492 lines
16 KiB
C++
492 lines
16 KiB
C++
#include "MgmLIS3MDLHandler.h"
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#include <cmath>
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#include "fsfw/datapool/PoolReadGuard.h"
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MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, uint32_t transitionDelay)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this),
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transitionDelay(transitionDelay) {
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// Set to default values right away
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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}
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MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
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void MgmLIS3MDLHandler::doStartUp() {
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switch (internalState) {
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case (InternalState::STATE_NONE): {
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internalState = InternalState::STATE_FIRST_CONTACT;
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break;
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}
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case (InternalState::STATE_FIRST_CONTACT): {
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/* Will be set by checking device ID (WHO AM I register) */
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if (commandExecuted) {
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commandExecuted = false;
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internalState = InternalState::STATE_SETUP;
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}
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break;
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}
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case (InternalState::STATE_SETUP): {
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internalState = InternalState::STATE_CHECK_REGISTERS;
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break;
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}
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case (InternalState::STATE_CHECK_REGISTERS): {
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/* Set up cached registers which will be used to configure the MGM. */
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if (commandExecuted) {
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commandExecuted = false;
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if (goToNormalMode) {
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setMode(MODE_NORMAL);
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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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void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch (internalState) {
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case (InternalState::STATE_NONE):
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case (InternalState::STATE_NORMAL): {
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return DeviceHandlerBase::NOTHING_TO_SEND;
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}
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case (InternalState::STATE_FIRST_CONTACT): {
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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}
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case (InternalState::STATE_SETUP): {
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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}
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case (InternalState::STATE_CHECK_REGISTERS): {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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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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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
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<< std::endl;
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#else
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sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
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command |= (1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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}
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uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
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command &= ~(1 << MGMLIS3MDL::RW_BIT);
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if (continuousCom == true) {
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command |= (1 << MGMLIS3MDL::MS_BIT);
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}
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return command;
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}
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void MgmLIS3MDLHandler::setupMgm() {
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
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registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
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registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
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prepareCtrlRegisterWrite();
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}
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ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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// Data/config register will be read in an alternating manner.
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if (communicationStep == CommunicationStep::DATA) {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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communicationStep = CommunicationStep::TEMPERATURE;
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return buildCommandFromCommand(*id, NULL, 0);
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} else {
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*id = MGMLIS3MDL::READ_TEMPERATURE;
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communicationStep = CommunicationStep::DATA;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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}
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ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,
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size_t commandDataLen) {
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switch (deviceCommand) {
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case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
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std::memset(commandBuffer, 0, sizeof(commandBuffer));
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commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
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rawPacket = commandBuffer;
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rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
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return RETURN_OK;
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}
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case (MGMLIS3MDL::READ_TEMPERATURE): {
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std::memset(commandBuffer, 0, 3);
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commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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return RETURN_OK;
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}
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case (MGMLIS3MDL::IDENTIFY_DEVICE): {
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return identifyDevice();
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}
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case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
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return enableTemperatureSensor(commandData, commandDataLen);
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}
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case (MGMLIS3MDL::SETUP_MGM): {
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setupMgm();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
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return setOperatingMode(commandData, commandDataLen);
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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 HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
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uint32_t size = 2;
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commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
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commandBuffer[1] = 0x00;
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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}
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ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundLen = len;
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if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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// Check validity by checking config registers
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if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
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start[4] != registers[3] or start[5] != registers[4]) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
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#else
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sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
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#endif
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#endif
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return DeviceHandlerIF::INVALID_DATA;
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}
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if (mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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} else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::READ_TEMPERATURE;
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} else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
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*foundLen = len;
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*foundId = MGMLIS3MDL::SETUP_MGM;
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} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
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*foundLen = len;
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*foundId = getPendingCommand();
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if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
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if (start[1] != MGMLIS3MDL::DEVICE_ID) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
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"Device identification failed!"
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<< std::endl;
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#else
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sif::printWarning(
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"MGMHandlerLIS3MDL::scanForReply: "
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"Device identification failed!\n");
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#endif
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#endif
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return DeviceHandlerIF::INVALID_DATA;
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}
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if (mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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}
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} else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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/* Data with SPI Interface always has this answer */
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if (start[0] == 0b11111111) {
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return RETURN_OK;
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} else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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}
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ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
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switch (id) {
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case MGMLIS3MDL::IDENTIFY_DEVICE: {
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break;
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}
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case MGMLIS3MDL::SETUP_MGM: {
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break;
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}
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case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
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// TODO: Store configuration in new local datasets.
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float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
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int16_t mgmMeasurementRawX =
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packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
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int16_t mgmMeasurementRawY =
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packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
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int16_t mgmMeasurementRawZ =
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packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
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// Target value in microtesla
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float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
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MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
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MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
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MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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if (periodicPrintout) {
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if (debugDivider.checkAndIncrement()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MGMHandlerLIS3: Magnetic field strength in"
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" microtesla:"
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<< std::endl;
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sif::info << "X: " << mgmX << " uT" << std::endl;
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sif::info << "Y: " << mgmY << " uT" << std::endl;
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sif::info << "Z: " << mgmZ << " uT" << std::endl;
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#else
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sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
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sif::printInfo("X: %f uT\n", mgmX);
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sif::printInfo("Y: %f uT\n", mgmY);
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sif::printInfo("Z: %f uT\n", mgmZ);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
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}
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}
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PoolReadGuard readHelper(&dataset);
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if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
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if (std::abs(mgmX) < absLimitX) {
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dataset.fieldStrengthX = mgmX;
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dataset.fieldStrengthX.setValid(true);
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} else {
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dataset.fieldStrengthX.setValid(false);
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}
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if (std::abs(mgmY) < absLimitY) {
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dataset.fieldStrengthY = mgmY;
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dataset.fieldStrengthY.setValid(true);
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} else {
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dataset.fieldStrengthY.setValid(false);
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}
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if (std::abs(mgmZ) < absLimitZ) {
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dataset.fieldStrengthZ = mgmZ;
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dataset.fieldStrengthZ.setValid(true);
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} else {
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dataset.fieldStrengthZ.setValid(false);
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}
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}
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break;
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}
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case MGMLIS3MDL::READ_TEMPERATURE: {
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int16_t tempValueRaw = packet[2] << 8 | packet[1];
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float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
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if (periodicPrintout) {
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if (debugDivider.check()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
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#else
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sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
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#endif
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}
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}
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ReturnValue_t result = dataset.read();
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if (result == HasReturnvaluesIF::RETURN_OK) {
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dataset.temperature = tempValue;
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dataset.commit();
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}
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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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}
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return RETURN_OK;
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}
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MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
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bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
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bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
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if (fs0Set && fs1Set)
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return MGMLIS3MDL::Sensitivies::GAUSS_16;
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else if (!fs0Set && fs1Set)
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return MGMLIS3MDL::Sensitivies::GAUSS_12;
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else if (fs0Set && !fs1Set)
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return MGMLIS3MDL::Sensitivies::GAUSS_8;
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else
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return MGMLIS3MDL::Sensitivies::GAUSS_4;
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}
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float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
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switch (sens) {
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case (MGMLIS3MDL::GAUSS_4): {
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return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
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}
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case (MGMLIS3MDL::GAUSS_8): {
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return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
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}
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case (MGMLIS3MDL::GAUSS_12): {
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return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
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}
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case (MGMLIS3MDL::GAUSS_16): {
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return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
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}
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default: {
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// Should never happen
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return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
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}
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}
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}
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ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
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size_t commandDataLen) {
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if (commandData == nullptr) {
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return INVALID_COMMAND_PARAMETER;
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}
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triggerEvent(CHANGE_OF_SETUP_PARAMETER);
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uint32_t size = 2;
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commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
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if (commandDataLen > 1) {
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return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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switch (commandData[0]) {
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case (MGMLIS3MDL::ON): {
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commandBuffer[1] = registers[0] | (1 << 7);
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break;
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}
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case (MGMLIS3MDL::OFF): {
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commandBuffer[1] = registers[0] & ~(1 << 7);
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break;
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}
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default:
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return INVALID_COMMAND_PARAMETER;
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}
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registers[0] = commandBuffer[1];
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rawPacket = commandBuffer;
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rawPacketLen = size;
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return RETURN_OK;
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}
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ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
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size_t commandDataLen) {
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triggerEvent(CHANGE_OF_SETUP_PARAMETER);
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if (commandDataLen != 1) {
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return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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switch (commandData[0]) {
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case MGMLIS3MDL::LOW:
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registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
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registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
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break;
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case MGMLIS3MDL::MEDIUM:
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registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
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registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
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break;
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case MGMLIS3MDL::HIGH:
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registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
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registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
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break;
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case MGMLIS3MDL::ULTRA:
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registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
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registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
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break;
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default:
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break;
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}
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return prepareCtrlRegisterWrite();
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}
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void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
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insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
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insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
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}
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void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
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ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
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commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
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for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
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commandBuffer[i + 1] = registers[i];
|
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}
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
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|
|
|
// We dont have to check if this is working because we just did i
|
|
return RETURN_OK;
|
|
}
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|
|
|
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
|
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
|
|
}
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|
|
|
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
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|
|
|
void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
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|
|
|
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}));
|
|
poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
|
|
this->absLimitX = xLimit;
|
|
this->absLimitY = yLimit;
|
|
this->absLimitZ = zLimit;
|
|
}
|
|
|
|
void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
|
|
periodicPrintout = enable;
|
|
debugDivider.setDivider(divider);
|
|
}
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