Merge pull request 'Device Handler Updates' (#9) from mueller/tmtc-dh-update into develop
Reviewed-on: eive/eive_obsw#9
This commit is contained in:
commit
abf53527b3
2
Makefile
2
Makefile
@ -278,7 +278,7 @@ cleanbin:
|
||||
-rm -rf $(BUILDPATH)/$(OUTPUT_FOLDER)
|
||||
|
||||
# Build target configuration
|
||||
release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
|
||||
release: OPTIMIZATION = -O2 $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
|
||||
release: LINK_TIME_OPTIMIZATION = -flto
|
||||
release: TARGET = Release
|
||||
release: OPTIMIZATION_MESSAGE = On with Link Time Optimization
|
||||
|
@ -17,12 +17,12 @@ CUSTOM_DEFINES :=
|
||||
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
|
||||
BOARD_FILE_ROOT = bsp_hosted
|
||||
BOARD = host
|
||||
OS_FSFW = host
|
||||
CUSTOM_DEFINES += -D$(OS_FSFW)
|
||||
|
||||
DETECTED_OS :=
|
||||
# Copied from stackoverflow, can be used to differentiate between Windows
|
||||
# and Linux
|
||||
ifeq ($(OS),Windows_NT)
|
||||
DETECTED_OS = WINDOWS
|
||||
CUSTOM_DEFINES += -DWIN32
|
||||
ifeq ($(PROCESSOR_ARCHITEW6432),AMD64)
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||||
CUSTOM_DEFINES += -DAMD64
|
||||
@ -55,6 +55,14 @@ else
|
||||
endif
|
||||
endif
|
||||
|
||||
ifeq (${DETECTED_OS}, WINDOWS)
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||||
OS_FSFW = host
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||||
else
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||||
OS_FSFW = linux
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||||
endif
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||||
|
||||
CUSTOM_DEFINES += -D$(OS_FSFW)
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|
||||
# General folder paths
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||||
FRAMEWORK_PATH = fsfw
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MISSION_PATH = mission
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||||
@ -179,10 +187,10 @@ $(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
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||||
|
||||
# VPATH += mission/pus/
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||||
|
||||
ifeq ($(DETECTED_OS), LINUX)
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||||
CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
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CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
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endif
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||||
#ifeq ($(DETECTED_OS), LINUX)
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||||
#CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
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#CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
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#endif
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||||
|
||||
# All C Sources included by .mk files are assigned here
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||||
# Add the objects to sources so dependency handling works
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||||
@ -227,7 +235,6 @@ DEAD_CODE_REMOVAL = -Wl,--gc-sections
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||||
# Link time is larger and size of object files can not be retrieved
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||||
# but resulting binary is smaller. Could be used in mission/deployment build
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||||
# Requires -ffunction-section in linker call
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LINK_TIME_OPTIMIZATION = -flto
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OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION)
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endif
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@ -261,12 +268,12 @@ ASFLAGS = -Wall -g $(OPTIMIZATION) $(I_INCLUDES) -D__ASSEMBLY__
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# LINK_INCLUDES specify the path to used libraries and the linker script
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||||
# LINK_LIBRARIES link HCC and HAL library and enable float support
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||||
LDFLAGS := -g3 -pthread $(DEAD_CODE_REMOVAL) $(OPTIMIZATION)
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||||
LINK_INCLUDES :=
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||||
LINK_LIBRARIES :=
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|
||||
ifeq ($(OS),Windows_NT)
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||||
LINK_LIBRARIES += -lwsock32 -lws2_32
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||||
else
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||||
LINK_LIBRARIES += -lrt
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||||
endif
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||||
|
||||
# Gnu Coverage Tools Flags
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||||
@ -309,7 +316,10 @@ all: executable
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||||
|
||||
# Build target configuration
|
||||
release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
|
||||
# Problematic on MinGW
|
||||
ifneq ($(OS),Windows_NT)
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||||
release: LINK_TIME_OPTIMIZATION = -flto
|
||||
endif
|
||||
release: TARGET = Release
|
||||
release: OPTIMIZATION_MESSAGE = On with Link Time Optimization
|
||||
release: DEBUG_LEVEL = -g0
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||||
|
@ -8,8 +8,8 @@
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||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <fsfwconfig/objects/systemObjectList.h>
|
||||
#include <fsfwconfig/OBSWConfig.h>
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||||
#include <objects/systemObjectList.h>
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||||
#include <OBSWConfig.h>
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||||
|
||||
#include <iostream>
|
||||
|
||||
|
@ -1,5 +1,6 @@
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||||
#include <bsp_hosted/comIF/ArduinoComIF.h>
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||||
#include <bsp_hosted/comIF/ArduinoCookie.h>
|
||||
#include "ArduinoComIF.h"
|
||||
#include "ArduinoCookie.h"
|
||||
|
||||
#include <fsfw/globalfunctions/DleEncoder.h>
|
||||
#include <fsfw/globalfunctions/CRC.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
@ -7,6 +8,8 @@
|
||||
// This only works on Linux
|
||||
#ifdef LINUX
|
||||
#include <termios.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#elif WIN32
|
||||
#include <windows.h>
|
||||
#include <strsafe.h>
|
||||
@ -254,7 +257,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
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||||
encodedLen = sizeof(sendBuffer) - remainingLen;
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||||
|
||||
#ifdef LINUX
|
||||
ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
|
||||
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
|
||||
if (writtenlen < 0) {
|
||||
//we could try to find out what happened...
|
||||
return RETURN_FAILED;
|
||||
@ -285,7 +288,7 @@ void ArduinoComIF::handleSerialPortRx() {
|
||||
|
||||
rxBuffer.writeData(dataFromSerial, bytesRead);
|
||||
|
||||
uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
|
||||
uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
|
||||
|
||||
uint32_t dataLenReceivedSoFar = 0;
|
||||
|
||||
@ -295,11 +298,11 @@ void ArduinoComIF::handleSerialPortRx() {
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||||
//look for STX
|
||||
size_t firstSTXinRawData = 0;
|
||||
while ((firstSTXinRawData < dataLenReceivedSoFar)
|
||||
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
|
||||
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
|
||||
firstSTXinRawData++;
|
||||
}
|
||||
|
||||
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
|
||||
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
|
||||
//there is no STX in our data, throw it away...
|
||||
rxBuffer.deleteData(dataLenReceivedSoFar);
|
||||
return;
|
||||
|
@ -6,6 +6,9 @@
|
||||
#ifndef CONFIG_OBSWCONFIG_H_
|
||||
#define CONFIG_OBSWCONFIG_H_
|
||||
|
||||
#include "returnvalues/classIds.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
|
||||
// These defines should be disabled for mission code but are useful for
|
||||
|
@ -18,6 +18,7 @@ enum: uint8_t {
|
||||
PUS_SERVICE_8,
|
||||
PUS_SERVICE_23,
|
||||
MGM_LIS3MDL,
|
||||
MGM_RM3100,
|
||||
|
||||
DUMMY_DEVICE,
|
||||
};
|
||||
|
@ -4,12 +4,4 @@ CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
|
||||
|
||||
INCLUDES += $(CURRENTPATH)
|
||||
INCLUDES += $(CURRENTPATH)/objects
|
||||
INCLUDES += $(CURRENTPATH)/ipc
|
||||
INCLUDES += $(CURRENTPATH)/pollingsequence
|
||||
INCLUDES += $(CURRENTPATH)/returnvalues
|
||||
INCLUDES += $(CURRENTPATH)/tmtc
|
||||
INCLUDES += $(CURRENTPATH)/events
|
||||
INCLUDES += $(CURRENTPATH)/devices
|
||||
INCLUDES += $(CURRENTPATH)/cdatapool
|
||||
INCLUDES += $(CURRENTPATH)
|
@ -11,7 +11,8 @@
|
||||
namespace CLASS_ID {
|
||||
enum {
|
||||
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
|
||||
MGM_LIS3MDL
|
||||
MGM_LIS3MDL,
|
||||
MGM_RM3100
|
||||
};
|
||||
}
|
||||
|
||||
|
@ -1,5 +1,6 @@
|
||||
#include <bsp_hosted/fsfwconfig/OBSWVersion.h>
|
||||
#include <bsp_linux/InitMission.h>
|
||||
#include "InitMission.h"
|
||||
|
||||
#include <OBSWVersion.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <iostream>
|
||||
|
||||
|
@ -4,7 +4,6 @@
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/datapool/DataPool.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||||
@ -29,9 +28,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
|
||||
|
||||
ObjectManagerIF *objectManager = nullptr;
|
||||
|
||||
//Initialize Data Pool
|
||||
DataPool dataPool(nullptr);
|
||||
|
||||
void InitMission::initMission() {
|
||||
sif::info << "Building global objects.." << std::endl;
|
||||
/* Instantiate global object manager and also create all objects */
|
||||
|
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit 086cbe1e3950cf6c904609352408a7fa48cc83ef
|
||||
Subproject commit dcc111e4facf39137fe52d8234361b7d99bdde06
|
@ -1,8 +1,8 @@
|
||||
#ifndef FSFWCONFIG_FSFWCONFIG_H_
|
||||
#define FSFWCONFIG_FSFWCONFIG_H_
|
||||
|
||||
#include <FSFWVersion.h>
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
//! Used to determine whether C++ ostreams are used
|
||||
//! Those can lead to code bloat.
|
||||
@ -15,12 +15,6 @@
|
||||
//! Can be used to enable debugging printouts for developing the FSFW
|
||||
#define FSFW_DEBUGGING 0
|
||||
|
||||
//! Defines the FIFO depth of each commanding service base which
|
||||
//! also determines how many commands a CSB service can handle in one cycle
|
||||
//! simulataneously. This will increase the required RAM for
|
||||
//! each CSB service !
|
||||
#define FSFW_CSB_FIFO_DEPTH 6
|
||||
|
||||
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
|
||||
//! additional output which requires the translation files translateObjects
|
||||
//! and translateEvents (and their compiled source files)
|
||||
@ -49,6 +43,12 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
|
||||
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
|
||||
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
|
||||
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
|
||||
//! Defines the FIFO depth of each commanding service base which
|
||||
//! also determines how many commands a CSB service can handle in one cycle
|
||||
//! simulataneously. This will increase the required RAM for
|
||||
//! each CSB service !
|
||||
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
|
||||
}
|
||||
|
||||
#endif /* FSFWCONFIG_FSFWCONFIG_H_ */
|
||||
|
@ -6,6 +6,9 @@
|
||||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#include "returnvalues/classIds.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
|
||||
// These defines should be disabled for mission code but are useful for
|
||||
|
@ -1,5 +0,0 @@
|
||||
#include <fsfwconfig/cdatapool/dataPoolInit.h>
|
||||
|
||||
void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap) {
|
||||
|
||||
}
|
@ -1,13 +0,0 @@
|
||||
#ifndef FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_
|
||||
#define FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_
|
||||
|
||||
#include <fsfw/datapool/DataPool.h>
|
||||
|
||||
namespace datapool{
|
||||
void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap);
|
||||
|
||||
enum datapoolvariables {
|
||||
NO_PARAMETER = 0,
|
||||
};
|
||||
}
|
||||
#endif /* FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_ */
|
@ -17,7 +17,8 @@ enum: uint8_t {
|
||||
PUS_SERVICE_6,
|
||||
PUS_SERVICE_8,
|
||||
PUS_SERVICE_23,
|
||||
MGM_LIS3MDL
|
||||
MGM_LIS3MDL,
|
||||
MGM_RM3100
|
||||
};
|
||||
}
|
||||
|
||||
|
@ -19,7 +19,6 @@ namespace objects {
|
||||
PUS_SERVICE_23 = 0x51002300,
|
||||
PUS_SERVICE_201 = 0x51020100,
|
||||
|
||||
TIME_STAMPER = 0x52000001,
|
||||
TM_FUNNEL = 0x52000002,
|
||||
|
||||
/* Test Task */
|
||||
|
@ -11,7 +11,8 @@
|
||||
namespace CLASS_ID {
|
||||
enum {
|
||||
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
|
||||
MGM_LIS3MDL
|
||||
MGM_LIS3MDL,
|
||||
MGM_RM3100
|
||||
};
|
||||
}
|
||||
|
||||
|
@ -1,52 +1,12 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186" moduleId="org.eclipse.cdt.core.settings" name="Default">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
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|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186" name="Default" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
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||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.471696178" name="/" resourcePath="">
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<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.708704722" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
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<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1147901267" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
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||||
<builder buildPath="${workspace_loc:/eive_obsw}/Default" command="make" id="cdt.managedbuild.builder.gnu.cross.1787778157" incrementalBuildTarget="debug" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
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||||
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||||
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.2124527841" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
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<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.1825890326" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
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||||
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||||
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.562363652" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
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||||
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1828496389" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
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||||
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|
||||
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.2091184770" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
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<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base.1024503752" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base">
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<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1930752543" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
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||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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||||
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</folderInfo>
|
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</configuration>
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<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443">
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||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" moduleId="org.eclipse.cdt.core.settings" name="eive-mingw-debug">
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||||
<externalSettings/>
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<extensions>
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<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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@ -58,16 +18,22 @@
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
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@ -99,16 +66,22 @@
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@ -141,4 +222,36 @@
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|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.473677411;cdt.managedbuild.tool.gnu.c.compiler.input.2060052812">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324;cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772;cdt.managedbuild.tool.gnu.cpp.compiler.input.1960112549">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.c.compiler.base.1946711528;cdt.managedbuild.tool.gnu.c.compiler.input.584209663">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006;cdt.managedbuild.tool.gnu.c.compiler.input.1482659499">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
|
||||
<doc-comment-owner id="org.eclipse.cdt.ui.doxygen">
|
||||
<path value=""/>
|
||||
</doc-comment-owner>
|
||||
</storageModule>
|
||||
</cproject>
|
33
misc/eclipse/eive-linux-host-debug.launch
Normal file
33
misc/eclipse/eive-linux-host-debug.launch
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/linux/devel/eiveobsw-host.elf"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
33
misc/eclipse/eive-linux-host-release.launch
Normal file
33
misc/eclipse/eive-linux-host-release.launch
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/linux/devel/eiveobsw-host.elf"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
57
mission/devices/GPSHandler.cpp
Normal file
57
mission/devices/GPSHandler.cpp
Normal file
@ -0,0 +1,57 @@
|
||||
#include "GPSHandler.h"
|
||||
|
||||
GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
|
||||
}
|
||||
|
||||
GPSHandler::~GPSHandler() {}
|
||||
|
||||
void GPSHandler::doStartUp() {
|
||||
|
||||
}
|
||||
|
||||
void GPSHandler::doShutDown() {
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHandler::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 5000;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHandler::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void GPSHandler::fillCommandAndReplyMap() {
|
||||
|
||||
}
|
||||
|
||||
void GPSHandler::modeChanged() {
|
||||
|
||||
}
|
41
mission/devices/GPSHandler.h
Normal file
41
mission/devices/GPSHandler.h
Normal file
@ -0,0 +1,41 @@
|
||||
#ifndef MISSION_DEVICES_GPSHANDLER_H_
|
||||
#define MISSION_DEVICES_GPSHANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
|
||||
class GPSHandler: public DeviceHandlerBase {
|
||||
public:
|
||||
GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
virtual ~GPSHandler();
|
||||
|
||||
protected:
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) 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() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_GPSHANDLER_H_ */
|
217
mission/devices/GyroL3GD20Handler.cpp
Normal file
217
mission/devices/GyroL3GD20Handler.cpp
Normal file
@ -0,0 +1,217 @@
|
||||
#include <mission/devices/GyroL3GD20Handler.h>
|
||||
|
||||
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this) {
|
||||
}
|
||||
|
||||
GyroHandler::~GyroHandler() {}
|
||||
|
||||
void GyroHandler::doStartUp() {
|
||||
if(internalState == InternalState::STATE_NONE) {
|
||||
internalState = InternalState::STATE_CONFIGURE;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::STATE_CONFIGURE) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_NORMAL;
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GyroHandler::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch(internalState) {
|
||||
case(InternalState::STATE_NONE):
|
||||
case(InternalState::STATE_NORMAL): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(InternalState::STATE_CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command [5];
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
// might be a configuration error.
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
|
||||
<< "internal state!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(L3GD20H::READ_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
|
||||
L3GD20H::READ_MASK;
|
||||
|
||||
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
if(commandData == nullptr or commandDataLen != 5) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
ctrlReg1Value = commandData[0];
|
||||
ctrlReg2Value = commandData[1];
|
||||
ctrlReg3Value = commandData[2];
|
||||
ctrlReg4Value = commandData[3];
|
||||
ctrlReg5Value = commandData[4];
|
||||
|
||||
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
|
||||
if(not fsH and not fsL) {
|
||||
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
|
||||
}
|
||||
else if(not fsH and fsL) {
|
||||
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
|
||||
}
|
||||
else {
|
||||
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
|
||||
}
|
||||
|
||||
commandBuffer[1] = ctrlReg1Value;
|
||||
commandBuffer[2] = ctrlReg2Value;
|
||||
commandBuffer[3] = ctrlReg3Value;
|
||||
commandBuffer[4] = ctrlReg4Value;
|
||||
commandBuffer[5] = ctrlReg5Value;
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
|
||||
L3GD20H::READ_MASK;
|
||||
|
||||
std::memset(commandBuffer + 1, 0, 5);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// SPI, ID will always be the one of the last sent command.
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
// Data with SPI Interface has always this answer
|
||||
if (start[0] == 0b11111111) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(id) {
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
packet[5] == ctrlReg5Value) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
internalState = InternalState::STATE_CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_START): {
|
||||
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
packet[5] != ctrlReg5Value) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
|
||||
statusReg = packet[L3GD20H::STATUS_IDX];
|
||||
|
||||
float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
|
||||
packet[L3GD20H::OUT_X_L]) * scaleFactor;
|
||||
float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
|
||||
packet[L3GD20H::OUT_Y_L]) * scaleFactor;
|
||||
float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
|
||||
packet[L3GD20H::OUT_Z_L]) * scaleFactor;
|
||||
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
|
||||
ReturnValue_t result = dataset.read(20);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocY = angVelocX;
|
||||
dataset.angVelocZ = angVelocX;
|
||||
dataset.temperature = temperature;
|
||||
dataset.setValidity(true, true);
|
||||
result = dataset.commit(20);
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 5000;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void GyroHandler::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
}
|
||||
|
||||
void GyroHandler::modeChanged() {
|
||||
internalState = InternalState::STATE_NONE;
|
||||
}
|
69
mission/devices/GyroL3GD20Handler.h
Normal file
69
mission/devices/GyroL3GD20Handler.h
Normal file
@ -0,0 +1,69 @@
|
||||
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
* @details
|
||||
* Advanced documentation:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
|
||||
*/
|
||||
class GyroHandler: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
virtual ~GyroHandler();
|
||||
|
||||
protected:
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) 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() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
L3GD20H::GyroPrimaryDataset dataset;
|
||||
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_CONFIGURE,
|
||||
STATE_NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
bool commandExecuted = false;
|
||||
|
||||
uint8_t statusReg = 0;
|
||||
|
||||
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
|
||||
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
|
||||
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
|
||||
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
|
||||
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
|
||||
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
|
@ -23,23 +23,23 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
|
||||
|
||||
void MGMHandlerLIS3MDL::doStartUp() {
|
||||
switch (internalState) {
|
||||
case STATE_NONE:
|
||||
internalState = STATE_FIRST_CONTACT;
|
||||
case(InternalState::STATE_NONE):
|
||||
internalState = InternalState::STATE_FIRST_CONTACT;
|
||||
break;
|
||||
|
||||
case STATE_FIRST_CONTACT:
|
||||
internalState = STATE_SETUP;
|
||||
case(InternalState::STATE_FIRST_CONTACT):
|
||||
internalState = InternalState::STATE_SETUP;
|
||||
break;
|
||||
|
||||
case STATE_SETUP:
|
||||
internalState = STATE_CHECK_REGISTERS;
|
||||
case(InternalState::STATE_SETUP):
|
||||
internalState = InternalState::STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
|
||||
case STATE_CHECK_REGISTERS: {
|
||||
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||
// Set up cached registers which will be used to configure the MGM.
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
setMode(MODE_NORMAL);
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -56,20 +56,27 @@ void MGMHandlerLIS3MDL::doShutDown() {
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
switch (internalState) {
|
||||
case STATE_FIRST_CONTACT:
|
||||
case(InternalState::STATE_NONE):
|
||||
case(InternalState::STATE_NORMAL): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(InternalState::STATE_FIRST_CONTACT): {
|
||||
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||
break;
|
||||
|
||||
case STATE_SETUP:
|
||||
}
|
||||
case(InternalState::STATE_SETUP): {
|
||||
*id = MGMLIS3MDL::SETUP_MGM;
|
||||
break;
|
||||
|
||||
case STATE_CHECK_REGISTERS:
|
||||
}
|
||||
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
break;
|
||||
|
||||
}
|
||||
default:
|
||||
break;
|
||||
// might be a configuration error.
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
|
||||
<< "internal state!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
@ -105,13 +112,11 @@ ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
// Data/config register will be read in an alternating manner.
|
||||
if(communicationStep == CommunicationStep::DATA) {
|
||||
lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
communicationStep = CommunicationStep::TEMPERATURE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
else {
|
||||
lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
communicationStep = CommunicationStep::DATA;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
@ -122,7 +127,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
lastSentCommand = deviceCommand;
|
||||
switch(deviceCommand) {
|
||||
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
@ -154,7 +158,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
}
|
||||
default:
|
||||
lastSentCommand = DeviceHandlerIF::NO_COMMAND;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
@ -198,7 +201,7 @@ ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
|
||||
}
|
||||
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = lastSentCommand;
|
||||
*foundId = getPendingCommand();
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
@ -259,6 +262,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.setValidity(true, true);
|
||||
dataset.commit(20);
|
||||
}
|
||||
break;
|
||||
@ -283,7 +287,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
}
|
||||
|
||||
default: {
|
||||
return DeviceHandlerIF::UNKNOW_DEVICE_REPLY;
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
}
|
||||
@ -406,10 +410,6 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
|
||||
// TODO: use new distributed datapools here.
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
|
||||
}
|
||||
@ -419,7 +419,7 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::modeChanged(void) {
|
||||
internalState = STATE_NONE;
|
||||
internalState = InternalState::STATE_NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
|
||||
|
@ -35,28 +35,26 @@ public:
|
||||
protected:
|
||||
|
||||
/** DeviceHandlerBase overrides */
|
||||
virtual void doShutDown() override;
|
||||
virtual void doStartUp() override;
|
||||
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
virtual ReturnValue_t buildCommandFromCommand(
|
||||
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;
|
||||
virtual ReturnValue_t buildTransitionDeviceCommand(
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
virtual void fillCommandAndReplyMap() override;
|
||||
virtual void modeChanged(void) override;
|
||||
void setNormalDatapoolEntriesInvalid() override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
|
||||
@ -139,13 +137,6 @@ private:
|
||||
|
||||
uint8_t statusRegister = 0;
|
||||
|
||||
|
||||
/**
|
||||
* 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 = DeviceHandlerIF::NO_COMMAND;
|
||||
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
@ -154,11 +145,15 @@ private:
|
||||
*/
|
||||
ReturnValue_t prepareCtrlRegisterWrite();
|
||||
|
||||
enum InternalState {
|
||||
STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_FIRST_CONTACT,
|
||||
STATE_SETUP,
|
||||
STATE_CHECK_REGISTERS,
|
||||
STATE_NORMAL
|
||||
};
|
||||
|
||||
InternalState internalState = STATE_NONE;
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
|
||||
|
@ -1,4 +1,5 @@
|
||||
#include "MGMHandlerRM3100.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
|
||||
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
@ -6,40 +7,345 @@
|
||||
|
||||
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
|
||||
object_id_t deviceCommunication, CookieIF* comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
primaryDataset(this) {
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
debugDivider = new PeriodicOperationDivider(10);
|
||||
#endif
|
||||
}
|
||||
|
||||
MGMHandlerRM3100::~MGMHandlerRM3100() {}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void MGMHandlerRM3100::doStartUp() {
|
||||
if(internalState == InternalState::STATE_NONE) {
|
||||
internalState = InternalState::STATE_CONFIGURE_CMM;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::STATE_CONFIGURE_CMM) {
|
||||
internalState = InternalState::STATE_READ_CMM;
|
||||
}
|
||||
else if(internalState == InternalState::STATE_READ_CMM) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
}
|
||||
}
|
||||
|
||||
if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
|
||||
internalState = InternalState::STATE_READ_TMRC;
|
||||
}
|
||||
else if(internalState == InternalState::STATE_READ_TMRC) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_NORMAL;
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MGMHandlerRM3100::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
|
||||
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
return RETURN_OK;
|
||||
switch(internalState) {
|
||||
case(InternalState::STATE_NONE):
|
||||
case(InternalState::STATE_NORMAL): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(InternalState::STATE_CONFIGURE_CMM): {
|
||||
*id = RM3100::CONFIGURE_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_READ_CMM): {
|
||||
*id = RM3100::READ_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_CONFIGURE_TMRC): {
|
||||
*id = RM3100::CONFIGURE_TMRC;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_READ_TMRC): {
|
||||
*id = RM3100::READ_TMRC;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
// might be a configuration error.
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
|
||||
<< "internal state!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(RM3100::CONFIGURE_CMM): {
|
||||
commandBuffer[0] = RM3100::CMM_REGISTER;
|
||||
commandBuffer[1] = RM3100::CMM_VALUE;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_CMM): {
|
||||
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
|
||||
commandBuffer[1] = 0;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
}
|
||||
case(RM3100::CONFIGURE_TMRC): {
|
||||
return handleTmrcConfigCommand(deviceCommand, commandData,
|
||||
commandDataLen);
|
||||
}
|
||||
case(RM3100::READ_TMRC): {
|
||||
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
|
||||
commandBuffer[1] = 0;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
}
|
||||
case(RM3100::CONFIGURE_CYCLE_COUNT): {
|
||||
return handleCycleCountConfigCommand(deviceCommand, commandData,
|
||||
commandDataLen);
|
||||
}
|
||||
case(RM3100::READ_CYCLE_COUNT): {
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
|
||||
RM3100::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, 6);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 7;
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_DATA): {
|
||||
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, 9);
|
||||
rawPacketLen = 10;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
*id = RM3100::READ_DATA;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
|
||||
size_t len, DeviceCommandId_t *foundId,
|
||||
size_t *foundLen) {
|
||||
return RETURN_OK;
|
||||
|
||||
// SPI, ID will always be the one of the last sent command.
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
// Data with SPI Interface has always this answer
|
||||
if (start[0] == 0b11111111) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
|
||||
DeviceCommandId_t id, const uint8_t *packet) {
|
||||
return RETURN_OK;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(id) {
|
||||
case(RM3100::CONFIGURE_CMM):
|
||||
case(RM3100::CONFIGURE_CYCLE_COUNT):
|
||||
case(RM3100::CONFIGURE_TMRC): {
|
||||
// We can only check whether write was sucessful with read operation.
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_CMM): {
|
||||
if(packet[1] == cmmRegValue) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
internalState = InternalState::STATE_CONFIGURE_CMM;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_TMRC): {
|
||||
if(packet[1] == tmrcRegValue) {
|
||||
commandExecuted = true;
|
||||
// Reading TMRC was commanded. Trigger event to inform ground.
|
||||
if(mode != _MODE_START_UP) {
|
||||
triggerEvent(tmrcSet, tmrcRegValue, 0);
|
||||
}
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_CYCLE_COUNT): {
|
||||
uint16_t cycleCountX = packet[1] << 8 | packet[2];
|
||||
uint16_t cycleCountY = packet[3] << 8 | packet[4];
|
||||
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
|
||||
if(cycleCountX != cycleCountRegValueX or
|
||||
cycleCountY != cycleCountRegValueY or
|
||||
cycleCountZ != cycleCountRegValueZ) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
// Reading TMRC was commanded. Trigger event to inform ground.
|
||||
if(mode != _MODE_START_UP) {
|
||||
uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
|
||||
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_DATA): {
|
||||
result = handleDataReadout(packet);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
if(commandData == nullptr) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
// Set cycle count
|
||||
if(commandDataLen == 2) {
|
||||
handleCycleCommand(true, commandData, commandDataLen);
|
||||
}
|
||||
else if(commandDataLen == 6) {
|
||||
handleCycleCommand(false, commandData, commandDataLen);
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
|
||||
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
|
||||
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
|
||||
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
|
||||
rawPacketLen = 7;
|
||||
rawPacket = commandBuffer;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
RM3100::CycleCountCommand command(oneCycleValue);
|
||||
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
|
||||
SerializeIF::Endianness::BIG);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
// Data sheet p.30
|
||||
// "while noise limits the useful upper range to ~400 cycle counts."
|
||||
if(command.cycleCountX > 450 ) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
if(not oneCycleValue and
|
||||
(command.cycleCountY > 450 or command.cycleCountZ > 450)) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
cycleCountRegValueX = command.cycleCountX;
|
||||
cycleCountRegValueY = command.cycleCountY;
|
||||
cycleCountRegValueZ = command.cycleCountZ;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
if(commandData == nullptr) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
if(commandDataLen != 1) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
commandBuffer[0] = RM3100::TMRC_REGISTER;
|
||||
commandBuffer[1] = commandData[1];
|
||||
rawPacketLen = 2;
|
||||
rawPacket = commandBuffer;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void MGMHandlerRM3100::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
|
||||
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
|
||||
}
|
||||
|
||||
void MGMHandlerRM3100::modeChanged(void) {
|
||||
internalState = InternalState::STATE_NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 5000;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
|
||||
// analyze data here.
|
||||
// Field strengths in micro Tesla
|
||||
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
|
||||
* scaleFactorX;
|
||||
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
|
||||
* scaleFactorY;
|
||||
int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
|
||||
* scaleFactorZ;
|
||||
|
||||
#if OBSW_ENHANCED_PRINTOUT == 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: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
#endif
|
||||
|
||||
ReturnValue_t result = primaryDataset.read(20);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
primaryDataset.fieldStrengthX = fieldStrengthX;
|
||||
primaryDataset.fieldStrengthY = fieldStrengthY;
|
||||
primaryDataset.fieldStrengthZ = fieldStrengthZ;
|
||||
primaryDataset.setValidity(true, true);
|
||||
result = primaryDataset.commit(20);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
@ -4,8 +4,32 @@
|
||||
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
|
||||
* (https://www.pnicorp.com/rm3100/)
|
||||
* @details
|
||||
* Advanced documentation:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
|
||||
*/
|
||||
class MGMHandlerRM3100: public DeviceHandlerBase {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
|
||||
|
||||
//! P1: TMRC value which was set, P2: 0
|
||||
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
|
||||
0x00, severity::INFO);
|
||||
|
||||
//! P1: First two bytes new Cycle Count X
|
||||
//! P1: Second two bytes new Cycle Count Y
|
||||
//! P2: New cycle count Z
|
||||
static constexpr Event cycleCountersSet = event::makeEvent(
|
||||
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
|
||||
|
||||
MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
@ -14,26 +38,68 @@ public:
|
||||
protected:
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
virtual ReturnValue_t buildTransitionDeviceCommand(
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual void doStartUp() override;
|
||||
virtual void doShutDown() override;
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual ReturnValue_t buildCommandFromCommand(
|
||||
ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
|
||||
enum InternalState {
|
||||
STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_CONFIGURE_CMM,
|
||||
STATE_READ_CMM,
|
||||
// The cycle count states are propably not going to be used because
|
||||
// the default cycle count will be used.
|
||||
STATE_CONFIGURE_CYCLE_COUNT,
|
||||
STATE_READ_CYCLE_COUNT,
|
||||
STATE_CONFIGURE_TMRC,
|
||||
STATE_READ_TMRC,
|
||||
STATE_NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
bool commandExecuted = false;
|
||||
RM3100::Rm3100PrimaryDataset primaryDataset;
|
||||
|
||||
uint8_t commandBuffer[10];
|
||||
uint8_t commandBufferLen = 0;
|
||||
|
||||
uint8_t cmmRegValue = RM3100::CMM_VALUE;
|
||||
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
|
||||
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
|
||||
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
|
||||
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
|
||||
float scaleFactorX = 1 / RM3100::DEFAULT_GAIN;
|
||||
float scaleFactorY = 1 / RM3100::DEFAULT_GAIN;
|
||||
float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN;
|
||||
|
||||
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,size_t commandDataLen);
|
||||
ReturnValue_t handleCycleCommand(bool oneCycleValue,
|
||||
const uint8_t *commandData, size_t commandDataLen);
|
||||
|
||||
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,size_t commandDataLen);
|
||||
|
||||
ReturnValue_t handleDataReadout(const uint8_t* packet);
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
#endif
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
|
||||
|
129
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
Normal file
129
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
Normal file
@ -0,0 +1,129 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace L3GD20H {
|
||||
|
||||
static constexpr uint8_t READ_MASK = 0b1000'0000;
|
||||
|
||||
static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
|
||||
|
||||
static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111;
|
||||
static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Control registers
|
||||
/*------------------------------------------------------------------------*/
|
||||
static constexpr uint8_t CTRL_REG_1 = 0b0010'0000;
|
||||
static constexpr uint8_t CTRL_REG_2 = 0b0010'0001;
|
||||
static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
|
||||
static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
|
||||
static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
|
||||
|
||||
// Register 1
|
||||
static constexpr uint8_t SET_DR_1 = 1 << 7;
|
||||
static constexpr uint8_t SET_DR_0 = 1 << 6;
|
||||
static constexpr uint8_t SET_BW_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_BW_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
|
||||
static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
|
||||
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
|
||||
static constexpr uint8_t SET_Y_ENABLE = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
|
||||
SET_Y_ENABLE | SET_X_ENABLE;
|
||||
|
||||
// Register 2
|
||||
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
|
||||
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
|
||||
static constexpr uint8_t SET_HPM_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_HPM_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_HPCF_3 = 1 << 3;
|
||||
static constexpr uint8_t SET_HPCF_2 = 1 << 2;
|
||||
static constexpr uint8_t SET_HPCF_1 = 1 << 1;
|
||||
static constexpr uint8_t SET_HPCF_0 = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
|
||||
|
||||
// Register 3
|
||||
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
|
||||
|
||||
// Register 4
|
||||
static constexpr uint8_t SET_BNU = 1 << 7;
|
||||
static constexpr uint8_t SET_BLE = 1 << 6;
|
||||
static constexpr uint8_t SET_FS_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_FS_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_IMP_ENB = 1 << 3;
|
||||
static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
|
||||
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
|
||||
static constexpr uint8_t SET_SPI_IF_SELECT = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_4_VAL = 0b0000'0000;
|
||||
|
||||
// Register 5
|
||||
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
|
||||
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
|
||||
|
||||
// In degrees per second (DPS) for now.
