GmMFAMSensor.hpp

#ifndef GM_TIVA_MFAM_SENSOR_HPP_
#define GM_TIVA_MFAM_SENSOR_HPP_
 
#include <driverlib/ssi.h>
#include <ti/drivers/spi/SPITivaDMA.h>
#include <driverlib/udma.h>
#include "GmMFAMDataSource.hpp"
 
#ifndef GMMFAMDATA_HPP_
#include <GmMfamData.hpp>
#endif
#include <GmRingBuffer.hpp>
 
#define MFAM_SPI_DATA_SZ           24
#define OUT_MSG_LEN              32
#define MFAM_SPI_BUFFER_EXTRA     4
#define MFAM_SPI_TRANSACTION_SZ  MFAM_SPI_DATA_SZ + MFAM_SPI_BUFFER_EXTRA
#define MBX_TIMEOUT              12
 
// Error codes.
//   As with all sensors, the base success code is
//   GM_SENSOR_OK, defined in the base CSensor header.
#define MFAM_FAILED_INIT 1
#define MFAM_FAILED      2
 
namespace Geometrics
{
  class GmMfam : public GmMfamDataSource
  {
  public:
     GmMfam               (UInt8               iSubjectId,
 GmManagedArrayRingBuffer<uint8_t,GM_SIZE_OF_APP_DATA_QUEUE> *mainEventQueue);
     int            Initialize     (int iSpiId, int enablePinIndex, ti_sysbios_knl_Swi_Handle iSwiId,Bool waitForQuietSpi);
 
     enum MfamTestStates {
       MFAM_PASSED_STARTUP = 0,
       MFAM_FAILED_TO_INITIALIZE,
       MFAM_SYSTEM_DID_NOT_TRY_TO_START,
       MFAM_NO_RECORDS,
       MFAM_SPI_CHANNEL_FAILED,
       MFAM_COMPASS_FAILED
     };
 
     virtual void   Halt           ();
     virtual int    CheckCalibrate (Bool bForceCalibrate);
     static Void    GmGetMFAMSpiData        (SPI_Handle       handle,
                                             SPI_Transaction *transaction);
     int            CalibrateSpiBufferError ();
     int            ReadDataForTest         ();
     void           ReadDataInternal        ();
protected:
 
     static void    SetupSpiBuffers         (bool             isNull);
     static void    SetupSpiParameters      (SPI_TransferMode  tMode,
                                             Bool             IsNull);
     static Bool    m_static_pps_rx;
 
     // ========= SPI transaction stack ====================================
     public:
     enum   BufferState  { Normal = 0,  /* Buffer is OK to add data */
                           Locked,      /* Add no more data to the buffer */
                           Shrinking }; /* Let the buffer shrink back to lower threshold */
     enum   BufferState       mBufferState;
     static Bool              sMfamIsInStartupTest;
     static MfamTestStates    sMfamPassedTest;
     static SPI_Handle        m_static_GmSpiHandle;
     static SPI_Params        m_static_GmSpiParams;
     static SPI_Transaction   m_static_RxTxnPing,
                              m_static_RxTxnPong;
     static Bool              m_static_BPing;
     static int               sCompassRetries;
 
     private:
 
     // ---------  We use two buffers, Ping and Pong, to get the
     // ---------   data out of the SPI transaction, in the interrupt
     // ---------   service routines.
     // It is NOT certain that we need the two buffers, but it seems
     //   safer, as we don't entirely know the internal workings of the
     //   SPI driver.
     static  uint8_t          m_static_PingBuffer       [MFAM_SPI_TRANSACTION_SZ];
     static  uint8_t          m_static_PongBuffer       [MFAM_SPI_TRANSACTION_SZ];
                              //m_static_PongTxBuffer   [MFAM_SPI_TRANSACTION_SZ],
                              //m_static_PingTxBuffer   [MFAM_SPI_TRANSACTION_SZ];
 
     public:
     // This class is used as a singleton.
     static  GmMfam  *m_static_msTheOneSensor;
 
     private:
     static ti_sysbios_knl_Swi_Handle                m_iSwiId;
 };
 
} // End of namespace
 
#endif