h>
|
||||
#include <hosted/fsfwconfig/ipc/MissionMessageTypes.h>
|
||||
|
||||
void messagetypes::clearMissionMessage(CommandMessage* message) {
|
||||
switch(message->getMessageType()) {
|
||||
36
bsp_hosted/fsfwconfig/objects/systemObjectList.h
Normal file
36
bsp_hosted/fsfwconfig/objects/systemObjectList.h
Normal file
@ -0,0 +1,36 @@
|
||||
#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
|
||||
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
// The objects will be instantiated in the ID order
|
||||
namespace objects {
|
||||
enum sourceObjects: uint32_t {
|
||||
/* First Byte 0x50-0x52 reserved for PUS Services **/
|
||||
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
|
||||
PUS_PACKET_DISTRIBUTOR = 0x50000200,
|
||||
UDP_BRIDGE = 0x50000300,
|
||||
UDP_POLLING_TASK = 0x50000400,
|
||||
|
||||
PUS_SERVICE_3 = 0x51000300,
|
||||
PUS_SERVICE_5 = 0x51000400,
|
||||
PUS_SERVICE_6 = 0x51000500,
|
||||
PUS_SERVICE_8 = 0x51000800,
|
||||
PUS_SERVICE_23 = 0x51002300,
|
||||
PUS_SERVICE_201 = 0x51020100,
|
||||
|
||||
TIME_STAMPER = 0x52000001,
|
||||
TM_FUNNEL = 0x52000002,
|
||||
|
||||
/* Test Task */
|
||||
|
||||
TEST_TASK = 0x42694269,
|
||||
DUMMY_INTERFACE = 0xCAFECAFE,
|
||||
DUMMY_HANDLER = 0x4400AFFE,
|
||||
|
||||
/* 0x49 ('I') for Communication Interfaces **/
|
||||
ARDUINO_COM_IF = 0x49000001
|
||||
};
|
||||
}
|
||||
|
||||
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
|
||||
19
bsp_hosted/fsfwconfig/tmtc/apid.h
Normal file
19
bsp_hosted/fsfwconfig/tmtc/apid.h
Normal file
@ -0,0 +1,19 @@
|
||||
#ifndef FSFWCONFIG_TMTC_APID_H_
|
||||
#define FSFWCONFIG_TMTC_APID_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/**
|
||||
* Application Process Definition: entity, uniquely identified by an
|
||||
* application process ID (APID), capable of generating telemetry source
|
||||
* packets and receiving telecommand packets
|
||||
*
|
||||
* SOURCE APID: 0x73 / 115 / s
|
||||
* APID is a 11 bit number
|
||||
*/
|
||||
namespace apid {
|
||||
static const uint16_t EIVE_OBSW = 0x65;
|
||||
}
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_TMTC_APID_H_ */
|
||||
23
bsp_hosted/fsfwconfig/tmtc/pusIds.h
Normal file
23
bsp_hosted/fsfwconfig/tmtc/pusIds.h
Normal file
@ -0,0 +1,23 @@
|
||||
#ifndef CONFIG_TMTC_PUSIDS_HPP_
|
||||
#define CONFIG_TMTC_PUSIDS_HPP_
|
||||
|
||||
namespace pus {
|
||||
enum Ids{
|
||||
PUS_SERVICE_1 = 1,
|
||||
PUS_SERVICE_2 = 2,
|
||||
PUS_SERVICE_3 = 3,
|
||||
PUS_SERVICE_3_PSB = 3,
|
||||
PUS_SERVICE_5 = 5,
|
||||
PUS_SERVICE_6 = 6,
|
||||
PUS_SERVICE_8 = 8,
|
||||
PUS_SERVICE_9 = 9,
|
||||
PUS_SERVICE_17 = 17,
|
||||
PUS_SERVICE_19 = 19,
|
||||
PUS_SERVICE_20 = 20,
|
||||
PUS_SERVICE_23 = 23,
|
||||
PUS_SERVICE_200 = 200,
|
||||
PUS_SERVICE_201 = 201,
|
||||
};
|
||||
};
|
||||
|
||||
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
|
||||
@ -1,7 +1,6 @@
|
||||
#include <bsp_hosted/fsfwconfig/OBSWVersion.h>
|
||||
#include <bsp_linux/InitMission.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <hosted/fsfwconfig/OBSWVersion.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#ifdef WIN32
|
||||
@ -1,10 +0,0 @@
|
||||
#ifndef FSFWCONFIG_TMTC_TMTCSIZE_H_
|
||||
#define FSFWCONFIG_TMTC_TMTCSIZE_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace tmtcsize {
|
||||
static const uint32_t MAX_TM_PACKET = 50;
|
||||
}
|
||||
|
||||
#endif /* FSFWCONFIG_TMTC_TMTCSIZE_H_ */
|
||||
@ -1,8 +0,0 @@
|
||||
#ifndef HOSTED_BOARDCONFIG_PRINT_H_
|
||||
#define HOSTED_BOARDCONFIG_PRINT_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
void printChar(const char* character, bool errStream);
|
||||
|
||||
#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */
|
||||
@ -24,32 +24,28 @@ void ObjectFactory::produceGenericObjects() {
|
||||
/* Framework objects */
|
||||
new EventManager(objects::EVENT_MANAGER);
|
||||
new HealthTable(objects::HEALTH_TABLE);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
|
||||
new TimeStamper(objects::TIME_STAMPER);
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::TC_STORE, poolCfg);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::TM_STORE, poolCfg);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 6;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
|
||||
1024, 2048, 4096};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::IPC_STORE, poolCfg);
|
||||
}
|
||||
|
||||
new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
@ -62,7 +58,7 @@ void ObjectFactory::produceGenericObjects() {
|
||||
|
||||
/* PUS stack */
|
||||
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL);
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20);
|
||||
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10);
|
||||
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
|
||||
|
||||
@ -1,13 +1,18 @@
|
||||
#include "MGMHandlerLIS3MDL.h"
|
||||
|
||||
|
||||
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
|
||||
object_id_t deviceCommunication, CookieIF* comCookie):
|
||||
object_id_t deviceCommunication, CookieIF* comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
|
||||
registers[0] = 0x00;
|
||||
registers[1] = 0x00;
|
||||
registers[2] = 0x00;
|
||||
registers[3] = 0x00;
|
||||
registers[4] = 0x00;
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
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;
|
||||
|
||||
}
|
||||
|
||||
@ -16,60 +21,56 @@ 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:
|
||||
if (setupMGM() == RETURN_OK) {
|
||||
for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
if (registers[i - 1] != commandBuffer[i]) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
|
||||
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::READALL_MGM;
|
||||
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) {
|
||||
@ -88,89 +89,117 @@ uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
|
||||
return command;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
|
||||
void MGMHandlerLIS3MDL::setupMgm() {
|
||||
|
||||
registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1)
|
||||
| (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1)
|
||||
| (1 << MGMLIS3MDL::DO2);
|
||||
registers[1] = 0;
|
||||
registers[2] = 0;
|
||||
registers[3] = (1 << MGMLIS3MDL::OMZ1);
|
||||
registers[4] = 0;
|
||||
|
||||
return prepareCtrlRegisterWrite();
|
||||
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();
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
//defines CommandID of MGM in normal operation and build command from command
|
||||
*id = MGMLIS3MDL::READALL_MGM;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
// 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,
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
lastSentCommand = deviceCommand;
|
||||
switch(deviceCommand) {
|
||||
case(MGMLIS3MDL::READALL_MGM): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(0, true);
|
||||
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 = sizeof(commandBuffer);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
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();
|
||||
return identifyDevice();
|
||||
}
|
||||
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
}
|
||||
case(MGMLIS3MDL::SETUP_MGM): {
|
||||
return setupMGM();
|
||||
setupMgm();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
}
|
||||
default:
|
||||
lastSentCommand = DeviceHandlerIF::NO_COMMAND;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
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::TOTAL_NR_OF_ADRESSES + 1) {
|
||||
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READALL_MGM;
|
||||
//WHO AM I test
|
||||
if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) {
|
||||
*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::SETUP_REPLY) {
|
||||
}
|
||||
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) {
|
||||
}
|
||||
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = lastSentCommand;
|
||||
} else {
|
||||
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
@ -193,40 +222,50 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
case MGMLIS3MDL::SETUP_MGM: {
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::READALL_MGM: {
|
||||
// TODO: Store configuration and sensor values in new local datasets.
