GmMfamData.hpp

/*
 * GmMfamData.hpp
 *
 *  Created on: May 29, 2016
 *      Author: RCRAM
 */
 
 
 
#ifndef GMMFAMDATA_HPP_
#define GMMFAMDATA_HPP_
 
#include <geotypes.hpp>
 
#ifndef GMMETA_HPP_
#include <GmMeta.hpp>
#endif
 
#include <GmError.hpp>
 
namespace Geometrics {
 
// ============= Metadata IDs ==================
// ===== This is the authority for mag data types
// These should never be edited once used, as
//    other program - Android clients for example
//    may use them, based on other sources that
//    will not be changed if the values here
//    are changed.
// =============================================
#define GM_MFAM_SPI_PACKET01               (GM_DATA_DOMAIN_MAGNETOMETER | 0x01)
#define GM_MFAM_INDEXED_SPI01              (GM_DATA_DOMAIN_MAGNETOMETER | 0x02)
#define GM_MFAM_INDEXED_SPI_W_A2DQUAD01    (GM_DATA_DOMAIN_MAGNETOMETER | 0x03)
 
/*****************************************************************************/
/* Transmit IndexedMfamSpiPacketWithHeader, sizeof == 40                     */
/* Decimal value 65540  (for use in other programs.                          */
/*****************************************************************************/
#define GM_MFAM_INDEXED_SPI_W_HEADER       (GM_DATA_DOMAIN_MAGNETOMETER | 0x04)
 
#define GM_MFAM_ARRAY_INDEXED_SPI          (GM_DATA_DOMAIN_MAGNETOMETER | 0x05)
#define GM_MFAM_SIMPLE_TEXT_01             (GM_DATA_DOMAIN_MAGNETOMETER | 0x06)
#define GM_MFAM_864_LEGACY_TEXT_ONE_SENSOR (GM_DATA_DOMAIN_MAGNETOMETER | 0x07)
#define GM_MFAM_LONG_TEXT_01               (GM_DATA_DOMAIN_MAGNETOMETER | 0x08)
// Unused.
//#define GM_MAG_INDEXED_860_W_HEADER        (GM_DATA_DOMAIN_MAGNETOMETER | 0x09)
 
/* GM_860_BINARY_01 and GM_MAG_860_TIMESTAMPED are both used both as
 * data types in structures and in format specifiers for writing data to storages
 */
#define GM_860_BINARY_01                   (GM_DATA_DOMAIN_MAGNETOMETER | 0x0A)
#define GM_MFAM_ARRAY_01                   (GM_DATA_DOMAIN_MAGNETOMETER | 0x0B)
#define GM_MAG_860_TIMESTAMPED             (GM_DATA_DOMAIN_MAGNETOMETER | 0x0C)
 
 
/******************************************************************************
 * Formats for MFAM data but with all the aux fields included, used in the
 * first case for filtering applications, where the aux fields no longer work
 * because all of the fields are in each record.
 *****************************************************************************/
#define GM_MFAM_FILTERED_INDEXED           (GM_DATA_DOMAIN_MAGNETOMETER | 0x0D)
#define GM_MFAM_FILTERED_INDEXED_W_HEADER  (GM_DATA_DOMAIN_MAGNETOMETER | 0x0E)
#define GM_MFAM_FILTERED_ARRAY_INDEXED_SPI (GM_DATA_DOMAIN_MAGNETOMETER | 0x0F)
#define GM_MFAM_FILTERED_ARRAY             (GM_DATA_DOMAIN_MAGNETOMETER | 0x10)
#define GM_MFAM_FILTERED_PACKET            (GM_DATA_DOMAIN_MAGNETOMETER | 0x11)
/********* End of filtered data types. ***************************************/
 
 
#define GM_MFAM_QUAD_16_ANALOGS            (GM_DATA_DOMAIN_ANALOG | 01)
 
#ifndef DWORD
typedef unsigned long DWORD;
#endif
 
// Conversion from integer mag data to float.
#define MFAM_NANOTESLAS_PER_LSB 5.0E-5
#define MAG_DATA_AS_FLOAT(x)  (1.0*(x)*MFAM_NANOTESLAS_PER_LSB)
 
// This is the counter to register all the different data
//    records with each other.
extern uint64_t g_uiGlobalMasterSampleCounter;
 
union SysStat
{
   struct {
      unsigned int iFault:1;
      unsigned int iRunMode:4;
      unsigned int iReserved:2;
      unsigned int iCompromised:1;
      unsigned int iFaultId:5;
      unsigned int i10MHz:1;
      unsigned int iPpsAvailable:1;
      unsigned int iPpsLocked:1;
   } m_iDetails;
   uint16_t m_iSummary;
};
 
//typedef union SysStat SystemStatus ;
 
// =========================================================
// Data structure received from the MFAM unit, through
//  SPI bus
// =========================================================
PACKED_PRAGMA
typedef struct PACKED_SPEC s_MfamSpiPacket {
    // Union of a few different data types, including the
    //    fiducial number.
    uint16_t frameid;  // The FID number as gotten by the macro
                     // GET_FID_COUNT is a SIGNED 16-bit integer,
                     // not unsigned, as might have been guessed from
                     // this declaration of the composite field.
 
    // Information about system status.
   // union SysStat sysstat;
    uint16_t sysstat;
 
    // These next 4 fields are in this order in order to align the 2 mag data fields
    //   on 32-bit boundaries.  That design decision was made in the MFAM FPGA.
    uint32_t mag1data;
    uint16_t mag1stat;
    uint16_t mag2stat;
    uint32_t mag2data;
 
    // Auxiliary fields.
    uint16_t auxsenx;
    uint16_t auxseny;
    uint16_t auxsenz;
    uint16_t auxsent;
} MfamSpiPacket; // Structure size is 24
 
PACKED_PRAGMA
typedef struct PACKED_SPEC s_MfamFilteredPacket {
    // Union of a few different data types, including the
    //    fiducial number.
    uint16_t frameid;  // The FID number as gotten by the macro
                     // GET_FID_COUNT is a SIGNED 16-bit integer,
                     // not unsigned, as might have been guessed from
                     // this declaration of the composite field.
 
    // Information about system status.
   // union SysStat sysstat;
    uint16_t sysstat;
 
    uint32_t mag1data;
    uint16_t mag1stat;
    uint16_t mag2stat;
    uint32_t mag2data;
 
    // Auxiliary fields.
    uint16_t mTemperature,
           mCompassX,
           mCompassY,
           mCompassZ,
           mGyroX,
           mGyroY,
           mGyroZ,
           mAccelerometerX,
           mAccelerometerY,
           mAccelerometerZ;
} MfamFilteredPacket; // Structure size is 36
 
typedef struct PACKED_SPEC s_MfamFloatPacket {
    // Union of a few different data types, including the
    //    fiducial number.
    uint16_t frameid;  // Offset zero, length 2
                     // The FID number as gotten by the macro
                     // GET_FID_COUNT is a SIGNED 16-bit integer,
                     // not unsigned, as might have been guessed from
                     // this declaration of the composite field.
 
    // Information about system status.
    uint16_t sysstat;    // Offset 2, length 2
 
    double mag1data;     // Offset 4, length 8
    uint16_t mag1stat;   // Offset 12, length 2
    uint16_t mag2stat;   // Offset 14, length 2
    double mag2data;     // Offset 16, length 8
 
    // Auxiliary fields.
    float  mTemperature,     // Offset 24, length 4
           mCompassX,        // Offset 28, length 4
           mCompassY,        // Offset 32, length 4
           mCompassZ,        // Offset 36, length 4
           mGyroX,           // Offset 40, length 4
           mGyroY,           // Offset 44, length 4
           mGyroZ,           // Offset 48, length 4
           mAccelerometerX,  // Offset 52, length 4
           mAccelerometerY,  // Offset 56, length 4
           mAccelerometerZ;  // Offset 60, length 4
} MfamFloatPacket; // Structure size is 64
 
 
 
// Used for sending arrays of data in a standard acquisition application.
/* This is used with both mfamSpiPacket and MfamFilteredPacket;
 *
 */
PACKED_PRAGMA
typedef struct PACKED_SPEC s_MfamArrayHeader
{
   DWORD                 dwRecordType;
   uint32_t                uRecordSize;
   uint64_t              m_uiStartIndex;
   uint32_t                m_uiCount;
} MfamArrayHeader;  // structure size is 20
 
/***********************************************************
 *  Structure to index a packet --------------------
 * Used with both MfamSpiPacket and MfamFilteredPacket
 ************************************************************/
PACKED_PRAGMA
typedef struct PACKED_SPEC s_PacketIndex
{
   uint64_t   uiPacketIndex;  // Offset 0, length 8
} PacketIndex;  // Packet size is 8
 
// -------- MFAM data with indexing added.  -----------------
PACKED_PRAGMA
typedef struct PACKED_SPEC s_IndexedSpiPacket {
    PacketIndex    piIndex;
    MfamSpiPacket  spMFAMSpiPacket;
 } IndexedMfamSpiPacket;  // structure size is 32
 
#ifdef GOOFY
 // -------- MFAM Filtered packet with indexing added.  -----------------
 PACKED_PRAGMA
 typedef struct PACKED_SPEC s_IndexedMfamFilteredPacket {
     PacketIndex    piIndex;
     MfamFloatPacket  mMfamFilteredPacket;
 
 public:
     IndexedMfamFilteredPacket (IndexedMfamSpiPacket *spiPacket,
                                bool                  onlyLoki);
  } IndexedMfamFilteredPacket;  //  structure size is 44
#endif
 
/* Forward definition for function ToOldData */
struct   IndexedMfamSpiPacketWithHeader;
 
// -------- MFAM Filtered packet with indexing added.  -----------------
PACKED_PRAGMA
struct PACKED_SPEC IndexedMfamFilteredPacket {
  PacketIndex      piIndex;                // Offset 0, length 8
  MfamFloatPacket  mMfamFilteredPacket;    // Offset 8, length 64
 
public:
  IndexedMfamFilteredPacket () {};
  IndexedMfamFilteredPacket (IndexedMfamSpiPacket *spiPacket,
                             bool                  onlyLoki);
  void ToOldData (IndexedMfamSpiPacketWithHeader *dest);
} ;  //  structure size is 72
 
 
#ifdef GOOFY
 PACKED_PRAGMA
 typedef struct PACKED_SPEC s_IndexedMfamSpiPacketWithHeader
{
   // dwRecordType should be GM_MFAM_INDEXED_SPI_W_HEADER
  DWORD                 dwRecordType;
  uint32_t                uRecordSize;
  IndexedMfamSpiPacket  imspData;
} IndexedMfamSpiPacketWithHeader;  // structure size is 40
#endif
 
PACKED_PRAGMA
struct PACKED_SPEC IndexedMfamSpiPacketWithHeader
{
   // dwRecordType should be GM_MFAM_INDEXED_SPI_W_HEADER
  DWORD                 dwRecordType;
  uint32_t                uRecordSize;
  IndexedMfamSpiPacket  imspData;
};  // structure size is 40
 
 
PACKED_PRAGMA
typedef struct PACKED_SPEC s_IndexedMfamFilteredPacketWithHeader
{
  // dwRecordType should be GM_MFAM_FILTERED_INDEXED_W_HEADER
 DWORD                      dwRecordType;  // Offset 0, length 4
 uint32_t                     uRecordSize; // Offset 4, length 4
 IndexedMfamFilteredPacket  imspData;      // Offset 8, length 72
} IndexedMfamFilteredPacketWithHeader;  // structure size is 80
 
 
#define GM_SIZEOF_INDEXED_SPI_W_HEADER (sizeof(IndexedMfamSpiPacketWithHeader))
#define GM_SIZEOF_INDEXED_MFAM_FILTERED_W_HEADER (sizeof(IndexedMfamFilteredPacketWithHeader))
 
// This record, with the correct value in data type,
//    precedes an array of records of type IndexedMfamSpiPacket,
//    ?? when used in a framing application?
typedef struct s_arrayIndexedMfamPacket
{
   // m_dwRecordType should be GM_MFAM_ARRAY_INDEXED_SPI
   DWORD     m_dwRecordType;
   // m_uint32RecordSize should be (sizeof(IndexedMfamSpiPacket) *
   //                               m_uint32RecordCount)
   uint32_t    m_uint32RecordSize;
   uint32_t    m_uint32RecordCount;
} ArrayIndexedMfamPacket;
 
/* Data for the LabView streamer application */
#define MFAM_STREAMER_CACHE_SIZE 40
 
class ExpandedMfam
{
public:
   MfamSpiPacket  mfam;
   uint32_t      dummy[2];
};
 
class StreamerPacket
{
public:
   char  mHeader[16];
   ExpandedMfam  mDataBlock[MFAM_STREAMER_CACHE_SIZE];
   char  mGpsString[84];
};
 
 
//  --------  Analog measurements obtained within -----------
//  the mag appliance.
 
typedef struct s_A2d32Quadruple
{
    uint32_t adc0;
    uint32_t adc1;
    uint32_t adc2;
    uint32_t adc3;
} A2d32Quadruple;
 
typedef struct s_IndexedAnalog32Quad
{
   uint64_t       m_iIndex;
   A2d32Quadruple m_qAnalogData;
} IndexedAnalog32Quad;
 
// Four 16-bit A2D measurements, packaged together.
typedef struct s_A2d16Quadruple
{
    uint16_t adc0;
    uint16_t adc1;
    uint16_t adc2;
    uint16_t adc3;
} A2d16Quadruple;
 
typedef struct s_SpiIndexedWithA2d16Quad
{
    IndexedMfamSpiPacket ispMagData;
    A2d16Quadruple       a1qAnalogs;
} MagIndexedPlusAnalogQuad;
 
/****************************************************/
/* MFAM data values, masks, and types.              */
/****************************************************/
#define FID_COUNT_MASK 0x7FF
#define AUX_DATA_MASK  0x3800
#define MAG_1_VALID    0x4000
#define MAG_2_VALID    0x8000
#define COMPASS_MASK   0x800
#define SERIAL_MASK    0x3800
#define GYRO_MASK      0x1000
#define ACCEL_MASK     0x2000
#define SERIAL_V_MASK  0x3800
 
#define VALID_MFAM_FID_TEMPLATE(INDEX) MAG_2_VALID | MAG_1_VALID | INDEX
 
#define IS_MAG1_VALID(x)  ((x) & MAG_1_VALID)
#define IS_MAG2_VALID(x)  ((x) & MAG_2_VALID)
 
#define GET_FID_COUNT(x)  ((x) & FID_COUNT_MASK)
 
#define IS_COMPASS(x)     ((((x) & COMPASS_MASK)==COMPASS_MASK)
#define IS_GYRO(x)        ((((x) & GYRO_MASK)==GYRO_MASK)
#define IS_ACCEL(x)       (((x) & ACCEL_MASK)==ACCEL_MASK)
#define IS_SERIAL(x)      (((x) & SERIAL_V_MASK)==SERIAL_V_MASK)
 
