eive-obsw/mission/devices/MGMHandlerRM3100.h
Robin Mueller 71853fe1aa rm3100 finished, lis3 set normal datapool entries
invalid removed, will be replaced by default implementation
2020-12-22 00:24:19 +01:00

99 lines
3.3 KiB
C++

#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <OBSWConfig.h>
#if OBSW_ENHANCED_PRINTOUT == 1
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#endif
class MGMHandlerRM3100: public DeviceHandlerBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
0x00, severity::INFO);
//! P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent(
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~MGMHandlerRM3100();
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
enum InternalState {
STATE_NONE,
STATE_CONFIGURE_CMM,
STATE_READ_CMM,
// The cycle count states are propably not going to be used because
// the default cycle count will be used.
STATE_CONFIGURE_CYCLE_COUNT,
STATE_READ_CYCLE_COUNT,
STATE_CONFIGURE_TMRC,
STATE_READ_TMRC,
STATE_NORMAL
};
InternalState internalState = InternalState::STATE_NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;
uint8_t commandBuffer[10];
uint8_t commandBufferLen = 0;
uint8_t cmmRegValue = RM3100::CMM_VALUE;
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1 / RM3100::DEFAULT_GAIN;
float scaleFactorY = 1 / RM3100::DEFAULT_GAIN;
float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t* packet);
#if OBSW_ENHANCED_PRINTOUT == 1
PeriodicOperationDivider* debugDivider;
#endif
};
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */