arduino stuff added
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@ -2,6 +2,7 @@
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#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
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#include <subsystemIdRanges.h>
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/**
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@ -13,22 +14,7 @@
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*/
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class MGMHandlerLIS3MDL: public DeviceHandlerBase {
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public:
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enum set {
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ON, OFF
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};
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enum opMode {
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LOW, MEDIUM, HIGH, ULTRA
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};
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static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
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static const DeviceCommandId_t SETUP_MGM = 0x00;
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static const DeviceCommandId_t READALL_MGM = 0x01;
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static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
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static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
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static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
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//Notifies a command to change the setup parameters
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static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW);
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@ -79,19 +65,21 @@ private:
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/**
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* This Method gets the full scale for the measurement range
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* e.g.: +- 4 gauss
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*
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* e.g.: +- 4 gauss. See p.25 datasheet.
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* @return The ReturnValue does not contain the sign of the value
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*/
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uint8_t getFullScale(uint8_t *reg2);
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/**
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* after detecting the fullScale the 16bit Value for the data is
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* devided with the fullScale to the sensitivity of the scale
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* The 16 bit value needs to be divided by the full range of a 16bit value
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* and then multiplied with the current scale of the MGM.
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* This factor returns the factor required to achieve this with
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* one multiplication.
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*
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* @param scale is the return value of the getFulscale Method
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* @return Multiplication factor to get the sensor value from raw data.
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*/
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float getSensitivity(uint8_t scale);
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float getSensitivityFactor(uint8_t scale);
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/**
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* This Command detects the device ID
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@ -119,110 +107,21 @@ private:
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virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
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size_t commandDataLen);
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//Number of all control registers
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static const uint8_t NR_OF_CTRL_REGISTERS = 5;
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//Number of registers in the MGM
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static const uint8_t NR_OF_REGISTERS = 19;
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//Total number of adresses for all registers
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static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
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static const uint8_t SETUP_REPLY = 6;
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//Length a sindgle command SPI answer
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static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
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/*------------------------------------------------------------------------*/
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/* Register adresses */
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/*------------------------------------------------------------------------*/
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// Register adress returns identifier of device with default 0b00111101
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static const uint8_t IDENTIFYDEVICE = 0b00001111;
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static const uint8_t DEVICEID = 0b00111101; // Identifier for Device
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//Register adress to access register 1
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static const uint8_t CTRL_REG1 = 0b00100000;
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//Register adress to access register 2
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static const uint8_t CTRL_REG2 = 0b00100001;
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//Register adress to access register 3
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static const uint8_t CTRL_REG3 = 0b00100010;
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//Register adress to access register 4
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static const uint8_t CTRL_REG4 = 0b00100011;
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//Register adress to access register 5
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static const uint8_t CTRL_REG5 = 0b00100100;
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//Register adress to access status register
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static const uint8_t STATUS_REG = 0b00100111;
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//Register adress to access low byte of x-axis
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static const uint8_t X_LOWBYTE = 0b00101000;
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//Register adress to access high byte of x-axis
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static const uint8_t X_HIGHBYTE = 0b00101001;
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//Register adress to access low byte of y-axis
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static const uint8_t Y_LOWBYTE = 0b00101010;
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//Register adress to access high byte of y-axis
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static const uint8_t Y_HIGHBYTE = 0b00101011;
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//Register adress to access low byte of z-axis
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static const uint8_t Z_LOWBYTE = 0b00101100;
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//Register adress to access high byte of z-axis
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static const uint8_t Z_HIGHBYTE = 0b00101101;
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//Register adress to access low byte of temperature sensor
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static const uint8_t TEMP_LOWBYTE = 0b00101110;
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//Register adress to access high byte of temperature sensor
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static const uint8_t TEMP_HIGHBYTE = 0b00101111;
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/*------------------------------------------------------------------------*/
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/* Initialize Setup Register set bits
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/*------------------------------------------------------------------------*/
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/* General transfer bits */
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// Read=1 / Write=0 Bit
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static const uint8_t RW_BIT = 7;
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// Continous Read/Write Bit, increment adress
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static const uint8_t MS_BIT = 6;
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/* CTRL_REG1 bits */
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static const uint8_t ST = 0; // Self test enable bit, enabled = 1
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// Enable rates higher than 80 Hz enabled = 1
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static const uint8_t FAST_ODR = 1;
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static const uint8_t DO0 = 2; // Output data rate bit 2
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static const uint8_t DO1 = 3; // Output data rate bit 3
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static const uint8_t DO2 = 4; // Output data rate bit 4
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static const uint8_t OM0 = 5; // XY operating mode bit 5
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static const uint8_t OM1 = 6; // XY operating mode bit 6
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static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
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/* CTRL_REG2 bits */
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//reset configuration registers and user registers
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static const uint8_t SOFT_RST = 2;
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static const uint8_t REBOOT = 3; //reboot memory content
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static const uint8_t FSO = 5; //full-scale selection bit 5
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static const uint8_t FS1 = 6; //full-scale selection bit 6
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/* CTRL_REG3 bits */
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static const uint8_t MD0 = 0; //Operating mode bit 0
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static const uint8_t MD1 = 1; //Operating mode bit 1
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//SPI serial interface mode selection enabled = 3-wire-mode
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static const uint8_t SIM = 2;
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static const uint8_t LP = 5; //low-power mode
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/* CTRL_REG4 bits */
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//big/little endian data selection enabled = MSb at lower adress
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static const uint8_t BLE = 1;
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static const uint8_t OMZ0 = 2; //Z operating mode bit 2
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static const uint8_t OMZ1 = 3; //Z operating mode bit 3
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/* CTRL_REG5 bits */
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static const uint8_t BDU = 6; //Block data update
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static const uint8_t FAST_READ = 7; //Fast read enabled = 1
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//Single SPIcommand has 2 bytes, first for adress, second for content
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size_t singleComandSize = 2;
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//has the size for all adresses of the lis3mdl + the continous write bit
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uint8_t commandBuffer[TOTAL_NR_OF_ADRESSES + 1];
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uint8_t commandBuffer[MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1];
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/**
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* We want to save the registers we set, so we dont have to read the
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* registers when we want to change something.
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* --> everytime we change set a register we have to save it
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*/
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uint8_t registers[NR_OF_CTRL_REGISTERS];
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uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
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/**
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* As this is a SPI Device, we get the Answer of the last sent command in
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