eive-obsw/mission/acs/gyroAdisHelpers.cpp

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#include "gyroAdisHelpers.h"
size_t adis1650x::prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf,
size_t maxLen) {
if (len * 2 + 2 > maxLen) {
return 0;
}
for (size_t idx = 0; idx < len; idx++) {
outBuf[idx * 2] = regList[idx];
outBuf[idx * 2 + 1] = 0x00;
}
outBuf[len * 2] = 0x00;
outBuf[len * 2 + 1] = 0x00;
return len * 2 + 2;
}
adis1650x::BurstModes adis1650x::burstModeFromMscCtrl(uint16_t mscCtrl) {
if ((mscCtrl & adis1650x::BURST_32_BIT) == adis1650x::BURST_32_BIT) {
if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
return BurstModes::BURST_32_BURST_SEL_1;
} else {
return BurstModes::BURST_32_BURST_SEL_0;
}
} else {
if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
return BurstModes::BURST_16_BURST_SEL_1;
} else {
return BurstModes::BURST_16_BURST_SEL_0;
}
}
}
double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
adis1650x::RangMdlBitfield bitfield =
static_cast<adis1650x::RangMdlBitfield>((rangMdl >> 2) & 0b11);
switch (bitfield) {
case (adis1650x::RangMdlBitfield::RANGE_125_1BMLZ): {
return SENSITIVITY_1BMLZ;
}
case (adis1650x::RangMdlBitfield::RANGE_500_2BMLZ): {
return SENSITIVITY_2BMLZ;
}
case (adis1650x::RangMdlBitfield::RANGE_2000_3BMLZ): {
return SENSITIVITY_3BMLZ;
}
case (RangMdlBitfield::RESERVED):
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
#endif
return 0.0;
}
}
}
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void adis1650x::prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf,
size_t maxLen) {
if (maxLen < 4) {
return;
}
outBuf[0] = regStart | adis1650x::WRITE_MASK;
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outBuf[1] = val & 0xff;
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outBuf[2] = (regStart + 1) | adis1650x::WRITE_MASK;
outBuf[3] = (val >> 8) & 0xff;
}