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L3DG20H device handler tested

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This commit is contained in:
Robin Müller
2021-03-07 14:06:29 +01:00
committed by Robin.Mueller
parent ab13fe15e4
commit 0db53f44c3
24 changed files with 260 additions and 116 deletions
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47
mission/devices/MGMHandlerRM3100.cpp
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@ -12,7 +12,7 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(10);
debugDivider = new PeriodicOperationDivider(5);
#endif
}
@ -20,28 +20,34 @@ MGMHandlerRM3100::~MGMHandlerRM3100() {}
void MGMHandlerRM3100::doStartUp() {
switch(internalState) {
case(InternalState::STATE_NONE): {
internalState = InternalState::STATE_CONFIGURE_CMM;
case(InternalState::NONE): {
internalState = InternalState::CONFIGURE_CMM;
break;
}
case(InternalState::STATE_CONFIGURE_CMM): {
internalState = InternalState::STATE_READ_CMM;
case(InternalState::CONFIGURE_CMM): {
internalState = InternalState::READ_CMM;
break;
}
case(InternalState::STATE_READ_CMM): {
case(InternalState::READ_CMM): {
if(commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
internalState = InternalState::STATE_READ_TMRC;
if(commandExecuted) {
internalState = InternalState::STATE_READ_TMRC;
}
break;
}
case(InternalState::STATE_READ_TMRC): {
if(commandExecuted) {
internalState = InternalState::STATE_NORMAL;
internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
break;
}
@ -58,15 +64,15 @@ void MGMHandlerRM3100::doShutDown() {
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
case(InternalState::NONE):
case(InternalState::NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_CONFIGURE_CMM): {
case(InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
break;
}
case(InternalState::STATE_READ_CMM): {
case(InternalState::READ_CMM): {
*id = RM3100::READ_CMM;
break;
}
@ -79,9 +85,9 @@ ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
break;
}
default:
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
/* Might be a configuration error. */
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
@ -164,6 +170,9 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
/* We can only check whether write was successful with read operation. */
if(mode == _MODE_START_UP) {
commandExecuted = true;
}
break;
}
case(RM3100::READ_CMM): {
@ -171,12 +180,12 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
/* We clear the seventh bit in any case
* because this one is zero sometimes for some reason */
bitutil::bitClear(&cmmValue, 6);
if(cmmValue == cmmRegValue) {
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
commandExecuted = true;
}
else {
/* Attempt reconfiguration. */
internalState = InternalState::STATE_CONFIGURE_CMM;
internalState = InternalState::CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
@ -304,7 +313,7 @@ void MGMHandlerRM3100::fillCommandAndReplyMap() {
}
void MGMHandlerRM3100::modeChanged(void) {
internalState = InternalState::STATE_NONE;
internalState = InternalState::NONE;
}
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
@ -316,7 +325,7 @@ ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
}
uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 10000;
return 15000;
}
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {