integrating first device handlers
This commit is contained in:
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36ef735067
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9fd27801f6
@ -11,23 +11,12 @@
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namespace SUBSYSTEM_ID {
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enum: uint8_t {
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SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE,
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/**
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* 80-105: PUS Services
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*/
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PUS_SERVICE_2 = 82,
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PUS_SERVICE_3 = 83,
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PUS_SERVICE_5 = 85,
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PUS_SERVICE_6 = 86,
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PUS_SERVICE_8 = 88,
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PUS_SERVICE_23 = 91,
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DUMMY_DEVICE = 90,
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/**
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* 105-115: AOCS
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*/
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GPS_DEVICE = 105,
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SPI_COM_IF = 128,
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I2C_COM_IF = 138
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PUS_SERVICE_2,
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PUS_SERVICE_3,
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PUS_SERVICE_5,
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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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};
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}
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@ -16,11 +16,7 @@
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namespace CLASS_ID {
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enum {
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MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
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RS232_CHANNEL, //!< RS232
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I2C_CHANNEL, //!< I2C
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SPI_CHANNEL, //!< SPI
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GPS_HANDLER, //!< GPS
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PUS_SERVICE_3 //!< HKS
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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 e4d75514d3f073991869c695c11b4b5a862cfe21
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Subproject commit 916a374c19549744f6413799ca7bb0a66c5b54e0
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@ -11,23 +11,15 @@
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namespace SUBSYSTEM_ID {
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enum: uint8_t {
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SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE,
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/**
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* 80-105: PUS Services
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*/
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PUS_SERVICE_2 = 82,
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PUS_SERVICE_3 = 83,
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PUS_SERVICE_5 = 85,
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PUS_SERVICE_6 = 86,
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PUS_SERVICE_8 = 88,
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PUS_SERVICE_23 = 91,
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DUMMY_DEVICE = 90,
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/**
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* 105-115: AOCS
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*/
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GPS_DEVICE = 105,
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PUS_SERVICE_2,
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PUS_SERVICE_3,
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PUS_SERVICE_5,
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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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SPI_COM_IF = 128,
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I2C_COM_IF = 138
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DUMMY_DEVICE,
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};
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}
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398
mission/devices/MGMHandlerLIS3MDL.cpp
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398
mission/devices/MGMHandlerLIS3MDL.cpp
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@ -0,0 +1,398 @@
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#include "MGMHandlerLIS3MDL.h"
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MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
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object_id_t deviceCommunication, CookieIF* comCookie):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
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registers[0] = 0x00;
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registers[1] = 0x00;
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registers[2] = 0x00;
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registers[3] = 0x00;
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registers[4] = 0x00;
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}
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MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
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}
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uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
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command |= (1 << RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MS_BIT);
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}
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return command;
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}
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uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
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command &= ~(1 << RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MS_BIT);
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}
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return command;
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}
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ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
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registers[0] = (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1)
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| (1 << DO2);
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registers[1] = 0;
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registers[2] = 0;
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registers[3] = (1 << OMZ1);
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registers[4] = 0;
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return prepareRegisterWrite();
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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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*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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size_t commandDataLen) {
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lastSentCommand = deviceCommand;
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switch(deviceCommand) {
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case(READALL_MGM): {
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if (commandDataLen == 0) {
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for (size_t i = 0; i < sizeof(commandBuffer); i++) {
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commandBuffer[i] = 0;
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}
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commandBuffer[0] = readCommand(0, true);
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rawPacket = commandBuffer;
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rawPacketLen = sizeof(commandBuffer);
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return RETURN_OK;
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}
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case(IDENTIFY_DEVICE): {
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return identifyDevice();
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}
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case(TEMP_SENSOR_ENABLE): {
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case(SETUP_MGM): {
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return setupMGM();
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}
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case(ACCURACY_OP_MODE_SET): {
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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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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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switch (internalState) {
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case STATE_FIRST_CONTACT:
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*id = IDENTIFY_DEVICE;
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break;
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case STATE_SETUP:
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*id = SETUP_MGM;
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break;
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case STATE_CHECK_REGISTERS:
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*id = READALL_MGM;
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break;
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default:
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break;
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}
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return buildCommandFromCommand(*id, NULL, 0);
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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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*foundLen = len;
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if (len == TOTAL_NR_OF_ADRESSES + 1) {
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*foundLen = len;
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*foundId = READALL_MGM;
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//WHO AM I test
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if (*(start + 16) != DEVICEID) {
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return DeviceHandlerIF::INVALID_DATA;
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}
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} else if (len == SETUP_REPLY) {
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*foundLen = len;
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*foundId = SETUP_MGM;
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} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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*foundLen = len;
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*foundId = lastSentCommand;
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} else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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if (start[0] == 0b11111111) { //Data with SPI Interface has always this answer
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return RETURN_OK;
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} else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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}
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ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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switch (id) {
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case IDENTIFY_DEVICE: {
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break;
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}
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case SETUP_MGM: {
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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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registers[2] = *(packet + 35);
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registers[3] = *(packet + 36);
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registers[4] = *(packet + 37);
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uint8_t reg2_value = *(packet + 34);
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uint8_t scale = getFullScale(®2_value);
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float sensitivity = getSensitivity(scale);
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int16_t x_value_raw;
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int16_t y_value_raw;
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int16_t z_value_raw;
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int16_t temp_value_raw;
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//size_t size = 2;
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uint8_t *accessBuffer;
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accessBuffer = (uint8_t*) (packet + 41);
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x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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float x_value = (float) x_value_raw * sensitivity;
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float y_value = (float) y_value_raw * sensitivity;
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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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default: {
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return DeviceHandlerIF::UNKNOW_DEVICE_REPLY;
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}
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}
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return RETURN_OK;
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}
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uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) {
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bool FS0 = false;
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bool FS1 = false;
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if ((*reg2 >> 5) == 1)
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FS0 = true;
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if ((*reg2 >> 6) == 1)
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FS1 = true;
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if ((FS0 == true) && (FS1 == true))
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return 16;
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else if ((FS0 == false) && (FS1 == true))
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return 12;
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else if ((FS0 == true) && (FS1 == false))
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return 8;
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else
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return 4;
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}
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float MGMHandlerLIS3MDL::getSensitivity(uint8_t scale) {
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return (float) scale / (INT16_MAX);
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}
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ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
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uint32_t size = 2;
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commandBuffer[0] = readCommand(IDENTIFYDEVICE);
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commandBuffer[1] = 0x00;
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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}
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ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
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const uint8_t *commandData, size_t commandDataLen) {
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triggerEvent(CHANGE_OF_SETUP_PARAMETER);
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uint32_t size = 2;
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commandBuffer[0] = writeCommand(CTRL_REG1);
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if (commandDataLen > 1) {
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return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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switch (*commandData) {
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case (ON):
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commandBuffer[1] = registers[0] | (1 << 7);
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break;
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case (OFF):
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commandBuffer[1] = registers[0] & ~(1 << 7);
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break;
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default:
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return INVALID_COMMAND_PARAMETER;
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break;
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}
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registers[0] = commandBuffer[1];
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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}
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void MGMHandlerLIS3MDL::doStartUp() {
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switch (internalState) {
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case STATE_NONE:
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internalState = STATE_FIRST_CONTACT;
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break;
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case STATE_FIRST_CONTACT:
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internalState = STATE_SETUP;
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break;
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case STATE_SETUP:
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internalState = STATE_CHECK_REGISTERS;
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break;
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case STATE_CHECK_REGISTERS:
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if (setupMGM() == RETURN_OK) {
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for (size_t i = 1; i <= NR_OF_CTRL_REGISTERS; i++) {
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if (registers[i - 1] != commandBuffer[i]) {
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break;
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}
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}
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setMode(_MODE_TO_ON);
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}
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break;
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default:
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break;
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}
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}
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void MGMHandlerLIS3MDL::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
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size_t commandDataLen) {
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triggerEvent(CHANGE_OF_SETUP_PARAMETER);
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if (commandDataLen != 1) {
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return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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switch (commandData[0]) {
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case LOW:
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registers[0] = (registers[0] & (~(1 << OM1))) & (~(1 << OM0));
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registers[3] = (registers[3] & (~(1 << OMZ1))) & (~(1 << OMZ0));
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break;
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case MEDIUM:
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registers[0] = (registers[0] & (~(1 << OM1))) | (1 << OM0);
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registers[3] = (registers[3] & (~(1 << OMZ1))) | (1 << OMZ0);
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break;
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case HIGH:
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registers[0] = (registers[0] | (1 << OM1)) & (~(1 << OM0));
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registers[3] = (registers[3] | (1 << OM1)) & (~(1 << OM0));
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break;
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case ULTRA:
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registers[0] = (registers[0] | (1 << OM1)) | (1 << OM0);
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registers[3] = (registers[3] | (1 << OM1)) | (1 << OM0);
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break;
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default:
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break;
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}
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return prepareRegisterWrite();
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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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* 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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}
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ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() {
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commandBuffer[0] = writeCommand(CTRL_REG1, true);
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for (size_t i = 1; i <= NR_OF_CTRL_REGISTERS; i++) {
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commandBuffer[i] = registers[i];
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}
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rawPacket = commandBuffer;
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rawPacketLen = NR_OF_CTRL_REGISTERS;
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// We dont have to check if this is working because we just did it
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return RETURN_OK;
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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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}
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void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
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}
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uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 5000;
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}
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void MGMHandlerLIS3MDL::modeChanged(void) {
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internalState = STATE_NONE;
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}
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243
mission/devices/MGMHandlerLIS3MDL.h
Normal file
243
mission/devices/MGMHandlerLIS3MDL.h
Normal file
@ -0,0 +1,243 @@
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#ifndef MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_
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#define MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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/**
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* @brief Device handler object for the LIS3MDL 3-axis magnetometer
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* by STMicroeletronics
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* @details
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* Datasheet can be found online by googling LIS3MDL.
|
||||
* @author L. Loidold, R. Mueller
|
||||
*/
|
||||
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
||||
public:
|
||||
|
||||
enum set {
|
||||
ON, OFF
|
||||
};
|
||||
enum opMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
|
||||
|
||||
static const DeviceCommandId_t SETUP_MGM = 0x00;
|
||||
static const DeviceCommandId_t READALL_MGM = 0x01;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
|
||||
|
||||
// This Command is needed to use for lastSentCommand, if there is no
|
||||
// command set, you have to set this.
|
||||
static const DeviceCommandId_t NO_COMMAND = 0xffffffff;
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||
//Notifies a command to change the setup parameters
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW);
|
||||
|
||||
MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
virtual ~MGMHandlerLIS3MDL();
|
||||
|
||||
protected:
|
||||
|
||||
/** DeviceHandlerBase overrides */
|
||||
virtual void doShutDown();
|
||||
virtual void doStartUp();
|
||||
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to);
|
||||
virtual ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id);
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id);
|
||||
virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
|
||||
DeviceCommandId_t *foundId, uint32_t *foundLen);
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet);
|
||||
virtual void fillCommandAndReplyMap();
|
||||
virtual void modeChanged(void);
|
||||
void setNormalDatapoolEntriesInvalid();
|
||||
|
||||
private:
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Sets the read bit for the command
|
||||
* @param single command to set the read-bit at
|
||||
* @param boolean to select a continuous read bit, default = false
|
||||
*/
|
||||
uint8_t readCommand(uint8_t command, bool continuousCom = false);
|
||||
|
||||
/**
|
||||
* Sets the write bit for the command
|
||||
* @param single command to set the write-bit at
|
||||
* @param boolean to select a continuous write bit, default = false
|
||||
*/
|
||||
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
|
||||
|
||||
/**
|
||||
* This Method gets the full scale for the measurement range
|
||||
* e.g.: +- 4 gauss
|
||||
*
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
uint8_t getFullScale(uint8_t *reg2);
|
||||
|
||||
/**
|
||||
* after detecting the fullScale the 16bit Value for the data is
|
||||
* devided with the fullScale to the sensitivity of the scale
|
||||
*
|
||||
* @param scale is the return value of the getFulscale Method
|
||||
*/
|
||||
float getSensitivity(uint8_t scale);
|
||||
|
||||
/**
|
||||
* This Command detects the device ID
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
|
||||
virtual ReturnValue_t setupMGM();
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Enables/Disables the integrated Temperaturesensor
|
||||
* @param commandData On or Off
|
||||
* @param length of the commandData: has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
|
||||
/**
|
||||
* Sets the accuracy of the measurement of the axis. The noise is changing.
|
||||
* @param commandData LOW, MEDIUM, HIGH, ULTRA
|
||||
* @param length of the command, has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
|
||||
static const uint8_t NR_OF_CTRL_REGISTERS = 5; //Number of all control registers
|
||||
static const uint8_t NR_OF_REGISTERS = 19; //Number of registers in the MGM
|
||||
static const uint8_t TOTAL_NR_OF_ADRESSES = 52; //Total number of adresses for all registers
|
||||
static const uint8_t SETUP_REPLY = 6;
|
||||
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; //Length a sindgle command SPI answer
|
||||
//static const uint8_t LIS3MDL_IDENTIFIER = 0b00111101; //Identifier for Device
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adresses */
|
||||
/*------------------------------------------------------------------------*/
|
||||
// Register adress returns identifier of device with default 0b00111101
|
||||
static const uint8_t IDENTIFYDEVICE = 0b00001111;
|
||||
static const uint8_t DEVICEID = 0b00111101; // Identifier for Device
|
||||
|
||||
//Register adress to access register 1
|
||||
static const uint8_t CTRL_REG1 = 0b00100000;
|
||||
//Register adress to access register 2
|
||||
static const uint8_t CTRL_REG2 = 0b00100001;
|
||||
//Register adress to access register 3
|
||||
static const uint8_t CTRL_REG3 = 0b00100010;
|
||||
//Register adress to access register 4
|
||||
static const uint8_t CTRL_REG4 = 0b00100011;
|
||||
//Register adress to access register 5
|
||||
static const uint8_t CTRL_REG5 = 0b00100100;
|
||||
|
||||
//Register adress to access status register
|
||||
static const uint8_t STATUS_REG = 0b00100111;
|
||||
|
||||
//Register adress to access low byte of x-axis
|
||||
static const uint8_t X_LOWBYTE = 0b00101000;
|
||||
//Register adress to access high byte of x-axis
|
||||
static const uint8_t X_HIGHBYTE = 0b00101001;
|
||||
//Register adress to access low byte of y-axis
|
||||
static const uint8_t Y_LOWBYTE = 0b00101010;
|
||||
//Register adress to access high byte of y-axis
|
||||
static const uint8_t Y_HIGHBYTE = 0b00101011;
|
||||
//Register adress to access low byte of z-axis
|
||||
static const uint8_t Z_LOWBYTE = 0b00101100;
|
||||
//Register adress to access high byte of z-axis
|
||||
static const uint8_t Z_HIGHBYTE = 0b00101101;
|
||||
|
||||
//Register adress to access low byte of temperature sensor
|
||||
static const uint8_t TEMP_LOWBYTE = 0b00101110;
|
||||
//Register adress to access high byte of temperature sensor
|
||||
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Initialize Setup Register set bits
|
||||
/*------------------------------------------------------------------------*/
|
||||
//general transfer bits
|
||||
static const uint8_t RW_BIT = 7; //Read=1 / Write=0 Bit
|
||||
static const uint8_t MS_BIT = 6; //Continous Read/Write Bit, increment adress
|
||||
|
||||
//CTRL_REG1 bits
|
||||
static const uint8_t ST = 0; //Self test enable bit, enabled = 1
|
||||
static const uint8_t FAST_ODR = 1; //Enable rates higher than 80 Hz enabled = 1
|
||||
static const uint8_t DO0 = 2; //Output data rate bit 2
|
||||
static const uint8_t DO1 = 3; //Output data rate bit 3
|
||||
static const uint8_t DO2 = 4; //Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; //XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; //XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; //Temperature sensor enable enabled = 1
|
||||
|
||||
//CTRL_REG2 bits
|
||||
static const uint8_t SOFT_RST = 2; //reset configuration registers and user registers
|
||||
static const uint8_t REBOOT = 3; //reboot memory content
|
||||
static const uint8_t FSO = 5; //full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; //full-scale selection bit 6
|
||||
|
||||
//CTRL_REG3 bits
|
||||
static const uint8_t MD0 = 0; //Operating mode bit 0
|
||||
static const uint8_t MD1 = 1; //Operating mode bit 1
|
||||
static const uint8_t SIM = 2; //SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t LP = 5; //low-power mode
|
||||
|
||||
//CTRL_REG4 bits
|
||||
static const uint8_t BLE = 1; //big/little endian data selection enabled = MSb at lower adress
|
||||
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
|
||||
|
||||
//CTRL_REG5 bits
|
||||
static const uint8_t BDU = 6; //Block data update
|
||||
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
|
||||
|
||||
//Single SPIcommand has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
//has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[TOTAL_NR_OF_ADRESSES + 1];
|
||||
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the registers
|
||||
* when we want to change something
|
||||
* --> everytime we change set a register we have to save it
|
||||
*/
|
||||
uint8_t registers[NR_OF_CTRL_REGISTERS];
|
||||
|
||||
/**
|
||||
* As this is a SPI Device, we get the Answer of the last sent command in
|
||||
* the next read cycle, so we could check the command for identification.
|
||||
*/
|
||||
DeviceCommandId_t lastSentCommand = 0xffffffff;
|
||||
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
* saved register
|
||||
*
|
||||
*/
|
||||
ReturnValue_t prepareRegisterWrite();
|
||||
|
||||
enum InternalState {
|
||||
STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
|
||||
};
|
||||
|
||||
InternalState internalState = STATE_NONE;
|
||||
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_ */
|
||||
55
mission/devices/MGMRM3100Handler.cpp
Normal file
55
mission/devices/MGMRM3100Handler.cpp
Normal file
@ -0,0 +1,55 @@
|
||||
///*
|
||||
// * MGMRM3100Handler.cpp
|
||||
// *
|
||||
// * Created on: 28.05.2020
|
||||
// * Author: lukas
|
||||
// */
|
||||
//
|
||||
//#include <bits/stdint-uintn.h>
|
||||
//#include <framework/devicehandlers/DeviceHandlerMessage.h>
|
||||
//#include <framework/objectmanager/SystemObjectIF.h>
|
||||
//#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
//#include <mission/devicehandling/MGMRM3100Handler.h>
|
||||
//#include <stddef.h>
|
||||
//
|
||||
//MGMRM3100Handler::MGMRM3100Handler(DeviceCommunicationIF *commInterface, object_id_t setOjectId,
|
||||
// uint32_t address, uint32_t maxReplyLen, datapool::opus_variable_id mgmMeasurement, datapool::opus_variable_id mgmTemperature)
|
||||
// :NotDeviceHandlerBase(commInterface, setOjectId , address, maxReplyLen),internalState(STATE_NONE),
|
||||
// mgmMagneticPoolId(mgmMeasurement),mgmTempPoolId(mgmTemperature){
|
||||
//}
|
||||
//
|
||||
//MGMRM3100Handler::~MGMRM3100Handler() {
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t MGMRM3100Handler::buildTransitionDeviceCommand(
|
||||
// DeviceCommandId_t *id) {
|
||||
// return RETURN_OK;
|
||||
//}
|
||||
//
|
||||
//void MGMRM3100Handler::doStartUp() {
|
||||
//}
|
||||
//
|
||||
//void MGMRM3100Handler::doShutDown() {
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t MGMRM3100Handler::buildNormalDeviceCommand(
|
||||
// DeviceCommandId_t *id) {
|
||||
// return RETURN_OK;
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t MGMRM3100Handler::buildCommandFromCommand(
|
||||
// DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
// size_t commandDataLen) {
|
||||
// return RETURN_OK;
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t MGMRM3100Handler::scanForReply(
|
||||
// const uint8_t *start, uint32_t len, DeviceCommandId_t *foundId,
|
||||
// uint32_t *foundLen) {
|
||||
// return RETURN_OK;
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t MGMRM3100Handler::interpretDeviceReply(
|
||||
// DeviceCommandId_t id, const uint8_t *packet) {
|
||||
// return RETURN_OK;
|
||||
//}
|
||||
62
mission/devices/MGMRM3100Handler.h
Normal file
62
mission/devices/MGMRM3100Handler.h
Normal file
@ -0,0 +1,62 @@
|
||||
///*
|
||||
// * MGMRM3100Handler.h
|
||||
// *
|
||||
// * Created on: 28.05.2020
|
||||
// * Author: lukas
|
||||
// */
|
||||
//
|
||||
//#ifndef MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_
|
||||
//#define MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_
|
||||
//
|
||||
//#include <bits/stdint-uintn.h>
|
||||
//#include <config/datapool/dataPoolInit.h>
|
||||
//#include <framework/devicehandlers/DeviceHandlerMessage.h>
|
||||
//#include <framework/objectmanager/SystemObjectIF.h>
|
||||
//#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
//#include <mission/devicehandling/NotDeviceHandlerBase.h>
|
||||
//#include <stddef.h>
|
||||
//
|
||||
//using namespace std;
|
||||
//
|
||||
//class MGMRM3100Handler: public NotDeviceHandlerBase {
|
||||
//public:
|
||||
//
|
||||
// MGMRM3100Handler(DeviceCommunicationIF *comInterface,
|
||||
// object_id_t setObjectId, uint32_t address, uint32_t maxReplyLen,
|
||||
// datapool::opus_variable_id mgmMeasurement,
|
||||
// datapool::opus_variable_id mgmTemperature);
|
||||
// virtual ~MGMRM3100Handler();
|
||||
//
|
||||
//protected:
|
||||
// //These are the commands the Device has to implement
|
||||
// virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id);
|
||||
// virtual void doStartUp();
|
||||
// virtual void doShutDown();
|
||||
// virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id);
|
||||
// virtual ReturnValue_t buildCommandFromCommand(
|
||||
// DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
// size_t commandDataLen);
|
||||
// virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
|
||||
// DeviceCommandId_t *foundId, uint32_t *foundLen);
|
||||
// virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
// const uint8_t *packet);
|
||||
//
|
||||
//private:
|
||||
// /**
|
||||
// * Magnetic field data pool id
|
||||
// */
|
||||
// datapool::opus_variable_id mgmMagneticPoolId;
|
||||
//
|
||||
// /*
|
||||
// * Temperature value pool id
|
||||
// */
|
||||
//
|
||||
// datapool::opus_variable_id mgmTempPoolId;
|
||||
//
|
||||
// enum InternalState {
|
||||
// STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
|
||||
// } internalState;
|
||||
//
|
||||
//};
|
||||
//
|
||||
//#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
|
||||
Loading…
Reference in New Issue
Block a user