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integration complete

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This commit is contained in:
Robin Müller
2020-09-30 22:00:37 +02:00
parent 84aefca20e
commit e64ed203e9
4 changed files with 81 additions and 99 deletions
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118
mission/devices/MGMHandlerLIS3MDL.h
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@@ -2,7 +2,7 @@
#define MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <subsystemIdRanges.h>
/**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
@@ -23,17 +23,12 @@ public:
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;
// This Command is needed to use for lastSentCommand, if there is no
// command set, you have to set this.
static const DeviceCommandId_t NO_COMMAND = 0xffffffff;
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);
@@ -45,22 +40,24 @@ public:
protected:
/** DeviceHandlerBase overrides */
virtual void doShutDown();
virtual void doStartUp();
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to);
virtual void doShutDown() override;
virtual void doStartUp() override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
virtual ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen);
virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id);
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id);
virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
DeviceCommandId_t *foundId, uint32_t *foundLen);
size_t commandDataLen) override;
virtual ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet);
virtual void fillCommandAndReplyMap();
virtual void modeChanged(void);
void setNormalDatapoolEntriesInvalid();
const uint8_t *packet) override;
virtual void fillCommandAndReplyMap() override;
virtual void modeChanged(void) override;
void setNormalDatapoolEntriesInvalid() override;
private:
/*------------------------------------------------------------------------*/
@@ -122,12 +119,15 @@ private:
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
size_t commandDataLen);
static const uint8_t NR_OF_CTRL_REGISTERS = 5; //Number of all control registers
static const uint8_t NR_OF_REGISTERS = 19; //Number of registers in the MGM
static const uint8_t TOTAL_NR_OF_ADRESSES = 52; //Total number of adresses for all registers
//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;
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; //Length a sindgle command SPI answer
//static const uint8_t LIS3MDL_IDENTIFIER = 0b00111101; //Identifier for Device
//Length a sindgle command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
/*------------------------------------------------------------------------*/
/* Register adresses */
@@ -171,40 +171,46 @@ private:
/*------------------------------------------------------------------------*/
/* Initialize Setup Register set bits
/*------------------------------------------------------------------------*/
//general transfer bits
static const uint8_t RW_BIT = 7; //Read=1 / Write=0 Bit
static const uint8_t MS_BIT = 6; //Continous Read/Write Bit, increment adress
/* 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
static const uint8_t FAST_ODR = 1; //Enable rates higher than 80 Hz enabled = 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_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
static const uint8_t SOFT_RST = 2; //reset configuration registers and user registers
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_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
static const uint8_t SIM = 2; //SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t LP = 5; //low-power mode
/* 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
static const uint8_t BLE = 1; //big/little endian data selection enabled = MSb at lower adress
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
/* 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
/* 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;
@@ -212,8 +218,8 @@ private:
uint8_t commandBuffer[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
* 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];
@@ -222,7 +228,7 @@ private:
* As this is a SPI Device, we get the Answer of the last sent command in
* the next read cycle, so we could check the command for identification.
*/
DeviceCommandId_t lastSentCommand = 0xffffffff;
DeviceCommandId_t lastSentCommand = DeviceHandlerIF::NO_COMMAND;
/**
* We always update all registers together, so this method updates