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simple rm3100 test working now

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This commit is contained in:
Robin Müller
2021-03-06 20:21:23 +01:00
committed by Robin.Mueller
parent f0aca50356
commit 9cdf5f0f67
3 changed files with 77 additions and 21 deletions
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32
mission/devices/MGMHandlerRM3100.cpp
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@ -292,16 +292,16 @@ ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
}
void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 2);
insertInCommandAndReplyMap(RM3100::READ_CMM, 2);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 2);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 2);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 2);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 2);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_DATA, 2, &primaryDataset);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
}
void MGMHandlerRM3100::modeChanged(void) {
@ -324,13 +324,16 @@ uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
}
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
/* Analyze data here. Field strengths in microtesla */
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;
/* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
* trickery here to calculate the raw values first */
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
/* Now scale to physical value in microtesla */
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if OBSW_VERBOSE_LEVEL >= 1
if(debugDivider->checkAndIncrement()) {
@ -343,6 +346,7 @@ ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
}
#endif
/* TODO: Sanity check on values */
PoolReadGuard readGuard(&primaryDataset);
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;