fixes for gyro adis handler

linux/fsfwconfig/OBSWConfig.h.in

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

mission/devices/GyroADIS1650XHandler.cpp

@@ -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
+        // Now verify the read checksum with the expected checksum according to datasheet p. 20
-        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;

mission/devices/GyroADIS1650XHandler.h

@@ -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