libDM_mmc5983ma.hpp

#ifndef mmc5983ma_hpp
#define mmc5983ma_hpp
 
// Warning: A lot of registers are not readable!! So we have to store a local copy of what each
// register should contain
 
// NOLINTBEGIN(cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers)
 
#include "libDM_abstract_sensor_protocol.hpp"
#include "libDM_abstract_mag.hpp"
#include "libDM_mmc5983ma_regs_enums.hpp"
#include <map>
 
class MMC5983MA_SPI : public ABSTRACT_SENSOR_SPI, public ABSTRACT_MAG
{
public:
    MMC5983MA_SPI(uint32_t spiClockSpeed,
                  uint8_t spiSS,
                  SPIClass* spiObj,
                  SPI_CONF spiConfAtEndTransaction) :
        ABSTRACT_SENSOR_SPI(spiSS,
                            spiObj,
                            SPI_CONF(spiClockSpeed, MSBFIRST, SPI_MODE0),
                            spiConfAtEndTransaction),
        ABSTRACT_MAG(){};
 
    virtual ~MMC5983MA_SPI() = default;
    // Copy constructor
    MMC5983MA_SPI(const MMC5983MA_SPI& other) = default;
    // Copy assignment operator
    MMC5983MA_SPI& operator=(const MMC5983MA_SPI& other) = default;
    // Move constructor
    MMC5983MA_SPI(MMC5983MA_SPI&& other) noexcept = default;
    // Move assignment operator
    MMC5983MA_SPI& operator=(MMC5983MA_SPI&& other) noexcept = default;
 
    // ~~~~~~ Redefined virtual methods ~~~~~~ //
    bool begin() override;
    void readTemp() override;
    void readMag() override;
    uint8_t whoAmI() override;
 
    // ~~~~~~~~~ Mmc specific methods ~~~~~~~~ //
    void setMagOdrBw(MMC5983MA_ENUM::ODR magFreq, MMC5983MA_ENUM::BW magBw);
 
    void setPeriodicSetTime(MMC5983MA_ENUM::PERIODIC_SET_TIME time);
 
    void setPeriodicSetState(bool state);
 
    void setAutoSetResetState(bool state);
 
    void softResetSensor();
 
    void setCurrent();
 
    void resetCurrent();
 
    void askForOneMagMeasure();
 
    void askForOneTempMeasure();
 
    void activateAxis(bool activeX, bool activeYZ);
 
    void updateBridgeOffset();
 
    void setMeasCheckStates(bool magCheck, bool tempCheck);
 
private:
    using ABSTRACT_SENSOR_SPI::readRegister;
    using ABSTRACT_SENSOR_SPI::readRegisterBurst;
    using ABSTRACT_SENSOR_SPI::writeRegister;
    using ABSTRACT_SENSOR_SPI::writeRegisterWithMask;
 
    // Internal values
    MMC5983MA_ENUM::ODR mMagFreq                          = MMC5983MA_ENUM::ODR::_100HZ;
    MMC5983MA_ENUM::BW mMagBW                             = MMC5983MA_ENUM::BW::_100HZ;
    MMC5983MA_ENUM::PERIODIC_SET_TIME mMagPeriodicSetTime = MMC5983MA_ENUM::PERIODIC_SET_TIME::_1;
    float mBridgeOffset[3]                                = {0.F, 0.F, 0.F};
    struct
    {
        bool temp = true;
        bool mag  = true;
    } mChecks;
 
    uint32_t mUsTimeOutMeasReading = 100U; // [ns] 100us timeout for meas reading
    // NOLINTBEGIN(altera-struct-pack-align)
    struct
    {
        float tempLow   = -75.F;
        float tempHigh  = 125.F;
        float tempRange = 255.F;
        float tempSlope = (tempHigh - tempLow) / tempRange;
        float magLow    = -8.F;
        float magHigh   = 8.F;
        float magRange  = 262144.F; // 18bits
        float magSlope  = (magHigh - magLow) / magRange;
    } mConversions;
    // NOLINTEND(altera-struct-pack-align)
 
    MMC5983MA_REGISTERS reg;
    MMC5983MA_REGISTER_VALUES regVal;
    MMC5983MA_REGISTERS_MEMORY regMem;
 
    // ~~~~~~~~~~~ Private methods ~~~~~~~~~~~ //
    bool tryStart();
    void powerOnSensors(); // activate mag
    void fillOutputStruct(const int32_t rawMag[3], int16_t rawTemp, uint32_t timestamp);
    void setContinuousModeState(bool state);
    MMC5983MA_ENUM::STATUS getMeasuresStatus();
 
    // ~~~~~~~~~~~ Association maps ~~~~~~~~~~ //
    std::map<MMC5983MA_ENUM::ODR, uint8_t> enum_odr_to_mag_odr_map = {
            {MMC5983MA_ENUM::ODR::_1000HZ, regVal.CONTROL_2.MEAS_FREQ_1000HZ},
            {MMC5983MA_ENUM::ODR::_200HZ, regVal.CONTROL_2.MEAS_FREQ_200HZ},
            {MMC5983MA_ENUM::ODR::_100HZ, regVal.CONTROL_2.MEAS_FREQ_100HZ},
            {MMC5983MA_ENUM::ODR::_50HZ, regVal.CONTROL_2.MEAS_FREQ_50HZ},
            {MMC5983MA_ENUM::ODR::_20HZ, regVal.CONTROL_2.MEAS_FREQ_20HZ},
            {MMC5983MA_ENUM::ODR::_10HZ, regVal.CONTROL_2.MEAS_FREQ_10HZ},
            {MMC5983MA_ENUM::ODR::_1HZ, regVal.CONTROL_2.MEAS_FREQ_1HZ},
            {MMC5983MA_ENUM::ODR::_OFF, regVal.CONTROL_2.DISABLE_CONTINUOUS_MEAS}};
 
    std::map<MMC5983MA_ENUM::PERIODIC_SET_TIME, uint8_t> enum_periodic_set_to_mag_periodic_map = {
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_2000, regVal.CONTROL_2.PERIODIC_SET_2000},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_1000, regVal.CONTROL_2.PERIODIC_SET_1000},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_500, regVal.CONTROL_2.PERIODIC_SET_500},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_250, regVal.CONTROL_2.PERIODIC_SET_250},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_100, regVal.CONTROL_2.PERIODIC_SET_250},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_75, regVal.CONTROL_2.PERIODIC_SET_75},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_25, regVal.CONTROL_2.PERIODIC_SET_25},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_1, regVal.CONTROL_2.PERIODIC_SET_1},
            {MMC5983MA_ENUM::PERIODIC_SET_TIME::_OFF, regVal.CONTROL_2.DISABLE_PERIODIC_SET}};
 
    std::map<MMC5983MA_ENUM::BW, uint8_t> enum_bw_to_mag_bw_map = {
            {MMC5983MA_ENUM::BW::_800HZ, regVal.CONTROL_1.BW_800HZ},
            {MMC5983MA_ENUM::BW::_400HZ, regVal.CONTROL_1.BW_400HZ},
            {MMC5983MA_ENUM::BW::_200HZ, regVal.CONTROL_1.BW_200HZ},
            {MMC5983MA_ENUM::BW::_100HZ, regVal.CONTROL_1.BW_100HZ}};
 
    // ~~~~~~~~~~~~~~ Class name ~~~~~~~~~~~~~ //
    String mClassName = "MMC5983MA_SPI";
};
 
// NOLINTEND(cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers)
 
#endif