Merge branch 'mueller/master' into develop

Makefile-Hosted

@@ -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) 

bsp_hosted/InitMission.cpp

@@ -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 */

bsp_hosted/ObjectFactory.cpp

@@ -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>
 

bsp_hosted/boardconfig/print.c

@@ -1,4 +1,5 @@
 #include "print.h"
+
 #include <stdio.h>
 
 void printChar(const char* character, bool errStream) {

bsp_hosted/boardconfig/print.h

@@ -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_ */

bsp_hosted/bsp_hosted.mk

@@ -8,3 +8,4 @@ CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
 CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
 
 INCLUDES += $(CURRENTPATH)/boardconfig
+INCLUDES += $(CURRENTPATH)/fsfwconfig

bsp_hosted/comIF/ArduinoComIF.cpp

@@ -1,6 +1,5 @@
-#include "ArduinoComIF.h"
+#include <bsp_hosted/comIF/ArduinoComIF.h>
-#include "ArduinoCookie.h"
+#include <bsp_hosted/comIF/ArduinoCookie.h>
-
 #include <fsfw/globalfunctions/DleEncoder.h>
 #include <fsfw/globalfunctions/CRC.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>

bsp_hosted/comIF/ArduinoCookie.cpp

@@ -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) :

bsp_hosted/fsfwconfig/FSFWConfig.h

@@ -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

bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp

@@ -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()) {

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -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_ */

bsp_hosted/fsfwconfig/tmtc/apid.h

@@ -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_ */

bsp_hosted/fsfwconfig/tmtc/pusIds.h

@@ -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_ */

bsp_hosted/main.cpp

@@ -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

fsfwconfig/tmtc/tmTcSize.h

@@ -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_ */

hosted/boardconfig/print.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_ */

mission/core/GenericFactory.cpp

@@ -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;
+        PoolManager::LocalPoolConfig poolCfg = {
-        const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
+                {100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
-        const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
+        };
-        new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
+        new PoolManager(objects::TC_STORE, poolCfg);
-                n_elements);
     }
 
     {
-        static constexpr uint8_t NUMBER_OF_POOLS = 5;
+        PoolManager::LocalPoolConfig poolCfg = {
-        const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
+                {100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
-        const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
+        };
-        new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
+        new PoolManager(objects::TM_STORE, poolCfg);
-                n_elements);
     }
 
     {
-        static constexpr uint8_t NUMBER_OF_POOLS = 6;
+        PoolManager::LocalPoolConfig poolCfg = {
-        const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
+                {100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
-                1024, 2048, 4096};
+        };
-        const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
+        new PoolManager(objects::IPC_STORE, poolCfg);
-        new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
-                n_elements);
     }
 
     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,

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -1,13 +1,18 @@
 #include "MGMHandlerLIS3MDL.h"
 
+
 MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
 		object_id_t deviceCommunication, CookieIF* comCookie):
 		DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
-	registers[0] = 0x00;
+#if OBSW_ENHANCED_PRINTOUT == 1
-	registers[1] = 0x00;
+	debugDivider = new PeriodicOperationDivider(10);
-	registers[2] = 0x00;
+#endif
-	registers[3] = 0x00;
+	// Set to default values right away.
-	registers[4] = 0x00;
+	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;
 
 }
 
@@ -29,18 +34,14 @@ void MGMHandlerLIS3MDL::doStartUp() {
 		internalState = STATE_CHECK_REGISTERS;
 		break;
 
-    case STATE_CHECK_REGISTERS:
+	case STATE_CHECK_REGISTERS: {
-        if (setupMGM() == RETURN_OK) {
+		// Set up cached registers which will be used to configure the MGM.
-            for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
+		if(commandExecuted) {
-                if (registers[i - 1] != commandBuffer[i]) {
+			commandExecuted = false;
+			setMode(MODE_NORMAL);
+		}
 		break;
 	}
-            }
-            setMode(_MODE_TO_ON);
-        }
-
-        break;
-
 	default:
 		break;
 	}
@@ -63,7 +64,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
 		break;
 
 	case STATE_CHECK_REGISTERS:
-        *id = MGMLIS3MDL::READALL_MGM;
+		*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
 		break;
 
 	default:
@@ -88,39 +89,56 @@ 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)
+	registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-	        | (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1)
+	registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-			| (1 << MGMLIS3MDL::DO2);
+	registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-	registers[1] = 0;
+	registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-	registers[2] = 0;
+	registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-	registers[3] = (1 << MGMLIS3MDL::OMZ1);
-	registers[4] = 0;
-
-	return prepareCtrlRegisterWrite();
 
+	prepareCtrlRegisterWrite();
 }
 
 ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
 		DeviceCommandId_t *id) {
-    //defines CommandID of MGM in normal operation and build command from command
+	// Data/config register will be read in an alternating manner.
-	*id = MGMLIS3MDL::READALL_MGM;
+	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::READALL_MGM): {
+	case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
 		std::memset(commandBuffer, 0, sizeof(commandBuffer));
-        commandBuffer[0] = readCommand(0, true);
+		commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
 
 		rawPacket = commandBuffer;
-        rawPacketLen = sizeof(commandBuffer);
+		rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-        return HasReturnvaluesIF::RETURN_OK;
+		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();
 	}
@@ -128,7 +146,8 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
 		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);
@@ -137,7 +156,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
 		lastSentCommand = DeviceHandlerIF::NO_COMMAND;
 		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
 	}
-	}
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -155,22 +173,33 @@ ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
 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;
+		*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-		//WHO AM I test
+		// Check validity by checking config registers
-		if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) {
+		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: {
+	case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
 		// 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);
 
-		uint8_t reg2_value = *(packet + 34);
+		uint8_t scale = getFullScale(registers[2]);
-		uint8_t scale = getFullScale(&reg2_value);
 		float sensitivityFactor = getSensitivityFactor(scale);
 
-		int16_t x_value_raw;
+		int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
-		int16_t y_value_raw;
+				| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
-		int16_t z_value_raw;
+		int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
-		int16_t temp_value_raw;
+				| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
-		//size_t size = 2;
+		int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
-		uint8_t *accessBuffer;
+				| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
-		accessBuffer = const_cast<uint8_t*>(packet + 41);
 
-		x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
+		// Target value in microtesla
-		accessBuffer += 2;
+		float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
-		y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
+				*  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-		accessBuffer += 2;
+		float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
-		z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
+				*  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-		accessBuffer += 2;
+		float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
+				*  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
-		temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
+#if OBSW_ENHANCED_PRINTOUT == 1
-
+		if(debugDivider->checkAndIncrement()) {
-		float x_value = static_cast<float>(x_value_raw) * sensitivityFactor;
+			sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-		float y_value = static_cast<float>(y_value_raw) * sensitivityFactor;
+					" microtesla:" << std::endl;
-		float z_value = static_cast<float>(z_value_raw) * sensitivityFactor;
+			// Set terminal to utf-8 if there is an issue with micro printout.
-		float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0);
+			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);
@@ -348,7 +387,7 @@ 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;
@@ -369,3 +408,16 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
 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;
+}

mission/devices/MGMHandlerLIS3MDL.h

@@ -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
@@ -14,10 +18,16 @@
  */
 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);
@@ -44,8 +54,12 @@ protected:
 	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
 
 };
 

mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h

@@ -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 READ_CONFIG_AND_DATA = 0x01;
-static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
+static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
-static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
+static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
-static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
+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_ */