 
#define LOCK_MASK    0x4000
#define PPS_MASK     0x8000
#define FAILURE_MASK 0x1
 
#define IS_PPS_RECEIVED(x)   ((x) & PPS_MASK)
#define IS_PPS_LOCKED(x)     ((x) & LOCK_MASK)
#define IS_MAG_FAILED(x)     ((x) & FAILURE_MASK)
 
// Check individual mag status.
#define DEAD_ZONE_MASK       0x0001
 
#define IS_DEAD_ZONE(x)     ((x) & DEAD_ZONE_MASK)
 
#define GET_MAG(x)           (double(x) * MAG_TO_NT)
 
// ================================================
// System Status Masks for the sysstat field,
//    in the packet off of the SPI bus.
#define MAIN_STATE_MASK          0x3C00
#define SUB_STATE_MASK           0x0380
#define COMPASS_FAILURE_MASK     0x0380
#define STARTUP_FAIL_MASK        0x0001
#define MAIN_MODE_MASK           0x0007
#define MFAM_IN_STARTUP          0x0002
#define MFAM_IN_MAG_MODE         0x0004
 
#define MAG_IS_STARTING(x)     ((x)&MFAM_IN_STARTUP)
#define MAG_IS_RUNNING(x)      ((x)&MFAM_IN_MAG_MODE)
 
// =========== Status values in the field from
//   the bus.
 
#define STATE_MASK_HEATING                                1  << 10
#define STATE_MASK_MAG1_LASER_HEATER_RAMPING              2  << 10
#define STATE_MASK_MAG1_PROBE_LASER_LOCKING               3  << 10
#define STATE_MASK_MAG1_PUMP_LASER_HEATER_RAMPING         4  << 10
#define STATE_MASK_MAG1_PUMP_LASER_LOCKING                5  << 10
#define STATE_MASK_MAG1_MOVING_LASERS_TO_OPERATING_POINT  6  << 10
#define STATE_MASK_MAG2_LASER_HEATER_RAMPING              7  << 10
#define STATE_MASK_MAG2_PROBE_LASER_LOCKING               8  << 10
#define STATE_MASK_MAG2_PUMP_LASER_HEATER_RAMPING         9  << 10
#define STATE_MASK_MAG2_PUMP_LASER_LOCKING                10 << 10
#define STATE_MASK_MAG2_MOVING_LASERS_TO_OPERATING_POINT  11 << 10
 
// Substates of STATE_MASK_HEATING
#define STATE_MASK_HEATING_FULL             1 << 7
#define STATE_MASK_HEATING_MAG1_OK          2 << 7
#define STATE_MASK_HEATING_MAG2_OK          3 << 7
#define STATE_MASK_HEATING_SERVOS_ENABLED   4 << 7
 
 
// ============== System states.  These are application
//    values, not the values straight off of the bus
 
#define STATE_HEATING_FULL                           21
#define STATE_HEATING_MAG1_OK                        22
#define STATE_HEATING_MAG2_OK                        23
#define STATE_HEATING_SERVOS_ENABLED                 24
#define STATE_HEATING_MASK                           31
#define STATE_MAG1_LASER_HEATER_RAMPING              32
#define STATE_MAG1_PROBE_LASER_LOCKING               33
#define STATE_MAG1_PUMP_LASER_HEATER_RAMPING         34
#define STATE_MAG1_PUMP_LASER_LOCKING                35
#define STATE_MAG1_MOVING_LASERS_TO_OPERATING_POINT  36
#define STATE_MAG2_LASER_HEATER_RAMPING              37
#define STATE_MAG2_PROBE_LASER_LOCKING               38
#define STATE_MAG2_PUMP_LASER_HEATER_RAMPING         39
#define STATE_MAG2_PUMP_LASER_LOCKING                40
#define STATE_MAG2_MOVING_LASERS_TO_OPERATING_POINT  41
 
// ============ Sub states =======================
//
 
extern "C" uint16_t ParseMfamSystemStatus (const uint16_t uiSystemStatus);
 
}
 
#endif /* GMMFAMDATA_HPP_ */