eive-obsw/mission/devices/GyroL3GD20Handler.h

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#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include "devicedefinitions/GyroL3GD20Definitions.h"
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/**
* @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
* @details
* Advanced documentation:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
*/
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class GyroHandler: public DeviceHandlerBase {
public:
GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~GyroHandler();
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
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 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;
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
private:
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L3GD20H::GyroPrimaryDataset dataset;
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enum class InternalState {
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STATE_NONE,
STATE_CONFIGURE,
STATE_NORMAL
};
InternalState internalState = InternalState::STATE_NONE;
bool commandExecuted = false;
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uint8_t statusReg = 0;
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];
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
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};
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#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */