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started rm3100 testing

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This commit is contained in:
Robin Müller
2021-03-06 18:12:50 +01:00
committed by Robin.Mueller
parent 6812957927
commit f0aca50356
10 changed files with 172 additions and 74 deletions
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103
mission/devices/MGMHandlerRM3100.cpp
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@ -1,3 +1,4 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerRM3100.h"
#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
@ -17,28 +18,37 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
MGMHandlerRM3100::~MGMHandlerRM3100() {}
void MGMHandlerRM3100::doStartUp() {
if(internalState == InternalState::STATE_NONE) {
internalState = InternalState::STATE_CONFIGURE_CMM;
}
if(internalState == InternalState::STATE_CONFIGURE_CMM) {
internalState = InternalState::STATE_READ_CMM;
}
else if(internalState == InternalState::STATE_READ_CMM) {
if(commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
}
if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
internalState = InternalState::STATE_READ_TMRC;
}
else if(internalState == InternalState::STATE_READ_TMRC) {
if(commandExecuted) {
internalState = InternalState::STATE_NORMAL;
setMode(_MODE_TO_ON);
}
}
switch(internalState) {
case(InternalState::STATE_NONE): {
internalState = InternalState::STATE_CONFIGURE_CMM;
break;
}
case(InternalState::STATE_CONFIGURE_CMM): {
internalState = InternalState::STATE_READ_CMM;
break;
}
case(InternalState::STATE_READ_CMM): {
if(commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
internalState = InternalState::STATE_READ_TMRC;
break;
}
case(InternalState::STATE_READ_TMRC): {
if(commandExecuted) {
internalState = InternalState::STATE_NORMAL;
//setMode(_MODE_TO_ON);
setMode(MODE_NORMAL);
}
break;
}
default: {
break;
}
}
}
void MGMHandlerRM3100::doShutDown() {
@ -141,15 +151,10 @@ ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
// SPI, ID will always be the one of the last sent command.
/* For SPI, ID will always be the one of the last sent command. */
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
// Data with SPI Interface has always this answer
if (start[0] == 0b11111111) {
return RETURN_OK;
}
return DeviceHandlerIF::INVALID_DATA;
*foundLen = len;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
@ -159,7 +164,7 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
// We can only check whether write was sucessful with read operation.
/* We can only check whether write was successful with read operation. */
break;
}
case(RM3100::READ_CMM): {
@ -167,7 +172,7 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
commandExecuted = true;
}
else {
// Attempt reconfiguration.
/* Attempt reconfiguration. */
internalState = InternalState::STATE_CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
@ -176,13 +181,13 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
case(RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground.
/* Reading TMRC was commanded. Trigger event to inform ground. */
if(mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
// Attempt reconfiguration.
/* Attempt reconfiguration. */
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
@ -197,7 +202,7 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground.
/* Reading TMRC was commanded. Trigger event to inform ground. */
if(mode != _MODE_START_UP) {
uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
@ -287,16 +292,16 @@ ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
}
void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 2);
insertInCommandAndReplyMap(RM3100::READ_CMM, 2);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 2);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 2);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 2);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 2);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
insertInCommandAndReplyMap(RM3100::READ_DATA, 2, &primaryDataset);
}
void MGMHandlerRM3100::modeChanged(void) {
@ -315,12 +320,11 @@ ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
}
uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
return 60000;
}
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
// analyze data here.
// Field strengths in micro Tesla
/* Analyze data here. Field strengths in microtesla */
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
* scaleFactorX;
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
@ -332,20 +336,19 @@ ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
if(debugDivider->checkAndIncrement()) {
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl;
// Set terminal to utf-8 if there is an issue with micro printout.
/* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
}
#endif
ReturnValue_t result = primaryDataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
PoolReadGuard readGuard(&primaryDataset);
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true);
result = primaryDataset.commit();
}
return result;
return RETURN_OK;
}