|
||||
static constexpr uint16_t RANGE_DPS_00 = 245;
|
||||
static constexpr uint16_t RANGE_DPS_01 = 500;
|
||||
static constexpr uint16_t RANGE_DPS_11 = 2000;
|
||||
|
||||
static constexpr uint8_t READ_START = CTRL_REG_1;
|
||||
static constexpr size_t READ_LEN = 14;
|
||||
|
||||
// Indexing
|
||||
static constexpr uint8_t REFERENCE_IDX = 6;
|
||||
static constexpr uint8_t TEMPERATURE_IDX = 7;
|
||||
static constexpr uint8_t STATUS_IDX = 8;
|
||||
static constexpr uint8_t OUT_X_L = 9;
|
||||
static constexpr uint8_t OUT_X_H = 10;
|
||||
static constexpr uint8_t OUT_Y_L = 11;
|
||||
static constexpr uint8_t OUT_Y_H = 12;
|
||||
static constexpr uint8_t OUT_Z_L = 13;
|
||||
static constexpr uint8_t OUT_Z_H = 14;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device Handler specific
|
||||
/*------------------------------------------------------------------------*/
|
||||
static constexpr DeviceCommandId_t READ_REGS = 0;
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
|
||||
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
|
||||
|
||||
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
|
||||
|
||||
enum GyroPoolIds: lp_id_t {
|
||||
ANG_VELOC_X,
|
||||
ANG_VELOC_Y,
|
||||
ANG_VELOC_Z,
|
||||
TEMPERATURE
|
||||
};
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, GYRO_DATASET_ID) {}
|
||||
|
||||
GyroPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, GYRO_DATASET_ID)) {}
|
||||
|
||||
// Angular velocities in degrees per second (DPS)
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
|
@ -1,8 +1,127 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/serialize/SerialLinkedListAdapter.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace RM3100 {
|
||||
|
||||
static constexpr uint8_t READ_MASK = 0b1000'0000;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* CMM Register
|
||||
/*----------------------------------------------------------------------------*/
|
||||
static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
|
||||
static constexpr uint8_t SET_CMM_CMY = 1 << 5;
|
||||
static constexpr uint8_t SET_CMM_CMX = 1 << 4;
|
||||
static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
|
||||
static constexpr uint8_t SET_CMM_START = 1;
|
||||
static constexpr uint8_t CMM_REGISTER = 0x01;
|
||||
|
||||
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
|
||||
SET_CMM_DRDM | SET_CMM_START;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Cycle count register
|
||||
/*----------------------------------------------------------------------------*/
|
||||
// Default value (200)
|
||||
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
|
||||
|
||||
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
|
||||
100 * 38;
|
||||
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* TMRC register
|
||||
/*----------------------------------------------------------------------------*/
|
||||
static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
|
||||
static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
|
||||
static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
|
||||
|
||||
static constexpr uint8_t TMRC_REGISTER = 0x0B;
|
||||
static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_75HZ_VALUE;
|
||||
|
||||
static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
|
||||
static constexpr uint8_t BIST_REGISTER = 0x33;
|
||||
static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
|
||||
static constexpr uint8_t STATUS_REGISTER = 0x34;
|
||||
static constexpr uint8_t REVID_REGISTER = 0x36;
|
||||
|
||||
// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
|
||||
static constexpr uint16_t RANGE = 800;
|
||||
|
||||
static constexpr DeviceCommandId_t READ_DATA = 0;
|
||||
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
|
||||
static constexpr DeviceCommandId_t READ_CMM = 2;
|
||||
|
||||
static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
|
||||
static constexpr DeviceCommandId_t READ_TMRC = 4;
|
||||
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
|
||||
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
|
||||
|
||||
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
|
||||
public:
|
||||
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
|
||||
setLinks(oneCycleCount);
|
||||
}
|
||||
|
||||
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) override {
|
||||
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
|
||||
size, streamEndianness);
|
||||
if(oneCycleCount) {
|
||||
cycleCountY = cycleCountX;
|
||||
cycleCountZ = cycleCountX;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
SerializeElement<uint16_t> cycleCountX;
|
||||
SerializeElement<uint16_t> cycleCountY;
|
||||
SerializeElement<uint16_t> cycleCountZ;
|
||||
|
||||
private:
|
||||
void setLinks(bool oneCycleCount) {
|
||||
setStart(&cycleCountX);
|
||||
if(not oneCycleCount) {
|
||||
cycleCountX.setNext(&cycleCountY);
|
||||
cycleCountY.setNext(&cycleCountZ);
|
||||
}
|
||||
}
|
||||
|
||||
bool oneCycleCount;
|
||||
};
|
||||
|
||||
static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
};
|
||||
|
||||
class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
|
||||
|
||||
Rm3100PrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
|
||||
|
||||
// Field strengths in micro Tesla.
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit e0c896e62d25286d00599ca57b71d0a3495ed95f
|
||||
Subproject commit 9be8713fa0cc6128e9469da2e635365b03146de3
|
Loading…
Reference in New Issue
Block a user