add handling for correct range setting

bsp_q7s/obsw.cpp

@@ -1,13 +1,13 @@
 #include "obsw.h"
 
+#include <pwd.h>
+#include <sys/types.h>
+#include <unistd.h>
+
 #include <filesystem>
 #include <fstream>
 #include <iostream>
 
-#include <unistd.h>
-#include <sys/types.h>
-#include <pwd.h>
-
 #include "OBSWConfig.h"
 #include "commonConfig.h"
 #include "core/scheduling.h"
@@ -44,8 +44,8 @@ int obsw::obsw() {
 
   const char* homedir = nullptr;
   homedir = getenv("HOME");
-  if(homedir == nullptr) {
-	  homedir = getpwuid(getuid())->pw_dir;
+  if (homedir == nullptr) {
+    homedir = getpwuid(getuid())->pw_dir;
   }
   std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
   // Init delay handling.

mission/devices/GyroADIS1650XHandler.cpp

@@ -99,12 +99,13 @@ ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t de
   switch (deviceCommand) {
     case (ADIS1650X::READ_OUT_CONFIG): {
       this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE;
-      uint8_t regList[5] = {};
+      uint8_t regList[6] = {};
       regList[0] = ADIS1650X::DIAG_STAT_REG;
       regList[1] = ADIS1650X::FILTER_CTRL_REG;
-      regList[2] = ADIS1650X::MSC_CTRL_REG;
-      regList[3] = ADIS1650X::DEC_RATE_REG;
-      regList[4] = ADIS1650X::PROD_ID_REG;
+      regList[2] = ADIS1650X::RANG_MDL_REG;
+      regList[3] = ADIS1650X::MSC_CTRL_REG;
+      regList[4] = ADIS1650X::DEC_RATE_REG;
+      regList[5] = ADIS1650X::PROD_ID_REG;
       prepareReadCommand(regList, sizeof(regList));
       this->rawPacket = commandBuffer.data();
       break;
@@ -203,6 +204,7 @@ ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t re
 
 ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                          const uint8_t *packet) {
+  using namespace ADIS1650X;
   switch (id) {
     case (ADIS1650X::READ_OUT_CONFIG): {
       uint16_t readProdId = packet[10] << 8 | packet[11];
@@ -220,8 +222,32 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
       PoolReadGuard rg(&configDataset);
       configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
       configDataset.filterSetting.value = packet[4] << 8 | packet[5];
-      configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7];
-      configDataset.decRateReg.value = packet[8] << 8 | packet[9];
+      uint16_t rangMdlRaw = packet[6] << 8 | packet[7];
+      ADIS1650X::RangMdlBitfield bitfield =
+          static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
+      switch (bitfield) {
+        case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
+          range = GyroRange::MODEL_1BMLZ;
+          break;
+        }
+        case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
+          range = GyroRange::MODEL_2BMLZ;
+          break;
+        }
+        case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
+          range = GyroRange::MODEL_3BMLZ;
+          break;
+        }
+        case (RangMdlBitfield::RESERVED): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
+#endif
+          break;
+        }
+      }
+      configDataset.rangMdl.value = rangMdlRaw;
+      configDataset.mscCtrlReg.value = packet[8] << 8 | packet[9];
+      configDataset.decRateReg.value = packet[10] << 8 | packet[11];
       configDataset.setValidity(true, true);
       if (internalState == InternalState::CONFIG) {
         commandExecuted = true;
@@ -271,14 +297,11 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
       {
         PoolReadGuard pg(&primaryDataset);
         int16_t angVelocXRaw = packet[4] << 8 | packet[5];
-        primaryDataset.angVelocX.value =
-            static_cast<float>(angVelocXRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
+        primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) / INT16_MAX * range;
         int16_t angVelocYRaw = packet[6] << 8 | packet[7];
-        primaryDataset.angVelocY.value =
-            static_cast<float>(angVelocYRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
+        primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) / INT16_MAX * range;
         int16_t angVelocZRaw = packet[8] << 8 | packet[9];
-        primaryDataset.angVelocZ.value =
-            static_cast<float>(angVelocZRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
+        primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) / INT16_MAX * range;
 
         float accelScaling = 0;
         if (adisType == ADIS1650X::Type::ADIS16507) {

mission/devices/GyroADIS1650XHandler.h

@@ -46,6 +46,8 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
   ADIS1650X::Type adisType;
   AdisGyroPrimaryDataset primaryDataset;
   AdisGyroConfigDataset configDataset;
+  ADIS1650X::GyroRange range = ADIS1650X::GyroRange::UNSET;
+
   bool goToNormalMode = false;
   bool warningSwitch = true;
 

mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h

@@ -13,7 +13,15 @@ enum class Type { ADIS16505, ADIS16507 };
 static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
 static constexpr uint8_t WRITE_MASK = 0b1000'0000;
 
-static constexpr uint32_t GYRO_RANGE = 125;
+enum GyroRange { UNSET = 0, MODEL_1BMLZ = 125, MODEL_2BMLZ = 500, MODEL_3BMLZ = 2000 };
+
+enum RangMdlBitfield {
+  RANGE_125_1BMLZ = 0b00,
+  RANGE_500_2BMLZ = 0b01,
+  RESERVED = 0b10,
+  RANGE_2000_3BMLZ = 0b11
+};
+
 static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392;
 static constexpr float ACCELEROMETER_RANGE_16505 = 78.4;
 
@@ -33,6 +41,7 @@ static constexpr dur_millis_t SELF_TEST_BREAK = 24;
 
 static constexpr uint8_t DIAG_STAT_REG = 0x02;
 static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
+static constexpr uint8_t RANG_MDL_REG = 0x5e;
 static constexpr uint8_t MSC_CTRL_REG = 0x60;
 static constexpr uint8_t DEC_RATE_REG = 0x64;
 static constexpr uint8_t GLOB_CMD = 0x68;
@@ -54,7 +63,7 @@ static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
 static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
 static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6;
 
-static constexpr size_t CONFIG_READOUT_SIZE = 10 + 2;
+static constexpr size_t CONFIG_READOUT_SIZE = 12 + 2;
 static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
 
 static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
@@ -78,6 +87,7 @@ enum PrimaryPoolIds : lp_id_t {
   TEMPERATURE,
   DIAG_STAT_REGISTER,
   FILTER_SETTINGS,
+  RANG_MDL,
   MSC_CTRL_REGISTER,
   DEC_RATE_REGISTER,
 };
@@ -130,6 +140,7 @@ class AdisGyroConfigDataset : public StaticLocalDataSet<5> {
 
   lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER);
   lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS);
+  lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL);
   lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER);
   lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER);