moved RM3100 handler to framework
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799e90f617
commit
b8b6cd8872
@ -37,7 +37,6 @@
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#include "mission/devices/IMTQHandler.h"
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#include "mission/devices/IMTQHandler.h"
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#include "mission/devices/SyrlinksHkHandler.h"
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#include "mission/devices/SyrlinksHkHandler.h"
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#include "mission/devices/MGMHandlerLIS3MDL.h"
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#include "mission/devices/MGMHandlerLIS3MDL.h"
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#include "mission/devices/MGMHandlerRM3100.h"
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#include "mission/devices/PlocMPSoCHandler.h"
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#include "mission/devices/PlocMPSoCHandler.h"
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#include "mission/devices/RadiationSensorHandler.h"
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#include "mission/devices/RadiationSensorHandler.h"
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#include "mission/devices/RwHandler.h"
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#include "mission/devices/RwHandler.h"
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@ -55,6 +54,7 @@
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#include "fsfw_hal/linux/uart/UartComIF.h"
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#include "fsfw_hal/linux/uart/UartComIF.h"
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#include "fsfw_hal/linux/uart/UartCookie.h"
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#include "fsfw_hal/linux/uart/UartCookie.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
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#include "fsfw_hal/linux/i2c/I2cCookie.h"
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#include "fsfw_hal/linux/i2c/I2cCookie.h"
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#include "fsfw_hal/linux/i2c/I2cComIF.h"
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#include "fsfw_hal/linux/i2c/I2cComIF.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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@ -454,7 +454,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
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spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
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auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
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objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
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mgmRm3100Handler->setStartUpImmediately();
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mgmRm3100Handler->setStartUpImmediately();
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@ -466,7 +466,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
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spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
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mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
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objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
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mgmRm3100Handler->setStartUpImmediately();
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mgmRm3100Handler->setStartUpImmediately();
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit bc6b29e652a90f5a14bb32a1bcc2a956e410e678
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Subproject commit 823c6ec5fc6357d342f4d0e3edc68d89ff492b87
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@ -1,7 +1,6 @@
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target_sources(${TARGET_NAME} PUBLIC
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target_sources(${TARGET_NAME} PUBLIC
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GPSHyperionHandler.cpp
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GPSHyperionHandler.cpp
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MGMHandlerLIS3MDL.cpp
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MGMHandlerLIS3MDL.cpp
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MGMHandlerRM3100.cpp
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GomspaceDeviceHandler.cpp
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GomspaceDeviceHandler.cpp
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Tmp1075Handler.cpp
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Tmp1075Handler.cpp
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PCDUHandler.cpp
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PCDUHandler.cpp
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@ -1,364 +0,0 @@
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#include "MGMHandlerRM3100.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/globalfunctions/bitutility.h"
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#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
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object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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primaryDataset(this), switchId(switchId) {
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#if OBSW_VERBOSE_LEVEL >= 1
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debugDivider = new PeriodicOperationDivider(5);
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#endif
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}
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MGMHandlerRM3100::~MGMHandlerRM3100() {}
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void MGMHandlerRM3100::doStartUp() {
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switch(internalState) {
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case(InternalState::NONE): {
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internalState = InternalState::CONFIGURE_CMM;
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break;
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}
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case(InternalState::CONFIGURE_CMM): {
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internalState = InternalState::READ_CMM;
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break;
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}
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case(InternalState::READ_CMM): {
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if(commandExecuted) {
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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}
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break;
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}
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case(InternalState::STATE_CONFIGURE_TMRC): {
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if(commandExecuted) {
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internalState = InternalState::STATE_READ_TMRC;
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}
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break;
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}
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case(InternalState::STATE_READ_TMRC): {
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if(commandExecuted) {
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internalState = InternalState::NORMAL;
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#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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setMode(MODE_NORMAL);
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#else
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setMode(_MODE_TO_ON);
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#endif
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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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}
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void MGMHandlerRM3100::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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size_t commandLen = 0;
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switch(internalState) {
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case(InternalState::NONE):
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case(InternalState::NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::CONFIGURE_CMM): {
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*id = RM3100::CONFIGURE_CMM;
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break;
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}
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case(InternalState::READ_CMM): {
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*id = RM3100::READ_CMM;
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break;
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}
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case(InternalState::STATE_CONFIGURE_TMRC): {
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commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
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commandLen = 1;
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*id = RM3100::CONFIGURE_TMRC;
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break;
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}
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case(InternalState::STATE_READ_TMRC): {
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*id = RM3100::READ_TMRC;
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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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sif::warning << "MGMHandlerRM3100::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return buildCommandFromCommand(*id, commandBuffer, commandLen);
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}
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ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen) {
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switch(deviceCommand) {
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case(RM3100::CONFIGURE_CMM): {
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commandBuffer[0] = RM3100::CMM_REGISTER;
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commandBuffer[1] = RM3100::CMM_VALUE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::READ_CMM): {
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commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::CONFIGURE_TMRC): {
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return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
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}
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case(RM3100::READ_TMRC): {
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commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::CONFIGURE_CYCLE_COUNT): {
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return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
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}
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case(RM3100::READ_CYCLE_COUNT): {
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commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 6);
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rawPacket = commandBuffer;
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rawPacketLen = 7;
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break;
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}
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case(RM3100::READ_DATA): {
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commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 9);
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rawPacketLen = 10;
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break;
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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 RETURN_OK;
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}
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ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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*id = RM3100::READ_DATA;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
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size_t len, DeviceCommandId_t *foundId,
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size_t *foundLen) {
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/* For SPI, ID will always be the one of the last sent command. */
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*foundId = this->getPendingCommand();
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*foundLen = len;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch(id) {
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case(RM3100::CONFIGURE_CMM):
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case(RM3100::CONFIGURE_CYCLE_COUNT):
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case(RM3100::CONFIGURE_TMRC): {
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/* We can only check whether write was successful with read operation. */
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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break;
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}
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case(RM3100::READ_CMM): {
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uint8_t cmmValue = packet[1];
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/* We clear the seventh bit in any case
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* because this one is zero sometimes for some reason */
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bitutil::bitClear(&cmmValue, 6);
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if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
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commandExecuted = true;
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}
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else {
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/* Attempt reconfiguration. */
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internalState = InternalState::CONFIGURE_CMM;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(RM3100::READ_TMRC): {
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if(packet[1] == tmrcRegValue) {
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commandExecuted = true;
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/* Reading TMRC was commanded. Trigger event to inform ground. */
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if(mode != _MODE_START_UP) {
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triggerEvent(tmrcSet, tmrcRegValue, 0);
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}
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}
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else {
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/* Attempt reconfiguration. */
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(RM3100::READ_CYCLE_COUNT): {
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uint16_t cycleCountX = packet[1] << 8 | packet[2];
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uint16_t cycleCountY = packet[3] << 8 | packet[4];
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uint16_t cycleCountZ = packet[5] << 8 | packet[6];
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if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
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cycleCountZ != cycleCountRegValueZ) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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/* Reading TMRC was commanded. Trigger event to inform ground. */
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if(mode != _MODE_START_UP) {
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uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
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triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
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}
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break;
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}
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case(RM3100::READ_DATA): {
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result = handleDataReadout(packet);
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break;
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}
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default:
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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return result;
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}
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ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen) {
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if(commandData == nullptr) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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// Set cycle count
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if(commandDataLen == 2) {
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handleCycleCommand(true, commandData, commandDataLen);
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}
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else if(commandDataLen == 6) {
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handleCycleCommand(false, commandData, commandDataLen);
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}
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else {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
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std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
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std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
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std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
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rawPacketLen = 7;
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rawPacket = commandBuffer;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
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const uint8_t *commandData, size_t commandDataLen) {
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RM3100::CycleCountCommand command(oneCycleValue);
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ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
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SerializeIF::Endianness::BIG);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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/* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
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if(command.cycleCountX > 450 ) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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cycleCountRegValueX = command.cycleCountX;
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cycleCountRegValueY = command.cycleCountY;
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cycleCountRegValueZ = command.cycleCountZ;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen) {
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if(commandData == nullptr or commandDataLen != 1) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
|
|
||||||
|
|
||||||
commandBuffer[0] = RM3100::TMRC_REGISTER;
|
|
||||||
commandBuffer[1] = commandData[0];
|
|
||||||
tmrcRegValue = commandData[0];
|
|
||||||
rawPacketLen = 2;
|
|
||||||
rawPacket = commandBuffer;
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MGMHandlerRM3100::fillCommandAndReplyMap() {
|
|
||||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
|
|
||||||
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
|
|
||||||
|
|
||||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
|
|
||||||
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
|
|
||||||
|
|
||||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
|
|
||||||
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
|
|
||||||
|
|
||||||
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MGMHandlerRM3100::modeChanged(void) {
|
|
||||||
internalState = InternalState::NONE;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
|
|
||||||
localpool::DataPool &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 25000;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t MGMHandlerRM3100::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
|
|
||||||
*switches = &switchId;
|
|
||||||
*numberOfSwitches = 1;
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
|
|
||||||
/* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
|
|
||||||
* trickery here to calculate the raw values first */
|
|
||||||
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
|
|
||||||
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
|
|
||||||
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
|
|
||||||
|
|
||||||
/* Now scale to physical value in microtesla */
|
|
||||||
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
|
|
||||||
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
|
|
||||||
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
|
|
||||||
|
|
||||||
#if OBSW_VERBOSE_LEVEL >= 1
|
|
||||||
if(debugDivider->checkAndIncrement()) {
|
|
||||||
sif::info << "MGMHandlerRM3100: Magnetic field strength in"
|
|
||||||
" microtesla:" << std::endl;
|
|
||||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
|
||||||
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
|
|
||||||
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
|
|
||||||
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/* TODO: Sanity check on values */
|
|
||||||
PoolReadGuard readGuard(&primaryDataset);
|
|
||||||
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
|
||||||
primaryDataset.fieldStrengthX = fieldStrengthX;
|
|
||||||
primaryDataset.fieldStrengthY = fieldStrengthY;
|
|
||||||
primaryDataset.fieldStrengthZ = fieldStrengthZ;
|
|
||||||
primaryDataset.setValidity(true, true);
|
|
||||||
}
|
|
||||||
return RETURN_OK;
|
|
||||||
}
|
|
||||||
@ -1,109 +0,0 @@
|
|||||||
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
|
|
||||||
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
|
|
||||||
|
|
||||||
#include "OBSWConfig.h"
|
|
||||||
#include "devices/powerSwitcherList.h"
|
|
||||||
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
|
|
||||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
|
||||||
|
|
||||||
#if OBSW_VERBOSE_LEVEL >= 1
|
|
||||||
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
|
|
||||||
* (https://www.pnicorp.com/rm3100/)
|
|
||||||
* @details
|
|
||||||
* Flight manual:
|
|
||||||
* 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;
|
|
||||||
|
|
||||||
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
|
|
||||||
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
|
|
||||||
0x00, severity::INFO);
|
|
||||||
|
|
||||||
//! [EXPORT] : [COMMENT] Cycle counter set. 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, uint8_t switchId);
|
|
||||||
virtual ~MGMHandlerRM3100();
|
|
||||||
|
|
||||||
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;
|
|
||||||
ReturnValue_t getSwitches(const uint8_t **switches,
|
|
||||||
uint8_t *numberOfSwitches) override;
|
|
||||||
|
|
||||||
void fillCommandAndReplyMap() override;
|
|
||||||
void modeChanged(void) override;
|
|
||||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
|
||||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
|
||||||
LocalDataPoolManager &poolManager) override;
|
|
||||||
|
|
||||||
private:
|
|
||||||
|
|
||||||
enum class InternalState {
|
|
||||||
NONE,
|
|
||||||
CONFIGURE_CMM,
|
|
||||||
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,
|
|
||||||
NORMAL
|
|
||||||
};
|
|
||||||
InternalState internalState = InternalState::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;
|
|
||||||
|
|
||||||
uint8_t switchId;
|
|
||||||
|
|
||||||
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_VERBOSE_LEVEL >= 1
|
|
||||||
PeriodicOperationDivider* debugDivider;
|
|
||||||
#endif
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
|
|
||||||
@ -1,132 +0,0 @@
|
|||||||
#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 {
|
|
||||||
|
|
||||||
/* Actually 10, we round up a little bit */
|
|
||||||
static constexpr size_t MAX_BUFFER_SIZE = 12;
|
|
||||||
|
|
||||||
static constexpr uint8_t READ_MASK = 0x80;
|
|
||||||
|
|
||||||
/*----------------------------------------------------------------------------*/
|
|
||||||
/* 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_DEFAULT_37HZ_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);
|
|
||||||
};
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
|
|
||||||
Loading…
Reference in New Issue
Block a user