eive/eive-obsw
eive/eive-obsw
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fixed merge conflict

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This commit is contained in:
Jakob Meier 2020-12-27 15:32:16 +01:00
commit 6dbafec3ad
41 changed files with 648 additions and 210 deletions
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3
.gitignore vendored
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@ -7,3 +7,6 @@ _dep
.project .project
.cproject .cproject
__pycache__ __pycache__
!misc/eclipse/**/.cproject
!misc/eclipse/**/.project

6
.gitmodules vendored
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@ -1,12 +1,12 @@
[submodule "etl"] [submodule "etl"]
path = etl path = etl
url = https://github.com/ETLCPP/etl.git url = https://github.com/ETLCPP/etl.git
[submodule "tmtc"]
path = tmtc
url = https://git.ksat-stuttgart.de/Robin.Mueller/tmtc.git
[submodule "arduino"] [submodule "arduino"]
path = arduino path = arduino
url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git
[submodule "fsfw"] [submodule "fsfw"]
path = fsfw path = fsfw
url = https://egit.irs.uni-stuttgart.de/eive/fsfw.git url = https://egit.irs.uni-stuttgart.de/eive/fsfw.git
[submodule "tmtc"]
path = tmtc
url = https://egit.irs.uni-stuttgart.de/eive/eive_tmtc.git

2
Makefile-Hosted
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@ -15,7 +15,7 @@ CUSTOM_DEFINES :=
# Chip & board used for compilation # Chip & board used for compilation
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line) # (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 BOARD = host
OS_FSFW = host OS_FSFW = host
CUSTOM_DEFINES += -D$(OS_FSFW) CUSTOM_DEFINES += -D$(OS_FSFW)

4
hosted/InitMission.cpp → bsp_hosted/InitMission.cpp
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@ -4,7 +4,6 @@
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/datapool/DataPool.h>
#include <fsfw/objectmanager/ObjectManager.h> #include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
@ -29,9 +28,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF *objectManager = nullptr;
//Initialize Data Pool
DataPool dataPool(nullptr);
void InitMission::initMission() { void InitMission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */ /* Instantiate global object manager and also create all objects */

0
hosted/InitMission.h → bsp_hosted/InitMission.h
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2
hosted/ObjectFactory.cpp → bsp_hosted/ObjectFactory.cpp
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@ -1,7 +1,7 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include <objects/systemObjectList.h>
#include <OBSWConfig.h> #include <OBSWConfig.h>
#include <objects/systemObjectList.h>
#include <tmtc/apid.h> #include <tmtc/apid.h>
#include <tmtc/pusIds.h> #include <tmtc/pusIds.h>

0
hosted/ObjectFactory.h → bsp_hosted/ObjectFactory.h
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0
hosted/boardconfig/etl_profile.h → bsp_hosted/boardconfig/etl_profile.h
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0
hosted/boardconfig/gcov.h → bsp_hosted/boardconfig/gcov.h
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1
hosted/boardconfig/print.c → bsp_hosted/boardconfig/print.c
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@ -1,4 +1,5 @@
#include "print.h" #include "print.h"
#include <stdio.h> #include <stdio.h>
void printChar(const char* character, bool errStream) { void printChar(const char* character, bool errStream) {

8
bsp_hosted/boardconfig/print.h Normal file
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@ -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_ */

3
hosted/hosted.mk → bsp_hosted/bsp_hosted.mk
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@ -7,4 +7,5 @@ CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp) CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c) CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
INCLUDES += $(CURRENTPATH)/boardconfig INCLUDES += $(CURRENTPATH)/boardconfig
INCLUDES += $(CURRENTPATH)/fsfwconfig

5
hosted/comIF/ArduinoComIF.cpp → bsp_hosted/comIF/ArduinoComIF.cpp
View File

@ -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/DleEncoder.h>
#include <fsfw/globalfunctions/CRC.h> #include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>

0
hosted/comIF/ArduinoComIF.h → bsp_hosted/comIF/ArduinoComIF.h
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2
hosted/comIF/ArduinoCookie.cpp → bsp_hosted/comIF/ArduinoCookie.cpp
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@ -1,4 +1,4 @@
#include "ArduinoCookie.h" #include <bsp_hosted/comIF/ArduinoCookie.h>
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address, ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize) : const size_t maxReplySize) :

0
hosted/comIF/ArduinoCookie.h → bsp_hosted/comIF/ArduinoCookie.h
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2
hosted/fsfwconfig/FSFWConfig.h → bsp_hosted/fsfwconfig/FSFWConfig.h
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@ -1,8 +1,8 @@
#ifndef CONFIG_FSFWCONFIG_H_ #ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_ #define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef> #include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used //! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat. //! Those can lead to code bloat.

7
hosted/fsfwconfig/OBSWConfig.h → bsp_hosted/fsfwconfig/OBSWConfig.h
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@ -6,9 +6,10 @@
#ifndef CONFIG_OBSWCONFIG_H_ #ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_ #define CONFIG_OBSWCONFIG_H_
#define ADD_TEST_FOLDER 1 #define OBSW_ADD_TEST_CODE 0
// Define not used yet, PUS stack and TMTC tasks are always started // These defines should be disabled for mission code but are useful for
#define ADD_PUS_STACK 1 // debugging.
#define OBSW_ENHANCED_PRINTOUT 1
#endif /* CONFIG_OBSWCONFIG_H_ */ #endif /* CONFIG_OBSWCONFIG_H_ */

0
hosted/fsfwconfig/OBSWVersion.h → bsp_hosted/fsfwconfig/OBSWVersion.h
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0
hosted/fsfwconfig/events/subsystemIdRanges.h → bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
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0
hosted/fsfwconfig/fsfwconfig.mk → bsp_hosted/fsfwconfig/fsfwconfig.mk
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2
hosted/fsfwconfig/ipc/MissionMessageTypes.cpp → bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp
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@ -1,5 +1,5 @@
#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h> #include <fsfw/ipc/CommandMessage.h>
#include <hosted/fsfwconfig/ipc/MissionMessageTypes.h>
void messagetypes::clearMissionMessage(CommandMessage* message) { void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) { switch(message->getMessageType()) {

0
hosted/fsfwconfig/ipc/MissionMessageTypes.h → bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h
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36
bsp_hosted/fsfwconfig/objects/systemObjectList.h Normal file
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@ -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_ */

0
hosted/fsfwconfig/returnvalues/classIds.h → bsp_hosted/fsfwconfig/returnvalues/classIds.h
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19
bsp_hosted/fsfwconfig/tmtc/apid.h Normal file
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@ -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
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@ -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_ */

3
hosted/main.cpp → bsp_hosted/main.cpp
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@ -1,7 +1,6 @@
#include <bsp_hosted/fsfwconfig/OBSWVersion.h>
#include <bsp_linux/InitMission.h> #include <bsp_linux/InitMission.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <hosted/fsfwconfig/OBSWVersion.h>
#include <iostream> #include <iostream>
#ifdef WIN32 #ifdef WIN32

2
fsfw

@ -1 +1 @@
Subproject commit 113397c6c6ae4c46341f4880710e4e4d9b6e7630 Subproject commit 086cbe1e3950cf6c904609352408a7fa48cc83ef

5
fsfwconfig/OBSWConfig.h
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@ -8,7 +8,8 @@
#define ADD_TEST_CODE 0 #define ADD_TEST_CODE 0
// Define not used yet, PUS stack and TMTC tasks are always started // These defines should be disabled for mission code but are useful for
#define ADD_PUS_STACK 1 // debugging.
#define OBSW_ENHANCED_PRINTOUT 1
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */ #endif /* FSFWCONFIG_OBSWCONFIG_H_ */

4
fsfwconfig/tmtc/apid.h
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@ -1,14 +1,14 @@
#ifndef FSFWCONFIG_TMTC_APID_H_ #ifndef FSFWCONFIG_TMTC_APID_H_
#define FSFWCONFIG_TMTC_APID_H_ #define FSFWCONFIG_TMTC_APID_H_
#include <stdint.h> #include <cstdint>
/** /**
* Application Process Definition: entity, uniquely identified by an * Application Process Definition: entity, uniquely identified by an
* application process ID (APID), capable of generating telemetry source * application process ID (APID), capable of generating telemetry source
* packets and receiving telecommand packets * packets and receiving telecommand packets
* *
* SOURCE APID: 0x73 / 115 / s * EIVE APID: 0x65 / 101 / e
* APID is a 11 bit number * APID is a 11 bit number
*/ */
namespace apid { namespace apid {

10
fsfwconfig/tmtc/tmTcSize.h
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@ -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_ */

8
hosted/boardconfig/print.h
View File

@ -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_ */

144
misc/eclipse/.cproject Normal file
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@ -0,0 +1,144 @@
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27
misc/eclipse/.project Normal file
View File

@ -0,0 +1,27 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>eive_obsw</name>
<comment></comment>
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<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
</projectDescription>

33
misc/eclipse/eive-mingw-debug.launch Normal file
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@ -0,0 +1,33 @@
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<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
</launchConfiguration>

33
misc/eclipse/eive-mingw-release.launch Normal file
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@ -0,0 +1,33 @@
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<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
</launchConfiguration>

32
mission/core/GenericFactory.cpp
View File

@ -33,32 +33,28 @@ void ObjectFactory::produceGenericObjects() {
/* Framework objects */ /* Framework objects */
new EventManager(objects::EVENT_MANAGER); new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE); 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); 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); new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
@ -71,7 +67,7 @@ void ObjectFactory::produceGenericObjects() {
/* PUS stack */ /* PUS stack */
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, 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, new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10); apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10);
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,

