#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #include #include /** * @brief Device handler object for the LIS3MDL 3-axis magnetometer * by STMicroeletronics * @details * Datasheet can be found online by googling LIS3MDL. * @author L. Loidold, R. Mueller */ 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); MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie); virtual ~MGMHandlerLIS3MDL(); protected: /** DeviceHandlerBase overrides */ 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) 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) override; virtual void fillCommandAndReplyMap() override; virtual void modeChanged(void) override; void setNormalDatapoolEntriesInvalid() override; private: /*------------------------------------------------------------------------*/ /* Device specific commands and variables */ /*------------------------------------------------------------------------*/ /** * Sets the read bit for the command * @param single command to set the read-bit at * @param boolean to select a continuous read bit, default = false */ uint8_t readCommand(uint8_t command, bool continuousCom = false); /** * Sets the write bit for the command * @param single command to set the write-bit at * @param boolean to select a continuous write bit, default = false */ uint8_t writeCommand(uint8_t command, bool continuousCom = false); /** * This Method gets the full scale for the measurement range * e.g.: +- 4 gauss * * @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 * * @param scale is the return value of the getFulscale Method */ float getSensitivity(uint8_t scale); /** * This Command detects the device ID */ ReturnValue_t identifyDevice(); virtual ReturnValue_t setupMGM(); /*------------------------------------------------------------------------*/ /* Non normal commands */ /*------------------------------------------------------------------------*/ /** * Enables/Disables the integrated Temperaturesensor * @param commandData On or Off * @param length of the commandData: has to be 1 */ virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen); /** * Sets the accuracy of the measurement of the axis. The noise is changing. * @param commandData LOW, MEDIUM, HIGH, ULTRA * @param length of the command, has to be 1 */ 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]; /** * 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]; /** * 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 = DeviceHandlerIF::NO_COMMAND; /** * We always update all registers together, so this method updates * the rawpacket and rawpacketLen, so we just manipulate the local * saved register * */ ReturnValue_t prepareRegisterWrite(); enum InternalState { STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS }; InternalState internalState = STATE_NONE; }; #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */