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op divider fixes

This commit is contained in:
Robin Müller 2021-09-23 15:20:10 +02:00
parent 81c33d2dc6
commit c9b343ebcd
7 changed files with 25 additions and 39 deletions
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8
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
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@ -3,11 +3,11 @@
#include "fsfw/datapool/PoolReadGuard.h"
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs):
CookieIF *comCookie, uint32_t transitionDelayMs):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
transitionDelayMs(transitionDelayMs), dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5);
debugDivider = new PeriodicOperationDivider(3);
#endif
}
@ -278,7 +278,7 @@ void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::NONE;
}
void GyroHandlerL3GD20H::setAxisLimits(float limitX, float limitY, float limitZ) {
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX;
this->absLimitY = limitY;
this->absLimitZ = limitZ;

4
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
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@ -19,7 +19,7 @@
class GyroHandlerL3GD20H: public DeviceHandlerBase {
public:
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
CookieIF* comCookie, uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H();
/**
@ -54,7 +54,7 @@ protected:
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;

6
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -6,13 +6,13 @@
#endif
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay):
CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5);
debugDivider = new PeriodicOperationDivider(3);
#endif
/* Set to default values right away. */
// Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;

10
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
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@ -31,7 +31,7 @@ public:
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
uint8_t switchId, uint32_t transitionDelay = 10000);
uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler();
/**
@ -50,7 +50,7 @@ protected:
void doShutDown() override;
void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) 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;
@ -76,13 +76,13 @@ protected:
private:
MGMLIS3MDL::MgmPrimaryDataset dataset;
//Length a sindgle command SPI answer
//Length a single command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
uint32_t transitionDelay;
//Single SPIcommand has 2 bytes, first for adress, second for content
// 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
// 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;

13
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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@ -8,10 +8,9 @@
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId,
uint32_t transitionDelay):
object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this), switchId(switchId), transitionDelay(transitionDelay) {
primaryDataset(this), transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
@ -322,13 +321,7 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
}
uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 25000;
}
ReturnValue_t MgmRM3100Handler::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
*switches = &switchId;
*numberOfSwitches = 1;
return HasReturnvaluesIF::RETURN_OK;
return this->transitionDelay;
}
void MgmRM3100Handler::setToGoToNormalMode(bool enable) {

18
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
View File

@ -32,7 +32,7 @@ public:
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay = 10000);
CookieIF* comCookie, uint32_t transitionDelay);
virtual ~MgmRM3100Handler();
/**
@ -48,21 +48,16 @@ protected:
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 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;
ReturnValue_t getSwitches(const uint8_t **switches,
uint8_t *numberOfSwitches) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
@ -97,7 +92,6 @@ private:
float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
bool goToNormalModeAtStartup = false;
uint8_t switchId;
uint32_t transitionDelay;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,

5
src/fsfw/globalfunctions/PeriodicOperationDivider.cpp
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@ -7,14 +7,13 @@ PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
}
bool PeriodicOperationDivider::checkAndIncrement() {
counter++;
bool opNecessary = check();
if(opNecessary) {
if(resetAutomatically) {
counter = 1;
counter = 0;
}
return opNecessary;
}
counter++;
return opNecessary;
}