eive-obsw/mission/devices/GyroL3GD20Handler.cpp

//#include "GyroL3GD20Handler.h"
//#include <OBSWConfig.h>
//
//#include <fsfw/datapool/PoolReadGuard.h>
//
//GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
//		CookieIF *comCookie):
//		DeviceHandlerBase(objectId, deviceCommunication, comCookie),
//		dataset(this) {
//#if L3GD20_GYRO_DEBUG == 1
//    debugDivider = new PeriodicOperationDivider(5);
//#endif
//}
//
//GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
//
//void GyroHandlerL3GD20H::doStartUp() {
//	if(internalState == InternalState::NONE) {
//		internalState = InternalState::CONFIGURE;
//	}
//
//	if(internalState == InternalState::CONFIGURE) {
//		if(commandExecuted) {
//			internalState = InternalState::CHECK_REGS;
//			commandExecuted = false;
//		}
//	}
//
//	if(internalState == InternalState::CHECK_REGS) {
//	    if(commandExecuted) {
//	        internalState = InternalState::NORMAL;
//#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
//            setMode(MODE_NORMAL);
//#else
//            setMode(_MODE_TO_ON);
//#endif
//	        commandExecuted = false;
//	    }
//	}
//}
//
//void GyroHandlerL3GD20H::doShutDown() {
//	setMode(_MODE_POWER_DOWN);
//}
//
//ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
//	switch(internalState) {
//	case(InternalState::NONE):
//	case(InternalState::NORMAL): {
//		return HasReturnvaluesIF::RETURN_OK;
//	}
//	case(InternalState::CONFIGURE): {
//		*id = L3GD20H::CONFIGURE_CTRL_REGS;
//		uint8_t command [5];
//		command[0] = L3GD20H::CTRL_REG_1_VAL;
//		command[1] = L3GD20H::CTRL_REG_2_VAL;
//		command[2] = L3GD20H::CTRL_REG_3_VAL;
//		command[3] = L3GD20H::CTRL_REG_4_VAL;
//		command[4] = L3GD20H::CTRL_REG_5_VAL;
//		return buildCommandFromCommand(*id, command, 5);
//	}
//	case(InternalState::CHECK_REGS): {
//	    *id = L3GD20H::READ_REGS;
//	    return buildCommandFromCommand(*id, nullptr, 0);
//	}
//	default:
//		/* Might be a configuration error. */
//		sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
//		        std::endl;
//		return HasReturnvaluesIF::RETURN_OK;
//	}
//	return HasReturnvaluesIF::RETURN_OK;
//}
//
//ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
//	*id = L3GD20H::READ_REGS;
//	return buildCommandFromCommand(*id, nullptr, 0);
//}
//
//ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
//		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
//		size_t commandDataLen) {
//	switch(deviceCommand) {
//	case(L3GD20H::READ_REGS): {
//		commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
//				L3GD20H::READ_MASK;
//
//		std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
//		rawPacket = commandBuffer;
//		rawPacketLen = L3GD20H::READ_LEN + 1;
//		break;
//	}
//	case(L3GD20H::CONFIGURE_CTRL_REGS): {
//		commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
//		if(commandData == nullptr or commandDataLen != 5) {
//			return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
//		}
//
//		ctrlReg1Value = commandData[0];
//		ctrlReg2Value = commandData[1];
//		ctrlReg3Value = commandData[2];
//		ctrlReg4Value = commandData[3];
//		ctrlReg5Value = commandData[4];
//
//		bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
//		bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
//
//		if(not fsH and not fsL) {
//			scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
//		}
//		else if(not fsH and fsL) {
//			scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
//		}
//		else {
//			scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
//		}
//
//		commandBuffer[1] = ctrlReg1Value;
//		commandBuffer[2] = ctrlReg2Value;
//		commandBuffer[3] = ctrlReg3Value;
//		commandBuffer[4] = ctrlReg4Value;
//		commandBuffer[5] = ctrlReg5Value;
//
//		rawPacket = commandBuffer;
//		rawPacketLen = 6;
//		break;
//	}
//	case(L3GD20H::READ_CTRL_REGS): {
//		commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
//				L3GD20H::READ_MASK;
//
//		std::memset(commandBuffer + 1, 0, 5);
//		rawPacket = commandBuffer;
//		rawPacketLen = 6;
//		break;
//	}
//	default:
//		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
//	}
//	return HasReturnvaluesIF::RETURN_OK;
//}
//
//ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
//		DeviceCommandId_t *foundId, size_t *foundLen) {
//	/* For SPI, the ID will always be the one of the last sent command. */
//	*foundId = this->getPendingCommand();
//	*foundLen = this->rawPacketLen;
//
//	/* Data with SPI Interface has always this answer */
//	if (start[0] == 0b11111111) {
//		return HasReturnvaluesIF::RETURN_OK;
//	}
//	return DeviceHandlerIF::INVALID_DATA;
//}
//
//ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
//		const uint8_t *packet) {
//	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
//	switch(id) {
//	case(L3GD20H::CONFIGURE_CTRL_REGS): {
//	    commandExecuted = true;
//		break;
//	}
//	case(L3GD20H::READ_CTRL_REGS): {
//		if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
//				packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
//				packet[5] == ctrlReg5Value) {
//			commandExecuted = true;
//		}
//		else {
//			/* Attempt reconfiguration. */
//			internalState = InternalState::CONFIGURE;
//			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
//		}
//		break;
//	}
//	case(L3GD20H::READ_REGS): {
//		if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
//				packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
//				packet[5] != ctrlReg5Value) {
//			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
//		}
//		else {
//		    if(internalState == InternalState::CHECK_REGS) {
//		        commandExecuted = true;
//		    }
//		}
//
//		statusReg = packet[L3GD20H::STATUS_IDX];
//
//		float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
//				packet[L3GD20H::OUT_X_L]) * scaleFactor;
//		float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
//				packet[L3GD20H::OUT_Y_L]) * scaleFactor;
//		float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
//				packet[L3GD20H::OUT_Z_L]) * scaleFactor;
//
//		int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
//		float temperature = 25.0 + temperaturOffset;
//#if L3GD20_GYRO_DEBUG == 1
//        if(debugDivider->checkAndIncrement()) {
//            /* Set terminal to utf-8 if there is an issue with micro printout. */
//#if FSFW_CPP_OSTREAM_ENABLED == 1
//            sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
//                    std::endl;
//            sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
//            sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
//            sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
//#else
//            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
//            sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
//            sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
//            sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
//#endif
//        }
//#endif
//
//		PoolReadGuard readSet(&dataset);
//		if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
//			dataset.angVelocX = angVelocX;
//			dataset.angVelocY = angVelocY;
//			dataset.angVelocZ = angVelocZ;
//			dataset.temperature = temperature;
//			dataset.setValidity(true, true);
//		}
//		break;
//	}
//	default:
//		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
//	}
//	return result;
//}
//
//
//uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
//	return 10000;
//}
//
//ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
//		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
//	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
//			new PoolEntry<float>({0.0}));
//	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
//			new PoolEntry<float>({0.0}));
//	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
//			new PoolEntry<float>({0.0}));
//	localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
//			new PoolEntry<float>({0.0}));
//	return HasReturnvaluesIF::RETURN_OK;
//}
//
//void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
//	insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
//	insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
//	insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
//}
//
//void GyroHandlerL3GD20H::modeChanged() {
//	internalState = InternalState::NONE;
//}