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