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update for SPI/gyro dev handler code

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This commit is contained in:
Robin Müller 2023-02-26 14:54:35 +01:00
parent bdfe31dba4
commit cf735143fe
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GPG Key ID: 11D4952C8CCEF814
7 changed files with 81 additions and 63 deletions
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2
src/fsfw_hal/devicehandlers/CMakeLists.txt
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@ -1,3 +1,5 @@
target_sources(
${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp MgmRM3100Handler.cpp
MgmLIS3MDLHandler.cpp)
add_subdirectory(devicedefinitions)

72
src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
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@ -46,17 +46,17 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
return NOTHING_TO_SEND;
}
case (InternalState::CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS;
*id = l3gd20h::CONFIGURE_CTRL_REGS;
uint8_t command[5];
command[0] = L3GD20H::CTRL_REG_1_VAL;
command[1] = L3GD20H::CTRL_REG_2_VAL;
command[2] = L3GD20H::CTRL_REG_3_VAL;
command[3] = L3GD20H::CTRL_REG_4_VAL;
command[4] = L3GD20H::CTRL_REG_5_VAL;
command[0] = l3gd20h::CTRL_REG_1_VAL;
command[1] = l3gd20h::CTRL_REG_2_VAL;
command[2] = l3gd20h::CTRL_REG_3_VAL;
command[3] = l3gd20h::CTRL_REG_4_VAL;
command[4] = l3gd20h::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5);
}
case (InternalState::CHECK_REGS): {
*id = L3GD20H::READ_REGS;
*id = l3gd20h::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
default:
@ -76,7 +76,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
}
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = L3GD20H::READ_REGS;
*id = l3gd20h::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
@ -84,15 +84,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
case (l3gd20h::READ_REGS): {
commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(commandBuffer + 1, 0, l3gd20h::READ_LEN);
rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1;
rawPacketLen = l3gd20h::READ_LEN + 1;
break;
}
case (L3GD20H::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
case (l3gd20h::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK;
if (commandData == nullptr or commandDataLen != 5) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@ -103,15 +103,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
ctrlReg4Value = commandData[3];
ctrlReg5Value = commandData[4];
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
bool fsH = ctrlReg4Value & l3gd20h::SET_FS_1;
bool fsL = ctrlReg4Value & l3gd20h::SET_FS_0;
if (not fsH and not fsL) {
sensitivity = L3GD20H::SENSITIVITY_00;
sensitivity = l3gd20h::SENSITIVITY_00;
} else if (not fsH and fsL) {
sensitivity = L3GD20H::SENSITIVITY_01;
sensitivity = l3gd20h::SENSITIVITY_01;
} else {
sensitivity = L3GD20H::SENSITIVITY_11;
sensitivity = l3gd20h::SENSITIVITY_11;
}
commandBuffer[1] = ctrlReg1Value;
@ -124,8 +124,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
rawPacketLen = 6;
break;
}
case (L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
case (l3gd20h::READ_CTRL_REGS): {
commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer;
@ -151,11 +151,11 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = returnvalue::OK;
switch (id) {
case (L3GD20H::CONFIGURE_CTRL_REGS): {
case (l3gd20h::CONFIGURE_CTRL_REGS): {
commandExecuted = true;
break;
}
case (L3GD20H::READ_CTRL_REGS): {
case (l3gd20h::READ_CTRL_REGS): {
if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
packet[5] == ctrlReg5Value) {
@ -167,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
}
break;
}
case (L3GD20H::READ_REGS): {
case (l3gd20h::READ_REGS): {
if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) {
@ -178,16 +178,16 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
}
}
statusReg = packet[L3GD20H::STATUS_IDX];
statusReg = packet[l3gd20h::STATUS_IDX];
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
int16_t angVelocXRaw = packet[l3gd20h::OUT_X_H] << 8 | packet[l3gd20h::OUT_X_L];
int16_t angVelocYRaw = packet[l3gd20h::OUT_Y_H] << 8 | packet[l3gd20h::OUT_Y_L];
int16_t angVelocZRaw = packet[l3gd20h::OUT_Z_H] << 8 | packet[l3gd20h::OUT_Z_L];
float angVelocX = angVelocXRaw * sensitivity;
float angVelocY = angVelocYRaw * sensitivity;
float angVelocZ = angVelocZRaw * sensitivity;
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
int8_t temperaturOffset = (-1) * packet[l3gd20h::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
@ -248,19 +248,19 @@ void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeIm
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0));
return returnvalue::OK;
}
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
insertInCommandAndReplyMap(l3gd20h::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(l3gd20h::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(l3gd20h::READ_CTRL_REGS, 1);
}
void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }

23
src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
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@ -3,8 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
@ -59,9 +58,9 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset;
float absLimitX = L3GD20H::RANGE_DPS_00;
float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00;
float absLimitX = l3gd20h::RANGE_DPS_00;
float absLimitY = l3gd20h::RANGE_DPS_00;
float absLimitZ = l3gd20h::RANGE_DPS_00;
enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
InternalState internalState = InternalState::NONE;
@ -70,16 +69,16 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint8_t statusReg = 0;
bool goNormalModeImmediately = false;
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = l3gd20h::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = l3gd20h::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = l3gd20h::CTRL_REG_5_VAL;
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
uint8_t commandBuffer[l3gd20h::READ_LEN + 1];
// Set default value
float sensitivity = L3GD20H::SENSITIVITY_00;
float sensitivity = l3gd20h::SENSITIVITY_00;
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);

1
src/fsfw_hal/devicehandlers/devicedefinitions/CMakeLists.txt Normal file
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@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PRIVATE gyroL3gHelpers.cpp)

14
src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.cpp Normal file
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@ -0,0 +1,14 @@
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
float l3gd20h::ctrlReg4ToSensitivity(uint8_t reg) {
bool fsH = reg & l3gd20h::SET_FS_1;
bool fsL = reg & l3gd20h::SET_FS_0;
if (not fsH and not fsL) {
return l3gd20h::SENSITIVITY_00;
} else if (not fsH and fsL) {
return l3gd20h::SENSITIVITY_01;
} else {
return l3gd20h::SENSITIVITY_11;
}
}

30
src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h → src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h
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@ -6,7 +6,9 @@
#include <cstdint>
namespace L3GD20H {
namespace l3gd20h {
float ctrlReg4ToSensitivity(uint8_t reg);
/* Actual size is 15 but we round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -103,31 +105,33 @@ static constexpr DeviceCommandId_t READ_REGS = 0;
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
} // namespace L3GD20H
} // namespace l3gd20h
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId)
: StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
: StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
: StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, l3gd20h::TEMPERATURE, this);
private:
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

2
src/fsfw_hal/linux/spi/SpiComIF.h
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@ -90,8 +90,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* pulled high
*/
MutexIF* csMutex = nullptr;
// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
// uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;