integration complete
This commit is contained in:
parent
9fd27801f6
commit
862f029448
@ -17,6 +17,7 @@ enum: uint8_t {
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PUS_SERVICE_6,
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PUS_SERVICE_8,
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PUS_SERVICE_23,
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MGM_LIS3MDL
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};
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}
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit 916a374c19549744f6413799ca7bb0a66c5b54e0
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Subproject commit 44340aa506737c1b489ef20774c42d5ef55bb7bd
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@ -44,15 +44,14 @@ ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
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DeviceCommandId_t *id) { //defines CommandID of MGM in normal operation and build command from command
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DeviceCommandId_t *id) {
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//defines CommandID of MGM in normal operation and build command from command
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*id = READALL_MGM;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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lastSentCommand = deviceCommand;
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switch(deviceCommand) {
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@ -80,7 +79,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
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return setOperatingMode(commandData, commandDataLen);
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}
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default:
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lastSentCommand = NO_COMMAND;
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lastSentCommand = DeviceHandlerIF::NO_COMMAND;
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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}
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@ -110,7 +109,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
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}
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ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
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uint32_t len, DeviceCommandId_t *foundId, uint32_t *foundLen) {
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size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundLen = len;
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if (len == TOTAL_NR_OF_ADRESSES + 1) {
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*foundLen = len;
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@ -149,7 +148,6 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
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break;
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}
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case READALL_MGM: {
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//DataSet mySet;
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registers[0] = *(packet + 33);
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registers[1] = *(packet + 34);
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@ -183,18 +181,6 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
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float z_value = (float) z_value_raw * sensitivity;
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float temp_value = 25.0 + (((float) temp_value_raw) / 8.0);
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// PoolVector<float, 3> mgm_measurement(mgmMagneticPoolId, &mySet,
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// PoolVariableIF::VAR_WRITE);
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// PoolVariable<float> mgm_temperature(mgmTempPoolId, &mySet,
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// PoolVariableIF::VAR_WRITE);
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// mgm_measurement[0] = x_value;
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// mgm_measurement[1] = y_value;
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// mgm_measurement[2] = z_value;
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//
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// mgm_temperature = temp_value;
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// handleDeviceTM(&mySet, id);
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break;
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}
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@ -339,19 +325,21 @@ ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
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}
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void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
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/*Actually SPI answers directly, but as commanding ArduinoBoard the communication could be delayed
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* SPI always has to be triggered, so there could be no periodic answer of the device, the device has
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* to asked with a command, so periodic is zero.
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/*
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* Regarding ArduinoBoard:
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* Actually SPI answers directly, but as commanding ArduinoBoard the
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* communication could be delayed
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* SPI always has to be triggered, so there could be no periodic answer of
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* the device, the device has to asked with a command, so periodic is zero.
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*
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* We dont read single registers, we just expect special
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* reply from he Readall_MGM
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*/
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insertInCommandAndReplyMap(READALL_MGM, 1, 0);
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insertInCommandAndReplyMap(SETUP_MGM, 1, 0);
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insertInCommandAndReplyMap(IDENTIFY_DEVICE, 1, 0);
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insertInCommandAndReplyMap(TEMP_SENSOR_ENABLE, 1, 0);
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insertInCommandAndReplyMap(ACCURACY_OP_MODE_SET, 1, 0);
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insertInCommandAndReplyMap(READALL_MGM, 1);
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insertInCommandAndReplyMap(SETUP_MGM, 1);
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insertInCommandAndReplyMap(IDENTIFY_DEVICE, 1);
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insertInCommandAndReplyMap(TEMP_SENSOR_ENABLE, 1);
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insertInCommandAndReplyMap(ACCURACY_OP_MODE_SET, 1);
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}
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ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() {
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@ -369,20 +357,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() {
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}
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void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
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// DataSet mySet;
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// PoolVector<float, 3> mgmMeasurements(mgmMagneticPoolId, &mySet,
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// PoolVariableIF::VAR_WRITE);
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// PoolVariable<float> mgmTemperature(mgmTempPoolId, &mySet,
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// PoolVariableIF::VAR_WRITE);
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//
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// mgmMeasurements[0] = 0;
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// mgmMeasurements[1] = 0;
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// mgmMeasurements[2] = 0;
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//
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// mgmTemperature = 999;
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// mySet.commit(PoolVariableIF::INVALID);
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// TODO: use new distributed datapools here.
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}
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void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
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@ -2,7 +2,7 @@
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#define MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <subsystemIdRanges.h>
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/**
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* @brief Device handler object for the LIS3MDL 3-axis magnetometer
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@ -23,17 +23,12 @@ public:
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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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// This Command is needed to use for lastSentCommand, if there is no
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// command set, you have to set this.
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static const DeviceCommandId_t NO_COMMAND = 0xffffffff;
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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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@ -45,22 +40,24 @@ public:
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protected:
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/** DeviceHandlerBase overrides */
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virtual void doShutDown();
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virtual void doStartUp();
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virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
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virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to);
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virtual void doShutDown() override;
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virtual void doStartUp() override;
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virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
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virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
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virtual ReturnValue_t buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen);
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virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id);
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virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id);
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virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
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DeviceCommandId_t *foundId, uint32_t *foundLen);
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size_t commandDataLen) override;
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virtual ReturnValue_t buildTransitionDeviceCommand(
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DeviceCommandId_t *id) override;
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virtual ReturnValue_t buildNormalDeviceCommand(
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DeviceCommandId_t *id) override;
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virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet);
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virtual void fillCommandAndReplyMap();
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virtual void modeChanged(void);
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void setNormalDatapoolEntriesInvalid();
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const uint8_t *packet) override;
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virtual void fillCommandAndReplyMap() override;
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virtual void modeChanged(void) override;
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void setNormalDatapoolEntriesInvalid() override;
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private:
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/*------------------------------------------------------------------------*/
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@ -122,12 +119,15 @@ private:
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virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
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size_t commandDataLen);
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static const uint8_t NR_OF_CTRL_REGISTERS = 5; //Number of all control registers
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static const uint8_t NR_OF_REGISTERS = 19; //Number of registers in the MGM
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static const uint8_t TOTAL_NR_OF_ADRESSES = 52; //Total number of adresses for all registers
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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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static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; //Length a sindgle command SPI answer
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//static const uint8_t LIS3MDL_IDENTIFIER = 0b00111101; //Identifier for Device
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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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@ -171,40 +171,46 @@ private:
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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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static const uint8_t RW_BIT = 7; //Read=1 / Write=0 Bit
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static const uint8_t MS_BIT = 6; //Continous Read/Write Bit, increment adress
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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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static const uint8_t FAST_ODR = 1; //Enable rates higher than 80 Hz enabled = 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_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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static const uint8_t SOFT_RST = 2; //reset configuration registers and user registers
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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_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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static const uint8_t SIM = 2; //SPI serial interface mode selection enabled = 3-wire-mode
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static const uint8_t LP = 5; //low-power mode
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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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static const uint8_t BLE = 1; //big/little endian data selection enabled = MSb at lower adress
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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_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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/* 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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@ -212,8 +218,8 @@ private:
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uint8_t commandBuffer[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 registers
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* when we want to change something
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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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@ -222,7 +228,7 @@ private:
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* As this is a SPI Device, we get the Answer of the last sent command in
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* the next read cycle, so we could check the command for identification.
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*/
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DeviceCommandId_t lastSentCommand = 0xffffffff;
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DeviceCommandId_t lastSentCommand = DeviceHandlerIF::NO_COMMAND;
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/**
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* We always update all registers together, so this method updates
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