|
||||
registers[0] = *(packet + 33);
|
||||
registers[1] = *(packet + 34);
|
||||
registers[2] = *(packet + 35);
|
||||
registers[3] = *(packet + 36);
|
||||
registers[4] = *(packet + 37);
|
||||
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
|
||||
// TODO: Store configuration and sensor values in new local datasets.
|
||||
|
||||
uint8_t reg2_value = *(packet + 34);
|
||||
uint8_t scale = getFullScale(®2_value);
|
||||
uint8_t scale = getFullScale(registers[2]);
|
||||
float sensitivityFactor = getSensitivityFactor(scale);
|
||||
|
||||
int16_t x_value_raw;
|
||||
int16_t y_value_raw;
|
||||
int16_t z_value_raw;
|
||||
int16_t temp_value_raw;
|
||||
//size_t size = 2;
|
||||
uint8_t *accessBuffer;
|
||||
accessBuffer = const_cast<uint8_t*>(packet + 41);
|
||||
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] ;
|
||||
|
||||
x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
// Target value in microtesla
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
|
||||
temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
|
||||
float x_value = static_cast<float>(x_value_raw) * sensitivityFactor;
|
||||
float y_value = static_cast<float>(y_value_raw) * sensitivityFactor;
|
||||
float z_value = static_cast<float>(z_value_raw) * sensitivityFactor;
|
||||
float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0);
|
||||
#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;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
|
||||
@ -238,12 +277,12 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) {
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
|
||||
bool FS0 = false;
|
||||
bool FS1 = false;
|
||||
if ((*reg2 >> 5) == 1)
|
||||
if ((ctrlRegister2 >> 5) == 1)
|
||||
FS0 = true;
|
||||
if ((*reg2 >> 6) == 1)
|
||||
if ((ctrlRegister2 >> 6) == 1)
|
||||
FS1 = true;
|
||||
if ((FS0 == true) && (FS1 == true))
|
||||
return 16;
|
||||
@ -269,17 +308,16 @@ ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON):
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
|
||||
case (MGMLIS3MDL::OFF):
|
||||
}
|
||||
case (MGMLIS3MDL::OFF): {
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
|
||||
}
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
break;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
|
||||
@ -333,7 +371,8 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
|
||||
* We dont read single registers, we just expect special
|
||||
* reply from he Readall_MGM
|
||||
*/
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READALL_MGM, 1);
|
||||
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);
|
||||
@ -348,14 +387,14 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
|
||||
// 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) {
|
||||
@ -363,9 +402,22 @@ 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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
@ -1,9 +1,13 @@
|
||||
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
|
||||
#include <subsystemIdRanges.h>
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
#include <events/subsystemIdRanges.h>
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
/**
|
||||
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
|
||||
@ -14,13 +18,19 @@
|
||||
*/
|
||||
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
||||
public:
|
||||
|
||||
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;
|
||||
//Notifies a command to change the setup parameters
|
||||
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,
|
||||
CookieIF* comCookie);
|
||||
CookieIF* comCookie);
|
||||
virtual ~MGMHandlerLIS3MDL();
|
||||
|
||||
protected:
|
||||
@ -34,18 +44,22 @@ 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;
|
||||
|
||||
|
||||
private:
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
@ -68,7 +82,7 @@ private:
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
uint8_t getFullScale(uint8_t *reg2);
|
||||
uint8_t getFullScale(uint8_t ctrlReg2);
|
||||
|
||||
/**
|
||||
* The 16 bit value needs to be divided by the full range of a 16bit value
|
||||
@ -86,7 +100,7 @@ private:
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
|
||||
virtual ReturnValue_t setupMGM();
|
||||
virtual void setupMgm();
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
@ -114,7 +128,7 @@ private:
|
||||
//Single SPIcommand has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
//has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1];
|
||||
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
|
||||
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the
|
||||
@ -123,6 +137,9 @@ private:
|
||||
*/
|
||||
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
|
||||
uint8_t statusRegister = 0;
|
||||
|
||||
|
||||
/**
|
||||
* As this is a SPI Device, we get the Answer of the last sent command in
|
||||
* the next read cycle, so we could check the command for identification.
|
||||
@ -142,6 +159,12 @@ private:
|
||||
};
|
||||
|
||||
InternalState internalState = STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -1,6 +1,9 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace MGMLIS3MDL {
|
||||
@ -12,11 +15,14 @@ enum opMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
|
||||
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
|
||||
|
||||
static const DeviceCommandId_t SETUP_MGM = 0x00;
|
||||
static const DeviceCommandId_t READALL_MGM = 0x01;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
|
||||
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01;
|
||||
static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
|
||||
|
||||
//Number of all control registers
|
||||
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
@ -24,7 +30,9 @@ static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
static const uint8_t NR_OF_REGISTERS = 19;
|
||||
//Total number of adresses for all registers
|
||||
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
|
||||
static const uint8_t SETUP_REPLY = 6;
|
||||
static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
|
||||
static const uint8_t TEMPERATURE_REPLY_LEN = 3;
|
||||
static const uint8_t SETUP_REPLY_LEN = 6;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adresses */
|
||||
@ -45,19 +53,26 @@ static const uint8_t CTRL_REG4 = 0b00100011;
|
||||
static const uint8_t CTRL_REG5 = 0b00100100;
|
||||
|
||||
//Register adress to access status register
|
||||
static const uint8_t STATUS_REG_IDX = 8;
|
||||
static const uint8_t STATUS_REG = 0b00100111;
|
||||
|
||||
//Register adress to access low byte of x-axis
|
||||
static const uint8_t X_LOWBYTE_IDX = 9;
|
||||
static const uint8_t X_LOWBYTE = 0b00101000;
|
||||
//Register adress to access high byte of x-axis
|
||||
static const uint8_t X_HIGHBYTE_IDX = 10;
|
||||
static const uint8_t X_HIGHBYTE = 0b00101001;
|
||||
//Register adress to access low byte of y-axis
|
||||
static const uint8_t Y_LOWBYTE_IDX = 11;
|
||||
static const uint8_t Y_LOWBYTE = 0b00101010;
|
||||
//Register adress to access high byte of y-axis
|
||||
static const uint8_t Y_HIGHBYTE_IDX = 12;
|
||||
static const uint8_t Y_HIGHBYTE = 0b00101011;
|
||||
//Register adress to access low byte of z-axis
|
||||
static const uint8_t Z_LOWBYTE_IDX = 13;
|
||||
static const uint8_t Z_LOWBYTE = 0b00101100;
|
||||
//Register adress to access high byte of z-axis
|
||||
static const uint8_t Z_HIGHBYTE_IDX = 14;
|
||||
static const uint8_t Z_HIGHBYTE = 0b00101101;
|
||||
|
||||
//Register adress to access low byte of temperature sensor
|
||||
@ -66,7 +81,7 @@ static const uint8_t TEMP_LOWBYTE = 0b00101110;
|
||||
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Initialize Setup Register set bits
|
||||
/* Initialize Setup Register set bits */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* General transfer bits */
|
||||
// Read=1 / Write=0 Bit
|
||||
@ -84,6 +99,8 @@ static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
|
||||
(1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
|
||||
/* CTRL_REG2 bits */
|
||||
//reset configuration registers and user registers
|
||||
@ -91,6 +108,7 @@ static const uint8_t SOFT_RST = 2;
|
||||
static const uint8_t REBOOT = 3; //reboot memory content
|
||||
static const uint8_t FSO = 5; //full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; //full-scale selection bit 6
|
||||
static const uint8_t CTRL_REG2_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG3 bits */
|
||||
static const uint8_t MD0 = 0; //Operating mode bit 0
|
||||
@ -98,18 +116,48 @@ static const uint8_t MD1 = 1; //Operating mode bit 1
|
||||
//SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t SIM = 2;
|
||||
static const uint8_t LP = 5; //low-power mode
|
||||
static const uint8_t CTRL_REG3_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG4 bits */
|
||||
//big/little endian data selection enabled = MSb at lower adress
|
||||
static const uint8_t BLE = 1;
|
||||
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
|
||||
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
|
||||
|
||||
/* CTRL_REG5 bits */
|
||||
static const uint8_t BDU = 6; //Block data update
|
||||
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
|
||||
static const uint8_t CTRL_REG5_DEFAULT = 0;
|
||||
|
||||
static const uint32_t MGM_DATA_SET_ID = 0;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
};
|
||||
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
|
||||
MgmPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
|
||||
|
||||
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE_CELCIUS, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user