106 lines
4.2 KiB
C++
106 lines
4.2 KiB
C++
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
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#define MISSION_DEVICES_MGMRM3100HANDLER_H_
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#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
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/**
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* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
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* (https://www.pnicorp.com/rm3100/)
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* @details
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
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*/
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class MgmRM3100Handler : public DeviceHandlerBase {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
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//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
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static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
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//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
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//! P1: Second two bytes new Cycle Count Y
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//! P2: New cycle count Z
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static constexpr Event cycleCountersSet =
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event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
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MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
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uint32_t transitionDelay);
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virtual ~MgmRM3100Handler();
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void enablePeriodicPrintouts(bool enable, uint8_t divider);
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/**
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* Configure device handler to go to normal mode after startup immediately
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* @param enable
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*/
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void setToGoToNormalMode(bool enable);
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protected:
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/* DeviceHandlerBase overrides */
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) 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 scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
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size_t *foundLen) override;
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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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virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) 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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enum class InternalState {
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NONE,
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CONFIGURE_CMM,
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READ_CMM,
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// The cycle count states are propably not going to be used because
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// the default cycle count will be used.
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STATE_CONFIGURE_CYCLE_COUNT,
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STATE_READ_CYCLE_COUNT,
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STATE_CONFIGURE_TMRC,
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STATE_READ_TMRC,
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NORMAL
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};
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InternalState internalState = InternalState::NONE;
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bool commandExecuted = false;
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mgmRm3100::Rm3100PrimaryDataset primaryDataset;
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uint8_t commandBuffer[10];
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uint8_t commandBufferLen = 0;
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uint8_t cmmRegValue = mgmRm3100::CMM_VALUE;
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uint8_t tmrcRegValue = mgmRm3100::TMRC_DEFAULT_VALUE;
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uint16_t cycleCountRegValueX = mgmRm3100::CYCLE_COUNT_VALUE;
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uint16_t cycleCountRegValueY = mgmRm3100::CYCLE_COUNT_VALUE;
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uint16_t cycleCountRegValueZ = mgmRm3100::CYCLE_COUNT_VALUE;
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float scaleFactorX = 1.0 / mgmRm3100::DEFAULT_GAIN;
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float scaleFactorY = 1.0 / mgmRm3100::DEFAULT_GAIN;
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float scaleFactorZ = 1.0 / mgmRm3100::DEFAULT_GAIN;
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bool goToNormalModeAtStartup = false;
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uint32_t transitionDelay;
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PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
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ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen);
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ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
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size_t commandDataLen);
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ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen);
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ReturnValue_t handleDataReadout(const uint8_t *packet);
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bool periodicPrintout = false;
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PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
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};
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#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
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