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refactored MGM device code

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This commit is contained in:
Robin Müller 2023-02-26 21:26:24 +01:00
parent cf735143fe
commit 511d07c0c7
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GPG Key ID: 11D4952C8CCEF814
8 changed files with 210 additions and 205 deletions
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190
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -10,11 +10,11 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
dataset(this),
transitionDelay(transitionDelay) {
// Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
@ -63,15 +63,15 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
return DeviceHandlerBase::NOTHING_TO_SEND;
}
case (InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
*id = mgmLis3::IDENTIFY_DEVICE;
break;
}
case (InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM;
*id = mgmLis3::SETUP_MGM;
break;
}
case (InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = mgmLis3::READ_CONFIG_AND_DATA;
break;
}
default: {
@ -88,28 +88,12 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
return buildCommandFromCommand(*id, NULL, 0);
}
uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
command |= (1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT);
}
return command;
}
uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
command &= ~(1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT);
}
return command;
}
void MgmLIS3MDLHandler::setupMgm() {
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
prepareCtrlRegisterWrite();
}
@ -117,11 +101,11 @@ void MgmLIS3MDLHandler::setupMgm() {
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
// Data/config register will be read in an alternating manner.
if (communicationStep == CommunicationStep::DATA) {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = mgmLis3::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0);
} else {
*id = MGMLIS3MDL::READ_TEMPERATURE;
*id = mgmLis3::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0);
}
@ -131,33 +115,33 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
case (mgmLis3::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
commandBuffer[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
rawPacketLen = mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1;
return returnvalue::OK;
}
case (MGMLIS3MDL::READ_TEMPERATURE): {
case (mgmLis3::READ_TEMPERATURE): {
std::memset(commandBuffer, 0, 3);
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
commandBuffer[0] = mgmLis3::readCommand(mgmLis3::TEMP_LOWBYTE, true);
rawPacket = commandBuffer;
rawPacketLen = 3;
return returnvalue::OK;
}
case (MGMLIS3MDL::IDENTIFY_DEVICE): {
case (mgmLis3::IDENTIFY_DEVICE): {
return identifyDevice();
}
case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
case (mgmLis3::TEMP_SENSOR_ENABLE): {
return enableTemperatureSensor(commandData, commandDataLen);
}
case (MGMLIS3MDL::SETUP_MGM): {
case (mgmLis3::SETUP_MGM): {
setupMgm();
return returnvalue::OK;
}
case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
case (mgmLis3::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen);
}
default:
@ -168,7 +152,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
uint32_t size = 2;
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
commandBuffer[0] = mgmLis3::readCommand(mgmLis3::IDENTIFY_DEVICE_REG_ADDR);
commandBuffer[1] = 0x00;
rawPacket = commandBuffer;
@ -180,9 +164,9 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
if (len == mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*foundId = mgmLis3::READ_CONFIG_AND_DATA;
// Check validity by checking config registers
if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
start[4] != registers[3] or start[5] != registers[4]) {
@ -199,17 +183,17 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
commandExecuted = true;
}
} else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
} else if (len == mgmLis3::TEMPERATURE_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
} else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
*foundId = mgmLis3::READ_TEMPERATURE;
} else if (len == mgmLis3::SETUP_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM;
*foundId = mgmLis3::SETUP_MGM;
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len;
*foundId = getPendingCommand();
if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if (start[1] != MGMLIS3MDL::DEVICE_ID) {
if (*foundId == mgmLis3::IDENTIFY_DEVICE) {
if (start[1] != mgmLis3::DEVICE_ID) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
@ -241,30 +225,31 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
}
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case MGMLIS3MDL::IDENTIFY_DEVICE: {
case mgmLis3::IDENTIFY_DEVICE: {
break;
}
case MGMLIS3MDL::SETUP_MGM: {
case mgmLis3::SETUP_MGM: {
break;
}
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
case mgmLis3::READ_CONFIG_AND_DATA: {
using namespace mgmLis3;
// TODO: Store configuration in new local datasets.
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
int16_t mgmMeasurementRawX =
packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
packet[mgmLis3::X_HIGHBYTE_IDX] << 8 | packet[mgmLis3::X_LOWBYTE_IDX];
int16_t mgmMeasurementRawY =
packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
packet[mgmLis3::Y_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Y_LOWBYTE_IDX];
int16_t mgmMeasurementRawZ =
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
packet[mgmLis3::Z_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Z_LOWBYTE_IDX];
// Target value in microtesla
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
@ -306,7 +291,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
break;
}
case MGMLIS3MDL::READ_TEMPERATURE: {
case mgmLis3::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
if (periodicPrintout) {
@ -334,41 +319,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
return returnvalue::OK;
}
MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
if (fs0Set && fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_16;
else if (!fs0Set && fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_12;
else if (fs0Set && !fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_8;
else
return MGMLIS3MDL::Sensitivies::GAUSS_4;
}
float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
switch (sens) {
case (MGMLIS3MDL::GAUSS_4): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
case (MGMLIS3MDL::GAUSS_8): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
}
case (MGMLIS3MDL::GAUSS_12): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
}
case (MGMLIS3MDL::GAUSS_16): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
}
default: {
// Should never happen
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
}
}
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen) {
if (commandData == nullptr) {
@ -376,16 +326,16 @@ ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandD
}
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2;
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1);
if (commandDataLen > 1) {
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
switch (commandData[0]) {
case (MGMLIS3MDL::ON): {
case (mgmLis3::ON): {
commandBuffer[1] = registers[0] | (1 << 7);
break;
}
case (MGMLIS3MDL::OFF): {
case (mgmLis3::OFF): {
commandBuffer[1] = registers[0] & ~(1 << 7);
break;
}
@ -408,23 +358,23 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
}
switch (commandData[0]) {
case MGMLIS3MDL::LOW:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
case mgmLis3::LOW:
registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) & (~(1 << mgmLis3::OM0));
registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) & (~(1 << mgmLis3::OMZ0));
break;
case MGMLIS3MDL::MEDIUM:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
case mgmLis3::MEDIUM:
registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) | (1 << mgmLis3::OM0);
registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) | (1 << mgmLis3::OMZ0);
break;
case MGMLIS3MDL::HIGH:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
case mgmLis3::HIGH:
registers[0] = (registers[0] | (1 << mgmLis3::OM1)) & (~(1 << mgmLis3::OM0));
registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) & (~(1 << mgmLis3::OMZ0));
break;
case MGMLIS3MDL::ULTRA:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
case mgmLis3::ULTRA:
registers[0] = (registers[0] | (1 << mgmLis3::OM1)) | (1 << mgmLis3::OM0);
registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) | (1 << mgmLis3::OMZ0);
break;
default:
break;
@ -434,24 +384,24 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
}
void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
insertInCommandAndReplyMap(mgmLis3::READ_CONFIG_AND_DATA, 1, &dataset);
insertInCommandAndReplyMap(mgmLis3::READ_TEMPERATURE, 1);
insertInCommandAndReplyMap(mgmLis3::SETUP_MGM, 1);
insertInCommandAndReplyMap(mgmLis3::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(mgmLis3::TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(mgmLis3::ACCURACY_OP_MODE_SET, 1);
}
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1, true);
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
for (size_t i = 0; i < mgmLis3::NR_OF_CTRL_REGISTERS; i++) {
commandBuffer[i + 1] = registers[i];
}
rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
rawPacketLen = mgmLis3::NR_OF_CTRL_REGISTERS + 1;
// We dont have to check if this is working because we just did i
return returnvalue::OK;
@ -467,8 +417,8 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, &temperature);
poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
return returnvalue::OK;
}

38
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
View File

@ -1,7 +1,8 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
@ -66,7 +67,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
LocalDataPoolManager &poolManager) override;
private:
MGMLIS3MDL::MgmPrimaryDataset dataset;
mgmLis3::MgmPrimaryDataset dataset;
// Length a single command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
@ -74,7 +75,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
// Single SPI command has 2 bytes, first for adress, second for content
size_t singleComandSize = 2;
// Has the size for all adresses of the lis3mdl + the continous write bit
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
uint8_t commandBuffer[mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1];
float absLimitX = 100;
float absLimitY = 100;
@ -85,7 +86,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
* registers when we want to change something.
* --> everytime we change set a register we have to save it
*/
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
uint8_t registers[mgmLis3::NR_OF_CTRL_REGISTERS];
uint8_t statusRegister = 0;
bool goToNormalMode = false;
@ -107,35 +108,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
/*------------------------------------------------------------------------*/
/* Device specific commands and variables */
/*------------------------------------------------------------------------*/
/**
* Sets the read bit for the command
* @param single command to set the read-bit at
* @param boolean to select a continuous read bit, default = false
*/
uint8_t readCommand(uint8_t command, bool continuousCom = false);
/**
* Sets the write bit for the command
* @param single command to set the write-bit at
* @param boolean to select a continuous write bit, default = false
*/
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
/**
* This Method gets the full scale for the measurement range
* e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value
*/
MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
/**
* The 16 bit value needs to be multiplied with a sensitivity factor
* which depends on the sensitivity configuration
*
* @param sens Configured sensitivity of the LIS3 device
* @return Multiplication factor to get the sensor value from raw data.
*/
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
/**
* This Command detects the device ID

74
src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -63,21 +63,21 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
return NOTHING_TO_SEND;
}
case (InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
*id = mgmRm3100::CONFIGURE_CMM;
break;
}
case (InternalState::READ_CMM): {
*id = RM3100::READ_CMM;
*id = mgmRm3100::READ_CMM;
break;
}
case (InternalState::STATE_CONFIGURE_TMRC): {
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
commandBuffer[0] = mgmRm3100::TMRC_DEFAULT_VALUE;
commandLen = 1;
*id = RM3100::CONFIGURE_TMRC;
*id = mgmRm3100::CONFIGURE_TMRC;
break;
}
case (InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
*id = mgmRm3100::READ_TMRC;
break;
}
default:
@ -103,42 +103,42 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
case (mgmRm3100::CONFIGURE_CMM): {
commandBuffer[0] = mgmRm3100::CMM_REGISTER;
commandBuffer[1] = mgmRm3100::CMM_VALUE;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case (RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
case (mgmRm3100::READ_CMM): {
commandBuffer[0] = mgmRm3100::CMM_REGISTER | mgmRm3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case (RM3100::CONFIGURE_TMRC): {
case (mgmRm3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
}
case (RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
case (mgmRm3100::READ_TMRC): {
commandBuffer[0] = mgmRm3100::TMRC_REGISTER | mgmRm3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case (RM3100::CONFIGURE_CYCLE_COUNT): {
case (mgmRm3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
}
case (RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
case (mgmRm3100::READ_CYCLE_COUNT): {
commandBuffer[0] = mgmRm3100::CYCLE_COUNT_START_REGISTER | mgmRm3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
break;
}
case (RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
case (mgmRm3100::READ_DATA): {
commandBuffer[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10;
break;
@ -150,7 +150,7 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
}
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
*id = mgmRm3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
}
@ -165,16 +165,16 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = returnvalue::OK;
switch (id) {
case (RM3100::CONFIGURE_CMM):
case (RM3100::CONFIGURE_CYCLE_COUNT):
case (RM3100::CONFIGURE_TMRC): {
case (mgmRm3100::CONFIGURE_CMM):
case (mgmRm3100::CONFIGURE_CYCLE_COUNT):
case (mgmRm3100::CONFIGURE_TMRC): {
// We can only check whether write was successful with read operation
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
break;
}
case (RM3100::READ_CMM): {
case (mgmRm3100::READ_CMM): {
uint8_t cmmValue = packet[1];
// We clear the seventh bit in any case
// because this one is zero sometimes for some reason
@ -188,7 +188,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
break;
}
case (RM3100::READ_TMRC): {
case (mgmRm3100::READ_TMRC): {
if (packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground
@ -202,7 +202,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
break;
}
case (RM3100::READ_CYCLE_COUNT): {
case (mgmRm3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
@ -217,7 +217,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
break;
}
case (RM3100::READ_DATA): {
case (mgmRm3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
@ -244,7 +244,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
commandBuffer[0] = mgmRm3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
@ -255,7 +255,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
mgmRm3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result =
command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
@ -284,7 +284,7 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[0] = mgmRm3100::TMRC_REGISTER;
commandBuffer[1] = commandData[0];
tmrcRegValue = commandData[0];
rawPacketLen = 2;
@ -293,23 +293,23 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
}
void MgmRM3100Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CMM, 3);
insertInCommandAndReplyMap(mgmRm3100::READ_CMM, 3);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_TMRC, 3);
insertInCommandAndReplyMap(mgmRm3100::READ_TMRC, 3);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(mgmRm3100::READ_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
insertInCommandAndReplyMap(mgmRm3100::READ_DATA, 3, &primaryDataset);
}
void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
return returnvalue::OK;
}

