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#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
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#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
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#include "fsfw/FSFW.h"
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#include "events/subsystemIdRanges.h"
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#include "devicedefinitions/MgmLIS3HandlerDefs.h"
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#include "events/subsystemIdRanges.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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class PeriodicOperationDivider;
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@ -18,168 +17,158 @@ class PeriodicOperationDivider;
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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 MgmLIS3MDLHandler: public DeviceHandlerBase {
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public:
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enum class CommunicationStep {
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DATA,
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TEMPERATURE
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};
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class MgmLIS3MDLHandler : public DeviceHandlerBase {
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public:
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enum class CommunicationStep { DATA, TEMPERATURE };
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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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//Notifies a command to change the setup parameters
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static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
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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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// Notifies a command to change the setup parameters
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static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
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MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
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uint32_t transitionDelay);
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virtual ~MgmLIS3MDLHandler();
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MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
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uint32_t transitionDelay);
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virtual ~MgmLIS3MDLHandler();
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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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/**
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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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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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void doTransition(Mode_t modeFrom, Submode_t subModeFrom) 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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/** DeviceHandlerBase overrides */
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void doShutDown() override;
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void doStartUp() override;
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void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
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virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
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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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ReturnValue_t buildTransitionDeviceCommand(
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DeviceCommandId_t *id) override;
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ReturnValue_t buildNormalDeviceCommand(
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DeviceCommandId_t *id) override;
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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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/**
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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,
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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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private:
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MGMLIS3MDL::MgmPrimaryDataset dataset;
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// Length a single command SPI answer
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static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
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private:
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MGMLIS3MDL::MgmPrimaryDataset dataset;
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//Length a single command SPI answer
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static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
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uint32_t transitionDelay;
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// Single SPI command has 2 bytes, first for adress, second for content
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size_t singleComandSize = 2;
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// Has the size for all adresses of the lis3mdl + the continous write bit
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uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
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uint32_t transitionDelay;
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// Single SPI command has 2 bytes, first for adress, second for content
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size_t singleComandSize = 2;
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// Has the size for all adresses of the lis3mdl + the continous write bit
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uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
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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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float absLimitX = 100;
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float absLimitY = 100;
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float absLimitZ = 150;
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/**
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* We want to save the registers we set, so we dont have to read the
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* registers when we want to change something.
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* --> everytime we change set a register we have to save it
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*/
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uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
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/**
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* We want to save the registers we set, so we dont have to read the
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* registers when we want to change something.
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* --> everytime we change set a register we have to save it
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*/
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uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
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uint8_t statusRegister = 0;
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bool goToNormalMode = false;
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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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STATE_NONE,
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STATE_FIRST_CONTACT,
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STATE_SETUP,
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STATE_CHECK_REGISTERS,
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STATE_NORMAL
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};
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enum class InternalState {
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STATE_NONE,
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STATE_FIRST_CONTACT,
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STATE_SETUP,
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STATE_CHECK_REGISTERS,
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STATE_NORMAL
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};
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InternalState internalState = InternalState::STATE_NONE;
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CommunicationStep communicationStep = CommunicationStep::DATA;
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bool commandExecuted = false;
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InternalState internalState = InternalState::STATE_NONE;
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CommunicationStep communicationStep = CommunicationStep::DATA;
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bool commandExecuted = false;
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/*------------------------------------------------------------------------*/
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/* Device specific commands and variables */
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/*------------------------------------------------------------------------*/
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/**
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* Sets the read bit for the command
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* @param single command to set the read-bit at
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* @param boolean to select a continuous read bit, default = false
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*/
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uint8_t readCommand(uint8_t command, bool continuousCom = false);
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/*------------------------------------------------------------------------*/
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/* Device specific commands and variables */
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/*------------------------------------------------------------------------*/
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/**
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* Sets the read bit for the command
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* @param single command to set the read-bit at
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* @param boolean to select a continuous read bit, default = false
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*/
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uint8_t readCommand(uint8_t command, bool continuousCom = false);
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/**
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* Sets the write bit for the command
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* @param single command to set the write-bit at
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* @param boolean to select a continuous write bit, default = false
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*/
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uint8_t writeCommand(uint8_t command, bool continuousCom = false);
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/**
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* Sets the write bit for the command
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* @param single command to set the write-bit at
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* @param boolean to select a continuous write bit, default = false
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*/
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uint8_t writeCommand(uint8_t command, bool continuousCom = false);
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/**
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* This Method gets the full scale for the measurement range
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* e.g.: +- 4 gauss. See p.25 datasheet.
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* @return The ReturnValue does not contain the sign of the value
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*/
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MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
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/**
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* This Method gets the full scale for the measurement range
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* e.g.: +- 4 gauss. See p.25 datasheet.
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* @return The ReturnValue does not contain the sign of the value
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*/
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MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
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/**
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* The 16 bit value needs to be multiplied with a sensitivity factor
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* which depends on the sensitivity configuration
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*
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* @param sens Configured sensitivity of the LIS3 device
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* @return Multiplication factor to get the sensor value from raw data.
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*/
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float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
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/**
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* The 16 bit value needs to be multiplied with a sensitivity factor
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* which depends on the sensitivity configuration
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*
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* @param sens Configured sensitivity of the LIS3 device
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* @return Multiplication factor to get the sensor value from raw data.
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*/
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float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
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/**
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* This Command detects the device ID
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*/
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ReturnValue_t identifyDevice();
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/**
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* This Command detects the device ID
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*/
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ReturnValue_t identifyDevice();
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virtual void setupMgm();
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virtual void setupMgm();
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/*------------------------------------------------------------------------*/
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/* Non normal commands */
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/*------------------------------------------------------------------------*/
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/**
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* Enables/Disables the integrated Temperaturesensor
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* @param commandData On or Off
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* @param length of the commandData: has to be 1
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*/
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virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
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/*------------------------------------------------------------------------*/
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/* Non normal commands */
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/*------------------------------------------------------------------------*/
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/**
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* Enables/Disables the integrated Temperaturesensor
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* @param commandData On or Off
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* @param length of the commandData: has to be 1
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*/
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virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
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size_t commandDataLen);
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/**
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* Sets the accuracy of the measurement of the axis. The noise is changing.
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* @param commandData LOW, MEDIUM, HIGH, ULTRA
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* @param length of the command, has to be 1
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*/
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virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
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/**
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* Sets the accuracy of the measurement of the axis. The noise is changing.
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* @param commandData LOW, MEDIUM, HIGH, ULTRA
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* @param length of the command, has to be 1
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*/
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virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
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size_t commandDataLen);
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/**
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* We always update all registers together, so this method updates
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* the rawpacket and rawpacketLen, so we just manipulate the local
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* saved register
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*
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*/
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ReturnValue_t prepareCtrlRegisterWrite();
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/**
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* We always update all registers together, so this method updates
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* the rawpacket and rawpacketLen, so we just manipulate the local
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* saved register
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*
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*/
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ReturnValue_t prepareCtrlRegisterWrite();
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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PeriodicOperationDivider* debugDivider;
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PeriodicOperationDivider *debugDivider;
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#endif
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};
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