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arduino stuff added

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This commit is contained in:
Robin Müller 2020-10-01 02:06:39 +02:00
parent 6ab3eaaf23
commit de56838123
17 changed files with 1192 additions and 244 deletions
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324
bsp_linux/comIF/ArduinoComIF.cpp Normal file
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#include "ArduinoCookie.h"
#include "ArduinoComIF.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <fsfw/globalfunctions/CRC.h>
#include <termios.h>
ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
const char *serialDevice) :
spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
if (serialPort < 0) {
//configuration error
printf("Error %i from open: %s\n", errno, strerror(errno));
return;
}
struct termios tty;
memset(&tty, 0, sizeof tty);
// Read in existing settings, and handle any error
if (tcgetattr(serialPort, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
return;
}
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; //Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); //Baudrate
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return;
}
initialized = true;
}
ArduinoCommInterface::~ArduinoCommInterface() {
::close(serialPort);
}
ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
uint32_t maxReplyLen) {
//This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
switch ((address >> 8) & 0xff) {
case 0:
*cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
uint32_t maxReplyLen) {
//too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
return HasReturnvaluesIF::RETURN_FAILED;
}
void ArduinoCommInterface::close(Cookie *cookie) {
//too lazy as well, find the correct Map, delete it there, then the cookie...
}
ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
uint32_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == NULL) {
return INVALID_COOKIE_TYPE;
}
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
len);
}
ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
return RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
return RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
uint8_t **buffer, uint32_t *size) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == NULL) {
return INVALID_COOKIE_TYPE;
}
*buffer = arduinoCookie->replyBuffer;
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
uint32_t address) {
//not implemented
return RETURN_FAILED;
}
uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
//not implemented
return 0;
}
ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
uint32_t parameter) {
//not implemented
return RETURN_FAILED;
}
uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
//not implemented
return 0;
}
ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
uint8_t address, const uint8_t *data, size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
//being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
sendBuffer[0] = DleEncoder::STX;
uint8_t *currentPosition = sendBuffer + 1;
size_t remainingLen = sizeof(sendBuffer) - 1;
uint32_t encodedLen;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2];
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX;
}
remainingLen -= 1;
encodedLen = sizeof(sendBuffer) - remainingLen;
ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
//we could try to find out what happened...
return RETURN_FAILED;
}
if (writtenlen != encodedLen) {
//the OS failed us, we do not try to block until everything is written, as
//we can not block the whole system here
return RETURN_FAILED;
}
return RETURN_OK;
}
void ArduinoCommInterface::handleSerialPortRx() {
uint32_t availableSpace = rxBuffer.availableWriteSpace();
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
}
rxBuffer.writeData(dataFromSerial, bytesRead);
uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
&dataLenReceivedSoFar);
//look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
firstSTXinRawData++;
}
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
//there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;
}
uint8_t packet[MAX_PACKET_SIZE];
uint32_t packetLen;
uint32_t readSize;
ReturnValue_t result = DleEncoder::decode(
dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
handlePacket(packet, packetLen);
//after handling the packet, we can delete it from the raw stream, it has been copied to packet
toDelete += readSize;
}
//remove Data which was processed
rxBuffer.deleteData(toDelete);
}
void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
if (crc != 0) {
//CRC error
return;
}
uint8_t command = packet[0];
uint8_t address = packet[1];
uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) {
//Invalid Length
return;
}
switch (command) {
case ArduinoCookie::SPI: {
ArduinoCookie **itsComplicated;
ReturnValue_t result = spiMap.find(address, &itsComplicated);
if (result != RETURN_OK) {
//we do no know this address
return;
}
ArduinoCookie *theActualCookie = *itsComplicated;
if (packetLen > theActualCookie->maxReplySize + 6) {
packetLen = theActualCookie->maxReplySize + 6;
}
memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6);
theActualCookie->receivedDataLen = packetLen - 6;
}
break;
default:
return;
}
}

73
bsp_linux/comIF/ArduinoComIF.h Normal file
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//#ifndef MISSION_ARDUINOCOMMINTERFACE_H_
//#define MISSION_ARDUINOCOMMINTERFACE_H_
//
//#include <bits/stdint-uintn.h>
//#include <framework/container/FixedMap.h>
//#include <framework/container/SimpleRingBuffer.h>
//#include <framework/devicehandlers/DeviceCommunicationIF.h>
//#include <framework/returnvalues/HasReturnvaluesIF.h>
//#include <stddef.h>
//
//#include "../../framework/objectmanager/SystemObject.h"
//#include "ArduinoCookie.h"
//
////Forward declaration, so users don't peek
//class ArduinoCookie;
//
//class ArduinoComIF: public SystemObject,
// public DeviceCommunicationIF {
//public:
// static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
// static const uint8_t MAX_PACKET_SIZE = 64;
//
// static const uint8_t COMMAND_INVALID = -1;
// static const uint8_t COMMAND_SPI = 1;
//
// ArduinoComIF(object_id_t setObjectId, const char *serialDevice);
// virtual ~ArduinoComIF();
//
// virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
// uint32_t maxReplyLen);
//
// virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
// uint32_t maxReplyLen);
//
// virtual void close(Cookie *cookie);
//
// //SHOULDDO can data be const?
// virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
// uint32_t len);
//
// virtual ReturnValue_t getSendSuccess(Cookie *cookie);
//
// virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
//
// virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
// uint32_t *size);
//
// virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
//
// virtual uint32_t getAddress(Cookie *cookie);
//
// virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
//
// virtual uint32_t getParameter(Cookie *cookie);
//private:
// //remembering if the initialization in the ctor worked
// //if not, all calls are disabled
// bool initialized;
// int serialPort;
// //used to know where to put the data if a reply is received
// FixedMap<uint8_t, ArduinoCookie*> spiMap;
//
// SimpleRingBuffer rxBuffer;
//
// ReturnValue_t sendMessage(uint8_t command, uint8_t address,
// const uint8_t *data, size_t dataLen);
//
// void handleSerialPortRx();
//
// void handlePacket(uint8_t *packet, size_t packetLen);
//};
//
//#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */

12
bsp_linux/comIF/ArduinoCookie.cpp Normal file
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@ -0,0 +1,12 @@
//#include <mission/Arduino/ArduinoCookie.h>
//
//ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
// size_t maxReplySize) :
// command(protocol), address(address), receivedDataLen(0), maxReplySize(
// maxReplySize) {
// replyBuffer = new uint8_t[maxReplySize];
//}
//
//ArduinoCookie::~ArduinoCookie() {
// delete[] replyBuffer;
//}

25
bsp_linux/comIF/ArduinoCookie.h Normal file
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@ -0,0 +1,25 @@
//#ifndef MISSION_ARDUINO_ARDUINOCOOKIE_H_
//#define MISSION_ARDUINO_ARDUINOCOOKIE_H_
//
//#include <framework/devicehandlers/Cookie.h>
//
//#include <stdint.h>
//#include <stdlib.h>
//
//class ArduinoCookie: public Cookie {
//public:
// enum Protocol_t {
// INVALID = 0, SPI = 1
// };
// ArduinoCookie(Protocol_t protocol, uint8_t address, size_t maxReplySize);
// virtual ~ArduinoCookie();
//
// uint8_t command;
// uint8_t address;
// uint8_t *replyBuffer;
// size_t receivedDataLen;
// size_t maxReplySize;
//
//};
//
//#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

2
config/OBSWConfig.h
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@ -6,7 +6,7 @@
#ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_
#define ADD_TEST_FOLDER 1
#define ADD_TEST_CODE 1
// Define not used yet, PUS stack and TMTC tasks are always started
#define ADD_PUS_STACK 1

4
config/objects/systemObjectList.h
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@ -23,9 +23,13 @@ namespace objects {
TM_FUNNEL = 0x52000002,
/* Test Task */
TEST_TASK = 0x42694269,
DUMMY_INTERFACE = 0xCAFECAFE,
DUMMY_HANDLER = 0x4400AFFE,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001
};
}

374
hosted/comIF/ArduinoComIF.cpp Normal file
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#include "ArduinoComIF.h"
#include "ArduinoCookie.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
// This only works on Linux
#ifdef LINUX
#include <termios.h>
#elif WIN32
#include <windows.h>
#include <strsafe.h>
#endif
#include <cstring>
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
const char *serialDevice):
rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
SystemObject(setObjectId) {
#ifdef LINUX
initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
if (serialPort < 0) {
//configuration error
printf("Error %i from open: %s\n", errno, strerror(errno));
return;
}
struct termios tty;
memset(&tty, 0, sizeof tty);
// Read in existing settings, and handle any error
if (tcgetattr(serialPort, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
return;
}
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; //Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); //Baudrate
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return;
}
initialized = true;
#elif WIN32
DCB serialParams = { 0 };
// we need to ask the COM port from the user.
if(promptComIF) {
sif::info << "Please enter the COM port (c to cancel): " << std::flush;
std::string comPort;
while(hCom == INVALID_HANDLE_VALUE) {
std::getline(std::cin, comPort);
if(comPort[0] == 'c') {
break;
}
const TCHAR *pcCommPort = comPort.c_str();
hCom = CreateFileA(pcCommPort, //port name
GENERIC_READ | GENERIC_WRITE, //Read/Write
0, // No Sharing
NULL, // No Security
OPEN_EXISTING,// Open existing port only
0, // Non Overlapped I/O
NULL); // Null for Comm Devices
if (hCom == INVALID_HANDLE_VALUE)
{
if(GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl;
}
else {
TCHAR err[128];
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL,
GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
err, sizeof(err), NULL);
// Handle the error.
sif::info << "CreateFileA Error code: " << GetLastError()
<< std::endl;
sif::error << err << std::flush;
}
sif::info << "Please enter a valid COM port: " << std::flush;
}
}
}
serialParams.DCBlength = sizeof(serialParams);
if(baudRate == 9600) {
serialParams.BaudRate = CBR_9600;
}
if(baudRate == 115200) {
serialParams.BaudRate = CBR_115200;
}
else {
serialParams.BaudRate = baudRate;
}
serialParams.ByteSize = 8;
serialParams.Parity = NOPARITY;
serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams);
COMMTIMEOUTS timeout = { 0 };
// This will set the read operation to be blocking until data is received
// and then read continuously until there is a gap of one millisecond.
timeout.ReadIntervalTimeout = 1;
timeout.ReadTotalTimeoutConstant = 0;
timeout.ReadTotalTimeoutMultiplier = 0;
timeout.WriteTotalTimeoutConstant = 0;
timeout.WriteTotalTimeoutMultiplier = 0;
SetCommTimeouts(hCom, &timeout);
// Serial port should now be read for operations.
#endif
}
ArduinoComIF::~ArduinoComIF() {
#ifdef LINUX
::close(serialPort);
#elif WIN32
CloseHandle(hCom);
#endif
}
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data,
size_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
len);
}
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
*buffer = arduinoCookie->replyBuffer.data();
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
uint8_t address, const uint8_t *data, size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
//being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
sendBuffer[0] = DleEncoder::STX_CHAR;
uint8_t *currentPosition = sendBuffer + 1;
size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2];
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX_CHAR;
}
remainingLen -= 1;
encodedLen = sizeof(sendBuffer) - remainingLen;
#ifdef LINUX
ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
//we could try to find out what happened...
return RETURN_FAILED;
}
if (writtenlen != encodedLen) {
//the OS failed us, we do not try to block until everything is written, as
//we can not block the whole system here
return RETURN_FAILED;
}
return RETURN_OK;
#elif WIN32
return HasReturnvaluesIF::RETURN_OK;
#endif
}
void ArduinoComIF::handleSerialPortRx() {
#ifdef LINUX
uint32_t availableSpace = rxBuffer.availableWriteSpace();
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
}
rxBuffer.writeData(dataFromSerial, bytesRead);
uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
&dataLenReceivedSoFar);
//look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
firstSTXinRawData++;
}
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
//there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;
}
uint8_t packet[MAX_PACKET_SIZE];
size_t packetLen = 0;
size_t readSize = 0;
ReturnValue_t result = DleEncoder::decode(
dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
handlePacket(packet, packetLen);
// after handling the packet, we can delete it from the raw stream,
// it has been copied to packet
toDelete += readSize;
}
//remove Data which was processed
rxBuffer.deleteData(toDelete);
#elif WIN32
#endif
}
void ArduinoComIF::setBaudrate(uint32_t baudRate) {
this->baudRate = baudRate;
}
void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
if (crc != 0) {
//CRC error
return;
}
uint8_t command = packet[0];
uint8_t address = packet[1];
uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) {
//Invalid Length
return;
}
switch (command) {
case ArduinoCookie::SPI: {
//ArduinoCookie **itsComplicated;
auto findIter = spiMap.find(address);
if (findIter == spiMap.end()) {
//we do no know this address
return;
}
ArduinoCookie& cookie = findIter->second;
if (packetLen > cookie.maxReplySize + 6) {
packetLen = cookie.maxReplySize + 6;
}
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
cookie.receivedDataLen = packetLen - 6;
}
break;
default:
return;
}
}