327
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,13 +1,19 @@
#include "MGMHandlerLIS3MDL.h" #include "MGMHandlerLIS3MDL.h"
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),
registers[0] = 0x00; dataset(this) {
registers[1] = 0x00; #if OBSW_ENHANCED_PRINTOUT == 1
registers[2] = 0x00; debugDivider = new PeriodicOperationDivider(10);
registers[3] = 0x00; #endif
registers[4] = 0x00; // 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 +22,56 @@ 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: {
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;
break; setMode(MODE_NORMAL);
} }
} break;
setMode(_MODE_TO_ON); }
} default:
break;
break; }
default:
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::READALL_MGM; *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) {
@ -88,89 +90,117 @@ uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
return command; 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( ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
DeviceCommandId_t *id) { 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) {
return buildCommandFromCommand(*id, NULL, 0); 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( 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::READALL_MGM): { case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer)); std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(0, true); commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
rawPacket = commandBuffer; 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): { 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): {
return setupMGM(); setupMgm();
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::TOTAL_NR_OF_ADRESSES + 1) { if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len; *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; 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; *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;
} }
@ -193,40 +223,62 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
case MGMLIS3MDL::SETUP_MGM: { case MGMLIS3MDL::SETUP_MGM: {
break; break;
} }
case MGMLIS3MDL::READALL_MGM: { 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.
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); 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
ReturnValue_t result = dataset.read(20);
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthZ = mgmZ;
dataset.commit(20);
}
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
ReturnValue_t result = dataset.read(20);
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue;
dataset.commit(20);
}
break; break;
} }
@ -238,12 +290,12 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
return RETURN_OK; return RETURN_OK;
} }
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) { uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
bool FS0 = false; bool FS0 = false;
bool FS1 = false; bool FS1 = false;
if ((*reg2 >> 5) == 1) if ((ctrlRegister2 >> 5) == 1)
FS0 = true; FS0 = true;
if ((*reg2 >> 6) == 1) if ((ctrlRegister2 >> 6) == 1)
FS1 = true; FS1 = true;
if ((FS0 == true) && (FS1 == true)) if ((FS0 == true) && (FS1 == true))
return 16; return 16;
@ -269,17 +321,16 @@ ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
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;
} }
registers[0] = commandBuffer[1]; registers[0] = commandBuffer[1];
@ -333,7 +384,8 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
* 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::READALL_MGM, 1); insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
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);
@ -348,14 +400,14 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
commandBuffer[i + 1] = registers[i]; commandBuffer[i + 1] = registers[i];
} }
rawPacket = commandBuffer; 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 // 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) {
@ -363,9 +415,22 @@ 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(
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;
}

43
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -1,9 +1,13 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/MGMHandlerLIS3Definitions.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 * @brief Device handler object for the LIS3MDL 3-axis magnetometer
@ -14,13 +18,18 @@
*/ */
class MGMHandlerLIS3MDL: public DeviceHandlerBase { class MGMHandlerLIS3MDL: public DeviceHandlerBase {
public: public:
enum class CommunicationStep {
DATA,
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;
//Notifies a command to change the setup parameters //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, MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie); CookieIF* comCookie);
virtual ~MGMHandlerLIS3MDL(); virtual ~MGMHandlerLIS3MDL();
protected: protected:
@ -34,18 +43,23 @@ 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,
LocalDataPoolManager &poolManager) override;
private: private:
MGMLIS3MDL::MgmPrimaryDataset dataset;
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Device specific commands and variables */ /* Device specific commands and variables */
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
@ -68,7 +82,7 @@ private:
* e.g.: +- 4 gauss. See p.25 datasheet. * e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value * @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 * The 16 bit value needs to be divided by the full range of a 16bit value
@ -86,7 +100,7 @@ private:
*/ */
ReturnValue_t identifyDevice(); ReturnValue_t identifyDevice();
virtual ReturnValue_t setupMGM(); virtual void setupMgm();
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Non normal commands */ /* Non normal commands */
@ -114,7 +128,7 @@ private:
//Single SPIcommand has 2 bytes, first for adress, second for content //Single SPIcommand has 2 bytes, first for adress, second for content
size_t singleComandSize = 2; size_t singleComandSize = 2;
//has the size for all adresses of the lis3mdl + the continous write bit //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 * 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 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 * 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. * the next read cycle, so we could check the command for identification.
@ -142,6 +159,12 @@ private:
}; };
InternalState internalState = STATE_NONE; InternalState internalState = STATE_NONE;
CommunicationStep communicationStep = CommunicationStep::DATA;
bool commandExecuted = false;
#if OBSW_ENHANCED_PRINTOUT == 1
PeriodicOperationDivider* debugDivider;
#endif
}; };

62
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
View File

@ -1,6 +1,9 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
#define 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> #include <cstdint>
namespace MGMLIS3MDL { namespace MGMLIS3MDL {
@ -12,11 +15,14 @@ enum opMode {
LOW, MEDIUM, HIGH, ULTRA LOW, MEDIUM, HIGH, ULTRA
}; };
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
static const DeviceCommandId_t SETUP_MGM = 0x00; 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 //Number of all control registers
static const uint8_t NR_OF_CTRL_REGISTERS = 5; 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; static const uint8_t NR_OF_REGISTERS = 19;
//Total number of adresses for all registers //Total number of adresses for all registers
static const uint8_t TOTAL_NR_OF_ADRESSES = 52; 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 */ /* Register adresses */
@ -45,19 +53,26 @@ static const uint8_t CTRL_REG4 = 0b00100011;
static const uint8_t CTRL_REG5 = 0b00100100; static const uint8_t CTRL_REG5 = 0b00100100;
//Register adress to access status register //Register adress to access status register
static const uint8_t STATUS_REG_IDX = 8;
static const uint8_t STATUS_REG = 0b00100111; static const uint8_t STATUS_REG = 0b00100111;
//Register adress to access low byte of x-axis //Register adress to access low byte of x-axis
static const uint8_t X_LOWBYTE_IDX = 9;
static const uint8_t X_LOWBYTE = 0b00101000; static const uint8_t X_LOWBYTE = 0b00101000;
//Register adress to access high byte of x-axis //Register adress to access high byte of x-axis
static const uint8_t X_HIGHBYTE_IDX = 10;
static const uint8_t X_HIGHBYTE = 0b00101001; static const uint8_t X_HIGHBYTE = 0b00101001;
//Register adress to access low byte of y-axis //Register adress to access low byte of y-axis
static const uint8_t Y_LOWBYTE_IDX = 11;
static const uint8_t Y_LOWBYTE = 0b00101010; static const uint8_t Y_LOWBYTE = 0b00101010;
//Register adress to access high byte of y-axis //Register adress to access high byte of y-axis
static const uint8_t Y_HIGHBYTE_IDX = 12;
static const uint8_t Y_HIGHBYTE = 0b00101011; static const uint8_t Y_HIGHBYTE = 0b00101011;
//Register adress to access low byte of z-axis //Register adress to access low byte of z-axis
static const uint8_t Z_LOWBYTE_IDX = 13;
static const uint8_t Z_LOWBYTE = 0b00101100; static const uint8_t Z_LOWBYTE = 0b00101100;
//Register adress to access high byte of z-axis //Register adress to access high byte of z-axis
static const uint8_t Z_HIGHBYTE_IDX = 14;
static const uint8_t Z_HIGHBYTE = 0b00101101; static const uint8_t Z_HIGHBYTE = 0b00101101;
//Register adress to access low byte of temperature sensor //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; static const uint8_t TEMP_HIGHBYTE = 0b00101111;
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Initialize Setup Register set bits /* Initialize Setup Register set bits */
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* General transfer bits */ /* General transfer bits */
// Read=1 / Write=0 Bit // 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 OM0 = 5; // XY operating mode bit 5
static const uint8_t OM1 = 6; // XY operating mode bit 6 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 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 */ /* CTRL_REG2 bits */
//reset configuration registers and user registers //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 REBOOT = 3; //reboot memory content
static const uint8_t FSO = 5; //full-scale selection bit 5 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 FS1 = 6; //full-scale selection bit 6
static const uint8_t CTRL_REG2_DEFAULT = 0;
/* CTRL_REG3 bits */ /* CTRL_REG3 bits */
static const uint8_t MD0 = 0; //Operating mode bit 0 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 //SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t SIM = 2; static const uint8_t SIM = 2;
static const uint8_t LP = 5; //low-power mode static const uint8_t LP = 5; //low-power mode
static const uint8_t CTRL_REG3_DEFAULT = 0;
/* CTRL_REG4 bits */ /* CTRL_REG4 bits */
//big/little endian data selection enabled = MSb at lower adress //big/little endian data selection enabled = MSb at lower adress
static const uint8_t BLE = 1; static const uint8_t BLE = 1;
static const uint8_t OMZ0 = 2; //Z operating mode bit 2 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 OMZ1 = 3; //Z operating mode bit 3
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
/* CTRL_REG5 bits */ /* CTRL_REG5 bits */
static const uint8_t BDU = 6; //Block data update static const uint8_t BDU = 6; //Block data update
static const uint8_t FAST_READ = 7; //Fast read enabled = 1 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 = READ_CONFIG_AND_DATA;
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> fieldStrengthX = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = 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_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */