group MGM data in local pool vectors

CMakeLists.txt

@@ -118,6 +118,12 @@ option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
 option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 
+if(UNIX)
+  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
+         OFF)
+  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
+endif()
+
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -286,26 +286,22 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 
       PoolReadGuard readHelper(&dataset);
       if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+        if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
+            std::abs(mgmZ) > absLimitZ) {
+          dataset.fieldStrengths.setValid(false);
+        }
         if (std::abs(mgmX) < absLimitX) {
-          dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengths[0] = mgmX;
-          dataset.fieldStrengthX.setValid(true);
-        } else {
-          dataset.fieldStrengthX.setValid(false);
         }
 
         if (std::abs(mgmY) < absLimitY) {
-          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengths[1] = mgmY;
-          dataset.fieldStrengthY.setValid(true);
-        } else {
-          dataset.fieldStrengthY.setValid(false);
         }
 
         if (std::abs(mgmZ) < absLimitZ) {
-          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengths[2] = mgmZ;
-          dataset.fieldStrengthZ.setValid(true);
-        } else {
-          dataset.fieldStrengthZ.setValid(false);
         }
+        dataset.fieldStrengths.setValid(true);
       }
       break;
     }
@@ -468,10 +464,9 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE
 
 ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                          LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -103,6 +103,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
   CommunicationStep communicationStep = CommunicationStep::DATA;
   bool commandExecuted = false;
 
+  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
+  PoolEntry<float> temperature = PoolEntry<float>();
   /*------------------------------------------------------------------------*/
   /* Device specific commands and variables */
   /*------------------------------------------------------------------------*/

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -309,9 +309,8 @@ 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_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -354,9 +353,9 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
   if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-    primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengths[0] = fieldStrengthX;
-    primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengths[1] = fieldStrengthY;
-    primaryDataset.fieldStrengthZ = fieldStrengthZ;
+    primaryDataset.fieldStrengths[2] = fieldStrengthZ;
     primaryDataset.setValidity(true, true);
   }
   return RETURN_OK;

src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -85,6 +85,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
 
   bool goToNormalModeAtStartup = false;
   uint32_t transitionDelay;
+  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
 
   ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
                                               const uint8_t *commandData, size_t commandDataLen);

src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h

@@ -139,12 +139,7 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;
 
 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
 
-enum MgmPoolIds : lp_id_t {
+enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
-  FIELD_STRENGTH_X,
-  FIELD_STRENGTH_Y,
-  FIELD_STRENGTH_Z,
-  TEMPERATURE_CELCIUS
-};
 
 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
  public:
@@ -152,9 +147,10 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {
 
   MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
 
-  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);
+   * Field strenghts in uT
-  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
+   */
+  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
   lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
 };
 

src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -101,11 +101,7 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
 
 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
 
-enum MgmPoolIds : lp_id_t {
+enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
-  FIELD_STRENGTH_X,
-  FIELD_STRENGTH_Y,
-  FIELD_STRENGTH_Z,
-};
 
 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
  public:
@@ -113,10 +109,10 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
 
   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);
+   * Field strenghts in uT
-  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);
+  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
 };
 
 }  // namespace RM3100