eive-obsw/mission/devices/GyroL3GD20Handler.h

81 lines
2.4 KiB
C
Raw Normal View History

2020-12-22 13:41:01 +01:00
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
2020-12-22 00:30:50 +01:00
2020-12-23 20:17:39 +01:00
#include "devicedefinitions/GyroL3GD20Definitions.h"
2021-03-07 14:06:29 +01:00
#include <OBSWConfig.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
2020-12-22 00:30:50 +01:00
2020-12-22 13:36:10 +01:00
/**
* @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
2021-03-07 12:55:22 +01:00
*
* Data is read big endian with the smallest possible range of 245 degrees per second.
2020-12-22 13:36:10 +01:00
*/
2021-03-07 12:53:10 +01:00
class GyroHandlerL3GD20H: public DeviceHandlerBase {
2020-12-22 00:30:50 +01:00
public:
2021-03-07 12:53:10 +01:00
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
2020-12-22 00:30:50 +01:00
CookieIF* comCookie);
2021-03-07 12:53:10 +01:00
virtual ~GyroHandlerL3GD20H();
2020-12-22 00:30:50 +01:00
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;
2021-01-14 11:37:32 +01:00
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
2020-12-22 00:30:50 +01:00
LocalDataPoolManager &poolManager) override;
private:
2021-03-07 14:06:29 +01:00
GyroPrimaryDataset dataset;
2020-12-22 00:30:50 +01:00
2020-12-23 20:17:39 +01:00
enum class InternalState {
2021-03-07 14:06:29 +01:00
NONE,
CONFIGURE,
CHECK_REGS,
NORMAL
2020-12-22 13:41:01 +01:00
};
2021-03-07 14:06:29 +01:00
InternalState internalState = InternalState::NONE;
2020-12-22 13:41:01 +01:00
bool commandExecuted = false;
2020-12-23 20:17:39 +01:00
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;
2021-03-07 14:06:29 +01:00
#if OBSW_VERBOSE_LEVEL >= 1
PeriodicOperationDivider* debugDivider = nullptr;
#endif
2020-12-22 00:30:50 +01:00
};
2020-12-22 13:41:01 +01:00
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */