done

2023-03-24 20:50:33 +01:00
parent da386edd05
commit 87e1746d71
99 changed files with 139 additions and 254 deletions
--- a/mission/acs/MgmLis3CustomHandler.h
+++ b/mission/acs/MgmLis3CustomHandler.h
@ -0,0 +1,103 @@
+#ifndef MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_
+#define MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_
+
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#include "mission/acs/acsBoardPolling.h"
+
+class PeriodicOperationDivider;
+
+/**
+ * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
+ *          by STMicroeletronics
+ * @details
+ * Datasheet can be found online by googling LIS3MDL.
+ * Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
+ * @author  L. Loidold, R. Mueller
+ */
+class MgmLis3CustomHandler : public DeviceHandlerBase {
+ public:
+  static constexpr DeviceCommandId_t REQUEST = 0x70;
+  static constexpr DeviceCommandId_t REPLY = 0x77;
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
+
+  MgmLis3CustomHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
+                       uint32_t transitionDelay);
+  virtual ~MgmLis3CustomHandler();
+
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
+  /**
+   * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+   * be marked as invalid if that limit is exceeded
+   * @param xLimit
+   * @param yLimit
+   * @param zLimit
+   */
+  void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
+  void setToGoToNormalMode(bool enable);
+
+ protected:
+  /** DeviceHandlerBase overrides */
+  void doShutDown() override;
+  void doStartUp() override;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  /**
+   * This implementation is tailored towards space applications and will flag values larger
+   * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
+   * @param id
+   * @param packet
+   * @return
+   */
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  void modeChanged(void) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+
+ private:
+  mgmLis3::MgmPrimaryDataset dataset;
+  acs::MgmLis3Request request{};
+
+  uint32_t transitionDelay;
+
+  float absLimitX = 100;
+  float absLimitY = 100;
+  float absLimitZ = 150;
+
+  uint8_t statusRegister = 0;
+  bool goToNormalMode = false;
+
+  enum class InternalState {
+    NONE,
+    STARTUP,
+    SHUTDOWN,
+  };
+
+  InternalState internalState = InternalState::NONE;
+  bool commandExecuted = false;
+
+  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
+  PoolEntry<float> temperature = PoolEntry<float>();
+  /*------------------------------------------------------------------------*/
+  /* Device specific commands and variables */
+  /*------------------------------------------------------------------------*/
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+
+  ReturnValue_t prepareRequest(acs::SimpleSensorMode mode);
+};
+
+#endif /* MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_ */