reapply clang format
This commit is contained in:
@ -1,287 +1,274 @@
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#include "GyroL3GD20Handler.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include <cmath>
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#include "fsfw/datapool/PoolReadGuard.h"
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GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, uint32_t transitionDelayMs):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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transitionDelayMs(transitionDelayMs), dataset(this) {
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CookieIF *comCookie, uint32_t transitionDelayMs)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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transitionDelayMs(transitionDelayMs),
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dataset(this) {
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#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(3);
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debugDivider = new PeriodicOperationDivider(3);
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#endif
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}
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GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
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void GyroHandlerL3GD20H::doStartUp() {
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if(internalState == InternalState::NONE) {
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internalState = InternalState::CONFIGURE;
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}
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if (internalState == InternalState::NONE) {
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internalState = InternalState::CONFIGURE;
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}
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if(internalState == InternalState::CONFIGURE) {
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if(commandExecuted) {
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internalState = InternalState::CHECK_REGS;
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commandExecuted = false;
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}
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if (internalState == InternalState::CONFIGURE) {
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if (commandExecuted) {
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internalState = InternalState::CHECK_REGS;
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commandExecuted = false;
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}
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}
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if(internalState == InternalState::CHECK_REGS) {
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if(commandExecuted) {
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internalState = InternalState::NORMAL;
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if(goNormalModeImmediately) {
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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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commandExecuted = false;
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}
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if (internalState == InternalState::CHECK_REGS) {
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if (commandExecuted) {
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internalState = InternalState::NORMAL;
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if (goNormalModeImmediately) {
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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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commandExecuted = false;
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}
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}
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}
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void GyroHandlerL3GD20H::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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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 NOTHING_TO_SEND;
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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 NOTHING_TO_SEND;
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}
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case(InternalState::CONFIGURE): {
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*id = L3GD20H::CONFIGURE_CTRL_REGS;
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uint8_t command [5];
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command[0] = L3GD20H::CTRL_REG_1_VAL;
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command[1] = L3GD20H::CTRL_REG_2_VAL;
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command[2] = L3GD20H::CTRL_REG_3_VAL;
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command[3] = L3GD20H::CTRL_REG_4_VAL;
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command[4] = L3GD20H::CTRL_REG_5_VAL;
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return buildCommandFromCommand(*id, command, 5);
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case (InternalState::CONFIGURE): {
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*id = L3GD20H::CONFIGURE_CTRL_REGS;
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uint8_t command[5];
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command[0] = L3GD20H::CTRL_REG_1_VAL;
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command[1] = L3GD20H::CTRL_REG_2_VAL;
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command[2] = L3GD20H::CTRL_REG_3_VAL;
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command[3] = L3GD20H::CTRL_REG_4_VAL;
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command[4] = L3GD20H::CTRL_REG_5_VAL;
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return buildCommandFromCommand(*id, command, 5);
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}
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case(InternalState::CHECK_REGS): {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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case (InternalState::CHECK_REGS): {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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/* Might be a configuration error. */
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sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!" << std::endl;
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/* Might be a configuration error. */
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sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!"
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<< std::endl;
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#else
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sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!\n");
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sif::printDebug(
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"GyroL3GD20Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!\n");
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(L3GD20H::READ_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
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rawPacket = commandBuffer;
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rawPacketLen = L3GD20H::READ_LEN + 1;
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break;
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ReturnValue_t GyroHandlerL3GD20H::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 (L3GD20H::READ_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
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rawPacket = commandBuffer;
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rawPacketLen = L3GD20H::READ_LEN + 1;
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break;
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}
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case(L3GD20H::CONFIGURE_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
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if(commandData == nullptr or commandDataLen != 5) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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case (L3GD20H::CONFIGURE_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
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if (commandData == nullptr or commandDataLen != 5) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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ctrlReg1Value = commandData[0];
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ctrlReg2Value = commandData[1];
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ctrlReg3Value = commandData[2];
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ctrlReg4Value = commandData[3];
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ctrlReg5Value = commandData[4];
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ctrlReg1Value = commandData[0];
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ctrlReg2Value = commandData[1];
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ctrlReg3Value = commandData[2];
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ctrlReg4Value = commandData[3];
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ctrlReg5Value = commandData[4];
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bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
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bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
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bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
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bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
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if(not fsH and not fsL) {
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sensitivity = L3GD20H::SENSITIVITY_00;
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}
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else if(not fsH and fsL) {
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sensitivity = L3GD20H::SENSITIVITY_01;
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}
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else {
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sensitivity = L3GD20H::SENSITIVITY_11;
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}
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if (not fsH and not fsL) {
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sensitivity = L3GD20H::SENSITIVITY_00;
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} else if (not fsH and fsL) {
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sensitivity = L3GD20H::SENSITIVITY_01;
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} else {
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sensitivity = L3GD20H::SENSITIVITY_11;
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}
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commandBuffer[1] = ctrlReg1Value;
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commandBuffer[2] = ctrlReg2Value;
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commandBuffer[3] = ctrlReg3Value;
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commandBuffer[4] = ctrlReg4Value;
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commandBuffer[5] = ctrlReg5Value;
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commandBuffer[1] = ctrlReg1Value;
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commandBuffer[2] = ctrlReg2Value;
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commandBuffer[3] = ctrlReg3Value;
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commandBuffer[4] = ctrlReg4Value;
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commandBuffer[5] = ctrlReg5Value;
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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}
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case(L3GD20H::READ_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
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L3GD20H::READ_MASK;
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case (L3GD20H::READ_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, 5);
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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std::memset(commandBuffer + 1, 0, 5);
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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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 HasReturnvaluesIF::RETURN_OK;
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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// For SPI, the ID will always be the one of the last sent command
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*foundId = this->getPendingCommand();
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*foundLen = this->rawPacketLen;
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DeviceCommandId_t *foundId, size_t *foundLen) {
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// For SPI, the ID will always be the one of the last sent command
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*foundId = this->getPendingCommand();
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*foundLen = this->rawPacketLen;
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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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(L3GD20H::CONFIGURE_CTRL_REGS): {
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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 (L3GD20H::CONFIGURE_CTRL_REGS): {
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commandExecuted = true;
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break;
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}
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case (L3GD20H::READ_CTRL_REGS): {
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if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
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packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
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packet[5] == ctrlReg5Value) {
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commandExecuted = true;
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break;
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} else {
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// Attempt reconfiguration
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internalState = InternalState::CONFIGURE;
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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(L3GD20H::READ_CTRL_REGS): {
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if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
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packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
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packet[5] == ctrlReg5Value) {
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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;
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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(L3GD20H::READ_REGS): {
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if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
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packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
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packet[5] != ctrlReg5Value) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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else {
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if(internalState == InternalState::CHECK_REGS) {
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commandExecuted = true;
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}
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case (L3GD20H::READ_REGS): {
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if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
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packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
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packet[5] != ctrlReg5Value) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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} else {
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if (internalState == InternalState::CHECK_REGS) {
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commandExecuted = true;
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}
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}
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statusReg = packet[L3GD20H::STATUS_IDX];
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statusReg = packet[L3GD20H::STATUS_IDX];
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int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
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int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
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int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
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float angVelocX = angVelocXRaw * sensitivity;
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float angVelocY = angVelocYRaw * sensitivity;
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float angVelocZ = angVelocZRaw * sensitivity;
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int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
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int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
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int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
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float angVelocX = angVelocXRaw * sensitivity;
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float angVelocY = angVelocYRaw * sensitivity;
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float angVelocZ = angVelocZRaw * sensitivity;
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int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
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float temperature = 25.0 + temperaturOffset;
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int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
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float temperature = 25.0 + temperaturOffset;
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#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
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if(debugDivider->checkAndIncrement()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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if (debugDivider->checkAndIncrement()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
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sif::info << "X: " << angVelocX << std::endl;
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sif::info << "Y: " << angVelocY << std::endl;
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sif::info << "Z: " << angVelocZ << std::endl;
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sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
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sif::info << "X: " << angVelocX << std::endl;
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sif::info << "Y: " << angVelocY << std::endl;
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sif::info << "Z: " << angVelocZ << std::endl;
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#else
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sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
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sif::printInfo("X: %f\n", angVelocX);
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sif::printInfo("Y: %f\n", angVelocY);
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sif::printInfo("Z: %f\n", angVelocZ);
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sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
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sif::printInfo("X: %f\n", angVelocX);
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sif::printInfo("Y: %f\n", angVelocY);
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sif::printInfo("Z: %f\n", angVelocZ);
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#endif
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}
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}
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#endif
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PoolReadGuard readSet(&dataset);
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if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
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if(std::abs(angVelocX) < this->absLimitX) {
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dataset.angVelocX = angVelocX;
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dataset.angVelocX.setValid(true);
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}
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else {
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dataset.angVelocX.setValid(false);
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}
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if(std::abs(angVelocY) < this->absLimitY) {
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dataset.angVelocY = angVelocY;
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dataset.angVelocY.setValid(true);
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}
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else {
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dataset.angVelocY.setValid(false);
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}
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||||
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if(std::abs(angVelocZ) < this->absLimitZ) {
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dataset.angVelocZ = angVelocZ;
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dataset.angVelocZ.setValid(true);
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}
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else {
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dataset.angVelocZ.setValid(false);
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}
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|
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dataset.temperature = temperature;
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dataset.temperature.setValid(true);
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PoolReadGuard readSet(&dataset);
|
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if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
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if (std::abs(angVelocX) < this->absLimitX) {
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dataset.angVelocX = angVelocX;
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dataset.angVelocX.setValid(true);
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} else {
|
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dataset.angVelocX.setValid(false);
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}
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break;
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||||
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||||
if (std::abs(angVelocY) < this->absLimitY) {
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocY.setValid(true);
|
||||
} else {
|
||||
dataset.angVelocY.setValid(false);
|
||||
}
|
||||
|
||||
if (std::abs(angVelocZ) < this->absLimitZ) {
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||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.angVelocZ.setValid(true);
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||||
} else {
|
||||
dataset.angVelocZ.setValid(false);
|
||||
}
|
||||
|
||||
dataset.temperature = temperature;
|
||||
dataset.temperature.setValid(true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return result;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return this->transitionDelayMs;
|
||||
return this->transitionDelayMs;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
|
||||
this->goNormalModeImmediately = true;
|
||||
}
|
||||
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::modeChanged() {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
|
||||
|
||||
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
|
||||
this->absLimitX = limitX;
|
||||
this->absLimitY = limitY;
|
||||
this->absLimitZ = limitZ;
|
||||
this->absLimitX = limitX;
|
||||
this->absLimitY = limitY;
|
||||
this->absLimitZ = limitZ;
|
||||
}
|
||||
|
||||
@ -1,12 +1,12 @@
|
||||
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
@ -16,84 +16,73 @@
|
||||
*
|
||||
* Data is read big endian with the smallest possible range of 245 degrees per second.
|
||||
*/
|
||||
class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, uint32_t transitionDelayMs);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
class GyroHandlerL3GD20H : public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
|
||||
uint32_t transitionDelayMs);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in degrees per second.
|
||||
* The dataset values will be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in degrees per second.
|
||||
* The dataset values will be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
||||
|
||||
/**
|
||||
* @brief Configure device handler to go to normal mode immediately
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
protected:
|
||||
/**
|
||||
* @brief Configure device handler to go to normal mode immediately
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
|
||||
/* 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;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
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;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
uint32_t transitionDelayMs = 0;
|
||||
GyroPrimaryDataset dataset;
|
||||
private:
|
||||
uint32_t transitionDelayMs = 0;
|
||||
GyroPrimaryDataset dataset;
|
||||
|
||||
float absLimitX = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitY = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitZ = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitX = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitY = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitZ = L3GD20H::RANGE_DPS_00;
|
||||
|
||||
enum class InternalState {
|
||||
NONE,
|
||||
CONFIGURE,
|
||||
CHECK_REGS,
|
||||
NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
|
||||
uint8_t statusReg = 0;
|
||||
bool goNormalModeImmediately = false;
|
||||
uint8_t statusReg = 0;
|
||||
bool goNormalModeImmediately = false;
|
||||
|
||||
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
|
||||
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
|
||||
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
|
||||
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
|
||||
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
|
||||
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
|
||||
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
|
||||
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
|
||||
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
|
||||
// Set default value
|
||||
float sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
// Set default value
|
||||
float sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider = nullptr;
|
||||
PeriodicOperationDivider *debugDivider = nullptr;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
|
||||
|
||||
@ -8,513 +8,477 @@
|
||||
#include <cmath>
|
||||
|
||||
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, uint32_t transitionDelay):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this), transitionDelay(transitionDelay) {
|
||||
CookieIF *comCookie, uint32_t transitionDelay)
|
||||
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this),
|
||||
transitionDelay(transitionDelay) {
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
// Set to default values right away
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
}
|
||||
|
||||
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
|
||||
// Set to default values right away
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
}
|
||||
|
||||
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
|
||||
|
||||
void MgmLIS3MDLHandler::doStartUp() {
|
||||
switch (internalState) {
|
||||
case(InternalState::STATE_NONE): {
|
||||
internalState = InternalState::STATE_FIRST_CONTACT;
|
||||
break;
|
||||
switch (internalState) {
|
||||
case (InternalState::STATE_NONE): {
|
||||
internalState = InternalState::STATE_FIRST_CONTACT;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_FIRST_CONTACT): {
|
||||
/* Will be set by checking device ID (WHO AM I register) */
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
internalState = InternalState::STATE_SETUP;
|
||||
case (InternalState::STATE_FIRST_CONTACT): {
|
||||
/* Will be set by checking device ID (WHO AM I register) */
|
||||
if (commandExecuted) {
|
||||
commandExecuted = false;
|
||||
internalState = InternalState::STATE_SETUP;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (InternalState::STATE_SETUP): {
|
||||
internalState = InternalState::STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
}
|
||||
case (InternalState::STATE_CHECK_REGISTERS): {
|
||||
/* Set up cached registers which will be used to configure the MGM. */
|
||||
if (commandExecuted) {
|
||||
commandExecuted = false;
|
||||
if (goToNormalMode) {
|
||||
setMode(MODE_NORMAL);
|
||||
} else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_SETUP): {
|
||||
internalState = InternalState::STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||
/* Set up cached registers which will be used to configure the MGM. */
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
if(goToNormalMode) {
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
switch (internalState) {
|
||||
case(InternalState::STATE_NONE):
|
||||
case(InternalState::STATE_NORMAL): {
|
||||
return DeviceHandlerBase::NOTHING_TO_SEND;
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch (internalState) {
|
||||
case (InternalState::STATE_NONE):
|
||||
case (InternalState::STATE_NORMAL): {
|
||||
return DeviceHandlerBase::NOTHING_TO_SEND;
|
||||
}
|
||||
case(InternalState::STATE_FIRST_CONTACT): {
|
||||
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||
break;
|
||||
case (InternalState::STATE_FIRST_CONTACT): {
|
||||
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_SETUP): {
|
||||
*id = MGMLIS3MDL::SETUP_MGM;
|
||||
break;
|
||||
case (InternalState::STATE_SETUP): {
|
||||
*id = MGMLIS3MDL::SETUP_MGM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
break;
|
||||
case (InternalState::STATE_CHECK_REGISTERS): {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
/* might be a configuration error. */
|
||||
/* might be a configuration error. */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||
std::endl;
|
||||
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
|
||||
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
}
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
|
||||
command |= (1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
command |= (1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
}
|
||||
|
||||
uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
|
||||
command &= ~(1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
command &= ~(1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::setupMgm() {
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
prepareCtrlRegisterWrite();
|
||||
prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
// Data/config register will be read in an alternating manner.
|
||||
if(communicationStep == CommunicationStep::DATA) {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
communicationStep = CommunicationStep::TEMPERATURE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
else {
|
||||
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
communicationStep = CommunicationStep::DATA;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
// Data/config register will be read in an alternating manner.
|
||||
if (communicationStep == CommunicationStep::DATA) {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
communicationStep = CommunicationStep::TEMPERATURE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
} else {
|
||||
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
communicationStep = CommunicationStep::DATA;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch (deviceCommand) {
|
||||
case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
|
||||
return RETURN_OK;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::READ_TEMPERATURE): {
|
||||
std::memset(commandBuffer, 0, 3);
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
|
||||
case (MGMLIS3MDL::READ_TEMPERATURE): {
|
||||
std::memset(commandBuffer, 0, 3);
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 3;
|
||||
return RETURN_OK;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 3;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::IDENTIFY_DEVICE): {
|
||||
return identifyDevice();
|
||||
case (MGMLIS3MDL::IDENTIFY_DEVICE): {
|
||||
return identifyDevice();
|
||||
}
|
||||
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
}
|
||||
case(MGMLIS3MDL::SETUP_MGM): {
|
||||
setupMgm();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
case (MGMLIS3MDL::SETUP_MGM): {
|
||||
setupMgm();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
|
||||
commandBuffer[1] = 0x00;
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
|
||||
commandBuffer[1] = 0x00;
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
|
||||
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
*foundLen = len;
|
||||
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
|
||||
*foundLen = len;
|
||||
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
// Check validity by checking config registers
|
||||
if (start[1] != registers[0] or start[2] != registers[1] or
|
||||
start[3] != registers[2] or start[4] != registers[3] or
|
||||
start[5] != registers[4]) {
|
||||
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
// Check validity by checking config registers
|
||||
if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
|
||||
start[4] != registers[3] or start[5] != registers[4]) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
|
||||
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
|
||||
#endif
|
||||
#endif
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
if (mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
|
||||
}
|
||||
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
}
|
||||
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::SETUP_MGM;
|
||||
}
|
||||
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = getPendingCommand();
|
||||
if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
|
||||
if(start[1] != MGMLIS3MDL::DEVICE_ID) {
|
||||
} else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
} else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::SETUP_MGM;
|
||||
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = getPendingCommand();
|
||||
if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
|
||||
if (start[1] != MGMLIS3MDL::DEVICE_ID) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!" << std::endl;
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!\n");
|
||||
sif::printWarning(
|
||||
"MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!\n");
|
||||
#endif
|
||||
#endif
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
}
|
||||
|
||||
/* Data with SPI Interface always has this answer */
|
||||
if (start[0] == 0b11111111) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
if (mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
/* Data with SPI Interface always has this answer */
|
||||
if (start[0] == 0b11111111) {
|
||||
return RETURN_OK;
|
||||
} else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
}
|
||||
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
|
||||
switch (id) {
|
||||
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
|
||||
switch (id) {
|
||||
case MGMLIS3MDL::IDENTIFY_DEVICE: {
|
||||
break;
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::SETUP_MGM: {
|
||||
break;
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
|
||||
// TODO: Store configuration in new local datasets.
|
||||
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
|
||||
// TODO: Store configuration in new local datasets.
|
||||
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
|
||||
|
||||
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawX =
|
||||
packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
|
||||
int16_t mgmMeasurementRawY =
|
||||
packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
|
||||
int16_t mgmMeasurementRawZ =
|
||||
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
|
||||
|
||||
/* Target value in microtesla */
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
/* Target value in microtesla */
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
|
||||
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
|
||||
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
|
||||
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
if (debugDivider->checkAndIncrement()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
sif::info << "X: " << mgmX << " uT" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " uT" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " uT" << std::endl;
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:"
|
||||
<< std::endl;
|
||||
sif::info << "X: " << mgmX << " uT" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " uT" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " uT" << std::endl;
|
||||
#else
|
||||
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
|
||||
sif::printInfo("X: %f uT\n", mgmX);
|
||||
sif::printInfo("Y: %f uT\n", mgmY);
|
||||
sif::printInfo("Z: %f uT\n", mgmZ);
|
||||
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
|
||||
sif::printInfo("X: %f uT\n", mgmX);
|
||||
sif::printInfo("Y: %f uT\n", mgmY);
|
||||
sif::printInfo("Z: %f uT\n", mgmZ);
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
|
||||
}
|
||||
}
|
||||
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
|
||||
PoolReadGuard readHelper(&dataset);
|
||||
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(std::abs(mgmX) < absLimitX) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthX.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.fieldStrengthX.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(mgmY) < absLimitY) {
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthY.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.fieldStrengthY.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(mgmZ) < absLimitZ) {
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.fieldStrengthZ.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.fieldStrengthZ.setValid(false);
|
||||
}
|
||||
PoolReadGuard readHelper(&dataset);
|
||||
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if (std::abs(mgmX) < absLimitX) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthX.setValid(true);
|
||||
} else {
|
||||
dataset.fieldStrengthX.setValid(false);
|
||||
}
|
||||
break;
|
||||
|
||||
if (std::abs(mgmY) < absLimitY) {
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthY.setValid(true);
|
||||
} else {
|
||||
dataset.fieldStrengthY.setValid(false);
|
