eive/eive-obsw
eive/eive-obsw
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some more bugfixes

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This commit is contained in:
Robin Müller 2023-02-26 19:09:12 +01:00
parent ea993ad2e9
commit 2f9cdefc96
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GPG Key ID: 11D4952C8CCEF814
2 changed files with 11 additions and 36 deletions
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8
linux/devices/AcsBoardPolling.cpp
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@ -253,11 +253,17 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
} }
cmdBuf[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK; cmdBuf[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, l3gd20h::READ_LEN); std::memset(cmdBuf.data() + 1, 0, l3gd20h::READ_LEN);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6); result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), l3gd20h::READ_LEN + 1);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED; l3g.replyResult = returnvalue::FAILED;
return; return;
} }
result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
// The regular read function always returns the full sensor config as well. Use that // The regular read function always returns the full sensor config as well. Use that
// to verify communications. // to verify communications.
for (uint8_t idx = 0; idx < 5; idx++) { for (uint8_t idx = 0; idx < 5; idx++) {

39
mission/devices/GyrL3gCustomHandler.cpp
View File

@ -116,11 +116,11 @@ ReturnValue_t GyrL3gCustomHandler::interpretDeviceReply(DeviceCommandId_t id,
if (internalState == InternalState::STARTUP) { if (internalState == InternalState::STARTUP) {
commandExecuted = true; commandExecuted = true;
} }
PoolReadGuard readSet(&dataset); PoolReadGuard pg(&dataset);
dataset.setValidity(true, true); dataset.setValidity(true, true);
dataset.angVelocX = reply->angVelocities[0]; dataset.angVelocX = static_cast<float>(reply->angVelocities[0]) * reply->sensitivity;
dataset.angVelocY = reply->angVelocities[1]; dataset.angVelocY = static_cast<float>(reply->angVelocities[1]) * reply->sensitivity;
dataset.angVelocZ = reply->angVelocities[2]; dataset.angVelocZ = static_cast<float>(reply->angVelocities[2]) * reply->sensitivity;
if (std::abs(dataset.angVelocX.value) > absLimitX) { if (std::abs(dataset.angVelocX.value) > absLimitX) {
dataset.angVelocX.setValid(false); dataset.angVelocX.setValid(false);
} }
@ -132,34 +132,6 @@ ReturnValue_t GyrL3gCustomHandler::interpretDeviceReply(DeviceCommandId_t id,
} }
dataset.temperature = 25.0 - reply->tempOffsetRaw; dataset.temperature = 25.0 - reply->tempOffsetRaw;
} }
// PoolReadGuard readSet(&dataset);
// if (readSet.getReadResult() == returnvalue::OK) {
// if (std::abs(angVelocX) < this->absLimitX) {
// dataset.angVelocX = angVelocX;
// dataset.angVelocX.setValid(true);
// } else {
// dataset.angVelocX.setValid(false);
// }
//
// if (std::abs(angVelocY) < this->absLimitY) {
// dataset.angVelocY = angVelocY;
// dataset.angVelocY.setValid(true);
// } else {
// dataset.angVelocY.setValid(false);
// }
//
// if (std::abs(angVelocZ) < this->absLimitZ) {
// dataset.angVelocZ = angVelocZ;
// dataset.angVelocZ.setValid(true);
// } else {
// dataset.angVelocZ.setValid(false);
// }
//
// dataset.temperature = temperature;
// dataset.temperature.setValid(true);
// }
// break;
// }
return returnvalue::OK; return returnvalue::OK;
} }
@ -183,9 +155,6 @@ ReturnValue_t GyrL3gCustomHandler::initializeLocalDataPool(localpool::DataPool &
void GyrL3gCustomHandler::fillCommandAndReplyMap() { void GyrL3gCustomHandler::fillCommandAndReplyMap() {
insertInCommandMap(l3gd20h::REQUEST); insertInCommandMap(l3gd20h::REQUEST);
insertInReplyMap(l3gd20h::REPLY, 5, nullptr, 0, true); insertInReplyMap(l3gd20h::REPLY, 5, nullptr, 0, true);
// insertInCommandAndReplyMap(l3gd20h::READ_REGS, 1, &dataset);
// insertInCommandAndReplyMap(l3gd20h::CONFIGURE_CTRL_REGS, 1);
// insertInCommandAndReplyMap(l3gd20h::READ_CTRL_REGS, 1);
} }
void GyrL3gCustomHandler::modeChanged() { internalState = InternalState::NONE; } void GyrL3gCustomHandler::modeChanged() { internalState = InternalState::NONE; }