21
src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
View File

@ -1,7 +1,8 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
@ -69,19 +70,19 @@ class MgmRM3100Handler : public DeviceHandlerBase {
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;
mgmRm3100::Rm3100PrimaryDataset primaryDataset;
uint8_t commandBuffer[10];
uint8_t commandBufferLen = 0;
uint8_t cmmRegValue = RM3100::CMM_VALUE;
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
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;

2
src/fsfw_hal/devicehandlers/devicedefinitions/CMakeLists.txt
View File

@ -1 +1 @@
target_sources(${LIB_FSFW_NAME} PRIVATE gyroL3gHelpers.cpp)
target_sources(${LIB_FSFW_NAME} PRIVATE gyroL3gHelpers.cpp mgmLis3Helpers.cpp)

52
src/fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.cpp Normal file
View File

@ -0,0 +1,52 @@
#include "mgmLis3Helpers.h"
uint8_t mgmLis3::readCommand(uint8_t command, bool continuousCom) {
command |= (1 << mgmLis3::RW_BIT);
if (continuousCom == true) {
command |= (1 << mgmLis3::MS_BIT);
}
return command;
}
uint8_t mgmLis3::writeCommand(uint8_t command, bool continuousCom) {
command &= ~(1 << mgmLis3::RW_BIT);
if (continuousCom == true) {
command |= (1 << mgmLis3::MS_BIT);
}
return command;
}
mgmLis3::Sensitivies mgmLis3::getSensitivity(uint8_t ctrlRegister2) {
bool fs0Set = ctrlRegister2 & (1 << mgmLis3::FSO); // Checks if FS0 bit is set
bool fs1Set = ctrlRegister2 & (1 << mgmLis3::FS1); // Checks if FS1 bit is set
if (fs0Set && fs1Set)
return mgmLis3::Sensitivies::GAUSS_16;
else if (!fs0Set && fs1Set)
return mgmLis3::Sensitivies::GAUSS_12;
else if (fs0Set && !fs1Set)
return mgmLis3::Sensitivies::GAUSS_8;
else
return mgmLis3::Sensitivies::GAUSS_4;
}
float mgmLis3::getSensitivityFactor(mgmLis3::Sensitivies sens) {
switch (sens) {
case (mgmLis3::GAUSS_4): {
return mgmLis3::FIELD_LSB_PER_GAUSS_4_SENS;
}
case (mgmLis3::GAUSS_8): {
return mgmLis3::FIELD_LSB_PER_GAUSS_8_SENS;
}
case (mgmLis3::GAUSS_12): {
return mgmLis3::FIELD_LSB_PER_GAUSS_12_SENS;
}
case (mgmLis3::GAUSS_16): {
return mgmLis3::FIELD_LSB_PER_GAUSS_16_SENS;
}
default: {
// Should never happen
return mgmLis3::FIELD_LSB_PER_GAUSS_4_SENS;
}
}
}

34
src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h → src/fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h
View File

@ -7,13 +7,43 @@
#include <cstdint>
namespace MGMLIS3MDL {
namespace mgmLis3 {
enum Set { ON, OFF };
enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
/**
* Sets the read bit for the command
* @param single command to set the read-bit at
* @param boolean to select a continuous read bit, default = false
*/
uint8_t readCommand(uint8_t command, bool continuousCom = false);
/**
* Sets the write bit for the command
* @param single command to set the write-bit at
* @param boolean to select a continuous write bit, default = false
*/
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
/**
* This Method gets the full scale for the measurement range
* e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value
*/
mgmLis3::Sensitivies getSensitivity(uint8_t ctrlReg2);
/**
* The 16 bit value needs to be multiplied with a sensitivity factor
* which depends on the sensitivity configuration
*
* @param sens Configured sensitivity of the LIS3 device
* @return Multiplication factor to get the sensor value from raw data.
*/
float getSensitivityFactor(mgmLis3::Sensitivies sens);
/* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -154,6 +184,6 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
};
} // namespace MGMLIS3MDL
} // namespace mgmLis3
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

4
src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h → src/fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h
View File

@ -8,7 +8,7 @@
#include <cstdint>
namespace RM3100 {
namespace mgmRm3100 {
/* Actually 10, we round up a little bit */
static constexpr size_t MAX_BUFFER_SIZE = 12;
@ -115,6 +115,6 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
};
} // namespace RM3100
} // namespace mgmRm3100
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */