484 lines
16 KiB
C++
484 lines
16 KiB
C++
#include <fsfw/datapool/PoolReadHelper.h>
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#include "MGMHandlerLIS3MDL.h"
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MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
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object_id_t deviceCommunication, CookieIF* comCookie):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this) {
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#if OBSW_VERBOSE_LEVEL >= 1
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debugDivider = new PeriodicOperationDivider(10);
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#endif
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/* Set to default values right away. */
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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}
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MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
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}
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void MGMHandlerLIS3MDL::doStartUp() {
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switch (internalState) {
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case(InternalState::STATE_NONE): {
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internalState = InternalState::STATE_FIRST_CONTACT;
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break;
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}
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case(InternalState::STATE_FIRST_CONTACT): {
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/* Will be set by checking device ID (WHO AM I register) */
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if(commandExecuted) {
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commandExecuted = false;
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}
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internalState = InternalState::STATE_SETUP;
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break;
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}
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case(InternalState::STATE_SETUP): {
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internalState = InternalState::STATE_CHECK_REGISTERS;
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break;
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}
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case(InternalState::STATE_CHECK_REGISTERS): {
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/* Set up cached registers which will be used to configure the MGM. */
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if(commandExecuted) {
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commandExecuted = false;
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/* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */
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setMode(_MODE_TO_ON);
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}
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break;
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}
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default:
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break;
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}
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}
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void MGMHandlerLIS3MDL::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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switch (internalState) {
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case(InternalState::STATE_NONE):
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case(InternalState::STATE_NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::STATE_FIRST_CONTACT): {
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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}
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case(InternalState::STATE_SETUP): {
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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}
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case(InternalState::STATE_CHECK_REGISTERS): {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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break;
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}
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default: {
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/* might be a configuration error. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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#else
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sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
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command |= (1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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}
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uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
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command &= ~(1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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}
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void MGMHandlerLIS3MDL::setupMgm() {
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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prepareCtrlRegisterWrite();
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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// Data/config register will be read in an alternating manner.
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if(communicationStep == CommunicationStep::DATA) {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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communicationStep = CommunicationStep::TEMPERATURE;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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else {
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*id = MGMLIS3MDL::READ_TEMPERATURE;
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communicationStep = CommunicationStep::DATA;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
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rawPacket = commandBuffer;
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rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::READ_TEMPERATURE): {
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std::memset(commandBuffer, 0, 3);
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commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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return RETURN_OK;
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}
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case(MGMLIS3MDL::IDENTIFY_DEVICE): {
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return identifyDevice();
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}
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case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case(MGMLIS3MDL::SETUP_MGM): {
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setupMgm();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
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return setOperatingMode(commandData, commandDataLen);
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
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uint32_t size = 2;
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commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
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commandBuffer[1] = 0x00;
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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}
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ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
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size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundLen = len;
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if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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// Check validity by checking config registers
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if (start[1] != registers[0] or start[2] != registers[1] or
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start[3] != registers[2] or start[4] != registers[3] or
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start[5] != registers[4]) {
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#if OBSW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
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#else
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sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
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#endif
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#endif
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return DeviceHandlerIF::INVALID_DATA;
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}
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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}
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else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_TEMPERATURE;
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}
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else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::SETUP_MGM;
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}
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else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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*foundLen = len;
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*foundId = getPendingCommand();
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if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
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if(start[1] != MGMLIS3MDL::DEVICE_ID) {
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#if OBSW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
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#else
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sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
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#endif
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#endif
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return DeviceHandlerIF::INVALID_DATA;
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}
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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}
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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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/* Data with SPI Interface always has this answer */
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if (start[0] == 0b11111111) {
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return RETURN_OK;
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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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}
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ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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switch (id) {
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case MGMLIS3MDL::IDENTIFY_DEVICE: {
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break;
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}
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case MGMLIS3MDL::SETUP_MGM: {
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break;
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}
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case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
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// TODO: Store configuration in new local datasets.
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uint8_t scale = getFullScale(registers[2]);
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float sensitivityFactor = getSensitivityFactor(scale);
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int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
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int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
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int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
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| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
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/* Target value in microtesla */
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float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
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* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
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* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
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* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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#if OBSW_VERBOSE_LEVEL >= 1
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if(debugDivider->checkAndIncrement()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MGMHandlerLIS3: Magnetic field strength in"
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" microtesla:" << std::endl;
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sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
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sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
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sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
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#else
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sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
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sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX);
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sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY);
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sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ);
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#endif
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}
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#endif
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PoolReadHelper readHelper(&dataset);
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if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
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dataset.fieldStrengthX = mgmX;
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dataset.fieldStrengthY = mgmY;
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dataset.fieldStrengthZ = mgmZ;
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dataset.setValidity(true, true);
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}
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break;
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}
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case MGMLIS3MDL::READ_TEMPERATURE: {
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int16_t tempValueRaw = packet[2] << 8 | packet[1];
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float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
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#if OBSW_VERBOSE_LEVEL >= 1
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if(debugDivider->check()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" <<
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std::endl;
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#else
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sif::printInfo("MGMHandlerLIS3: Temperature: %f" "\xC2\xB0" "C\n");
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#endif
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}
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#endif
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ReturnValue_t result = dataset.read();
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if(result == HasReturnvaluesIF::RETURN_OK) {
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dataset.temperature = tempValue;
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dataset.commit();
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}
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break;
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}
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default: {
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return RETURN_OK;
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}
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uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
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bool FS0 = false;
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bool FS1 = false;
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if ((ctrlRegister2 >> 5) == 1)
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FS0 = true;
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if ((ctrlRegister2 >> 6) == 1)
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FS1 = true;
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if ((FS0 == true) && (FS1 == true))
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return 16;
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else if ((FS0 == false) && (FS1 == true))
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return 12;
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else if ((FS0 == true) && (FS1 == false))
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return 8;
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else
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return 4;
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}
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float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
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return (float) scale / (INT16_MAX);
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}
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ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
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const uint8_t *commandData, size_t commandDataLen) {
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triggerEvent(CHANGE_OF_SETUP_PARAMETER);
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uint32_t size = 2;
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commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
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if (commandDataLen > 1) {
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return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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switch (*commandData) {
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case (MGMLIS3MDL::ON): {
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commandBuffer[1] = registers[0] | (1 << 7);
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break;
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}
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case (MGMLIS3MDL::OFF): {
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commandBuffer[1] = registers[0] & ~(1 << 7);
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break;
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}
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default:
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return INVALID_COMMAND_PARAMETER;
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}
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registers[0] = commandBuffer[1];
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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}
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ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
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size_t commandDataLen) {
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triggerEvent(CHANGE_OF_SETUP_PARAMETER);
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if (commandDataLen != 1) {
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return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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switch (commandData[0]) {
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case MGMLIS3MDL::LOW:
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registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
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registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
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break;
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case MGMLIS3MDL::MEDIUM:
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registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
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registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
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break;
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case MGMLIS3MDL::HIGH:
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registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
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registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
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break;
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case MGMLIS3MDL::ULTRA:
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registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
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registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
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break;
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default:
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break;
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}
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return prepareCtrlRegisterWrite();
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}
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void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
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/*
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* Regarding ArduinoBoard:
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* Actually SPI answers directly, but as commanding ArduinoBoard the
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* communication could be delayed
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* SPI always has to be triggered, so there could be no periodic answer of
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* the device, the device has to asked with a command, so periodic is zero.
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*
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* We dont read single registers, we just expect special
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* reply from he Readall_MGM
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*/
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insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
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insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
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}
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ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
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commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
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for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
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commandBuffer[i + 1] = registers[i];
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}
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rawPacket = commandBuffer;
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rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
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/* We dont have to check if this is working because we just did it */
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return RETURN_OK;
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}
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void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
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}
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uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 30000;
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}
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void MGMHandlerLIS3MDL::modeChanged(void) {
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internalState = InternalState::STATE_NONE;
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}
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ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
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new PoolEntry<float>({0.0}));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void MGMHandlerLIS3MDL::performOperationHook() {
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}
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