eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into mueller/master

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This commit is contained in:
Robin Müller 2021-09-15 13:40:54 +02:00
commit d29b86a0bd
3 changed files with 50 additions and 28 deletions
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50
mission/devices/MGMHandlerLIS3MDL.cpp
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@ -269,9 +269,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
} }
case MGMLIS3MDL::READ_CONFIG_AND_DATA: { case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
// TODO: Store configuration in new local datasets. // TODO: Store configuration in new local datasets.
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
uint8_t scale = getFullScale(registers[2]);
float sensitivityFactor = getSensitivityFactor(scale);
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
@ -345,25 +343,39 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
return RETURN_OK; return RETURN_OK;
} }
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) { MGMLIS3MDL::Sensitivies MGMHandlerLIS3MDL::getSensitivity(uint8_t ctrlRegister2) {
bool FS0 = false; bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
bool FS1 = false; bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
if ((ctrlRegister2 >> 5) == 1)
FS0 = true; if (fs0Set && fs1Set)
if ((ctrlRegister2 >> 6) == 1) return MGMLIS3MDL::Sensitivies::GAUSS_16;
FS1 = true; else if (!fs0Set && fs1Set)
if ((FS0 == true) && (FS1 == true)) return MGMLIS3MDL::Sensitivies::GAUSS_12;
return 16; else if (fs0Set && !fs1Set)
else if ((FS0 == false) && (FS1 == true)) return MGMLIS3MDL::Sensitivies::GAUSS_8;
return 12;
else if ((FS0 == true) && (FS1 == false))
return 8;
else else
return 4; return MGMLIS3MDL::Sensitivies::GAUSS_4;
} }
float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) { float MGMHandlerLIS3MDL::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
return (float) scale / (INT16_MAX); switch(sens) {
case(MGMLIS3MDL::GAUSS_4): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
case(MGMLIS3MDL::GAUSS_8): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
}
case(MGMLIS3MDL::GAUSS_12): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
}
case(MGMLIS3MDL::GAUSS_16): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
}
default: {
// Should never happen
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
}
} }

12
mission/devices/MGMHandlerLIS3MDL.h
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@ -82,18 +82,16 @@ private:
* e.g.: +- 4 gauss. See p.25 datasheet. * e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value * @return The ReturnValue does not contain the sign of the value
*/ */
uint8_t getFullScale(uint8_t ctrlReg2); MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
/** /**
* The 16 bit value needs to be divided by the full range of a 16bit value * The 16 bit value needs to be multiplied with a sensitivity factor
* and then multiplied with the current scale of the MGM. * which depends on the sensitivity configuration
* This factor returns the factor required to achieve this with
* one multiplication.
* *
* @param scale is the return value of the getFulscale Method * @param sens Configured sensitivity of the LIS3 device
* @return Multiplication factor to get the sensor value from raw data. * @return Multiplication factor to get the sensor value from raw data.
*/ */
float getSensitivityFactor(uint8_t scale); float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
/** /**
* This Command detects the device ID * This Command detects the device ID

16
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
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@ -8,17 +8,29 @@
namespace MGMLIS3MDL { namespace MGMLIS3MDL {
enum set { enum Set {
ON, OFF ON, OFF
}; };
enum opMode { enum OpMode {
LOW, MEDIUM, HIGH, ULTRA LOW, MEDIUM, HIGH, ULTRA
}; };
enum Sensitivies: uint8_t {
GAUSS_4 = 4,
GAUSS_8 = 8,
GAUSS_12 = 12,
GAUSS_16 = 16
};
/* Actually 15, we just round up a bit */ /* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16; static constexpr size_t MAX_BUFFER_SIZE = 16;
/* Field data register scaling */
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100; static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00; static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
static const DeviceCommandId_t SETUP_MGM = 0x01; static const DeviceCommandId_t SETUP_MGM = 0x01;