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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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1
config/events/subsystemIdRanges.h
View File

@ -17,6 +17,7 @@ enum: uint8_t {
PUS_SERVICE_6, PUS_SERVICE_6,
PUS_SERVICE_8, PUS_SERVICE_8,
PUS_SERVICE_23, PUS_SERVICE_23,
MGM_LIS3MDL
}; };
} }

2
fsfw

@ -1 +1 @@
Subproject commit 916a374c19549744f6413799ca7bb0a66c5b54e0 Subproject commit 44340aa506737c1b489ef20774c42d5ef55bb7bd

59
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -44,15 +44,14 @@ ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
} }
ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand( ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
DeviceCommandId_t *id) { //defines CommandID of MGM in normal operation and build command from command DeviceCommandId_t *id) {
//defines CommandID of MGM in normal operation and build command from command
*id = READALL_MGM; *id = READALL_MGM;
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} }
ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand( ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
lastSentCommand = deviceCommand; lastSentCommand = deviceCommand;
switch(deviceCommand) { switch(deviceCommand) {
@ -80,7 +79,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
return setOperatingMode(commandData, commandDataLen); return setOperatingMode(commandData, commandDataLen);
} }
default: default:
lastSentCommand = NO_COMMAND; lastSentCommand = DeviceHandlerIF::NO_COMMAND;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
} }
@ -110,7 +109,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
} }
ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start, ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
uint32_t len, DeviceCommandId_t *foundId, uint32_t *foundLen) { size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len; *foundLen = len;
if (len == TOTAL_NR_OF_ADRESSES + 1) { if (len == TOTAL_NR_OF_ADRESSES + 1) {
*foundLen = len; *foundLen = len;
@ -149,7 +148,6 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
break; break;
} }
case READALL_MGM: { case READALL_MGM: {
//DataSet mySet;
registers[0] = *(packet + 33); registers[0] = *(packet + 33);
registers[1] = *(packet + 34); registers[1] = *(packet + 34);
@ -183,18 +181,6 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
float z_value = (float) z_value_raw * sensitivity; float z_value = (float) z_value_raw * sensitivity;
float temp_value = 25.0 + (((float) temp_value_raw) / 8.0); float temp_value = 25.0 + (((float) temp_value_raw) / 8.0);
// PoolVector<float, 3> mgm_measurement(mgmMagneticPoolId, &mySet,
// PoolVariableIF::VAR_WRITE);
// PoolVariable<float> mgm_temperature(mgmTempPoolId, &mySet,
// PoolVariableIF::VAR_WRITE);
// mgm_measurement[0] = x_value;
// mgm_measurement[1] = y_value;
// mgm_measurement[2] = z_value;
//
// mgm_temperature = temp_value;
// handleDeviceTM(&mySet, id);
break; break;
} }
@ -339,19 +325,21 @@ ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
} }
void MGMHandlerLIS3MDL::fillCommandAndReplyMap() { void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
/*Actually SPI answers directly, but as commanding ArduinoBoard the communication could be delayed /*
* SPI always has to be triggered, so there could be no periodic answer of the device, the device has * Regarding ArduinoBoard:
* to asked with a command, so periodic is zero. * Actually SPI answers directly, but as commanding ArduinoBoard the
* communication could be delayed
* SPI always has to be triggered, so there could be no periodic answer of
* the device, the device has to asked with a command, so periodic is zero.
* *
* We dont read single registers, we just expect special * We dont read single registers, we just expect special
* reply from he Readall_MGM * reply from he Readall_MGM
*/ */
insertInCommandAndReplyMap(READALL_MGM, 1);
insertInCommandAndReplyMap(READALL_MGM, 1, 0); insertInCommandAndReplyMap(SETUP_MGM, 1);
insertInCommandAndReplyMap(SETUP_MGM, 1, 0); insertInCommandAndReplyMap(IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(IDENTIFY_DEVICE, 1, 0); insertInCommandAndReplyMap(TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(TEMP_SENSOR_ENABLE, 1, 0); insertInCommandAndReplyMap(ACCURACY_OP_MODE_SET, 1);
insertInCommandAndReplyMap(ACCURACY_OP_MODE_SET, 1, 0);
} }
ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() { ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() {
@ -369,20 +357,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareRegisterWrite() {
} }
void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() { void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
// DataSet mySet; // TODO: use new distributed datapools here.
// PoolVector<float, 3> mgmMeasurements(mgmMagneticPoolId, &mySet,
// PoolVariableIF::VAR_WRITE);
// PoolVariable<float> mgmTemperature(mgmTempPoolId, &mySet,
// PoolVariableIF::VAR_WRITE);
//
// mgmMeasurements[0] = 0;
// mgmMeasurements[1] = 0;
// mgmMeasurements[2] = 0;
//
// mgmTemperature = 999;
// mySet.commit(PoolVariableIF::INVALID);
} }
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {

118
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -2,7 +2,7 @@
#define MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICEHANDLING_MGMLIS3MDLHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <subsystemIdRanges.h>
/** /**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer * @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 uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const DeviceCommandId_t SETUP_MGM = 0x00; static const DeviceCommandId_t SETUP_MGM = 0x00;
static const DeviceCommandId_t READALL_MGM = 0x01; static const DeviceCommandId_t READALL_MGM = 0x01;
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02; static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03; static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04; 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; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
//Notifies a command to change the setup parameters //Notifies a command to change the setup parameters
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW); static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW);
@ -45,22 +40,24 @@ public:
protected: protected:
/** DeviceHandlerBase overrides */ /** DeviceHandlerBase overrides */
virtual void doShutDown(); virtual void doShutDown() override;
virtual void doStartUp(); virtual void doStartUp() override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom); virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to); virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
virtual ReturnValue_t buildCommandFromCommand( virtual ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen); size_t commandDataLen) override;
virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id); virtual ReturnValue_t buildTransitionDeviceCommand(
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id); DeviceCommandId_t *id) override;
virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len, virtual ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *foundId, uint32_t *foundLen); 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, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet); const uint8_t *packet) override;
virtual void fillCommandAndReplyMap(); virtual void fillCommandAndReplyMap() override;
virtual void modeChanged(void); virtual void modeChanged(void) override;
void setNormalDatapoolEntriesInvalid(); void setNormalDatapoolEntriesInvalid() override;
private: private:
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
@ -122,12 +119,15 @@ private:
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
size_t commandDataLen); size_t commandDataLen);
static const uint8_t NR_OF_CTRL_REGISTERS = 5; //Number of all control registers //Number of all control registers
static const uint8_t NR_OF_REGISTERS = 19; //Number of registers in the MGM static const uint8_t NR_OF_CTRL_REGISTERS = 5;
static const uint8_t TOTAL_NR_OF_ADRESSES = 52; //Total number of adresses for all registers //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 SETUP_REPLY = 6;
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; //Length a sindgle command SPI answer //Length a sindgle command SPI answer
//static const uint8_t LIS3MDL_IDENTIFIER = 0b00111101; //Identifier for Device static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Register adresses */ /* Register adresses */
@ -171,40 +171,46 @@ private:
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Initialize Setup Register set bits /* Initialize Setup Register set bits
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
//general transfer bits /* General transfer bits */
static const uint8_t RW_BIT = 7; //Read=1 / Write=0 Bit // Read=1 / Write=0 Bit
static const uint8_t MS_BIT = 6; //Continous Read/Write Bit, increment adress static const uint8_t RW_BIT = 7;
// Continous Read/Write Bit, increment adress
static const uint8_t MS_BIT = 6;
//CTRL_REG1 bits /* CTRL_REG1 bits */
static const uint8_t ST = 0; //Self test enable bit, enabled = 1 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 // Enable rates higher than 80 Hz enabled = 1
static const uint8_t DO0 = 2; //Output data rate bit 2 static const uint8_t FAST_ODR = 1;
static const uint8_t DO1 = 3; //Output data rate bit 3 static const uint8_t DO0 = 2; // Output data rate bit 2
static const uint8_t DO2 = 4; //Output data rate bit 4 static const uint8_t DO1 = 3; // Output data rate bit 3
static const uint8_t OM0 = 5; //XY operating mode bit 5 static const uint8_t DO2 = 4; // Output data rate bit 4
static const uint8_t OM1 = 6; //XY operating mode bit 6 static const uint8_t OM0 = 5; // XY operating mode bit 5
static const uint8_t TEMP_EN = 7; //Temperature sensor enable enabled = 1 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 /* CTRL_REG2 bits */
static const uint8_t SOFT_RST = 2; //reset configuration registers and user registers //reset configuration registers and user registers
static const uint8_t REBOOT = 3; //reboot memory content static const uint8_t SOFT_RST = 2;
static const uint8_t FSO = 5; //full-scale selection bit 5 static const uint8_t REBOOT = 3; //reboot memory content
static const uint8_t FS1 = 6; //full-scale selection bit 6 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 /* CTRL_REG3 bits */
static const uint8_t MD0 = 0; //Operating mode bit 0 static const uint8_t MD0 = 0; //Operating mode bit 0
static const uint8_t MD1 = 1; //Operating mode bit 1 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 //SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t LP = 5; //low-power mode static const uint8_t SIM = 2;
static const uint8_t LP = 5; //low-power mode
//CTRL_REG4 bits /* CTRL_REG4 bits */
static const uint8_t BLE = 1; //big/little endian data selection enabled = MSb at lower adress //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 BLE = 1;
static const uint8_t OMZ1 = 3; //Z operating mode bit 3 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 /* CTRL_REG5 bits */
static const uint8_t BDU = 6; //Block data update static const uint8_t BDU = 6; //Block data update
static const uint8_t FAST_READ = 7; //Fast read enabled = 1 static const uint8_t FAST_READ = 7; //Fast read enabled = 1
//Single SPIcommand has 2 bytes, first for adress, second for content //Single SPIcommand has 2 bytes, first for adress, second for content
size_t singleComandSize = 2; size_t singleComandSize = 2;
@ -212,8 +218,8 @@ private:
uint8_t commandBuffer[TOTAL_NR_OF_ADRESSES + 1]; uint8_t commandBuffer[TOTAL_NR_OF_ADRESSES + 1];
/** /**
* We want to save the registers we set, so we dont have to read the registers * We want to save the registers we set, so we dont have to read the
* when we want to change something * registers when we want to change something.
* --> everytime we change set a register we have to save it * --> everytime we change set a register we have to save it
*/ */
uint8_t registers[NR_OF_CTRL_REGISTERS]; 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 * 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. * 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 * We always update all registers together, so this method updates