370 lines
13 KiB
C++
370 lines
13 KiB
C++
#include "MgmRM3100Handler.h"
|
|
|
|
#include "fsfw/datapool/PoolReadGuard.h"
|
|
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
|
|
#include "fsfw/globalfunctions/bitutility.h"
|
|
#include "fsfw/objectmanager/SystemObjectIF.h"
|
|
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
|
|
|
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
|
|
CookieIF *comCookie, uint32_t transitionDelay)
|
|
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
|
primaryDataset(this),
|
|
transitionDelay(transitionDelay) {}
|
|
|
|
MgmRM3100Handler::~MgmRM3100Handler() {}
|
|
|
|
void MgmRM3100Handler::doStartUp() {
|
|
switch (internalState) {
|
|
case (InternalState::NONE): {
|
|
internalState = InternalState::CONFIGURE_CMM;
|
|
break;
|
|
}
|
|
case (InternalState::CONFIGURE_CMM): {
|
|
internalState = InternalState::READ_CMM;
|
|
break;
|
|
}
|
|
case (InternalState::READ_CMM): {
|
|
if (commandExecuted) {
|
|
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
|
}
|
|
break;
|
|
}
|
|
case (InternalState::STATE_CONFIGURE_TMRC): {
|
|
if (commandExecuted) {
|
|
internalState = InternalState::STATE_READ_TMRC;
|
|
}
|
|
break;
|
|
}
|
|
case (InternalState::STATE_READ_TMRC): {
|
|
if (commandExecuted) {
|
|
internalState = InternalState::NORMAL;
|
|
if (goToNormalModeAtStartup) {
|
|
setMode(MODE_NORMAL);
|
|
} else {
|
|
setMode(_MODE_TO_ON);
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
|
|
|
|
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
|
size_t commandLen = 0;
|
|
switch (internalState) {
|
|
case (InternalState::NONE):
|
|
case (InternalState::NORMAL): {
|
|
return NOTHING_TO_SEND;
|
|
}
|
|
case (InternalState::CONFIGURE_CMM): {
|
|
*id = RM3100::CONFIGURE_CMM;
|
|
break;
|
|
}
|
|
case (InternalState::READ_CMM): {
|
|
*id = RM3100::READ_CMM;
|
|
break;
|
|
}
|
|
case (InternalState::STATE_CONFIGURE_TMRC): {
|
|
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
|
|
commandLen = 1;
|
|
*id = RM3100::CONFIGURE_TMRC;
|
|
break;
|
|
}
|
|
case (InternalState::STATE_READ_TMRC): {
|
|
*id = RM3100::READ_TMRC;
|
|
break;
|
|
}
|
|
default:
|
|
#if FSFW_VERBOSE_LEVEL >= 1
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
// Might be a configuration error
|
|
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
|
|
"Unknown internal state"
|
|
<< std::endl;
|
|
#else
|
|
sif::printWarning(
|
|
"MgmRM3100Handler::buildTransitionDeviceCommand: "
|
|
"Unknown internal state\n");
|
|
#endif
|
|
#endif
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
return buildCommandFromCommand(*id, commandBuffer, commandLen);
|
|
}
|
|
|
|
ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
|
const uint8_t *commandData,
|
|
size_t commandDataLen) {
|
|
switch (deviceCommand) {
|
|
case (RM3100::CONFIGURE_CMM): {
|
|
commandBuffer[0] = RM3100::CMM_REGISTER;
|
|
commandBuffer[1] = RM3100::CMM_VALUE;
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = 2;
|
|
break;
|
|
}
|
|
case (RM3100::READ_CMM): {
|
|
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
|
|
commandBuffer[1] = 0;
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = 2;
|
|
break;
|
|
}
|
|
case (RM3100::CONFIGURE_TMRC): {
|
|
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
|
|
}
|
|
case (RM3100::READ_TMRC): {
|
|
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
|
|
commandBuffer[1] = 0;
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = 2;
|
|
break;
|
|
}
|
|
case (RM3100::CONFIGURE_CYCLE_COUNT): {
|
|
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
|
|
}
|
|
case (RM3100::READ_CYCLE_COUNT): {
|
|
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
|
|
std::memset(commandBuffer + 1, 0, 6);
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = 7;
|
|
break;
|
|
}
|
|
case (RM3100::READ_DATA): {
|
|
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
|
|
std::memset(commandBuffer + 1, 0, 9);
|
|
rawPacketLen = 10;
|
|
break;
|
|
}
|
|
default:
|
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
|
*id = RM3100::READ_DATA;
|
|
return buildCommandFromCommand(*id, nullptr, 0);
|
|
}
|
|
|
|
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
|
|
DeviceCommandId_t *foundId, size_t *foundLen) {
|
|
// For SPI, ID will always be the one of the last sent command
|
|
*foundId = this->getPendingCommand();
|
|
*foundLen = len;
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
|
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
|
switch (id) {
|
|
case (RM3100::CONFIGURE_CMM):
|
|
case (RM3100::CONFIGURE_CYCLE_COUNT):
|
|
case (RM3100::CONFIGURE_TMRC): {
|
|
// We can only check whether write was successful with read operation
|
|
if (mode == _MODE_START_UP) {
|
|
commandExecuted = true;
|
|
}
|
|
break;
|
|
}
|
|
case (RM3100::READ_CMM): {
|
|
uint8_t cmmValue = packet[1];
|
|
// We clear the seventh bit in any case
|
|
// because this one is zero sometimes for some reason
|
|
bitutil::clear(&cmmValue, 6);
|
|
if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
|
|
commandExecuted = true;
|
|
} else {
|
|
// Attempt reconfiguration
|
|
internalState = InternalState::CONFIGURE_CMM;
|
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
|
}
|
|
break;
|
|
}
|
|
case (RM3100::READ_TMRC): {
|
|
if (packet[1] == tmrcRegValue) {
|
|
commandExecuted = true;
|
|
// Reading TMRC was commanded. Trigger event to inform ground
|
|
if (mode != _MODE_START_UP) {
|
|
triggerEvent(tmrcSet, tmrcRegValue, 0);
|
|
}
|
|
} else {
|
|
// Attempt reconfiguration
|
|
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
|
}
|
|
break;
|
|
}
|
|
case (RM3100::READ_CYCLE_COUNT): {
|
|
uint16_t cycleCountX = packet[1] << 8 | packet[2];
|
|
uint16_t cycleCountY = packet[3] << 8 | packet[4];
|
|
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
|
|
if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
|
|
cycleCountZ != cycleCountRegValueZ) {
|
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
|
}
|
|
// Reading TMRC was commanded. Trigger event to inform ground
|
|
if (mode != _MODE_START_UP) {
|
|
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
|
|
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
|
|
}
|
|
break;
|
|
}
|
|
case (RM3100::READ_DATA): {
|
|
result = handleDataReadout(packet);
|
|
break;
|
|
}
|
|
default:
|
|
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
|
const uint8_t *commandData,
|
|
size_t commandDataLen) {
|
|
if (commandData == nullptr) {
|
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
|
}
|
|
|
|
// Set cycle count
|
|
if (commandDataLen == 2) {
|
|
handleCycleCommand(true, commandData, commandDataLen);
|
|
} else if (commandDataLen == 6) {
|
|
handleCycleCommand(false, commandData, commandDataLen);
|
|
} else {
|
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
|
}
|
|
|
|
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
|
|
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
|
|
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
|
|
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
|
|
rawPacketLen = 7;
|
|
rawPacket = commandBuffer;
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
|
|
size_t commandDataLen) {
|
|
RM3100::CycleCountCommand command(oneCycleValue);
|
|
ReturnValue_t result =
|
|
command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
|
|
// Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
|
|
if (command.cycleCountX > 450) {
|
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
|
}
|
|
|
|
if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
|
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
|
}
|
|
|
|
cycleCountRegValueX = command.cycleCountX;
|
|
cycleCountRegValueY = command.cycleCountY;
|
|
cycleCountRegValueZ = command.cycleCountZ;
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
|
|
const uint8_t *commandData,
|
|
size_t commandDataLen) {
|
|
if (commandData == nullptr or commandDataLen != 1) {
|
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
|
}
|
|
|
|
commandBuffer[0] = RM3100::TMRC_REGISTER;
|
|
commandBuffer[1] = commandData[0];
|
|
tmrcRegValue = commandData[0];
|
|
rawPacketLen = 2;
|
|
rawPacket = commandBuffer;
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
void MgmRM3100Handler::fillCommandAndReplyMap() {
|
|
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
|
|
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
|
|
|
|
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
|
|
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
|
|
|
|
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
|
|
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
|
|
|
|
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
|
|
}
|
|
|
|
void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
|
|
|
|
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
|
LocalDataPoolManager &poolManager) {
|
|
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
|
|
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
|
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
|
poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
|
return this->transitionDelay;
|
|
}
|
|
|
|
void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
|
|
|
|
ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
|
|
// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
|
|
// trickery here to calculate the raw values first
|
|
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
|
|
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
|
|
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
|
|
|
|
// Now scale to physical value in microtesla
|
|
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
|
|
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
|
|
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
|
|
|
|
if (periodicPrintout) {
|
|
if (debugDivider.checkAndIncrement()) {
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
sif::info << "MgmRM3100Handler: Magnetic field strength in"
|
|
" microtesla:"
|
|
<< std::endl;
|
|
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
|
|
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
|
|
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
|
|
#else
|
|
sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
|
|
sif::printInfo("X: %f uT\n", fieldStrengthX);
|
|
sif::printInfo("Y: %f uT\n", fieldStrengthY);
|
|
sif::printInfo("Z: %f uT\n", fieldStrengthZ);
|
|
#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;
|
|
}
|
|
|
|
void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
|
|
periodicPrintout = enable;
|
|
debugDivider.setDivider(divider);
|
|
}
|