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Merge remote-tracking branch 'origin/develop' into heater_handling
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Robin Müller
2023-01-20 14:25:44 +01:00
parent 58f1c93de5 6e0f2c0dee
commit 4b396884c6
26 changed files with 534 additions and 385 deletions
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19
mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
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@ -13,7 +13,19 @@ 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;
// Ranges in deg / s
static constexpr double RANGE_UNSET = 0.0;
static constexpr double RANGE_1BMLZ = 125.0;
static constexpr double RANGE_2BMLZ = 500.0;
static constexpr double RANGE_3BMLZ = 2000.0;
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 +45,7 @@ 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 +67,7 @@ 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 +91,7 @@ enum PrimaryPoolIds : lp_id_t {
TEMPERATURE,
DIAG_STAT_REGISTER,
FILTER_SETTINGS,
RANG_MDL,
MSC_CTRL_REGISTER,
DEC_RATE_REGISTER,
};
@ -130,6 +144,7 @@ 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);