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fixes for gyro adis handler
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This commit is contained in:
Robin Müller 2021-12-15 10:15:06 +01:00
parent 774ffa8359
commit 5ae6a61ec0
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GPG Key ID: 71B58F8A3CDFA9AC
3 changed files with 15 additions and 15 deletions
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4
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -115,8 +115,8 @@ debugging. */
/*******************************************************************/
/** Hardcoded */
/*******************************************************************/
// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
#define OBSW_ADIS16507_LINUX_COM_IF 1
// Leave at one as the BSP is linux. Used by the ADIS1650X device handler
#define OBSW_ADIS1650X_LINUX_COM_IF 1
#include "OBSWVersion.h"

20
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -185,7 +185,7 @@ void GyroADIS1650XHandler::fillCommandAndReplyMap() {
ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
/* For SPI, the ID will always be the one of the last sent command. */
// For SPI, the ID will always be the one of the last sent command
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
@ -196,18 +196,19 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch(id) {
case(ADIS1650X::READ_OUT_CONFIG): {
PoolReadGuard rg(&configDataset);
uint16_t readProdId = packet[10] << 8 | packet[11];
if(((adisType == ADIS1650X::Type::ADIS16507) and
(readProdId != ADIS1650X::PROD_ID_16507)) or
((adisType == ADIS1650X::Type::ADIS16505) and
(readProdId != ADIS1650X::PROD_ID_16505))) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID "
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
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];
@ -232,21 +233,20 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
switch(burstMode) {
case(BurstModes::BURST_16_BURST_SEL_1):
case(BurstModes::BURST_32_BURST_SEL_1): {
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Analysis with BURST_SEL1"
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
" not implemented!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
case(BurstModes::BURST_16_BURST_SEL_0): {
uint16_t checksum = packet[20] << 8 | packet[21];
/* Now verify the read checksum with the expected checksum
according to datasheet p. 20 */
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for(size_t idx = 2; idx < 20; idx ++) {
calcChecksum += packet[idx];
}
if(checksum != calcChecksum) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: "
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
"Invalid checksum detected!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
@ -277,7 +277,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
} else if(adisType == ADIS1650X::Type::ADIS16505) {
accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16505;
} else {
sif::warning << "GyroADIS16507Handler::handleSensorData: "
sif::warning << "GyroADIS1650XHandler::handleSensorData: "
"Unknown ADIS type" << std::endl;
}
int16_t accelXRaw = packet[10] << 8 | packet[11];
@ -298,11 +298,11 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
sif::info << "GyroADIS16507Handler: Accelerations in m / s^2: " << std::endl;
sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
sif::info << "X: " << primaryDataset.accelX.value << std::endl;
sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;

6
mission/devices/GyroADIS1650XHandler.h
View File

@ -8,7 +8,7 @@
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#if OBSW_ADIS1650X_LINUX_COM_IF == 1
class SpiComIF;
class SpiCookie;
#endif
@ -24,7 +24,7 @@ public:
GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, ADIS1650X::Type type);
/* DeviceHandlerBase abstract function implementation */
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
@ -66,7 +66,7 @@ private:
BurstModes getBurstMode();
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#if OBSW_ADIS1650X_LINUX_COM_IF == 1
static ReturnValue_t spiSendCallback(SpiComIF* comIf, SpiCookie *cookie,
const uint8_t *sendData, size_t sendLen, void* args);
#endif