352 lines
10 KiB
C++
352 lines
10 KiB
C++
#include "MGMHandlerRM3100.h"
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#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
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#include <fsfw/objectmanager/SystemObjectIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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MGMHandlerRM3100::MGMHandlerRM3100(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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primaryDataset(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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}
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MGMHandlerRM3100::~MGMHandlerRM3100() {}
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void MGMHandlerRM3100::doStartUp() {
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if(internalState == InternalState::STATE_NONE) {
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internalState = InternalState::STATE_CONFIGURE_CMM;
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}
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if(internalState == InternalState::STATE_CONFIGURE_CMM) {
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internalState = InternalState::STATE_READ_CMM;
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}
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else if(internalState == InternalState::STATE_READ_CMM) {
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if(commandExecuted) {
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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}
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}
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if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
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internalState = InternalState::STATE_READ_TMRC;
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}
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else if(internalState == InternalState::STATE_READ_TMRC) {
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if(commandExecuted) {
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internalState = InternalState::STATE_NORMAL;
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setMode(_MODE_TO_ON);
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}
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}
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}
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void MGMHandlerRM3100::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t MGMHandlerRM3100::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_CONFIGURE_CMM): {
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*id = RM3100::CONFIGURE_CMM;
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break;
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}
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case(InternalState::STATE_READ_CMM): {
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*id = RM3100::READ_CMM;
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break;
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}
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case(InternalState::STATE_CONFIGURE_TMRC): {
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*id = RM3100::CONFIGURE_TMRC;
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break;
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}
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case(InternalState::STATE_READ_TMRC): {
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*id = RM3100::READ_TMRC;
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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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sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
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<< "internal state!" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t MGMHandlerRM3100::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(RM3100::CONFIGURE_CMM): {
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commandBuffer[0] = RM3100::CMM_REGISTER;
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commandBuffer[1] = RM3100::CMM_VALUE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::READ_CMM): {
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commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::CONFIGURE_TMRC): {
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return handleTmrcConfigCommand(deviceCommand, commandData,
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commandDataLen);
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}
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case(RM3100::READ_TMRC): {
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commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::CONFIGURE_CYCLE_COUNT): {
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return handleCycleCountConfigCommand(deviceCommand, commandData,
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commandDataLen);
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}
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case(RM3100::READ_CYCLE_COUNT): {
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commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
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RM3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 6);
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rawPacket = commandBuffer;
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rawPacketLen = 7;
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break;
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}
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case(RM3100::READ_DATA): {
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commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 9);
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rawPacketLen = 10;
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break;
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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 RETURN_OK;
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}
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ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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*id = RM3100::READ_DATA;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
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size_t len, DeviceCommandId_t *foundId,
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size_t *foundLen) {
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// SPI, ID will always be the one of the last sent command.
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*foundId = this->getPendingCommand();
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*foundLen = this->rawPacketLen;
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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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return DeviceHandlerIF::INVALID_DATA;
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}
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ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
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DeviceCommandId_t id, const uint8_t *packet) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch(id) {
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case(RM3100::CONFIGURE_CMM):
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case(RM3100::CONFIGURE_CYCLE_COUNT):
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case(RM3100::CONFIGURE_TMRC): {
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// We can only check whether write was sucessful with read operation.
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break;
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}
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case(RM3100::READ_CMM): {
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if(packet[1] == cmmRegValue) {
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commandExecuted = true;
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}
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else {
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// Attempt reconfiguration.
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internalState = InternalState::STATE_CONFIGURE_CMM;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(RM3100::READ_TMRC): {
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if(packet[1] == tmrcRegValue) {
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commandExecuted = true;
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// Reading TMRC was commanded. Trigger event to inform ground.
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if(mode != _MODE_START_UP) {
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triggerEvent(tmrcSet, tmrcRegValue, 0);
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}
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}
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else {
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// Attempt reconfiguration.
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(RM3100::READ_CYCLE_COUNT): {
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uint16_t cycleCountX = packet[1] << 8 | packet[2];
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uint16_t cycleCountY = packet[3] << 8 | packet[4];
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uint16_t cycleCountZ = packet[5] << 8 | packet[6];
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if(cycleCountX != cycleCountRegValueX or
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cycleCountY != cycleCountRegValueY or
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cycleCountZ != cycleCountRegValueZ) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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// Reading TMRC was commanded. Trigger event to inform ground.
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if(mode != _MODE_START_UP) {
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uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
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triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
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}
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break;
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}
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case(RM3100::READ_DATA): {
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result = handleDataReadout(packet);
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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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return result;
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}
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ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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if(commandData == nullptr) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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// Set cycle count
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if(commandDataLen == 2) {
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handleCycleCommand(true, commandData, commandDataLen);
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}
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else if(commandDataLen == 6) {
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handleCycleCommand(false, commandData, commandDataLen);
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}
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else {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
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std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
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std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
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std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
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rawPacketLen = 7;
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rawPacket = commandBuffer;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
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const uint8_t *commandData, size_t commandDataLen) {
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RM3100::CycleCountCommand command(oneCycleValue);
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ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
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SerializeIF::Endianness::BIG);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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// Data sheet p.30
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// "while noise limits the useful upper range to ~400 cycle counts."
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if(command.cycleCountX > 450 ) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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if(not oneCycleValue and
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(command.cycleCountY > 450 or command.cycleCountZ > 450)) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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cycleCountRegValueX = command.cycleCountX;
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cycleCountRegValueY = command.cycleCountY;
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cycleCountRegValueZ = command.cycleCountZ;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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if(commandData == nullptr) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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if(commandDataLen != 1) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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commandBuffer[0] = RM3100::TMRC_REGISTER;
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commandBuffer[1] = commandData[1];
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rawPacketLen = 2;
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rawPacket = commandBuffer;
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return HasReturnvaluesIF::RETURN_OK;
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}
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void MGMHandlerRM3100::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
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insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
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insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
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insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
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insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
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insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
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insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
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}
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void MGMHandlerRM3100::modeChanged(void) {
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internalState = InternalState::STATE_NONE;
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}
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ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
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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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uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 5000;
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}
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ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
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// analyze data here.
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// Field strengths in micro Tesla
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int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
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* scaleFactorX;
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int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
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* scaleFactorY;
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int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
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* scaleFactorZ;
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#if OBSW_VERBOSE_LEVEL >= 1
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if(debugDivider->checkAndIncrement()) {
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sif::info << "MGMHandlerLIS3: Magnetic field strength in"
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" microtesla:" << std::endl;
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// Set terminal to utf-8 if there is an issue with micro printout.
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sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
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sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
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sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
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}
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#endif
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ReturnValue_t result = primaryDataset.read();
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if(result == HasReturnvaluesIF::RETURN_OK) {
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primaryDataset.fieldStrengthX = fieldStrengthX;
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primaryDataset.fieldStrengthY = fieldStrengthY;
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primaryDataset.fieldStrengthZ = fieldStrengthZ;
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primaryDataset.setValidity(true, true);
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result = primaryDataset.commit();
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}
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return result;
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}
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