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This commit is contained in:
Robin Müller
2022-01-18 11:41:19 +01:00
parent 975b3cd294
commit 5cc7331e90
207 changed files with 28884 additions and 30264 deletions
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92
mission/devices/GyroADIS1650XHandler.h
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@@ -1,12 +1,11 @@
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
#include "OBSWConfig.h"
#include "FSFWConfig.h"
#include "OBSWConfig.h"
#include "devicedefinitions/GyroADIS1650XDefinitions.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#if OBSW_ADIS1650X_LINUX_COM_IF == 1
class SpiComIF;
@@ -19,67 +18,60 @@ class SpiCookie;
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/ADIS16507_Gyro
*/
class GyroADIS1650XHandler: public DeviceHandlerBase {
public:
GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, ADIS1650X::Type type);
class GyroADIS1650XHandler : public DeviceHandlerBase {
public:
GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
ADIS1650X::Type type);
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) override;
void fillCommandAndReplyMap() override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
void fillCommandAndReplyMap() override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
std::array<uint8_t, 32> commandBuffer;
ADIS1650X::Type adisType;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
private:
std::array<uint8_t, 32> commandBuffer;
ADIS1650X::Type adisType;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
enum class InternalState {
STARTUP,
CONFIG,
IDLE
};
enum class InternalState { STARTUP, CONFIG, IDLE };
enum class BurstModes {
BURST_16_BURST_SEL_0,
BURST_16_BURST_SEL_1,
BURST_32_BURST_SEL_0,
BURST_32_BURST_SEL_1
};
enum class BurstModes {
BURST_16_BURST_SEL_0,
BURST_16_BURST_SEL_1,
BURST_32_BURST_SEL_0,
BURST_32_BURST_SEL_1
};
InternalState internalState = InternalState::STARTUP;
bool commandExecuted = false;
InternalState internalState = InternalState::STARTUP;
bool commandExecuted = false;
void prepareReadCommand(uint8_t* regList, size_t len);
void prepareReadCommand(uint8_t *regList, size_t len);
BurstModes getBurstMode();
BurstModes getBurstMode();
#if OBSW_ADIS1650X_LINUX_COM_IF == 1
static ReturnValue_t spiSendCallback(SpiComIF* comIf, SpiCookie *cookie,
const uint8_t *sendData, size_t sendLen, void* args);
static ReturnValue_t spiSendCallback(SpiComIF *comIf, SpiCookie *cookie, const uint8_t *sendData,
size_t sendLen, void *args);
#endif
#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider;
PeriodicOperationDivider *debugDivider;
#endif
Countdown breakCountdown;
void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo);
Countdown breakCountdown;
void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo);
ReturnValue_t handleSensorData(const uint8_t* packet);
ReturnValue_t handleSensorData(const uint8_t *packet);
};
#endif /* MISSION_DEVICES_GYROADIS16507HANDLER_H_ */