eive-obsw/mission/devices/MgmRm3100CustomHandler.h
Robin Mueller d4923ac3e8
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wörks
2023-02-28 01:25:25 +01:00

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C++

#ifndef MISSION_DEVICES_MGMRM3100CUSTOMHANDLER_H_
#define MISSION_DEVICES_MGMRM3100CUSTOMHANDLER_H_
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
/**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
* (https://www.pnicorp.com/rm3100/)
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
*/
class MgmRm3100CustomHandler : public DeviceHandlerBase {
public:
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event TMRC_SET =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRm3100CustomHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);
virtual ~MgmRm3100CustomHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Configure device handler to go to normal mode after startup immediately
* @param enable
*/
void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
enum class InternalState { NONE, STARTUP, SHUTDOWN };
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
mgmRm3100::Rm3100PrimaryDataset primaryDataset;
acs::MgmRm3100Request request{};
// uint8_t cmmRegValue = mgmRm3100::CMM_VALUE;
// uint8_t tmrcRegValue = mgmRm3100::TMRC_DEFAULT_VALUE;
// uint16_t cycleCountRegValueX = mgmRm3100::CYCLE_COUNT_VALUE;
// uint16_t cycleCountRegValueY = mgmRm3100::CYCLE_COUNT_VALUE;
// uint16_t cycleCountRegValueZ = mgmRm3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1.0 / mgmRm3100::DEFAULT_GAIN;
float scaleFactorY = 1.0 / mgmRm3100::DEFAULT_GAIN;
float scaleFactorZ = 1.0 / mgmRm3100::DEFAULT_GAIN;
bool goToNormalModeAtStartup = false;
uint32_t transitionDelay;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
bool periodicPrintout = false;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t prepareRequest(acs::SimpleSensorMode mode);
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICEHANDLING_MgmRm3100CustomHandler_H_ */