||||
}
|
||||
|
||||
if (std::abs(mgmZ) < absLimitZ) {
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.fieldStrengthZ.setValid(true);
|
||||
} else {
|
||||
dataset.fieldStrengthZ.setValid(false);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
if(debugDivider->check()) {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
if (debugDivider->check()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
|
||||
std::endl;
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
|
||||
#else
|
||||
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
|
||||
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit();
|
||||
}
|
||||
break;
|
||||
ReturnValue_t result = dataset.read();
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit();
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
default: {
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
|
||||
bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
|
||||
bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
|
||||
bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
|
||||
bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
|
||||
|
||||
if (fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_16;
|
||||
else if (!fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_12;
|
||||
else if (fs0Set && !fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_8;
|
||||
else
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_4;
|
||||
if (fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_16;
|
||||
else if (!fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_12;
|
||||
else if (fs0Set && !fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_8;
|
||||
else
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_4;
|
||||
}
|
||||
|
||||
float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
|
||||
switch(sens) {
|
||||
case(MGMLIS3MDL::GAUSS_4): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
switch (sens) {
|
||||
case (MGMLIS3MDL::GAUSS_4): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
}
|
||||
case(MGMLIS3MDL::GAUSS_8): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
|
||||
case (MGMLIS3MDL::GAUSS_8): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
|
||||
}
|
||||
case(MGMLIS3MDL::GAUSS_12): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
|
||||
case (MGMLIS3MDL::GAUSS_12): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
|
||||
}
|
||||
case(MGMLIS3MDL::GAUSS_16): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
|
||||
case (MGMLIS3MDL::GAUSS_16): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
|
||||
}
|
||||
default: {
|
||||
// Should never happen
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
}
|
||||
// Should never happen
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
}
|
||||
case (MGMLIS3MDL::OFF): {
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
|
||||
switch (commandData[0]) {
|
||||
switch (commandData[0]) {
|
||||
case MGMLIS3MDL::LOW:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::MEDIUM:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::HIGH:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::ULTRA:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
return prepareCtrlRegisterWrite();
|
||||
return prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
|
||||
this->goToNormalMode = enable;
|
||||
}
|
||||
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
|
||||
// We dont have to check if this is working because we just did i
|
||||
return RETURN_OK;
|
||||
// We dont have to check if this is working because we just did i
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
|
||||
|
||||
}
|
||||
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
|
||||
|
||||
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return transitionDelay;
|
||||
}
|
||||
void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
|
||||
|
||||
void MgmLIS3MDLHandler::modeChanged(void) {
|
||||
internalState = InternalState::STATE_NONE;
|
||||
}
|
||||
|
||||
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}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
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}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
|
||||
this->absLimitX = xLimit;
|
||||
this->absLimitY = yLimit;
|
||||
this->absLimitZ = zLimit;
|
||||
this->absLimitX = xLimit;
|
||||
this->absLimitY = yLimit;
|
||||
this->absLimitZ = zLimit;
|
||||
}
|
||||
|
||||
@ -1,10 +1,9 @@
|
||||
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
|
||||
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
|
||||
class PeriodicOperationDivider;
|
||||
@ -18,168 +17,158 @@ class PeriodicOperationDivider;
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
|
||||
* @author L. Loidold, R. Mueller
|
||||
*/
|
||||
class MgmLIS3MDLHandler: public DeviceHandlerBase {
|
||||
public:
|
||||
enum class CommunicationStep {
|
||||
DATA,
|
||||
TEMPERATURE
|
||||
};
|
||||
class MgmLIS3MDLHandler : public DeviceHandlerBase {
|
||||
public:
|
||||
enum class CommunicationStep { DATA, TEMPERATURE };
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||
//Notifies a command to change the setup parameters
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||
// Notifies a command to change the setup parameters
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||
|
||||
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
|
||||
uint32_t transitionDelay);
|
||||
virtual ~MgmLIS3MDLHandler();
|
||||
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
|
||||
uint32_t transitionDelay);
|
||||
virtual ~MgmLIS3MDLHandler();
|
||||
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
|
||||
* be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
|
||||
void setToGoToNormalMode(bool enable);
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
|
||||
* be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
|
||||
void setToGoToNormalMode(bool enable);
|
||||
|
||||
protected:
|
||||
protected:
|
||||
/** DeviceHandlerBase overrides */
|
||||
void doShutDown() override;
|
||||
void doStartUp() override;
|
||||
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
|
||||
size_t *foundLen) override;
|
||||
/**
|
||||
* This implementation is tailored towards space applications and will flag values larger
|
||||
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
|
||||
* @param id
|
||||
* @param packet
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
/** DeviceHandlerBase overrides */
|
||||
void doShutDown() override;
|
||||
void doStartUp() override;
|
||||
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
/**
|
||||
* This implementation is tailored towards space applications and will flag values larger
|
||||
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
|
||||
* @param id
|
||||
* @param packet
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
// Length a single command SPI answer
|
||||
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
|
||||
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
//Length a single command SPI answer
|
||||
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
|
||||
uint32_t transitionDelay;
|
||||
// Single SPI command has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
// Has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
|
||||
|
||||
uint32_t transitionDelay;
|
||||
// Single SPI command has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
// Has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
|
||||
float absLimitX = 100;
|
||||
float absLimitY = 100;
|
||||
float absLimitZ = 150;
|
||||
|
||||
float absLimitX = 100;
|
||||
float absLimitY = 100;
|
||||
float absLimitZ = 150;
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the
|
||||
* registers when we want to change something.
|
||||
* --> everytime we change set a register we have to save it
|
||||
*/
|
||||
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the
|
||||
* registers when we want to change something.
|
||||
* --> everytime we change set a register we have to save it
|
||||
*/
|
||||
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
uint8_t statusRegister = 0;
|
||||
bool goToNormalMode = false;
|
||||
|
||||
uint8_t statusRegister = 0;
|
||||
bool goToNormalMode = false;
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_FIRST_CONTACT,
|
||||
STATE_SETUP,
|
||||
STATE_CHECK_REGISTERS,
|
||||
STATE_NORMAL
|
||||
};
|
||||
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_FIRST_CONTACT,
|
||||
STATE_SETUP,
|
||||
STATE_CHECK_REGISTERS,
|
||||
STATE_NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Sets the read bit for the command
|
||||
* @param single command to set the read-bit at
|
||||
* @param boolean to select a continuous read bit, default = false
|
||||
*/
|
||||
uint8_t readCommand(uint8_t command, bool continuousCom = false);
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Sets the read bit for the command
|
||||
* @param single command to set the read-bit at
|
||||
* @param boolean to select a continuous read bit, default = false
|
||||
*/
|
||||
uint8_t readCommand(uint8_t command, bool continuousCom = false);
|
||||
/**
|
||||
* Sets the write bit for the command
|
||||
* @param single command to set the write-bit at
|
||||
* @param boolean to select a continuous write bit, default = false
|
||||
*/
|
||||
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
|
||||
|
||||
/**
|
||||
* Sets the write bit for the command
|
||||
* @param single command to set the write-bit at
|
||||
* @param boolean to select a continuous write bit, default = false
|
||||
*/
|
||||
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
|
||||
/**
|
||||
* This Method gets the full scale for the measurement range
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
|
||||
|
||||
/**
|
||||
* This Method gets the full scale for the measurement range
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
|
||||
/**
|
||||
* The 16 bit value needs to be multiplied with a sensitivity factor
|
||||
* which depends on the sensitivity configuration
|
||||
*
|
||||
* @param sens Configured sensitivity of the LIS3 device
|
||||
* @return Multiplication factor to get the sensor value from raw data.
|
||||
*/
|
||||
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
|
||||
|
||||
/**
|
||||
* The 16 bit value needs to be multiplied with a sensitivity factor
|
||||
* which depends on the sensitivity configuration
|
||||
*
|
||||
* @param sens Configured sensitivity of the LIS3 device
|
||||
* @return Multiplication factor to get the sensor value from raw data.
|
||||
*/
|
||||
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
|
||||
/**
|
||||
* This Command detects the device ID
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
|
||||
/**
|
||||
* This Command detects the device ID
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
virtual void setupMgm();
|
||||
|
||||
virtual void setupMgm();
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Enables/Disables the integrated Temperaturesensor
|
||||
* @param commandData On or Off
|
||||
* @param length of the commandData: has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Enables/Disables the integrated Temperaturesensor
|
||||
* @param commandData On or Off
|
||||
* @param length of the commandData: has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
/**
|
||||
* Sets the accuracy of the measurement of the axis. The noise is changing.
|
||||
* @param commandData LOW, MEDIUM, HIGH, ULTRA
|
||||
* @param length of the command, has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
|
||||
|
||||
/**
|
||||
* Sets the accuracy of the measurement of the axis. The noise is changing.
|
||||
* @param commandData LOW, MEDIUM, HIGH, ULTRA
|
||||
* @param length of the command, has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
* saved register
|
||||
*
|
||||
*/
|
||||
ReturnValue_t prepareCtrlRegisterWrite();
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
* saved register
|
||||
*
|
||||
*/
|
||||
ReturnValue_t prepareCtrlRegisterWrite();
|
||||
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
PeriodicOperationDivider *debugDivider;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
@ -1,376 +1,367 @@
|
||||
#include "MgmRM3100Handler.h"
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
#include "fsfw/globalfunctions/bitutility.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(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie, uint32_t transitionDelay)
|
||||
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
primaryDataset(this),
|
||||
transitionDelay(transitionDelay) {
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
}
|
||||
|
||||
MgmRM3100Handler::~MgmRM3100Handler() {}
|
||||
|
||||
void MgmRM3100Handler::doStartUp() {
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE): {
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
break;
|
||||
switch (internalState) {
|
||||
case (InternalState::NONE): {
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::CONFIGURE_CMM): {
|
||||
internalState = InternalState::READ_CMM;
|
||||
break;
|
||||
case (InternalState::CONFIGURE_CMM): {
|
||||
internalState = InternalState::READ_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::READ_CMM): {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
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;
|
||||
}
|
||||
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;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MgmRM3100Handler::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
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;
|
||||
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::CONFIGURE_CMM): {
|
||||
*id = RM3100::CONFIGURE_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::READ_CMM): {
|
||||
*id = RM3100::READ_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_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;
|
||||
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;
|
||||
// Might be a configuration error
|
||||
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state\n");
|
||||
sif::printWarning(
|
||||
"MgmRM3100Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state\n");
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
return buildCommandFromCommand(*id, commandBuffer, commandLen);
|
||||
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;
|
||||
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::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::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::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::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_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;
|
||||
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;
|
||||
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::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::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;
|
||||
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_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;
|
||||
}
|
||||
case (RM3100::READ_TMRC): {
|
||||
if (packet[1] == tmrcRegValue) {
|
||||
commandExecuted = true;
|
||||
// Reading TMRC was commanded. Trigger event to inform ground
|
||||
if(mode != _MODE_START_UP) {
|
||||
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
|
||||
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
|
||||
if (mode != _MODE_START_UP) {
|
||||
triggerEvent(tmrcSet, tmrcRegValue, 0);
|
||||
}
|
||||
break;
|
||||
} else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_DATA): {
|
||||
result = handleDataReadout(packet);
|
||||
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 DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
return result;
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
if(commandData == nullptr) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
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;
|
||||
}
|
||||
// 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;
|
||||
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;
|
||||
}
|
||||
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;
|
||||
}
|
||||
// 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;
|
||||
}
|
||||
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;
|
||||
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;
|
||||
}
|
||||
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;
|
||||
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_CMM, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_TMRC, 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::CONFIGURE_CYCLE_COUNT, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
|
||||
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
|
||||
}
|
||||
|
||||
void MgmRM3100Handler::modeChanged(void) {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
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}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
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}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return this->transitionDelay;
|
||||
return this->transitionDelay;
|
||||
}
|
||||
|
||||
void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
|
||||
goToNormalModeAtStartup = enable;
|
||||
}
|
||||
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;
|
||||
// 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;
|
||||
// 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()) {
|
||||
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;
|
||||
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);
|
||||
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
|
||||
}
|
||||
}
|
||||
#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;
|
||||
// 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;
|
||||
}
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
|
||||
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
@ -16,94 +16,90 @@
|
||||
* 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;
|
||||
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] 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);
|
||||
//! [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, uint32_t transitionDelay);
|
||||
virtual ~MgmRM3100Handler();
|
||||
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
|
||||
uint32_t transitionDelay);
|
||||
virtual ~MgmRM3100Handler();
|
||||
|
||||
/**
|
||||
* Configure device handler to go to normal mode after startup immediately
|
||||
* @param enable
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
/**
|
||||
* Configure device handler to go to normal mode after startup immediately
|
||||
* @param enable
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
|
||||
protected:
|
||||
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;
|
||||
|
||||
/* 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;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
virtual 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;
|
||||
|
||||
private:
|
||||
uint8_t commandBuffer[10];
|
||||
uint8_t commandBufferLen = 0;
|
||||
|
||||
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 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;
|
||||
|
||||
uint8_t commandBuffer[10];
|
||||
uint8_t commandBufferLen = 0;
|
||||
bool goToNormalModeAtStartup = false;
|
||||
uint32_t transitionDelay;
|
||||
|
||||
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;
|
||||
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);
|
||||
|
||||
bool goToNormalModeAtStartup = false;
|
||||
uint32_t transitionDelay;
|
||||
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
|
||||
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);
|
||||
ReturnValue_t handleDataReadout(const uint8_t *packet);
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
PeriodicOperationDivider *debugDivider;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
@ -3,6 +3,7 @@
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace L3GD20H {
|
||||
@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
|
||||
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
|
||||
static constexpr uint8_t SET_Y_ENABLE = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
|
||||
SET_Y_ENABLE | SET_X_ENABLE;
|
||||
static constexpr uint8_t CTRL_REG_1_VAL =
|
||||
SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
|
||||
|
||||
/* Register 2 */
|
||||
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
|
||||
@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
|
||||
|
||||
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
|
||||
|
||||
enum GyroPoolIds: lp_id_t {
|
||||
ANG_VELOC_X,
|
||||
ANG_VELOC_Y,
|
||||
ANG_VELOC_Z,
|
||||
TEMPERATURE
|
||||
enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
|
||||
|
||||
} // namespace L3GD20H
|
||||
|
||||
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
|
||||
public:
|
||||
/** Constructor for data users like controllers */
|
||||
GyroPrimaryDataset(object_id_t mgmId)
|
||||
: StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
/* Angular velocities in degrees per second (DPS) */
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
|
||||
|
||||
private:
|
||||
friend class GyroHandlerL3GD20H;
|
||||
/** Constructor for the data creator */
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
|
||||
: StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<5> {
|
||||
public:
|
||||
|
||||
/** Constructor for data users like controllers */
|
||||
GyroPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
/* Angular velocities in degrees per second (DPS) */
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::TEMPERATURE, this);
|
||||
private:
|
||||
|
||||
friend class GyroHandlerL3GD20H;
|
||||
/** Constructor for the data creator */
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
|
||||
};
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
|
||||
|
||||
@ -1,26 +1,18 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace MGMLIS3MDL {
|
||||
|
||||
enum Set {
|
||||
ON, OFF
|
||||
};
|
||||
enum OpMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
enum Set { ON, OFF };
|
||||
enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
|
||||
|
||||
enum Sensitivies: uint8_t {
|
||||
GAUSS_4 = 4,
|
||||
GAUSS_8 = 8,
|
||||
GAUSS_12 = 12,
|
||||
GAUSS_16 = 16
|
||||
};
|
||||
enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
|
||||
|
||||
/* Actually 15, we just round up a bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 16;
|
||||
@ -54,7 +46,7 @@ static const uint8_t SETUP_REPLY_LEN = 6;
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adress returns identifier of device with default 0b00111101 */
|
||||
static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
|
||||
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
|
||||
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
|
||||
|
||||
/* Register adress to access register 1 */
|
||||
static const uint8_t CTRL_REG1 = 0b00100000;
|
||||
@ -105,74 +97,67 @@ static const uint8_t RW_BIT = 7;
|
||||
static const uint8_t MS_BIT = 6;
|
||||
|
||||
/* CTRL_REG1 bits */
|
||||
static const uint8_t ST = 0; // Self test enable bit, enabled = 1
|
||||
static const uint8_t ST = 0; // Self test enable bit, enabled = 1
|
||||
// Enable rates higher than 80 Hz enabled = 1
|
||||
static const uint8_t FAST_ODR = 1;
|
||||
static const uint8_t DO0 = 2; // Output data rate bit 2
|
||||
static const uint8_t DO1 = 3; // Output data rate bit 3
|
||||
static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
|
||||
(1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
static const uint8_t DO0 = 2; // Output data rate bit 2
|
||||
static const uint8_t DO1 = 3; // Output data rate bit 3
|
||||
static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT =
|
||||
(1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
|
||||
/* CTRL_REG2 bits */
|
||||
//reset configuration registers and user registers
|
||||
// reset configuration registers and user registers
|
||||
static const uint8_t SOFT_RST = 2;
|
||||
static const uint8_t REBOOT = 3; //reboot memory content
|
||||
static const uint8_t FSO = 5; //full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; //full-scale selection bit 6
|
||||
static const uint8_t REBOOT = 3; // reboot memory content
|
||||
static const uint8_t FSO = 5; // full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; // full-scale selection bit 6
|
||||
static const uint8_t CTRL_REG2_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG3 bits */
|
||||
static const uint8_t MD0 = 0; //Operating mode bit 0
|
||||
static const uint8_t MD1 = 1; //Operating mode bit 1
|
||||
//SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t MD0 = 0; // Operating mode bit 0
|
||||
static const uint8_t MD1 = 1; // Operating mode bit 1
|
||||
// SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t SIM = 2;
|
||||
static const uint8_t LP = 5; //low-power mode
|
||||
static const uint8_t LP = 5; // low-power mode
|
||||
static const uint8_t CTRL_REG3_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG4 bits */
|
||||
//big/little endian data selection enabled = MSb at lower adress
|
||||
// big/little endian data selection enabled = MSb at lower adress
|
||||
static const uint8_t BLE = 1;
|
||||
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
|
||||
static const uint8_t OMZ0 = 2; // Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; // Z operating mode bit 3
|
||||
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
|
||||
|
||||
/* CTRL_REG5 bits */
|
||||
static const uint8_t BDU = 6; //Block data update
|
||||
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
|
||||
static const uint8_t BDU = 6; // Block data update
|
||||
static const uint8_t FAST_READ = 7; // Fast read enabled = 1
|
||||
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 {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
enum MgmPoolIds : lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
};
|
||||
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<4> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
class MgmPrimaryDataset : public StaticLocalDataSet<4> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
|
||||
MgmPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
|
||||
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);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE_CELCIUS, this);
|
||||
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);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
} // namespace MGMLIS3MDL
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
|
||||
|
||||
@ -1,10 +1,11 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/serialize/SerialLinkedListAdapter.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace RM3100 {
|
||||
@ -24,8 +25,8 @@ 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;
|
||||
static constexpr uint8_t CMM_VALUE =
|
||||
SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Cycle count register */
|
||||
@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
|
||||
// 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 float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
|
||||
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
@ -67,66 +67,58 @@ 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);
|
||||
}
|
||||
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;
|
||||
}
|
||||
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;
|
||||
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);
|
||||
}
|
||||
}
|
||||
private:
|
||||
void setLinks(bool oneCycleCount) {
|
||||
setStart(&cycleCountX);
|
||||
if (not oneCycleCount) {
|
||||
cycleCountX.setNext(&cycleCountY);
|
||||
cycleCountY.setNext(&cycleCountZ);
|
||||
}
|
||||
}
|
||||
|
||||
bool oneCycleCount;
|
||||
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,
|
||||
enum MgmPoolIds : lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
};
|
||||
|
||||
class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
|
||||
public:
|
||||
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
|
||||
class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
|
||||
public:
|
||||
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
|
||||
|
||||
Rm3100PrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, 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);
|
||||
// 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);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
} // namespace RM3100
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
|
||||
|
||||
Reference in New Issue
Block a user