eive-obsw/mission/devices/GyroADIS16507Handler.h

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#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#include "OBSWConfig.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "devicedefinitions/GyroADIS16507Definitions.h"
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#if OBSW_ADIS16507_LINUX_COM_IF == 1
class SpiComIF;
class SpiCookie;
#endif
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/**
* @brief Device handle for the ADIS16507 Gyroscope by Analog Devices
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/ADIS16507_Gyro
*/
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class GyroADIS16507Handler: public DeviceHandlerBase {
public:
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GyroADIS16507Handler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF * comCookie);
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/* DeviceHandlerBase abstract function implementation */
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) override;
void fillCommandAndReplyMap() override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
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private:
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std::array<uint8_t, 32> commandBuffer;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
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enum class InternalState {
STARTUP,
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CONFIG,
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IDLE
};
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enum class BurstModes {
BURST_16_BURST_SEL_0,
BURST_16_BURST_SEL_1,
BURST_32_BURST_SEL_0,
BURST_32_BURST_SEL_1
};
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InternalState internalState = InternalState::STARTUP;
bool commandExecuted = false;
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void prepareReadCommand(uint8_t* regList, size_t len);
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BurstModes getBurstMode();
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#if OBSW_ADIS16507_LINUX_COM_IF == 1
static ReturnValue_t spiSendCallback(SpiComIF* comIf, SpiCookie *cookie,
const uint8_t *sendData, size_t sendLen, void* args);
#endif
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#if OBSW_DEBUG_ADIS16507 == 1
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PeriodicOperationDivider* debugDivider;
#endif
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Countdown breakCountdown;
void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo);
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ReturnValue_t handleSensorData(const uint8_t* packet);
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};
#endif /* MISSION_DEVICES_GYROADIS16507HANDLER_H_ */