eive-obsw/mission/devices/MgmLis3CustomHandler.h
2023-03-01 18:38:55 +01:00

104 lines
3.7 KiB
C++

#ifndef MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_
#define MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
class PeriodicOperationDivider;
/**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
* by STMicroeletronics
* @details
* Datasheet can be found online by googling LIS3MDL.
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
* @author L. Loidold, R. Mueller
*/
class MgmLis3CustomHandler : public DeviceHandlerBase {
public:
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
MgmLis3CustomHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);
virtual ~MgmLis3CustomHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
* be marked as invalid if that limit is exceeded
* @param xLimit
* @param yLimit
* @param zLimit
*/
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
void setToGoToNormalMode(bool enable);
protected:
/** DeviceHandlerBase overrides */
void doShutDown() override;
void doStartUp() override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
/**
* This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
* @param id
* @param packet
* @return
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
mgmLis3::MgmPrimaryDataset dataset;
acs::MgmLis3Request request{};
uint32_t transitionDelay;
float absLimitX = 100;
float absLimitY = 100;
float absLimitZ = 150;
uint8_t statusRegister = 0;
bool goToNormalMode = false;
enum class InternalState {
NONE,
STARTUP,
SHUTDOWN,
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
PoolEntry<float> temperature = PoolEntry<float>();
/*------------------------------------------------------------------------*/
/* Device specific commands and variables */
/*------------------------------------------------------------------------*/
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
ReturnValue_t prepareRequest(acs::SimpleSensorMode mode);
};
#endif /* MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_ */