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simple rm3100 test working now

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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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64
linux/boardtest/SpiTestClass.cpp
View File

@ -1,16 +1,18 @@
#include "SpiTestClass.h" #include "SpiTestClass.h"
#include <fsfwconfig/devices/gpioIds.h> #include <fsfwconfig/devices/gpioIds.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/globalfunctions/arrayprinter.h> #include <fsfw/globalfunctions/arrayprinter.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h> #include <fsfw/timemanager/Stopwatch.h>
#include <linux/gpio/gpioDefinitions.h> #include <linux/gpio/gpioDefinitions.h>
#include <linux/gpio/GpioCookie.h> #include <linux/gpio/GpioCookie.h>
#include <linux/utility/Utility.h> #include <linux/utility/Utility.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <unistd.h> #include <unistd.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <bitset> #include <bitset>
@ -69,7 +71,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
else { else {
currentGpioId = gpioIds::MGM_3_RM3100_CS; currentGpioId = gpioIds::MGM_3_RM3100_CS;
} }
uint32_t rm3100speed = 195'300; uint32_t rm3100speed = 976'000;
uint8_t rm3100revidReg = 0x36; uint8_t rm3100revidReg = 0x36;
spi::SpiMode rm3100mode = spi::SpiMode::MODE_3; spi::SpiMode rm3100mode = spi::SpiMode::MODE_3;
@ -96,7 +98,6 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
/* Write configuration to CMM register */ /* Write configuration to CMM register */
writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75); writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
// TaskFactory::delayTask(10);
uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01); uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01);
sif::info << "SpiTestClass::performRm3100Test: CMM register value: " << sif::info << "SpiTestClass::performRm3100Test: CMM register value: " <<
std::hex << "0x" << static_cast<int>(cmmRegister) << std::dec << std::endl; std::hex << "0x" << static_cast<int>(cmmRegister) << std::dec << std::endl;
@ -104,7 +105,54 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
/* Read the cycle count registers */ /* Read the cycle count registers */
uint8_t cycleCountsRaw[6]; uint8_t cycleCountsRaw[6];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6); readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
arrayprinter::print(cycleCountsRaw, 6);
uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
sif::info << "Cycle count X: " << cycleCountX << std::endl;
sif::info << "Cycle count Y: " << cycleCountY << std::endl;
sif::info << "Cycle count z: " << cycleCountZ << std::endl;
writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x95);
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " <<
std::hex << "0x" << static_cast<int>(tmrcReg) << std::dec << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" <<
std::bitset<8>(statusReg) << std::endl;
/* This means that data is not ready */
if((statusReg & 0b1000'0000) == 0) {
sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
if((statusReg & 0b1000'0000) == 0) {
return;
}
}
uint32_t rm3100DefaultCycleCout = 0xC8;
/* Gain scales lineary with cycle count and is 38 for cycle count 100 */
float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
float scaleFactor = 1 / rm3100Gain;
uint8_t rawValues[9];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
/* The sensor generates 24 bit signed values */
int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
float fieldStrengthX = rawX * scaleFactor;
float fieldStrengthY = rawY * scaleFactor;
float fieldStrengthZ = rawZ * scaleFactor;
sif::info << "RM3100 measured field strenghts in microtesla:" << std::endl;
sif::info << "Field Strength X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
sif::info << "Field Strength Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
sif::info << "Field Strength Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
} }
void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) { void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
@ -242,10 +290,14 @@ void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t re
spiTransferStruct.len = len + 1; spiTransferStruct.len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK; sendBuffer[0] = reg | STM_READ_MASK;
for(uint8_t idx = 0; idx < len ; idx ++) { for(uint8_t idx = 0; idx < len ; idx ++) {
sendBuffer[idx + 1] = 0; sendBuffer[idx + 1] = 0;
} }
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) { if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed"); utility::handleIoctlError("SpiTestClass::readRegister: Read failed");

2
linux/boardtest/SpiTestClass.h
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@ -28,7 +28,7 @@ private:
std::array<uint8_t, 128> recvBuffer; std::array<uint8_t, 128> recvBuffer;
std::array<uint8_t, 128> sendBuffer; std::array<uint8_t, 128> sendBuffer;
struct spi_ioc_transfer spiTransferStruct; struct spi_ioc_transfer spiTransferStruct = {};
void performRm3100Test(uint8_t mgmId); void performRm3100Test(uint8_t mgmId);
void performLis3MdlTest(uint8_t lis3Id); void performLis3MdlTest(uint8_t lis3Id);

32
mission/devices/MGMHandlerRM3100.cpp
View File

@ -292,16 +292,16 @@ ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
} }
void MGMHandlerRM3100::fillCommandAndReplyMap() { void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 2); insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 2); insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 2); insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 2); insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 2); insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 2); insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_DATA, 2, &primaryDataset); insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
} }
void MGMHandlerRM3100::modeChanged(void) { 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) { ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
/* Analyze data here. Field strengths in microtesla */ /* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3]) * trickery here to calculate the raw values first */
* scaleFactorX; int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6]) int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
* scaleFactorY; int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
* scaleFactorZ; /* 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 OBSW_VERBOSE_LEVEL >= 1
if(debugDivider->checkAndIncrement()) { if(debugDivider->checkAndIncrement()) {
@ -343,6 +346,7 @@ ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
} }
#endif #endif
/* TODO: Sanity check on values */
PoolReadGuard readGuard(&primaryDataset); PoolReadGuard readGuard(&primaryDataset);
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX; primaryDataset.fieldStrengthX = fieldStrengthX;