Added missing devicehandlers
These devicehandlers were missing from the last PR
This commit is contained in:
parent
061d79bb62
commit
a84e60a37a
518
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
Normal file
518
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
Normal file
@ -0,0 +1,518 @@
|
|||||||
|
#include "MgmLIS3MDLHandler.h"
|
||||||
|
|
||||||
|
#include "fsfw/datapool/PoolReadGuard.h"
|
||||||
|
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||||
|
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||||
|
CookieIF* comCookie, uint32_t transitionDelay):
|
||||||
|
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||||
|
dataset(this), transitionDelay(transitionDelay) {
|
||||||
|
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||||
|
debugDivider = new PeriodicOperationDivider(3);
|
||||||
|
#endif
|
||||||
|
// 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;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void MgmLIS3MDLHandler::doStartUp() {
|
||||||
|
switch (internalState) {
|
||||||
|
case(InternalState::STATE_NONE): {
|
||||||
|
internalState = InternalState::STATE_FIRST_CONTACT;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_FIRST_CONTACT): {
|
||||||
|
/* Will be set by checking device ID (WHO AM I register) */
|
||||||
|
if(commandExecuted) {
|
||||||
|
commandExecuted = false;
|
||||||
|
internalState = InternalState::STATE_SETUP;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_SETUP): {
|
||||||
|
internalState = InternalState::STATE_CHECK_REGISTERS;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||||
|
/* Set up cached registers which will be used to configure the MGM. */
|
||||||
|
if(commandExecuted) {
|
||||||
|
commandExecuted = false;
|
||||||
|
if(goToNormalMode) {
|
||||||
|
setMode(MODE_NORMAL);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
setMode(_MODE_TO_ON);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmLIS3MDLHandler::doShutDown() {
|
||||||
|
setMode(_MODE_POWER_DOWN);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
|
||||||
|
DeviceCommandId_t *id) {
|
||||||
|
switch (internalState) {
|
||||||
|
case(InternalState::STATE_NONE):
|
||||||
|
case(InternalState::STATE_NORMAL): {
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_FIRST_CONTACT): {
|
||||||
|
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_SETUP): {
|
||||||
|
*id = MGMLIS3MDL::SETUP_MGM;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||||
|
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default: {
|
||||||
|
/* might be a configuration error. */
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||||
|
std::endl;
|
||||||
|
#else
|
||||||
|
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
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;
|
||||||
|
|
||||||
|
prepareCtrlRegisterWrite();
|
||||||
|
}
|
||||||
|
|
||||||
|
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;
|
||||||
|
communicationStep = CommunicationStep::TEMPERATURE;
|
||||||
|
return buildCommandFromCommand(*id, NULL, 0);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||||
|
communicationStep = CommunicationStep::DATA;
|
||||||
|
return buildCommandFromCommand(*id, NULL, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
|
||||||
|
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||||
|
size_t commandDataLen) {
|
||||||
|
switch(deviceCommand) {
|
||||||
|
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||||
|
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||||
|
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||||
|
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
case(MGMLIS3MDL::READ_TEMPERATURE): {
|
||||||
|
std::memset(commandBuffer, 0, 3);
|
||||||
|
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
|
||||||
|
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = 3;
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
case(MGMLIS3MDL::IDENTIFY_DEVICE): {
|
||||||
|
return identifyDevice();
|
||||||
|
}
|
||||||
|
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
|
||||||
|
return enableTemperatureSensor(commandData, commandDataLen);
|
||||||
|
}
|
||||||
|
case(MGMLIS3MDL::SETUP_MGM): {
|
||||||
|
setupMgm();
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||||
|
return setOperatingMode(commandData, commandDataLen);
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||||
|
}
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
|
||||||
|
uint32_t size = 2;
|
||||||
|
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
|
||||||
|
commandBuffer[1] = 0x00;
|
||||||
|
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = size;
|
||||||
|
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
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) {
|
||||||
|
*foundLen = len;
|
||||||
|
*foundId = MGMLIS3MDL::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]) {
|
||||||
|
#if FSFW_VERBOSE_LEVEL >= 1
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
return DeviceHandlerIF::INVALID_DATA;
|
||||||
|
}
|
||||||
|
if(mode == _MODE_START_UP) {
|
||||||
|
commandExecuted = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
|
||||||
|
*foundLen = len;
|
||||||
|
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
|
||||||
|
}
|
||||||
|
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
|
||||||
|
*foundLen = len;
|
||||||
|
*foundId = MGMLIS3MDL::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 FSFW_VERBOSE_LEVEL >= 1
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
|
||||||
|
"Device identification failed!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
|
||||||
|
"Device identification failed!\n");
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
return DeviceHandlerIF::INVALID_DATA;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(mode == _MODE_START_UP) {
|
||||||
|
commandExecuted = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
return DeviceHandlerIF::INVALID_DATA;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Data with SPI Interface always has this answer */
|
||||||
|
if (start[0] == 0b11111111) {
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
return DeviceHandlerIF::INVALID_DATA;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||||
|
const uint8_t *packet) {
|
||||||
|
|
||||||
|
switch (id) {
|
||||||
|
case MGMLIS3MDL::IDENTIFY_DEVICE: {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case MGMLIS3MDL::SETUP_MGM: {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
|
||||||
|
// 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] ;
|
||||||
|
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
|
||||||
|
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
|
||||||
|
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
|
||||||
|
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
|
||||||
|
|
||||||
|
/* Target value in microtesla */
|
||||||
|
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||||
|
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||||
|
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||||
|
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||||
|
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||||
|
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||||
|
|
||||||
|
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||||
|
if(debugDivider->checkAndIncrement()) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||||
|
" microtesla:" << std::endl;
|
||||||
|
sif::info << "X: " << mgmX << " uT" << std::endl;
|
||||||
|
sif::info << "Y: " << mgmY << " uT" << std::endl;
|
||||||
|
sif::info << "Z: " << mgmZ << " uT" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
|
||||||
|
sif::printInfo("X: %f uT\n", mgmX);
|
||||||
|
sif::printInfo("Y: %f uT\n", mgmY);
|
||||||
|
sif::printInfo("Z: %f uT\n", mgmZ);
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
|
||||||
|
}
|
||||||
|
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
|
||||||
|
PoolReadGuard readHelper(&dataset);
|
||||||
|
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
if(std::abs(mgmX) < absLimitX) {
|
||||||
|
dataset.fieldStrengthX = mgmX;
|
||||||
|
dataset.fieldStrengthX.setValid(true);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
dataset.fieldStrengthX.setValid(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
if(std::abs(mgmY) < absLimitY) {
|
||||||
|
dataset.fieldStrengthY = mgmY;
|
||||||
|
dataset.fieldStrengthY.setValid(true);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
dataset.fieldStrengthY.setValid(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
if(std::abs(mgmZ) < absLimitZ) {
|
||||||
|
dataset.fieldStrengthZ = mgmZ;
|
||||||
|
dataset.fieldStrengthZ.setValid(true);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
dataset.fieldStrengthZ.setValid(false);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||||
|
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||||
|
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||||
|
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||||
|
if(debugDivider->check()) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
|
||||||
|
std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
ReturnValue_t result = dataset.read();
|
||||||
|
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
dataset.temperature = tempValue;
|
||||||
|
dataset.commit();
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
default: {
|
||||||
|
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
return RETURN_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) {
|
||||||
|
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||||
|
uint32_t size = 2;
|
||||||
|
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||||
|
if (commandDataLen > 1) {
|
||||||
|
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||||
|
}
|
||||||
|
switch (*commandData) {
|
||||||
|
case (MGMLIS3MDL::ON): {
|
||||||
|
commandBuffer[1] = registers[0] | (1 << 7);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case (MGMLIS3MDL::OFF): {
|
||||||
|
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
return INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
registers[0] = commandBuffer[1];
|
||||||
|
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = size;
|
||||||
|
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
|
||||||
|
size_t commandDataLen) {
|
||||||
|
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||||
|
if (commandDataLen != 1) {
|
||||||
|
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||||
|
}
|
||||||
|
|
||||||
|
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));
|
||||||
|
break;
|
||||||
|
case MGMLIS3MDL::MEDIUM:
|
||||||
|
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||||
|
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::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));
|
||||||
|
break;
|
||||||
|
|
||||||
|
case MGMLIS3MDL::ULTRA:
|
||||||
|
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||||
|
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
return prepareCtrlRegisterWrite();
|
||||||
|
}
|
||||||
|
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
|
||||||
|
this->goToNormalMode = enable;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
|
||||||
|
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||||
|
|
||||||
|
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||||
|
commandBuffer[i + 1] = registers[i];
|
||||||
|
}
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||||
|
|
||||||
|
// We dont have to check if this is working because we just did i
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||||
|
return transitionDelay;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmLIS3MDLHandler::modeChanged(void) {
|
||||||
|
internalState = InternalState::STATE_NONE;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
|
||||||
|
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||||
|
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
|
||||||
|
new PoolEntry<float>({0.0}));
|
||||||
|
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
|
||||||
|
new PoolEntry<float>({0.0}));
|
||||||
|
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
|
||||||
|
new PoolEntry<float>({0.0}));
|
||||||
|
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
|
||||||
|
new PoolEntry<float>({0.0}));
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
|
||||||
|
this->absLimitX = xLimit;
|
||||||
|
this->absLimitY = yLimit;
|
||||||
|
this->absLimitZ = zLimit;
|
||||||
|
}
|
||||||
186
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
Normal file
186
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
Normal file
@ -0,0 +1,186 @@
|
|||||||
|
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||||
|
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||||
|
|
||||||
|
#include "fsfw/FSFW.h"
|
||||||
|
#include "events/subsystemIdRanges.h"
|
||||||
|
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
|
||||||
|
|
||||||
|
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||||
|
|
||||||
|
class PeriodicOperationDivider;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
|
||||||
|
* by STMicroeletronics
|
||||||
|
* @details
|
||||||
|
* Datasheet can be found online by googling LIS3MDL.
|
||||||
|
* Flight manual:
|
||||||
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
|
||||||
|
* @author L. Loidold, R. Mueller
|
||||||
|
*/
|
||||||
|
class MgmLIS3MDLHandler: public DeviceHandlerBase {
|
||||||
|
public:
|
||||||
|
enum class CommunicationStep {
|
||||||
|
DATA,
|
||||||
|
TEMPERATURE
|
||||||
|
};
|
||||||
|
|
||||||
|
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||||
|
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||||
|
//Notifies a command to change the setup parameters
|
||||||
|
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||||
|
|
||||||
|
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
|
||||||
|
uint32_t transitionDelay);
|
||||||
|
virtual ~MgmLIS3MDLHandler();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
|
||||||
|
* be marked as invalid if that limit is exceeded
|
||||||
|
* @param xLimit
|
||||||
|
* @param yLimit
|
||||||
|
* @param zLimit
|
||||||
|
*/
|
||||||
|
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
|
||||||
|
void setToGoToNormalMode(bool enable);
|
||||||
|
|
||||||
|
protected:
|
||||||
|
|
||||||
|
/** DeviceHandlerBase overrides */
|
||||||
|
void doShutDown() override;
|
||||||
|
void doStartUp() override;
|
||||||
|
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||||
|
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||||
|
ReturnValue_t buildCommandFromCommand(
|
||||||
|
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||||
|
size_t commandDataLen) override;
|
||||||
|
ReturnValue_t buildTransitionDeviceCommand(
|
||||||
|
DeviceCommandId_t *id) override;
|
||||||
|
ReturnValue_t buildNormalDeviceCommand(
|
||||||
|
DeviceCommandId_t *id) override;
|
||||||
|
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||||
|
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||||
|
/**
|
||||||
|
* This implementation is tailored towards space applications and will flag values larger
|
||||||
|
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
|
||||||
|
* @param id
|
||||||
|
* @param packet
|
||||||
|
* @return
|
||||||
|
*/
|
||||||
|
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||||
|
const uint8_t *packet) override;
|
||||||
|
void fillCommandAndReplyMap() override;
|
||||||
|
void modeChanged(void) override;
|
||||||
|
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||||
|
LocalDataPoolManager &poolManager) override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||||
|
//Length a single command SPI answer
|
||||||
|
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
|
||||||
|
|
||||||
|
uint32_t transitionDelay;
|
||||||
|
// 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];
|
||||||
|
|
||||||
|
float absLimitX = 100;
|
||||||
|
float absLimitY = 100;
|
||||||
|
float absLimitZ = 150;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* We want to save the registers we set, so we dont have to read the
|
||||||
|
* 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 statusRegister = 0;
|
||||||
|
bool goToNormalMode = false;
|
||||||
|
|
||||||
|
enum class InternalState {
|
||||||
|
STATE_NONE,
|
||||||
|
STATE_FIRST_CONTACT,
|
||||||
|
STATE_SETUP,
|
||||||
|
STATE_CHECK_REGISTERS,
|
||||||
|
STATE_NORMAL
|
||||||
|
};
|
||||||
|
|
||||||
|
InternalState internalState = InternalState::STATE_NONE;
|
||||||
|
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||||
|
bool commandExecuted = false;
|
||||||
|
|
||||||
|
/*------------------------------------------------------------------------*/
|
||||||
|
/* 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
|
||||||
|
*/
|
||||||
|
ReturnValue_t identifyDevice();
|
||||||
|
|
||||||
|
virtual void setupMgm();
|
||||||
|
|
||||||
|
/*------------------------------------------------------------------------*/
|
||||||
|
/* Non normal commands */
|
||||||
|
/*------------------------------------------------------------------------*/
|
||||||
|
/**
|
||||||
|
* Enables/Disables the integrated Temperaturesensor
|
||||||
|
* @param commandData On or Off
|
||||||
|
* @param length of the commandData: has to be 1
|
||||||
|
*/
|
||||||
|
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
|
||||||
|
size_t commandDataLen);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Sets the accuracy of the measurement of the axis. The noise is changing.
|
||||||
|
* @param commandData LOW, MEDIUM, HIGH, ULTRA
|
||||||
|
* @param length of the command, has to be 1
|
||||||
|
*/
|
||||||
|
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
|
||||||
|
size_t commandDataLen);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* We always update all registers together, so this method updates
|
||||||
|
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||||
|
* saved register
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
ReturnValue_t prepareCtrlRegisterWrite();
|
||||||
|
|
||||||
|
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||||
|
PeriodicOperationDivider* debugDivider;
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
|
||||||
363
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
Normal file
363
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
Normal file
@ -0,0 +1,363 @@
|
|||||||
|
#include "MgmRM3100Handler.h"
|
||||||
|
|
||||||
|
#include "fsfw/datapool/PoolReadGuard.h"
|
||||||
|
#include "fsfw/globalfunctions/bitutility.h"
|
||||||
|
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
|
||||||
|
#include "fsfw/objectmanager/SystemObjectIF.h"
|
||||||
|
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||||
|
|
||||||
|
|
||||||
|
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
|
||||||
|
object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
|
||||||
|
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||||
|
primaryDataset(this), transitionDelay(transitionDelay) {
|
||||||
|
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||||
|
debugDivider = new PeriodicOperationDivider(3);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
MgmRM3100Handler::~MgmRM3100Handler() {}
|
||||||
|
|
||||||
|
void MgmRM3100Handler::doStartUp() {
|
||||||
|
switch(internalState) {
|
||||||
|
case(InternalState::NONE): {
|
||||||
|
internalState = InternalState::CONFIGURE_CMM;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::CONFIGURE_CMM): {
|
||||||
|
internalState = InternalState::READ_CMM;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::READ_CMM): {
|
||||||
|
if(commandExecuted) {
|
||||||
|
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_CONFIGURE_TMRC): {
|
||||||
|
if(commandExecuted) {
|
||||||
|
internalState = InternalState::STATE_READ_TMRC;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_READ_TMRC): {
|
||||||
|
if(commandExecuted) {
|
||||||
|
internalState = InternalState::NORMAL;
|
||||||
|
if(goToNormalModeAtStartup) {
|
||||||
|
setMode(MODE_NORMAL);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
setMode(_MODE_TO_ON);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default: {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmRM3100Handler::doShutDown() {
|
||||||
|
setMode(_MODE_POWER_DOWN);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
|
||||||
|
DeviceCommandId_t *id) {
|
||||||
|
size_t commandLen = 0;
|
||||||
|
switch(internalState) {
|
||||||
|
case(InternalState::NONE):
|
||||||
|
case(InternalState::NORMAL): {
|
||||||
|
return NOTHING_TO_SEND;
|
||||||
|
}
|
||||||
|
case(InternalState::CONFIGURE_CMM): {
|
||||||
|
*id = RM3100::CONFIGURE_CMM;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::READ_CMM): {
|
||||||
|
*id = RM3100::READ_CMM;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_CONFIGURE_TMRC): {
|
||||||
|
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
|
||||||
|
commandLen = 1;
|
||||||
|
*id = RM3100::CONFIGURE_TMRC;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(InternalState::STATE_READ_TMRC): {
|
||||||
|
*id = RM3100::READ_TMRC;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
// Might be a configuration error
|
||||||
|
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||||
|
std::endl;
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
return buildCommandFromCommand(*id, commandBuffer, commandLen);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||||
|
const uint8_t *commandData, size_t commandDataLen) {
|
||||||
|
switch(deviceCommand) {
|
||||||
|
case(RM3100::CONFIGURE_CMM): {
|
||||||
|
commandBuffer[0] = RM3100::CMM_REGISTER;
|
||||||
|
commandBuffer[1] = RM3100::CMM_VALUE;
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = 2;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(RM3100::READ_CMM): {
|
||||||
|
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
|
||||||
|
commandBuffer[1] = 0;
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = 2;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(RM3100::CONFIGURE_TMRC): {
|
||||||
|
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
|
||||||
|
}
|
||||||
|
case(RM3100::READ_TMRC): {
|
||||||
|
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
|
||||||
|
commandBuffer[1] = 0;
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = 2;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(RM3100::CONFIGURE_CYCLE_COUNT): {
|
||||||
|
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
|
||||||
|
}
|
||||||
|
case(RM3100::READ_CYCLE_COUNT): {
|
||||||
|
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::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;
|
||||||
|
std::memset(commandBuffer + 1, 0, 9);
|
||||||
|
rawPacketLen = 10;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||||
|
}
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
|
||||||
|
DeviceCommandId_t *id) {
|
||||||
|
*id = RM3100::READ_DATA;
|
||||||
|
return buildCommandFromCommand(*id, nullptr, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
|
||||||
|
size_t len, DeviceCommandId_t *foundId,
|
||||||
|
size_t *foundLen) {
|
||||||
|
|
||||||
|
// For SPI, ID will always be the one of the last sent command
|
||||||
|
*foundId = this->getPendingCommand();
|
||||||
|
*foundLen = len;
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
|
||||||
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||||
|
switch(id) {
|
||||||
|
case(RM3100::CONFIGURE_CMM):
|
||||||
|
case(RM3100::CONFIGURE_CYCLE_COUNT):
|
||||||
|
case(RM3100::CONFIGURE_TMRC): {
|
||||||
|
// We can only check whether write was successful with read operation
|
||||||
|
if(mode == _MODE_START_UP) {
|
||||||
|
commandExecuted = true;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(RM3100::READ_CMM): {
|
||||||
|
uint8_t cmmValue = packet[1];
|
||||||
|
// We clear the seventh bit in any case
|
||||||
|
// because this one is zero sometimes for some reason
|
||||||
|
bitutil::bitClear(&cmmValue, 6);
|
||||||
|
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
|
||||||
|
commandExecuted = true;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// Attempt reconfiguration
|
||||||
|
internalState = InternalState::CONFIGURE_CMM;
|
||||||
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(RM3100::READ_TMRC): {
|
||||||
|
if(packet[1] == tmrcRegValue) {
|
||||||
|
commandExecuted = true;
|
||||||
|
// Reading TMRC was commanded. Trigger event to inform ground
|
||||||
|
if(mode != _MODE_START_UP) {
|
||||||
|
triggerEvent(tmrcSet, tmrcRegValue, 0);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// Attempt reconfiguration
|
||||||
|
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||||
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(RM3100::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];
|
||||||
|
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
|
||||||
|
cycleCountZ != cycleCountRegValueZ) {
|
||||||
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||||
|
}
|
||||||
|
// Reading TMRC was commanded. Trigger event to inform ground
|
||||||
|
if(mode != _MODE_START_UP) {
|
||||||
|
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
|
||||||
|
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(RM3100::READ_DATA): {
|
||||||
|
result = handleDataReadout(packet);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||||
|
}
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
||||||
|
const uint8_t *commandData, size_t commandDataLen) {
|
||||||
|
if(commandData == nullptr) {
|
||||||
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Set cycle count
|
||||||
|
if(commandDataLen == 2) {
|
||||||
|
handleCycleCommand(true, commandData, commandDataLen);
|
||||||
|
}
|
||||||
|
else if(commandDataLen == 6) {
|
||||||
|
handleCycleCommand(false, commandData, commandDataLen);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
|
||||||
|
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
|
||||||
|
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
|
||||||
|
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
|
||||||
|
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
|
||||||
|
rawPacketLen = 7;
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
|
||||||
|
const uint8_t *commandData, size_t commandDataLen) {
|
||||||
|
RM3100::CycleCountCommand command(oneCycleValue);
|
||||||
|
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
|
||||||
|
SerializeIF::Endianness::BIG);
|
||||||
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
|
||||||
|
if(command.cycleCountX > 450 ) {
|
||||||
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
|
||||||
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
|
||||||
|
cycleCountRegValueX = command.cycleCountX;
|
||||||
|
cycleCountRegValueY = command.cycleCountY;
|
||||||
|
cycleCountRegValueZ = command.cycleCountZ;
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
|
||||||
|
const uint8_t *commandData, size_t commandDataLen) {
|
||||||
|
if(commandData == nullptr or commandDataLen != 1) {
|
||||||
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
|
||||||
|
commandBuffer[0] = RM3100::TMRC_REGISTER;
|
||||||
|
commandBuffer[1] = commandData[0];
|
||||||
|
tmrcRegValue = commandData[0];
|
||||||
|
rawPacketLen = 2;
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmRM3100Handler::fillCommandAndReplyMap() {
|
||||||
|
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
|
||||||
|
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
|
||||||
|
|
||||||
|
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
|
||||||
|
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
|
||||||
|
|
||||||
|
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
|
||||||
|
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
|
||||||
|
|
||||||
|
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmRM3100Handler::modeChanged(void) {
|
||||||
|
internalState = InternalState::NONE;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
|
||||||
|
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||||
|
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
|
||||||
|
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
||||||
|
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||||
|
return this->transitionDelay;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
|
||||||
|
goToNormalModeAtStartup = enable;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
|
||||||
|
// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
|
||||||
|
// trickery here to calculate the raw values first
|
||||||
|
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
|
||||||
|
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
|
||||||
|
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
|
||||||
|
|
||||||
|
// Now scale to physical value in microtesla
|
||||||
|
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
|
||||||
|
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
|
||||||
|
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
|
||||||
|
|
||||||
|
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||||
|
if(debugDivider->checkAndIncrement()) {
|
||||||
|
sif::info << "MgmRM3100Handler: Magnetic field strength in"
|
||||||
|
" microtesla:" << std::endl;
|
||||||
|
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||||
|
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
|
||||||
|
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
|
||||||
|
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// TODO: Sanity check on values?
|
||||||
|
PoolReadGuard readGuard(&primaryDataset);
|
||||||
|
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
primaryDataset.fieldStrengthX = fieldStrengthX;
|
||||||
|
primaryDataset.fieldStrengthY = fieldStrengthY;
|
||||||
|
primaryDataset.fieldStrengthZ = fieldStrengthZ;
|
||||||
|
primaryDataset.setValidity(true, true);
|
||||||
|
}
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
111
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
Normal file
111
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
Normal file
@ -0,0 +1,111 @@
|
|||||||
|
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
|
||||||
|
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
|
||||||
|
|
||||||
|
#include "fsfw/FSFW.h"
|
||||||
|
#include "devices/powerSwitcherList.h"
|
||||||
|
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
|
||||||
|
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||||
|
|
||||||
|
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||||
|
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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 MgmRM3100Handler: public DeviceHandlerBase {
|
||||||
|
public:
|
||||||
|
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
|
||||||
|
|
||||||
|
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
|
||||||
|
static constexpr Event tmrcSet = 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);
|
||||||
|
|
||||||
|
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
|
||||||
|
CookieIF* comCookie, uint32_t transitionDelay);
|
||||||
|
virtual ~MgmRM3100Handler();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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;
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
enum class InternalState {
|
||||||
|
NONE,
|
||||||
|
CONFIGURE_CMM,
|
||||||
|
READ_CMM,
|
||||||
|
// The cycle count states are propably not going to be used because
|
||||||
|
// the default cycle count will be used.
|
||||||
|
STATE_CONFIGURE_CYCLE_COUNT,
|
||||||
|
STATE_READ_CYCLE_COUNT,
|
||||||
|
STATE_CONFIGURE_TMRC,
|
||||||
|
STATE_READ_TMRC,
|
||||||
|
NORMAL
|
||||||
|
};
|
||||||
|
InternalState internalState = InternalState::NONE;
|
||||||
|
bool commandExecuted = false;
|
||||||
|
RM3100::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;
|
||||||
|
|
||||||
|
bool goToNormalModeAtStartup = false;
|
||||||
|
uint32_t transitionDelay;
|
||||||
|
|
||||||
|
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 handleDataReadout(const uint8_t* packet);
|
||||||
|
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||||
|
PeriodicOperationDivider* debugDivider;
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
|
||||||
Loading…
Reference in New Issue
Block a user