374 lines
9.7 KiB
C++
374 lines
9.7 KiB
C++
#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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registers[0] = 0x00;
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registers[1] = 0x00;
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registers[2] = 0x00;
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registers[3] = 0x00;
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registers[4] = 0x00;
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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 STATE_NONE:
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internalState = STATE_FIRST_CONTACT;
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break;
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case STATE_FIRST_CONTACT:
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internalState = STATE_SETUP;
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break;
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case STATE_SETUP:
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internalState = STATE_CHECK_REGISTERS;
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break;
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case STATE_CHECK_REGISTERS:
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if (setupMGM() == RETURN_OK) {
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for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
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if (registers[i - 1] != commandBuffer[i]) {
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break;
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}
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}
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setMode(_MODE_TO_ON);
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}
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break;
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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 STATE_FIRST_CONTACT:
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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case STATE_SETUP:
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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case STATE_CHECK_REGISTERS:
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*id = MGMLIS3MDL::READALL_MGM;
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break;
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default:
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break;
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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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ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
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registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1)
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| (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1)
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| (1 << MGMLIS3MDL::DO2);
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registers[1] = 0;
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registers[2] = 0;
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registers[3] = (1 << MGMLIS3MDL::OMZ1);
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registers[4] = 0;
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return prepareRegisterWrite();
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}
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ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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//defines CommandID of MGM in normal operation and build command from command
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*id = MGMLIS3MDL::READALL_MGM;
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return buildCommandFromCommand(*id, NULL, 0);
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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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lastSentCommand = deviceCommand;
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switch(deviceCommand) {
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case(MGMLIS3MDL::READALL_MGM): {
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if (commandDataLen == 0) {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(0, true);
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rawPacket = commandBuffer;
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rawPacketLen = sizeof(commandBuffer);
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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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return setupMGM();
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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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lastSentCommand = DeviceHandlerIF::NO_COMMAND;
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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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::TOTAL_NR_OF_ADRESSES + 1) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READALL_MGM;
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//WHO AM I test
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if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) {
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return DeviceHandlerIF::INVALID_DATA;
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}
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} else if (len == MGMLIS3MDL::SETUP_REPLY) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::SETUP_MGM;
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} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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*foundLen = len;
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*foundId = lastSentCommand;
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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 has always 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::READALL_MGM: {
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// TODO: Store configuration and sensor values in new local datasets.
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registers[0] = *(packet + 33);
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registers[1] = *(packet + 34);
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registers[2] = *(packet + 35);
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registers[3] = *(packet + 36);
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registers[4] = *(packet + 37);
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uint8_t reg2_value = *(packet + 34);
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uint8_t scale = getFullScale(®2_value);
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float sensitivityFactor = getSensitivityFactor(scale);
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int16_t x_value_raw;
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int16_t y_value_raw;
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int16_t z_value_raw;
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int16_t temp_value_raw;
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//size_t size = 2;
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uint8_t *accessBuffer;
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accessBuffer = const_cast<uint8_t*>(packet + 41);
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x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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accessBuffer += 2;
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temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
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float x_value = static_cast<float>(x_value_raw) * sensitivityFactor;
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float y_value = static_cast<float>(y_value_raw) * sensitivityFactor;
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float z_value = static_cast<float>(z_value_raw) * sensitivityFactor;
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float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0);
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break;
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}
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default: {
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return DeviceHandlerIF::UNKNOW_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 *reg2) {
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bool FS0 = false;
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bool FS1 = false;
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if ((*reg2 >> 5) == 1)
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FS0 = true;
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if ((*reg2 >> 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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case (MGMLIS3MDL::OFF):
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commandBuffer[1] = registers[0] & ~(1 << 7);
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break;
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default:
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return INVALID_COMMAND_PARAMETER;
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break;
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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 prepareRegisterWrite();
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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::READALL_MGM, 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::prepareRegisterWrite() {
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commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
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for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
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commandBuffer[i] = registers[i];
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}
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rawPacket = commandBuffer;
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rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS;
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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::setNormalDatapoolEntriesInvalid() {
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// TODO: use new distributed datapools here.
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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 5000;
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}
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void MGMHandlerLIS3MDL::modeChanged(void) {
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internalState = STATE_NONE;
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}
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