74 lines
2.5 KiB
C++
74 lines
2.5 KiB
C++
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
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#define MISSION_DEVICES_MGMRM3100HANDLER_H_
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#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <OBSWConfig.h>
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class MGMHandlerRM3100: public DeviceHandlerBase {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_RM3100;
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MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF* comCookie);
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virtual ~MGMHandlerRM3100();
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protected:
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/* DeviceHandlerBase overrides */
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virtual ReturnValue_t buildTransitionDeviceCommand(
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DeviceCommandId_t *id) override;
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virtual void doStartUp() override;
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virtual void doShutDown() override;
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virtual ReturnValue_t buildNormalDeviceCommand(
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DeviceCommandId_t *id) override;
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virtual ReturnValue_t buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) override;
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virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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private:
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enum InternalState {
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STATE_NONE,
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STATE_CONFIGURE_CMM,
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STATE_READ_CMM,
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// The cycle count states are propably not going to be used because
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// the default cycle count will be used.
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STATE_CONFIGURE_CYCLE_COUNT,
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STATE_READ_CYCLE_COUNT,
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STATE_CONFIGURE_TMRC,
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STATE_READ_TMRC,
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STATE_NORMAL
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};
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InternalState internalState = InternalState::STATE_NONE;
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bool commandExecuted = false;
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uint8_t commandBuffer[10];
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uint8_t commandBufferLen = 0;
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uint8_t cmmRegValue = RM3100::CMM_VALUE;
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uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
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uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
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uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
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uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
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float scaleFactorX = 1 / RM3100::DEFAULT_GAIN;
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float scaleFactorY = 1 / RM3100::DEFAULT_GAIN;
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float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN;
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ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,size_t commandDataLen);
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ReturnValue_t handleCycleCommand(bool oneCycleValue,
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const uint8_t *commandData, size_t commandDataLen);
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ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,size_t commandDataLen);
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};
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#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
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