Update FSFW #13
@ -1,3 +1,4 @@
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target_sources(${LIB_FSFW_NAME} PRIVATE
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target_sources(${LIB_FSFW_NAME} PRIVATE
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GyroL3GD20Handler.cpp
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GyroL3GD20Handler.cpp
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MgmRM3100Handler.cpp
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)
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)
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370
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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370
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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@ -0,0 +1,370 @@
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#include "MgmRM3100Handler.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/globalfunctions/bitutility.h"
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#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
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object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId,
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uint32_t transitionDelay):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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primaryDataset(this), switchId(switchId), transitionDelay(transitionDelay) {
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#if FSFW_HAL_RM3100_MGM_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(5);
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#endif
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}
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MgmRM3100Handler::~MgmRM3100Handler() {}
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void MgmRM3100Handler::doStartUp() {
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switch(internalState) {
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case(InternalState::NONE): {
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internalState = InternalState::CONFIGURE_CMM;
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break;
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}
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case(InternalState::CONFIGURE_CMM): {
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internalState = InternalState::READ_CMM;
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break;
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}
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case(InternalState::READ_CMM): {
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if(commandExecuted) {
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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}
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break;
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}
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case(InternalState::STATE_CONFIGURE_TMRC): {
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if(commandExecuted) {
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internalState = InternalState::STATE_READ_TMRC;
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}
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break;
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}
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case(InternalState::STATE_READ_TMRC): {
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if(commandExecuted) {
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internalState = InternalState::NORMAL;
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if(goToNormalModeAtStartup) {
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setMode(MODE_NORMAL);
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}
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else {
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setMode(_MODE_TO_ON);
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}
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}
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break;
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}
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default: {
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break;
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}
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}
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}
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void MgmRM3100Handler::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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size_t commandLen = 0;
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switch(internalState) {
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case(InternalState::NONE):
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case(InternalState::NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::CONFIGURE_CMM): {
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*id = RM3100::CONFIGURE_CMM;
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break;
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}
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case(InternalState::READ_CMM): {
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*id = RM3100::READ_CMM;
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break;
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}
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case(InternalState::STATE_CONFIGURE_TMRC): {
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commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
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commandLen = 1;
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*id = RM3100::CONFIGURE_TMRC;
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break;
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}
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case(InternalState::STATE_READ_TMRC): {
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*id = RM3100::READ_TMRC;
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break;
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}
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default:
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// Might be a configuration error
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sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return buildCommandFromCommand(*id, commandBuffer, commandLen);
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}
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ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen) {
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switch(deviceCommand) {
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case(RM3100::CONFIGURE_CMM): {
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commandBuffer[0] = RM3100::CMM_REGISTER;
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commandBuffer[1] = RM3100::CMM_VALUE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::READ_CMM): {
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commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::CONFIGURE_TMRC): {
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return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
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}
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case(RM3100::READ_TMRC): {
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commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
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commandBuffer[1] = 0;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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break;
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}
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case(RM3100::CONFIGURE_CYCLE_COUNT): {
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return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
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}
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case(RM3100::READ_CYCLE_COUNT): {
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commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 6);
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rawPacket = commandBuffer;
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rawPacketLen = 7;
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break;
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}
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case(RM3100::READ_DATA): {
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commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
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std::memset(commandBuffer + 1, 0, 9);
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rawPacketLen = 10;
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return RETURN_OK;
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}
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ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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*id = RM3100::READ_DATA;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
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size_t len, DeviceCommandId_t *foundId,
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size_t *foundLen) {
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/* For SPI, ID will always be the one of the last sent command. */
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*foundId = this->getPendingCommand();
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*foundLen = len;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch(id) {
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case(RM3100::CONFIGURE_CMM):
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case(RM3100::CONFIGURE_CYCLE_COUNT):
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case(RM3100::CONFIGURE_TMRC): {
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/* We can only check whether write was successful with read operation. */
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if(mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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break;
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}
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case(RM3100::READ_CMM): {
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uint8_t cmmValue = packet[1];
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/* We clear the seventh bit in any case
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* because this one is zero sometimes for some reason */
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bitutil::bitClear(&cmmValue, 6);
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if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
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commandExecuted = true;
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}
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else {
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/* Attempt reconfiguration. */
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internalState = InternalState::CONFIGURE_CMM;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(RM3100::READ_TMRC): {
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if(packet[1] == tmrcRegValue) {
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commandExecuted = true;
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/* Reading TMRC was commanded. Trigger event to inform ground. */
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if(mode != _MODE_START_UP) {
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triggerEvent(tmrcSet, tmrcRegValue, 0);
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}
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}
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else {
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/* Attempt reconfiguration. */
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(RM3100::READ_CYCLE_COUNT): {
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uint16_t cycleCountX = packet[1] << 8 | packet[2];
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uint16_t cycleCountY = packet[3] << 8 | packet[4];
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uint16_t cycleCountZ = packet[5] << 8 | packet[6];
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if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
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cycleCountZ != cycleCountRegValueZ) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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/* Reading TMRC was commanded. Trigger event to inform ground. */
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if(mode != _MODE_START_UP) {
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uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
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triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
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}
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break;
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}
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case(RM3100::READ_DATA): {
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result = handleDataReadout(packet);
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break;
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}
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default:
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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return result;
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}
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ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen) {
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if(commandData == nullptr) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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// Set cycle count
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if(commandDataLen == 2) {
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handleCycleCommand(true, commandData, commandDataLen);
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}
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else if(commandDataLen == 6) {
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handleCycleCommand(false, commandData, commandDataLen);
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}
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else {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
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std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
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std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
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std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
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rawPacketLen = 7;
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rawPacket = commandBuffer;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
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const uint8_t *commandData, size_t commandDataLen) {
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RM3100::CycleCountCommand command(oneCycleValue);
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ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
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SerializeIF::Endianness::BIG);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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/* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
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if(command.cycleCountX > 450 ) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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cycleCountRegValueX = command.cycleCountX;
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cycleCountRegValueY = command.cycleCountY;
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cycleCountRegValueZ = command.cycleCountZ;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen) {
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if(commandData == nullptr or commandDataLen != 1) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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commandBuffer[0] = RM3100::TMRC_REGISTER;
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commandBuffer[1] = commandData[0];
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tmrcRegValue = commandData[0];
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rawPacketLen = 2;
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rawPacket = commandBuffer;
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return HasReturnvaluesIF::RETURN_OK;
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}
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void MgmRM3100Handler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
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insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
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insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
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insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
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insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
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insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
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insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
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}
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void MgmRM3100Handler::modeChanged(void) {
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internalState = InternalState::NONE;
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|
}
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ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
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return HasReturnvaluesIF::RETURN_OK;
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|
}
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|
|
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uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
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|
return 25000;
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|
}
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|
|
||||||
|
ReturnValue_t MgmRM3100Handler::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
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|
*switches = &switchId;
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|
*numberOfSwitches = 1;
|
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|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
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|
|
||||||
|
void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
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|
goToNormalModeAtStartup = enable;
|
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|
}
|
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|
|
||||||
|
ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
|
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|
/* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
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|
* trickery here to calculate the raw values first */
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|
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
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|
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
|
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|
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;
|
||||||
|
}
|
||||||
117
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
Normal file
117
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
Normal file
@ -0,0 +1,117 @@
|
|||||||
|
#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, uint8_t switchId, uint32_t transitionDelay = 10000);
|
||||||
|
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;
|
||||||
|
ReturnValue_t getSwitches(const uint8_t **switches,
|
||||||
|
uint8_t *numberOfSwitches) override;
|
||||||
|
|
||||||
|
void fillCommandAndReplyMap() override;
|
||||||
|
void modeChanged(void) override;
|
||||||
|
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;
|
||||||
|
uint8_t switchId;
|
||||||
|
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_ */
|
||||||
@ -0,0 +1,132 @@
|
|||||||
|
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||||
|
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||||
|
|
||||||
|
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||||
|
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||||
|
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||||
|
#include <fsfw/serialize/SerialLinkedListAdapter.h>
|
||||||
|
#include <cstdint>
|
||||||
|
|
||||||
|
namespace RM3100 {
|
||||||
|
|
||||||
|
/* Actually 10, we round up a little bit */
|
||||||
|
static constexpr size_t MAX_BUFFER_SIZE = 12;
|
||||||
|
|
||||||
|
static constexpr uint8_t READ_MASK = 0x80;
|
||||||
|
|
||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* CMM Register */
|
||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
|
||||||
|
static constexpr uint8_t SET_CMM_CMY = 1 << 5;
|
||||||
|
static constexpr uint8_t SET_CMM_CMX = 1 << 4;
|
||||||
|
static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
|
||||||
|
static constexpr uint8_t SET_CMM_START = 1;
|
||||||
|
static constexpr uint8_t CMM_REGISTER = 0x01;
|
||||||
|
|
||||||
|
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
|
||||||
|
SET_CMM_DRDM | SET_CMM_START;
|
||||||
|
|
||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* Cycle count register */
|
||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
// Default value (200)
|
||||||
|
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
|
||||||
|
|
||||||
|
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
|
||||||
|
100 * 38;
|
||||||
|
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
|
||||||
|
|
||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* TMRC register */
|
||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
|
||||||
|
static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
|
||||||
|
static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
|
||||||
|
|
||||||
|
static constexpr uint8_t TMRC_REGISTER = 0x0B;
|
||||||
|
static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
|
||||||
|
|
||||||
|
static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
|
||||||
|
static constexpr uint8_t BIST_REGISTER = 0x33;
|
||||||
|
static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
|
||||||
|
static constexpr uint8_t STATUS_REGISTER = 0x34;
|
||||||
|
static constexpr uint8_t REVID_REGISTER = 0x36;
|
||||||
|
|
||||||
|
// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
|
||||||
|
static constexpr uint16_t RANGE = 800;
|
||||||
|
|
||||||
|
static constexpr DeviceCommandId_t READ_DATA = 0;
|
||||||
|
|
||||||
|
static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
|
||||||
|
static constexpr DeviceCommandId_t READ_CMM = 2;
|
||||||
|
|
||||||
|
static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
|
||||||
|
static constexpr DeviceCommandId_t READ_TMRC = 4;
|
||||||
|
|
||||||
|
static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
|
||||||
|
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
|
||||||
|
|
||||||
|
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
|
||||||
|
public:
|
||||||
|
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
|
||||||
|
setLinks(oneCycleCount);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||||
|
Endianness streamEndianness) override {
|
||||||
|
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
|
||||||
|
size, streamEndianness);
|
||||||
|
if(oneCycleCount) {
|
||||||
|
cycleCountY = cycleCountX;
|
||||||
|
cycleCountZ = cycleCountX;
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
SerializeElement<uint16_t> cycleCountX;
|
||||||
|
SerializeElement<uint16_t> cycleCountY;
|
||||||
|
SerializeElement<uint16_t> cycleCountZ;
|
||||||
|
|
||||||
|
private:
|
||||||
|
void setLinks(bool oneCycleCount) {
|
||||||
|
setStart(&cycleCountX);
|
||||||
|
if(not oneCycleCount) {
|
||||||
|
cycleCountX.setNext(&cycleCountY);
|
||||||
|
cycleCountY.setNext(&cycleCountZ);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
bool oneCycleCount;
|
||||||
|
};
|
||||||
|
|
||||||
|
static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
|
||||||
|
|
||||||
|
enum MgmPoolIds: lp_id_t {
|
||||||
|
FIELD_STRENGTH_X,
|
||||||
|
FIELD_STRENGTH_Y,
|
||||||
|
FIELD_STRENGTH_Z,
|
||||||
|
};
|
||||||
|
|
||||||
|
class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||||
|
public:
|
||||||
|
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||||
|
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
|
||||||
|
|
||||||
|
Rm3100PrimaryDataset(object_id_t mgmId):
|
||||||
|
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
|
||||||
|
|
||||||
|
// Field strengths in micro Tesla.
|
||||||
|
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||||
|
FIELD_STRENGTH_X, this);
|
||||||
|
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||||
|
FIELD_STRENGTH_Y, this);
|
||||||
|
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||||
|
FIELD_STRENGTH_Z, this);
|
||||||
|
};
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
|
||||||
@ -17,16 +17,20 @@
|
|||||||
#cmakedefine FSFW_ADD_SGP4_PROPAGATOR
|
#cmakedefine FSFW_ADD_SGP4_PROPAGATOR
|
||||||
|
|
||||||
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
|
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
|
||||||
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
|
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/* Can be used for low-level debugging of the SPI bus */
|
/* Can be used for low-level debugging of the SPI bus */
|
||||||
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
|
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
|
||||||
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
|
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
|
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
|
||||||
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
|
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
|
||||||
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
|
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
|
||||||
|
|
||||||
|
#ifndef FSFW_HAL_RM3100_MGM_DEBUG
|
||||||
|
#define FSFW_HAL_RM3100_MGM_DEBUG 0
|
||||||
|
#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
|
||||||
|
|
||||||
#endif /* FSFW_FSFW_H_ */
|
#endif /* FSFW_FSFW_H_ */
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user