69
hosted/comIF/ArduinoComIF.h Normal file
View File

@ -0,0 +1,69 @@
#ifndef MISSION_ARDUINOCOMMINTERFACE_H_
#define MISSION_ARDUINOCOMMINTERFACE_H_
#include <fsfw/container/FixedMap.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <cstdint>
#include <map>
#ifdef WIN32
#include <windows.h>
#endif
//Forward declaration, so users don't peek
class ArduinoCookie;
class ArduinoComIF: public SystemObject,
public DeviceCommunicationIF {
public:
static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
static const uint8_t MAX_PACKET_SIZE = 64;
static const uint8_t COMMAND_INVALID = -1;
static const uint8_t COMMAND_SPI = 1;
ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
const char *serialDevice = nullptr);
void setBaudrate(uint32_t baudRate);
virtual ~ArduinoComIF();
/** DeviceCommunicationIF overrides */
virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
private:
#ifdef LINUX
#elif WIN32
HANDLE hCom = INVALID_HANDLE_VALUE;
#endif
// remembering if the initialization in the ctor worked
// if not, all calls are disabled
bool initialized = false;
int serialPort = 0;
// Default baud rate is 9600 for now.
uint32_t baudRate = 9600;
//used to know where to put the data if a reply is received
std::map<uint8_t, ArduinoCookie> spiMap;
SimpleRingBuffer rxBuffer;
ReturnValue_t sendMessage(uint8_t command, uint8_t address,
const uint8_t *data, size_t dataLen);
void handleSerialPortRx();
void handlePacket(uint8_t *packet, size_t packetLen);
};
#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */

8
hosted/comIF/ArduinoCookie.cpp Normal file
View File

@ -0,0 +1,8 @@
#include "ArduinoCookie.h"
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize) :
protocol(protocol), command(protocol), address(address),
maxReplySize(maxReplySize), replyBuffer(maxReplySize) {
}

27
hosted/comIF/ArduinoCookie.h Normal file
View File

@ -0,0 +1,27 @@
#ifndef MISSION_ARDUINO_ARDUINOCOOKIE_H_
#define MISSION_ARDUINO_ARDUINOCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <vector>
class ArduinoCookie: public CookieIF {
public:
enum Protocol_t: uint8_t {
INVALID,
SPI,
I2C
};
ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize);
Protocol_t protocol;
uint8_t command;
uint8_t address;
std::vector<uint8_t> replyBuffer;
size_t receivedDataLen = 0;
size_t maxReplySize;
};
#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

3
hosted/hosted.mk
View File

@ -4,4 +4,7 @@ CSRC += $(wildcard $(CURRENTPATH)/*.c)
CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
INCLUDES += $(CURRENTPATH)/boardconfig

20
mission/core/ObjectFactory.cpp
View File

@ -22,6 +22,8 @@
#include <fsfw/pus/Service9TimeManagement.h>
#include <fsfw/pus/Service17Test.h>
#include <fsfw/pus/CService200ModeCommanding.h>
#include "../../fsfw/devicehandlers/CookieIF.h"
#include "../../hosted/comIF/ArduinoComIF.h"
#ifdef LINUX
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
@ -33,10 +35,10 @@
#if ADD_TEST_CODE == 1
#include <test/TestCookie.h>
#include <test/TestDeviceHandler.h>
#include <mission/test/TestTask.h>
#include <test/TestEchoComIF.h>
//#include <test/TestCookie.h>
//#include <test/TestDeviceHandler.h>
#include <test/testtasks/TestTask.h>
//#include <test/TestEchoComIF.h>
#endif
void Factory::setStaticFrameworkObjectIds(){
@ -129,9 +131,11 @@ void ObjectFactory::produce(){
/* Test Device Handler */
#if ADD_TEST_CODE == 1
CookieIF* testCookie = new TestCookie(0);
new TestEchoComIF(objects::TEST_ECHO_COM_IF);
new TestDevice(objects::TEST_DEVICE_HANDLER, objects::TEST_ECHO_COM_IF,
testCookie, true);
new TestTask(objects::TEST_TASK);
// CookieIF* testCookie = new TestCookie(0);
// new TestEchoComIF(objects::TEST_ECHO_COM_IF);
// new TestDevice(objects::TEST_DEVICE_HANDLER, objects::TEST_ECHO_COM_IF,
// testCookie, true);
new ArduinoComIF(objects::ARDUINO_COM_IF, true, nullptr);
#endif
}

246
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -14,29 +14,88 @@ MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
}
void MGMHandlerLIS3MDL::doStartUp() {
switch (internalState) {
case STATE_NONE:
internalState = STATE_FIRST_CONTACT;
break;
case STATE_FIRST_CONTACT:
internalState = STATE_SETUP;
break;
case STATE_SETUP:
internalState = STATE_CHECK_REGISTERS;
break;
case STATE_CHECK_REGISTERS:
if (setupMGM() == RETURN_OK) {
for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
if (registers[i - 1] != commandBuffer[i]) {
break;
}
}
setMode(_MODE_TO_ON);
}
break;
default:
break;
}
}
void MGMHandlerLIS3MDL::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
switch (internalState) {
case STATE_FIRST_CONTACT:
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
break;
case STATE_SETUP:
*id = MGMLIS3MDL::SETUP_MGM;
break;
case STATE_CHECK_REGISTERS:
*id = MGMLIS3MDL::READALL_MGM;
break;
default:
break;
}
return buildCommandFromCommand(*id, NULL, 0);
}
uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
command |= (1 << RW_BIT);
command |= (1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) {
command |= (1 << MS_BIT);
command |= (1 << MGMLIS3MDL::MS_BIT);
}
return command;
}
uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
command &= ~(1 << RW_BIT);
command &= ~(1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) {
command |= (1 << MS_BIT);
command |= (1 << MGMLIS3MDL::MS_BIT);
}
return command;
}
ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
registers[0] = (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1)
| (1 << DO2);
registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1)
| (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1)
| (1 << MGMLIS3MDL::DO2);
registers[1] = 0;
registers[2] = 0;
registers[3] = (1 << OMZ1);
registers[3] = (1 << MGMLIS3MDL::OMZ1);
registers[4] = 0;
return prepareRegisterWrite();
@ -46,7 +105,7 @@ ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
//defines CommandID of MGM in normal operation and build command from command
*id = READALL_MGM;
*id = MGMLIS3MDL::READALL_MGM;
return buildCommandFromCommand(*id, NULL, 0);
}
@ -55,27 +114,25 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
size_t commandDataLen) {
lastSentCommand = deviceCommand;
switch(deviceCommand) {
case(READALL_MGM): {
case(MGMLIS3MDL::READALL_MGM): {
if (commandDataLen == 0) {
for (size_t i = 0; i < sizeof(commandBuffer); i++) {
commandBuffer[i] = 0;
}
std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(0, true);
rawPacket = commandBuffer;
rawPacketLen = sizeof(commandBuffer);
return RETURN_OK;
}
case(IDENTIFY_DEVICE): {
case(MGMLIS3MDL::IDENTIFY_DEVICE): {
return identifyDevice();
}
case(TEMP_SENSOR_ENABLE): {
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
return enableTemperatureSensor(commandData, commandDataLen);
}
case(SETUP_MGM): {
case(MGMLIS3MDL::SETUP_MGM): {
return setupMGM();
}
case(ACCURACY_OP_MODE_SET): {
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen);
}
default:
@ -86,42 +143,31 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
switch (internalState) {
case STATE_FIRST_CONTACT:
*id = IDENTIFY_DEVICE;
break;
ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
uint32_t size = 2;
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
commandBuffer[1] = 0x00;
case STATE_SETUP:
*id = SETUP_MGM;
break;
case STATE_CHECK_REGISTERS:
*id = READALL_MGM;
break;
default:
break;
}
return buildCommandFromCommand(*id, NULL, 0);
rawPacket = commandBuffer;
rawPacketLen = size;
return RETURN_OK;
}
ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len;
if (len == TOTAL_NR_OF_ADRESSES + 1) {
if (len == MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1) {
*foundLen = len;
*foundId = READALL_MGM;
*foundId = MGMLIS3MDL::READALL_MGM;
//WHO AM I test
if (*(start + 16) != DEVICEID) {
if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) {
return DeviceHandlerIF::INVALID_DATA;
}
} else if (len == SETUP_REPLY) {
} else if (len == MGMLIS3MDL::SETUP_REPLY) {
*foundLen = len;
*foundId = SETUP_MGM;
*foundId = MGMLIS3MDL::SETUP_MGM;
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len;
*foundId = lastSentCommand;
@ -130,9 +176,11 @@ ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
return DeviceHandlerIF::INVALID_DATA;
}
if (start[0] == 0b11111111) { //Data with SPI Interface has always this answer
// Data with SPI Interface has always this answer
if (start[0] == 0b11111111) {
return RETURN_OK;
} else {
}
else {
return DeviceHandlerIF::INVALID_DATA;
}
@ -141,14 +189,14 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch (id) {
case IDENTIFY_DEVICE: {
case MGMLIS3MDL::IDENTIFY_DEVICE: {
break;
}
case SETUP_MGM: {
case MGMLIS3MDL::SETUP_MGM: {
break;
}
case READALL_MGM: {
case MGMLIS3MDL::READALL_MGM: {
// TODO: Store configuration and sensor values in new local datasets.
registers[0] = *(packet + 33);
registers[1] = *(packet + 34);
registers[2] = *(packet + 35);
@ -157,7 +205,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
uint8_t reg2_value = *(packet + 34);
uint8_t scale = getFullScale(&reg2_value);
float sensitivity = getSensitivity(scale);
float sensitivityFactor = getSensitivityFactor(scale);
int16_t x_value_raw;
int16_t y_value_raw;
@ -165,7 +213,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
int16_t temp_value_raw;
//size_t size = 2;
uint8_t *accessBuffer;
accessBuffer = (uint8_t*) (packet + 41);
accessBuffer = const_cast<uint8_t*>(packet + 41);
x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
accessBuffer += 2;
@ -176,10 +224,10 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
float x_value = (float) x_value_raw * sensitivity;
float y_value = (float) y_value_raw * sensitivity;
float z_value = (float) z_value_raw * sensitivity;
float temp_value = 25.0 + (((float) temp_value_raw) / 8.0);
float x_value = static_cast<float>(x_value_raw) * sensitivityFactor;
float y_value = static_cast<float>(y_value_raw) * sensitivityFactor;
float z_value = static_cast<float>(z_value_raw) * sensitivityFactor;
float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0);
break;
}
@ -207,39 +255,27 @@ uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) {
return 8;
else
return 4;
}
float MGMHandlerLIS3MDL::getSensitivity(uint8_t scale) {
float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
return (float) scale / (INT16_MAX);
}
ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
uint32_t size = 2;
commandBuffer[0] = readCommand(IDENTIFYDEVICE);
commandBuffer[1] = 0x00;
rawPacket = commandBuffer;
rawPacketLen = size;
return RETURN_OK;
}
ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
const uint8_t *commandData, size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2;
commandBuffer[0] = writeCommand(CTRL_REG1);
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
if (commandDataLen > 1) {
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
switch (*commandData) {
case (ON):
case (MGMLIS3MDL::ON):
commandBuffer[1] = registers[0] | (1 << 7);
break;
case (OFF):
case (MGMLIS3MDL::OFF):
commandBuffer[1] = registers[0] & ~(1 << 7);
break;
@ -255,42 +291,6 @@ ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
return RETURN_OK;
}
void MGMHandlerLIS3MDL::doStartUp() {
switch (internalState) {
case STATE_NONE:
internalState = STATE_FIRST_CONTACT;
break;
case STATE_FIRST_CONTACT:
internalState = STATE_SETUP;
break;
case STATE_SETUP:
internalState = STATE_CHECK_REGISTERS;
break;
case STATE_CHECK_REGISTERS:
if (setupMGM() == RETURN_OK) {
for (size_t i = 1; i <= NR_OF_CTRL_REGISTERS; i++) {
if (registers[i - 1] != commandBuffer[i]) {
break;
}
}
setMode(_MODE_TO_ON);
}
break;
default:
break;
}
}
void MGMHandlerLIS3MDL::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
@ -299,23 +299,23 @@ ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
}
switch (commandData[0]) {
case LOW:
registers[0] = (registers[0] & (~(1 << OM1))) & (~(1 << OM0));
registers[3] = (registers[3] & (~(1 << OMZ1))) & (~(1 << OMZ0));
case MGMLIS3MDL::LOW:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
break;
case MEDIUM:
registers[0] = (registers[0] & (~(1 << OM1))) | (1 << OM0);
registers[3] = (registers[3] & (~(1 << OMZ1))) | (1 << OMZ0);
case MGMLIS3MDL::MEDIUM:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
break;
case HIGH:
registers[0] = (registers[0] | (1 << OM1)) & (~(1 << OM0));
registers[3] = (registers[3] | (1 << OM1)) & (~(1 << OM0));
case MGMLIS3MDL::HIGH:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
break;
case ULTRA:
registers[0] = (registers[0] | (1 << OM1)) | (1 << OM0);
registers[3] = (registers[3] | (1 << OM1)) | (1 << OM0);
case MGMLIS3MDL::ULTRA:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
break;
default:
break;
@ -335,22 +335,22 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
* We dont read single registers, we just expect special
* reply from he Readall_MGM
*/
insertInCommandAndReplyMap(READALL_MGM, 1);
insertInCommandAndReplyMap(SETUP_MGM, 1);
insertInCommandAndReplyMap(IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(ACCURACY_OP_MODE_SET, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::READALL_MGM, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
}
ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() {
commandBuffer[0] = writeCommand(CTRL_REG1, true);
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
for (size_t i = 1; i <= NR_OF_CTRL_REGISTERS; i++) {
for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
commandBuffer[i] = registers[i];
}
rawPacket = commandBuffer;
rawPacketLen = NR_OF_CTRL_REGISTERS;
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS;
// We dont have to check if this is working because we just did it
return RETURN_OK;

123
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -2,6 +2,7 @@
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
#include <subsystemIdRanges.h>
/**
@ -13,22 +14,7 @@
*/
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
public:
enum set {
ON, OFF
};
enum opMode {
LOW, MEDIUM, HIGH, ULTRA
};
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const DeviceCommandId_t SETUP_MGM = 0x00;
static const DeviceCommandId_t READALL_MGM = 0x01;
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
//Notifies a command to change the setup parameters
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW);
@ -79,19 +65,21 @@ private:
/**
* This Method gets the full scale for the measurement range
* e.g.: +- 4 gauss
*
* e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value
*/
uint8_t getFullScale(uint8_t *reg2);
/**
* after detecting the fullScale the 16bit Value for the data is
* devided with the fullScale to the sensitivity of the scale
* The 16 bit value needs to be divided by the full range of a 16bit value
* and then multiplied with the current scale of the MGM.
* This factor returns the factor required to achieve this with
* one multiplication.
*
* @param scale is the return value of the getFulscale Method
* @return Multiplication factor to get the sensor value from raw data.
*/
float getSensitivity(uint8_t scale);
float getSensitivityFactor(uint8_t scale);
/**
* This Command detects the device ID
@ -119,110 +107,21 @@ private:
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
size_t commandDataLen);
//Number of all control registers
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
//Number of registers in the MGM
static const uint8_t NR_OF_REGISTERS = 19;
//Total number of adresses for all registers
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
static const uint8_t SETUP_REPLY = 6;
//Length a sindgle command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
/*------------------------------------------------------------------------*/
/* Register adresses */
/*------------------------------------------------------------------------*/
// Register adress returns identifier of device with default 0b00111101
static const uint8_t IDENTIFYDEVICE = 0b00001111;
static const uint8_t DEVICEID = 0b00111101; // Identifier for Device
//Register adress to access register 1
static const uint8_t CTRL_REG1 = 0b00100000;
//Register adress to access register 2
static const uint8_t CTRL_REG2 = 0b00100001;
//Register adress to access register 3
static const uint8_t CTRL_REG3 = 0b00100010;
//Register adress to access register 4
static const uint8_t CTRL_REG4 = 0b00100011;
//Register adress to access register 5
static const uint8_t CTRL_REG5 = 0b00100100;
//Register adress to access status register
static const uint8_t STATUS_REG = 0b00100111;
//Register adress to access low byte of x-axis
static const uint8_t X_LOWBYTE = 0b00101000;
//Register adress to access high byte of x-axis
static const uint8_t X_HIGHBYTE = 0b00101001;
//Register adress to access low byte of y-axis
static const uint8_t Y_LOWBYTE = 0b00101010;
//Register adress to access high byte of y-axis
static const uint8_t Y_HIGHBYTE = 0b00101011;
//Register adress to access low byte of z-axis
static const uint8_t Z_LOWBYTE = 0b00101100;
//Register adress to access high byte of z-axis
static const uint8_t Z_HIGHBYTE = 0b00101101;
//Register adress to access low byte of temperature sensor
static const uint8_t TEMP_LOWBYTE = 0b00101110;
//Register adress to access high byte of temperature sensor
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
/*------------------------------------------------------------------------*/
/* Initialize Setup Register set bits
/*------------------------------------------------------------------------*/
/* General transfer bits */
// Read=1 / Write=0 Bit
static const uint8_t RW_BIT = 7;
// Continous Read/Write Bit, increment adress
static const uint8_t MS_BIT = 6;
/* CTRL_REG1 bits */
static const uint8_t ST = 0; // Self test enable bit, enabled = 1
// Enable rates higher than 80 Hz enabled = 1
static const uint8_t FAST_ODR = 1;
static const uint8_t DO0 = 2; // Output data rate bit 2
static const uint8_t DO1 = 3; // Output data rate bit 3
static const uint8_t DO2 = 4; // Output data rate bit 4
static const uint8_t OM0 = 5; // XY operating mode bit 5
static const uint8_t OM1 = 6; // XY operating mode bit 6
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
/* CTRL_REG2 bits */
//reset configuration registers and user registers
static const uint8_t SOFT_RST = 2;
static const uint8_t REBOOT = 3; //reboot memory content
static const uint8_t FSO = 5; //full-scale selection bit 5
static const uint8_t FS1 = 6; //full-scale selection bit 6
/* CTRL_REG3 bits */
static const uint8_t MD0 = 0; //Operating mode bit 0
static const uint8_t MD1 = 1; //Operating mode bit 1
//SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t SIM = 2;
static const uint8_t LP = 5; //low-power mode
/* CTRL_REG4 bits */
//big/little endian data selection enabled = MSb at lower adress
static const uint8_t BLE = 1;
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
/* CTRL_REG5 bits */
static const uint8_t BDU = 6; //Block data update
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
//Single SPIcommand has 2 bytes, first for adress, second for content
size_t singleComandSize = 2;
//has the size for all adresses of the lis3mdl + the continous write bit
uint8_t commandBuffer[TOTAL_NR_OF_ADRESSES + 1];
uint8_t commandBuffer[MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1];
/**
* We want to save the registers we set, so we dont have to read the
* registers when we want to change something.
* --> everytime we change set a register we have to save it
*/
uint8_t registers[NR_OF_CTRL_REGISTERS];
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
/**
* As this is a SPI Device, we get the Answer of the last sent command in

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mission/devices/MGMHandlerRM3100.h
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#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class MGMHandlerRM3100: public DeviceHandlerBase {

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mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h Normal file
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
#include <cstdint>
namespace MGMLIS3MDL {
enum set {
ON, OFF
};
enum opMode {
LOW, MEDIUM, HIGH, ULTRA
};
static const DeviceCommandId_t SETUP_MGM = 0x00;
static const DeviceCommandId_t READALL_MGM = 0x01;
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
//Number of all control registers
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
//Number of registers in the MGM
static const uint8_t NR_OF_REGISTERS = 19;
//Total number of adresses for all registers
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
static const uint8_t SETUP_REPLY = 6;
/*------------------------------------------------------------------------*/
/* Register adresses */
/*------------------------------------------------------------------------*/
// Register adress returns identifier of device with default 0b00111101
static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
//Register adress to access register 1
static const uint8_t CTRL_REG1 = 0b00100000;
//Register adress to access register 2
static const uint8_t CTRL_REG2 = 0b00100001;
//Register adress to access register 3
static const uint8_t CTRL_REG3 = 0b00100010;
//Register adress to access register 4
static const uint8_t CTRL_REG4 = 0b00100011;
//Register adress to access register 5
static const uint8_t CTRL_REG5 = 0b00100100;
//Register adress to access status register
static const uint8_t STATUS_REG = 0b00100111;
//Register adress to access low byte of x-axis
static const uint8_t X_LOWBYTE = 0b00101000;
//Register adress to access high byte of x-axis
static const uint8_t X_HIGHBYTE = 0b00101001;
//Register adress to access low byte of y-axis
static const uint8_t Y_LOWBYTE = 0b00101010;
//Register adress to access high byte of y-axis
static const uint8_t Y_HIGHBYTE = 0b00101011;
//Register adress to access low byte of z-axis
static const uint8_t Z_LOWBYTE = 0b00101100;
//Register adress to access high byte of z-axis
static const uint8_t Z_HIGHBYTE = 0b00101101;
//Register adress to access low byte of temperature sensor
static const uint8_t TEMP_LOWBYTE = 0b00101110;
//Register adress to access high byte of temperature sensor
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
/*------------------------------------------------------------------------*/
/* Initialize Setup Register set bits
/*------------------------------------------------------------------------*/
/* General transfer bits */
// Read=1 / Write=0 Bit
static const uint8_t RW_BIT = 7;
// Continous Read/Write Bit, increment adress
static const uint8_t MS_BIT = 6;
/* CTRL_REG1 bits */
static const uint8_t ST = 0; // Self test enable bit, enabled = 1
// Enable rates higher than 80 Hz enabled = 1
static const uint8_t FAST_ODR = 1;
static const uint8_t DO0 = 2; // Output data rate bit 2
static const uint8_t DO1 = 3; // Output data rate bit 3
static const uint8_t DO2 = 4; // Output data rate bit 4
static const uint8_t OM0 = 5; // XY operating mode bit 5
static const uint8_t OM1 = 6; // XY operating mode bit 6
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
/* CTRL_REG2 bits */
//reset configuration registers and user registers
static const uint8_t SOFT_RST = 2;
static const uint8_t REBOOT = 3; //reboot memory content
static const uint8_t FSO = 5; //full-scale selection bit 5
static const uint8_t FS1 = 6; //full-scale selection bit 6
/* CTRL_REG3 bits */
static const uint8_t MD0 = 0; //Operating mode bit 0
static const uint8_t MD1 = 1; //Operating mode bit 1
//SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t SIM = 2;
static const uint8_t LP = 5; //low-power mode
/* CTRL_REG4 bits */
//big/little endian data selection enabled = MSb at lower adress
static const uint8_t BLE = 1;
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
/* CTRL_REG5 bits */
static const uint8_t BDU = 6; //Block data update
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */

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mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h Normal file
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
namespace RM3100 {
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */