From 93971ad1c9a2fb7d1285e32ed174dd94548f48b4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 21 Dec 2020 19:50:01 +0100
Subject: [PATCH] started rm3100 handler

---
 mission/devices/MGMHandlerRM3100.cpp          |  9 ++++
 mission/devices/MGMHandlerRM3100.h            | 12 ++++-
 .../MGMHandlerRM3100Definitions.h             | 46 +++++++++++++++++++
 3 files changed, 66 insertions(+), 1 deletion(-)

diff --git a/mission/devices/MGMHandlerRM3100.cpp b/mission/devices/MGMHandlerRM3100.cpp
index fbcb578d..0b18dc91 100644
--- a/mission/devices/MGMHandlerRM3100.cpp
+++ b/mission/devices/MGMHandlerRM3100.cpp
@@ -17,6 +17,15 @@ ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
 }
 
 void MGMHandlerRM3100::doStartUp() {
+	if(internalState == STATE_NONE) {
+		internalState = STATE_CONFIGURE_CMM;
+	}
+
+	switch(internalState) {
+	case(STATE_CONFIGURE_CMM): {
+
+	}
+	}
 }
 
 void MGMHandlerRM3100::doShutDown() {
diff --git a/mission/devices/MGMHandlerRM3100.h b/mission/devices/MGMHandlerRM3100.h
index d2081fa1..cf459056 100644
--- a/mission/devices/MGMHandlerRM3100.h
+++ b/mission/devices/MGMHandlerRM3100.h
@@ -31,9 +31,19 @@ protected:
 private:
 
 	enum InternalState {
-	    STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
+	    STATE_NONE,
+		STATE_CONFIGURE_CMM,
+		STATE_READ_CMM,
+		// The cycle count states are propably not going to be used because
+		// the default cycle count will be used.
+		STATE_CONFIGURE_CYCLE_COUNT,
+		STATE_READ_CYCLE_COUNT,
+		STATE_CONFIGURE_TMRC,
+		STATE_READ_TMRC,
+		STATE_NORMAL
 	};
 	InternalState internalState = InternalState::STATE_NONE;
+	bool commandExecuted = false;
 };
 
 #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
diff --git a/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h b/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
index 5bf9e8b3..5fc70cbe 100644
--- a/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
+++ b/mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
@@ -1,8 +1,54 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 
+#include <cstdint>
+
 namespace RM3100 {
 
+static constexpr uint8_t READ_MASK = 0b1000'0000;
+
+/*----------------------------------------------------------------------------*/
+/* CMM Register
+/*----------------------------------------------------------------------------*/
+static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
+static constexpr uint8_t SET_CMM_CMY = 1 << 5;
+static constexpr uint8_t SET_CMM_CMX = 1 << 4;
+static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
+static constexpr uint8_t SET_CMM_START = 1;
+static constexpr uint8_t CMM_REGISTER = 0x01;
+
+static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
+		SET_CMM_DRDM | SET_CMM_START;
+
+/*----------------------------------------------------------------------------*/
+/* Cycle count register
+/*----------------------------------------------------------------------------*/
+static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
+
+static constexpr uint8_t GAIN = CYCLE_COUNT_VALUE / 100 * 38;
+static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
+
+/*----------------------------------------------------------------------------*/
+/* TMRC register
+/*----------------------------------------------------------------------------*/
+static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
+static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
+static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
+
+static constexpr uint8_t TMRC_REGISTER = 0x0B;
+static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_75HZ_VALUE;
+
+static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
+static constexpr uint8_t BIST_REGISTER = 0x33;
+static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
+static constexpr uint8_t STATUS_REGISTER = 0x34;
+static constexpr uint8_t REVID_REGISTER = 0x36;
+
+// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
+static constexpr uint8_t RANGE = 800;
+
+
+
 }