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rm3100 finished, lis3 set normal datapool entries

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invalid removed, will be replaced by default implementation
This commit is contained in:
Robin Müller 2020-12-22 00:24:19 +01:00 committed by Robin Mueller
parent f70c767a1c
commit 71853fe1aa
4 changed files with 143 additions and 42 deletions
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5
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -259,6 +259,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthZ = mgmZ;
dataset.setValidity(true, true);
dataset.commit(20);
}
break;
@ -406,10 +407,6 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
return RETURN_OK;
}
void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
// TODO: use new distributed datapools here.
}
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
}

24
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -35,28 +35,26 @@ public:
protected:
/** DeviceHandlerBase overrides */
virtual void doShutDown() override;
virtual void doStartUp() override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
virtual ReturnValue_t buildCommandFromCommand(
void doShutDown() override;
void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
virtual ReturnValue_t buildTransitionDeviceCommand(
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t buildNormalDeviceCommand(
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
virtual void fillCommandAndReplyMap() override;
virtual void modeChanged(void) override;
void setNormalDatapoolEntriesInvalid() override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
MGMLIS3MDL::MgmPrimaryDataset dataset;

115
mission/devices/MGMHandlerRM3100.cpp
View File

@ -7,7 +7,11 @@
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this) {
#if OBSW_ENHANCED_PRINTOUT == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
}
MGMHandlerRM3100::~MGMHandlerRM3100() {}
@ -140,7 +144,9 @@ ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) {
if(id == RM3100::READ_CMM) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(RM3100::READ_CMM): {
if(packet[1] == cmmRegValue) {
commandExecuted = true;
}
@ -149,13 +155,14 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
internalState = STATE_CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
else if(id == RM3100::READ_TMRC) {
case(RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded.
if(mode == MODE_NORMAL) {
// Reading TMRC was commanded. Trigger event to inform ground.
if(mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
@ -163,22 +170,33 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
internalState = STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
else if(id == RM3100::READ_DATA) {
// analyze data here.
// Field strengths in micro Tesla
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
* scaleFactorX;
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
* scaleFactorY;
int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
* scaleFactorZ;
case(RM3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if(cycleCountX != cycleCountRegValueX or
cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground.
if(mode != _MODE_START_UP) {
uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
}
else {
case(RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
default:
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
return RETURN_OK;
return result;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
@ -252,3 +270,66 @@ ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
return HasReturnvaluesIF::RETURN_OK;
}
void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
}
void MGMHandlerRM3100::modeChanged(void) {
internalState = STATE_NONE;
}
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
new PoolEntry<float>(0.0));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
new PoolEntry<float>(0.0));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
new PoolEntry<float>(0.0));
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
// analyze data here.
// Field strengths in micro Tesla
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
* scaleFactorX;
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
* scaleFactorY;
int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
* scaleFactorZ;
#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: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
}
#endif
ReturnValue_t result = primaryDataset.read(20);
if(result == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true);
result = primaryDataset.commit(20);
}
return result;
}

41
mission/devices/MGMHandlerRM3100.h
View File

@ -6,10 +6,23 @@
#include <OBSWConfig.h>
#if OBSW_ENHANCED_PRINTOUT == 1
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#endif
class MGMHandlerRM3100: public DeviceHandlerBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_RM3100;
//! P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
0x00, severity::INFO);
//! P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent(
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
@ -18,20 +31,26 @@ public:
protected:
/* DeviceHandlerBase overrides */
virtual ReturnValue_t buildTransitionDeviceCommand(
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
virtual void doStartUp() override;
virtual void doShutDown() override;
virtual ReturnValue_t buildNormalDeviceCommand(
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t buildCommandFromCommand(
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
enum InternalState {
@ -48,6 +67,7 @@ private:
};
InternalState internalState = InternalState::STATE_NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;
uint8_t commandBuffer[10];
uint8_t commandBufferLen = 0;
@ -68,6 +88,11 @@ private:
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t* packet);
#if OBSW_ENHANCED_PRINTOUT == 1
PeriodicOperationDivider* debugDivider;
#endif
};
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */