who am i reg is now checked
This commit is contained in:
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873412f3fb
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a8f612f051
@ -3,18 +3,18 @@
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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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dataset(this) {
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object_id_t deviceCommunication, CookieIF* comCookie):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this) {
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#if OBSW_VERBOSE_LEVEL >= 1
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debugDivider = new PeriodicOperationDivider(10);
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debugDivider = new PeriodicOperationDivider(10);
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#endif
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/* Set to default values right away. */
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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/* Set to default values right away. */
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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}
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@ -23,400 +23,416 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
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void MGMHandlerLIS3MDL::doStartUp() {
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switch (internalState) {
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case(InternalState::STATE_NONE):
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internalState = InternalState::STATE_FIRST_CONTACT;
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break;
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case(InternalState::STATE_FIRST_CONTACT):
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internalState = InternalState::STATE_SETUP;
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break;
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case(InternalState::STATE_SETUP):
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internalState = InternalState::STATE_CHECK_REGISTERS;
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break;
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case(InternalState::STATE_CHECK_REGISTERS): {
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/* Set up cached registers which will be used to configure the MGM. */
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if(commandExecuted) {
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commandExecuted = false;
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/* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */
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setMode(_MODE_TO_ON);
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}
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break;
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}
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default:
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break;
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}
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switch (internalState) {
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case(InternalState::STATE_NONE): {
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internalState = InternalState::STATE_FIRST_CONTACT;
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break;
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}
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case(InternalState::STATE_FIRST_CONTACT): {
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/* Will be set by checking device ID (WHO AM I register) */
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if(commandExecuted) {
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commandExecuted = false;
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}
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internalState = InternalState::STATE_SETUP;
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break;
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}
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case(InternalState::STATE_SETUP): {
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internalState = InternalState::STATE_CHECK_REGISTERS;
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break;
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}
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case(InternalState::STATE_CHECK_REGISTERS): {
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/* Set up cached registers which will be used to configure the MGM. */
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if(commandExecuted) {
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commandExecuted = false;
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/* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */
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setMode(_MODE_TO_ON);
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}
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break;
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}
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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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setMode(_MODE_POWER_DOWN);
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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(InternalState::STATE_NONE):
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case(InternalState::STATE_NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::STATE_FIRST_CONTACT): {
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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}
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case(InternalState::STATE_SETUP): {
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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}
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case(InternalState::STATE_CHECK_REGISTERS): {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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break;
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}
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default: {
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/* might be a configuration error. */
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DeviceCommandId_t *id) {
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switch (internalState) {
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case(InternalState::STATE_NONE):
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case(InternalState::STATE_NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::STATE_FIRST_CONTACT): {
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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}
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case(InternalState::STATE_SETUP): {
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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}
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case(InternalState::STATE_CHECK_REGISTERS): {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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break;
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}
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default: {
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/* might be a configuration error. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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#else
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sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
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sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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return HasReturnvaluesIF::RETURN_OK;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
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command |= (1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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command |= (1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::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 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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command &= ~(1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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}
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void MGMHandlerLIS3MDL::setupMgm() {
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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prepareCtrlRegisterWrite();
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prepareCtrlRegisterWrite();
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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// Data/config register will be read in an alternating manner.
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if(communicationStep == CommunicationStep::DATA) {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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communicationStep = CommunicationStep::TEMPERATURE;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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else {
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*id = MGMLIS3MDL::READ_TEMPERATURE;
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communicationStep = CommunicationStep::DATA;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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DeviceCommandId_t *id) {
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// Data/config register will be read in an alternating manner.
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if(communicationStep == CommunicationStep::DATA) {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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communicationStep = CommunicationStep::TEMPERATURE;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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else {
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*id = MGMLIS3MDL::READ_TEMPERATURE;
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communicationStep = CommunicationStep::DATA;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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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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switch(deviceCommand) {
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case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
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rawPacket = commandBuffer;
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rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::READ_TEMPERATURE): {
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std::memset(commandBuffer, 0, 3);
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commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
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rawPacket = commandBuffer;
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rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::READ_TEMPERATURE): {
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std::memset(commandBuffer, 0, 3);
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commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::IDENTIFY_DEVICE): {
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return identifyDevice();
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}
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case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case(MGMLIS3MDL::SETUP_MGM): {
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setupMgm();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(MGMLIS3MDL::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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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::IDENTIFY_DEVICE): {
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return identifyDevice();
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}
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case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case(MGMLIS3MDL::SETUP_MGM): {
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setupMgm();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(MGMLIS3MDL::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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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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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(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
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commandBuffer[1] = 0x00;
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uint32_t size = 2;
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commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
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commandBuffer[1] = 0x00;
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rawPacket = commandBuffer;
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rawPacketLen = size;
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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return RETURN_OK;
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}
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ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
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size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundLen = len;
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if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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// Check validity by checking config registers
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if (start[1] != registers[0] or start[2] != registers[1] or
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start[3] != registers[2] or start[4] != registers[3] or
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start[5] != registers[4]) {
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size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundLen = len;
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if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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// Check validity by checking config registers
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if (start[1] != registers[0] or start[2] != registers[1] or
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start[3] != registers[2] or start[4] != registers[3] or
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start[5] != registers[4]) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
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sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
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#endif
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return DeviceHandlerIF::INVALID_DATA;
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}
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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return DeviceHandlerIF::INVALID_DATA;
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}
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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}
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else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_TEMPERATURE;
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}
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else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::SETUP_MGM;
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}
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else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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*foundLen = len;
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*foundId = getPendingCommand();
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}
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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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else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_TEMPERATURE;
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}
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else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::SETUP_MGM;
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}
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else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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*foundLen = len;
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*foundId = getPendingCommand();
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if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
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if(start[1] != MGMLIS3MDL::DEVICE_ID) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
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#endif
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return DeviceHandlerIF::INVALID_DATA;
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}
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// Data with SPI Interface has always this answer
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if (start[0] == 0b11111111) {
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return RETURN_OK;
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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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}
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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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/* Data with SPI Interface always has this answer */
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if (start[0] == 0b11111111) {
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return RETURN_OK;
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}
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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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const uint8_t *packet) {
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switch (id) {
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case MGMLIS3MDL::IDENTIFY_DEVICE: {
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break;
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}
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case MGMLIS3MDL::SETUP_MGM: {
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break;
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}
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case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
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// TODO: Store configuration in new local datasets.
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switch (id) {
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case MGMLIS3MDL::IDENTIFY_DEVICE: {
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break;
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}
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case MGMLIS3MDL::SETUP_MGM: {
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break;
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}
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case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
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// TODO: Store configuration in new local datasets.
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uint8_t scale = getFullScale(registers[2]);
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float sensitivityFactor = getSensitivityFactor(scale);
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uint8_t scale = getFullScale(registers[2]);
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float sensitivityFactor = getSensitivityFactor(scale);
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int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
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int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
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int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
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int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
|
||||
|
||||
/* Target value in microtesla */
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
/* Target value in microtesla */
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
#endif
|
||||
PoolReadHelper readHelper(&dataset);
|
||||
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.setValidity(true, true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
PoolReadHelper readHelper(&dataset);
|
||||
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.setValidity(true, true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
if(debugDivider->check()) {
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" <<
|
||||
std::endl;
|
||||
}
|
||||
if(debugDivider->check()) {
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" <<
|
||||
std::endl;
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit();
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
default: {
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
default: {
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
|
||||
bool FS0 = false;
|
||||
bool FS1 = false;
|
||||
if ((ctrlRegister2 >> 5) == 1)
|
||||
FS0 = true;
|
||||
if ((ctrlRegister2 >> 6) == 1)
|
||||
FS1 = true;
|
||||
if ((FS0 == true) && (FS1 == true))
|
||||
return 16;
|
||||
else if ((FS0 == false) && (FS1 == true))
|
||||
return 12;
|
||||
else if ((FS0 == true) && (FS1 == false))
|
||||
return 8;
|
||||
else
|
||||
return 4;
|
||||
bool FS0 = false;
|
||||
bool FS1 = false;
|
||||
if ((ctrlRegister2 >> 5) == 1)
|
||||
FS0 = true;
|
||||
if ((ctrlRegister2 >> 6) == 1)
|
||||
FS1 = true;
|
||||
if ((FS0 == true) && (FS1 == true))
|
||||
return 16;
|
||||
else if ((FS0 == false) && (FS1 == true))
|
||||
return 12;
|
||||
else if ((FS0 == true) && (FS1 == false))
|
||||
return 8;
|
||||
else
|
||||
return 4;
|
||||
}
|
||||
|
||||
float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
|
||||
return (float) scale / (INT16_MAX);
|
||||
return (float) scale / (INT16_MAX);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
}
|
||||
case (MGMLIS3MDL::OFF): {
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
}
|
||||
case (MGMLIS3MDL::OFF): {
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
|
||||
switch (commandData[0]) {
|
||||
case MGMLIS3MDL::LOW:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::MEDIUM:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
switch (commandData[0]) {
|
||||
case MGMLIS3MDL::LOW:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::MEDIUM:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::HIGH:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::HIGH:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::ULTRA:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::ULTRA:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return prepareCtrlRegisterWrite();
|
||||
return prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
|
||||
/*
|
||||
* Regarding ArduinoBoard:
|
||||
* Actually SPI answers directly, but as commanding ArduinoBoard the
|
||||
* communication could be delayed
|
||||
* SPI always has to be triggered, so there could be no periodic answer of
|
||||
* the device, the device has to asked with a command, so periodic is zero.
|
||||
*
|
||||
* We dont read single registers, we just expect special
|
||||
* reply from he Readall_MGM
|
||||
*/
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
/*
|
||||
* Regarding ArduinoBoard:
|
||||
* Actually SPI answers directly, but as commanding ArduinoBoard the
|
||||
* communication could be delayed
|
||||
* SPI always has to be triggered, so there could be no periodic answer of
|
||||
* the device, the device has to asked with a command, so periodic is zero.
|
||||
*
|
||||
* We dont read single registers, we just expect special
|
||||
* reply from he Readall_MGM
|
||||
*/
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
|
||||
/* We dont have to check if this is working because we just did it */
|
||||
return RETURN_OK;
|
||||
/* We dont have to check if this is working because we just did it */
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
@ -424,24 +440,24 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
}
|
||||
|
||||
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 30000;
|
||||
return 30000;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::modeChanged(void) {
|
||||
internalState = InternalState::STATE_NONE;
|
||||
internalState = InternalState::STATE_NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::performOperationHook() {
|
||||
|
||||
@ -18,150 +18,150 @@
|
||||
*/
|
||||
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
||||
public:
|
||||
enum class CommunicationStep {
|
||||
DATA,
|
||||
TEMPERATURE
|
||||
};
|
||||
enum class CommunicationStep {
|
||||
DATA,
|
||||
TEMPERATURE
|
||||
};
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
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);
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
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();
|
||||
MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
virtual ~MGMHandlerLIS3MDL();
|
||||
|
||||
protected:
|
||||
|
||||
/** DeviceHandlerBase overrides */
|
||||
void doShutDown() override;
|
||||
void doStartUp() override;
|
||||
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
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;
|
||||
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;
|
||||
/** DeviceHandlerBase overrides */
|
||||
void doShutDown() override;
|
||||
void doStartUp() override;
|
||||
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
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;
|
||||
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;
|
||||
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* 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);
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* 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);
|
||||
/**
|
||||
* 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. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
uint8_t getFullScale(uint8_t ctrlReg2);
|
||||
/**
|
||||
* This Method gets the full scale for the measurement range
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
uint8_t getFullScale(uint8_t ctrlReg2);
|
||||
|
||||
/**
|
||||
* The 16 bit value needs to be divided by the full range of a 16bit value
|
||||
* and then multiplied with the current scale of the MGM.
|
||||
* This factor returns the factor required to achieve this with
|
||||
* one multiplication.
|
||||
*
|
||||
* @param scale is the return value of the getFulscale Method
|
||||
* @return Multiplication factor to get the sensor value from raw data.
|
||||
*/
|
||||
float getSensitivityFactor(uint8_t scale);
|
||||
/**
|
||||
* The 16 bit value needs to be divided by the full range of a 16bit value
|
||||
* and then multiplied with the current scale of the MGM.
|
||||
* This factor returns the factor required to achieve this with
|
||||
* one multiplication.
|
||||
*
|
||||
* @param scale is the return value of the getFulscale Method
|
||||
* @return Multiplication factor to get the sensor value from raw data.
|
||||
*/
|
||||
float getSensitivityFactor(uint8_t scale);
|
||||
|
||||
/**
|
||||
* This Command detects the device ID
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
/**
|
||||
* This Command detects the device ID
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
|
||||
virtual void setupMgm();
|
||||
virtual void 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);
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* 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);
|
||||
/**
|
||||
* 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);
|
||||
|
||||
|
||||
//Length a sindgle command SPI answer
|
||||
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
|
||||
//Length a sindgle command SPI answer
|
||||
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
|
||||
|
||||
//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[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 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[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 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[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
/**
|
||||
* 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[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
|
||||
uint8_t statusRegister = 0;
|
||||
uint8_t statusRegister = 0;
|
||||
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
* saved register
|
||||
*
|
||||
*/
|
||||
ReturnValue_t prepareCtrlRegisterWrite();
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
* saved register
|
||||
*
|
||||
*/
|
||||
ReturnValue_t prepareCtrlRegisterWrite();
|
||||
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_FIRST_CONTACT,
|
||||
STATE_SETUP,
|
||||
STATE_CHECK_REGISTERS,
|
||||
STATE_NORMAL
|
||||
};
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_FIRST_CONTACT,
|
||||
STATE_SETUP,
|
||||
STATE_CHECK_REGISTERS,
|
||||
STATE_NORMAL
|
||||
};
|
||||
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
#endif
|
||||
|
||||
void performOperationHook() override;
|
||||
void performOperationHook() override;
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -24,11 +24,11 @@ static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
|
||||
|
||||
//Number of all control registers
|
||||
/* Number of all control registers */
|
||||
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
//Number of registers in the MGM
|
||||
/* Number of registers in the MGM */
|
||||
static const uint8_t NR_OF_REGISTERS = 19;
|
||||
//Total number of adresses for all registers
|
||||
/* Total number of adresses for all registers */
|
||||
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
|
||||
static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
|
||||
static const uint8_t TEMPERATURE_REPLY_LEN = 3;
|
||||
@ -37,47 +37,47 @@ static const uint8_t SETUP_REPLY_LEN = 6;
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adresses */
|
||||
/*------------------------------------------------------------------------*/
|
||||
// Register adress returns identifier of device with default 0b00111101
|
||||
/* Register adress returns identifier of device with default 0b00111101 */
|
||||
static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
|
||||
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
|
||||
|
||||
//Register adress to access register 1
|
||||
/* Register adress to access register 1 */
|
||||
static const uint8_t CTRL_REG1 = 0b00100000;
|
||||
//Register adress to access register 2
|
||||
/* Register adress to access register 2 */
|
||||
static const uint8_t CTRL_REG2 = 0b00100001;
|
||||
//Register adress to access register 3
|
||||
/* Register adress to access register 3 */
|
||||
static const uint8_t CTRL_REG3 = 0b00100010;
|
||||
//Register adress to access register 4
|
||||
/* Register adress to access register 4 */
|
||||
static const uint8_t CTRL_REG4 = 0b00100011;
|
||||
//Register adress to access register 5
|
||||
/* Register adress to access register 5 */
|
||||
static const uint8_t CTRL_REG5 = 0b00100100;
|
||||
|
||||
//Register adress to access status register
|
||||
/* Register adress to access status register */
|
||||
static const uint8_t STATUS_REG_IDX = 8;
|
||||
static const uint8_t STATUS_REG = 0b00100111;
|
||||
|
||||
//Register adress to access low byte of x-axis
|
||||
/* Register adress to access low byte of x-axis */
|
||||
static const uint8_t X_LOWBYTE_IDX = 9;
|
||||
static const uint8_t X_LOWBYTE = 0b00101000;
|
||||
//Register adress to access high byte of x-axis
|
||||
/* Register adress to access high byte of x-axis */
|
||||
static const uint8_t X_HIGHBYTE_IDX = 10;
|
||||
static const uint8_t X_HIGHBYTE = 0b00101001;
|
||||
//Register adress to access low byte of y-axis
|
||||
/* Register adress to access low byte of y-axis */
|
||||
static const uint8_t Y_LOWBYTE_IDX = 11;
|
||||
static const uint8_t Y_LOWBYTE = 0b00101010;
|
||||
//Register adress to access high byte of y-axis
|
||||
/* Register adress to access high byte of y-axis */
|
||||
static const uint8_t Y_HIGHBYTE_IDX = 12;
|
||||
static const uint8_t Y_HIGHBYTE = 0b00101011;
|
||||
//Register adress to access low byte of z-axis
|
||||
/* Register adress to access low byte of z-axis */
|
||||
static const uint8_t Z_LOWBYTE_IDX = 13;
|
||||
static const uint8_t Z_LOWBYTE = 0b00101100;
|
||||
//Register adress to access high byte of z-axis
|
||||
/* Register adress to access high byte of z-axis */
|
||||
static const uint8_t Z_HIGHBYTE_IDX = 14;
|
||||
static const uint8_t Z_HIGHBYTE = 0b00101101;
|
||||
|
||||
//Register adress to access low byte of temperature sensor
|
||||
/* 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
|
||||
/* Register adress to access high byte of temperature sensor */
|
||||
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
|
||||
Loading…
Reference in New Issue
Block a user