eive/eive-obsw
eive/eive-obsw
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ok this should work
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Robin Müller 2023-01-18 17:51:54 +01:00
parent e31aaf5b97
commit 59a8003ad8
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4 changed files with 16 additions and 9 deletions
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15
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -228,15 +228,15 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
switch (bitfield) {
case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
range = GyroRange::MODEL_1BMLZ;
rangeMultiplicator = RANGE_1BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
range = GyroRange::MODEL_2BMLZ;
rangeMultiplicator = RANGE_2BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
range = GyroRange::MODEL_3BMLZ;
rangeMultiplicator = RANGE_3BMLZ;
break;
}
case (RangMdlBitfield::RESERVED): {
@ -298,11 +298,14 @@ 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 * range;
primaryDataset.angVelocX.value =
static_cast<float>(angVelocXRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
int16_t angVelocYRaw = packet[6] << 8 | packet[7];
primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) / INT16_MAX * range;
primaryDataset.angVelocY.value =
static_cast<float>(angVelocYRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
int16_t angVelocZRaw = packet[8] << 8 | packet[9];
primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) / INT16_MAX * range;
primaryDataset.angVelocZ.value =
static_cast<float>(angVelocZRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
float accelScaling = 0;
if (adisType == ADIS1650X::Type::ADIS16507) {

2
mission/devices/GyroADIS1650XHandler.h
View File

@ -46,7 +46,7 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
ADIS1650X::Type adisType;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
ADIS1650X::GyroRange range = ADIS1650X::GyroRange::UNSET;
double rangeMultiplicator = ADIS1650X::RANGE_UNSET;
bool goToNormalMode = false;
bool warningSwitch = true;

6
mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
View File

@ -13,7 +13,11 @@ enum class Type { ADIS16505, ADIS16507 };
static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
static constexpr uint8_t WRITE_MASK = 0b1000'0000;
enum GyroRange { UNSET = 0, MODEL_1BMLZ = 125, MODEL_2BMLZ = 500, MODEL_3BMLZ = 2000 };
// 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,

2
tmtc

@ -1 +1 @@
Subproject commit c9790911ef085cd60c7d8a8a4bf75cc9c0f14c93
Subproject commit 118b439272a1f541a0ba9ba5a2ffd992190d7ea7