Merge branch 'mueller/update-package' into mueller/master

bsp_q7s/core/ObjectFactory.cpp

@@ -37,7 +37,6 @@
 #include "mission/devices/IMTQHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/MGMHandlerLIS3MDL.h"
-#include "mission/devices/MGMHandlerRM3100.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@@ -55,6 +54,7 @@
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw_hal/linux/uart/UartCookie.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
@@ -454,7 +454,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 
     spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-    auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     mgmRm3100Handler->setStartUpImmediately();
 
@@ -466,7 +466,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 
     spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-    mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
+    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
 

mission/devices/CMakeLists.txt

@@ -1,7 +1,6 @@
 target_sources(${TARGET_NAME} PUBLIC
 	GPSHyperionHandler.cpp
 	MGMHandlerLIS3MDL.cpp
-	MGMHandlerRM3100.cpp
 	GomspaceDeviceHandler.cpp
 	Tmp1075Handler.cpp
 	PCDUHandler.cpp

mission/devices/MGMHandlerRM3100.cpp

@@ -1,364 +0,0 @@
-#include "MGMHandlerRM3100.h"
-
-#include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/globalfunctions/bitutility.h"
-#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
-
-MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        primaryDataset(this), switchId(switchId) {
-#if OBSW_VERBOSE_LEVEL >= 1
-    debugDivider = new PeriodicOperationDivider(5);
-#endif
-}
-
-MGMHandlerRM3100::~MGMHandlerRM3100() {}
-
-void MGMHandlerRM3100::doStartUp() {
-    switch(internalState) {
-    case(InternalState::NONE): {
-        internalState = InternalState::CONFIGURE_CMM;
-        break;
-    }
-    case(InternalState::CONFIGURE_CMM): {
-        internalState = InternalState::READ_CMM;
-        break;
-    }
-    case(InternalState::READ_CMM): {
-        if(commandExecuted) {
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
-        }
-        break;
-    }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::STATE_READ_TMRC;
-        }
-        break;
-    }
-    case(InternalState::STATE_READ_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::NORMAL;
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
-            setMode(MODE_NORMAL);
-#else
-            setMode(_MODE_TO_ON);
-#endif
-        }
-        break;
-    }
-    default: {
-        break;
-    }
-    }
-}
-
-void MGMHandlerRM3100::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
-    size_t commandLen = 0;
-    switch(internalState) {
-    case(InternalState::NONE):
-    case(InternalState::NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(InternalState::CONFIGURE_CMM): {
-        *id = RM3100::CONFIGURE_CMM;
-        break;
-    }
-    case(InternalState::READ_CMM): {
-        *id = RM3100::READ_CMM;
-        break;
-    }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
-        commandLen = 1;
-        *id = RM3100::CONFIGURE_TMRC;
-        break;
-    }
-    case(InternalState::STATE_READ_TMRC): {
-        *id = RM3100::READ_TMRC;
-        break;
-    }
-    default:
-        // Might be a configuration error
-        sif::warning << "MGMHandlerRM3100::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    return buildCommandFromCommand(*id, commandBuffer, commandLen);
-}
-
-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) {
-
-    /* For SPI, ID will always be the one of the last sent command. */
-    *foundId = this->getPendingCommand();
-    *foundLen = len;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-    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 successful with read operation. */
-        if(mode == _MODE_START_UP) {
-            commandExecuted = true;
-        }
-        break;
-    }
-    case(RM3100::READ_CMM): {
-        uint8_t cmmValue = packet[1];
-        /* We clear the seventh bit in any case
-         * because this one is zero sometimes for some reason */
-        bitutil::bitClear(&cmmValue, 6);
-        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
-            commandExecuted = true;
-        }
-        else {
-            /* Attempt reconfiguration. */
-            internalState = InternalState::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 or commandDataLen != 1) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    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;
-}

mission/devices/MGMHandlerRM3100.h

@@ -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_ */

mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.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_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);
-};
-
-}
-
-
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */