Merge branch 'development' into mueller/hal-spi-improvement
This commit is contained in:
commit
7c21980ece
@ -3,9 +3,9 @@
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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):
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CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this) {
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switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
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#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(5);
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#endif
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@ -47,7 +47,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
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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 HasReturnvaluesIF::RETURN_OK;
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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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@ -66,10 +66,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
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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::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!" << std::endl;
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#else
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sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
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sif::printDebug("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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@ -144,7 +145,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
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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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// 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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@ -166,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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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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// 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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@ -199,13 +200,12 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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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 in degrees per second:" <<
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std::endl;
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sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
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sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
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sif::info << "Z: " << angVelocZ << " \xC2\xB0" << 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 in degrees per second:\n");
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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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@ -231,7 +231,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 10000;
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return this->transitionDelayMs;
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}
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void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
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@ -240,14 +240,10 @@ void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
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ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -7,10 +7,6 @@
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
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#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
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#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
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/**
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* @brief Device Handler for the L3GD20H gyroscope sensor
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* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
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@ -23,9 +19,12 @@
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class GyroHandlerL3GD20H: public DeviceHandlerBase {
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public:
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GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF* comCookie);
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CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
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virtual ~GyroHandlerL3GD20H();
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/**
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* @brief Configure device handler to go to normal mode immediately
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*/
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void setGoNormalModeAtStartup();
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protected:
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@ -51,6 +50,8 @@ protected:
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LocalDataPoolManager &poolManager) override;
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private:
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uint8_t switchId = 0;
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uint32_t transitionDelayMs = 0;
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GyroPrimaryDataset dataset;
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enum class InternalState {
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@ -13,10 +13,10 @@
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/**
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* @brief FailureReport class to serialize a failure report
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* @brief Subservice 1, 3, 5, 7
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* @brief Subservice 2, 4, 6, 8
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* @ingroup spacepackets
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*/
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class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
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class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
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public:
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FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
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uint16_t packetSequenceControl_, uint8_t stepNumber_,
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@ -108,10 +108,10 @@ private:
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};
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/**
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* @brief Subservices 2, 4, 6, 8
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* @brief Subservices 1, 3, 5, 7
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* @ingroup spacepackets
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*/
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class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
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class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
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public:
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SuccessReport(uint8_t subtype_, uint16_t packetId_,
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uint16_t packetSequenceControl_,uint8_t stepNumber_) :
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