eive-obsw/mission/devices/GyroL3GD20Handler.h

#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_

#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <OBSWConfig.h>

#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>


/**
 * @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
 *
 * Data is read big endian with the smallest possible range of 245 degrees per second.
 */
class GyroHandlerL3GD20H: public DeviceHandlerBase {
public:
	GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
	        CookieIF* comCookie);
	virtual ~GyroHandlerL3GD20H();

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;
	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
			LocalDataPoolManager &poolManager) override;

private:
	GyroPrimaryDataset dataset;

	enum class InternalState {
	    NONE,
		CONFIGURE,
		CHECK_REGS,
		NORMAL
	};
	InternalState internalState = InternalState::NONE;
	bool commandExecuted = false;

	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;

#if OBSW_VERBOSE_LEVEL >= 1
    PeriodicOperationDivider* debugDivider = nullptr;
#endif
};



#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */