bugfixes for RPi
This commit is contained in:
parent
185e5fd730
commit
7acd21039e
@ -11,11 +11,12 @@
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#include <linux/boardtest/LibgpiodTest.h>
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#include <linux/boardtest/SpiTestClass.h>
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#include <mission/devices/GyroL3GD20Handler.h>
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//#include <mission/devices/GyroL3GD20Handler.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/utility/TmFunnel.h>
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#include <mission/devices/MGMHandlerLIS3MDL.h>
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#include <mission/devices/MGMHandlerRM3100.h>
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include <mission/devices/GyroADIS16507Handler.h>
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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@ -59,7 +60,7 @@ void ObjectFactory::produce(void* args){
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new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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GpioCookie* gpioCookie = nullptr;
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#if RPI_ADD_SPI_TEST == 1
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new SpiTestClass(objects::SPI_TEST, gpioIF);
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#endif
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@ -80,27 +81,31 @@ void ObjectFactory::produce(void* args){
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new SpiComIF(objects::SPI_COM_IF, gpioIF);
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std::string spiDev;
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SpiCookie* spiCookie = nullptr;
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#if RPI_TEST_ACS_BOARD == 1
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
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if(gpioCookie == nullptr) {
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gpioCookie = new GpioCookie();
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}
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
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"MGM_0_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
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"MGM_1_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
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"MGM_2_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
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"MGM_3_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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"GYRO_0_ADIS", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
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"GYRO_1_L3G", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
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"GYRO_2_L3G", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookieAcsBoard);
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gpioIF->addGpios(gpioCookie);
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std::string spiDev = "/dev/spidev0.0";
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SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
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spiDev = "/dev/spidev0.0";
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spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
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MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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@ -121,13 +126,15 @@ void ObjectFactory::produce(void* args){
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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#if RPI_TEST_ADIS16507 == 1
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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if(gpioCookie == nullptr) {
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gpioCookie = new GpioCookie();
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}
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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"GYRO_0_ADIS", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookieAcsBoard);
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gpioIF->addGpios(gpioCookie);
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std::string spiDev = "/dev/spidev0.0";
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SpiCookie* spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
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spiDev = "/dev/spidev0.0";
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spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
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ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
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nullptr, nullptr);
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auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
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@ -1,260 +1,260 @@
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#include "GyroL3GD20Handler.h"
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#include <OBSWConfig.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this) {
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#if L3GD20_GYRO_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(5);
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#endif
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}
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GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
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void GyroHandlerL3GD20H::doStartUp() {
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if(internalState == InternalState::NONE) {
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internalState = InternalState::CONFIGURE;
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}
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if(internalState == InternalState::CONFIGURE) {
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if(commandExecuted) {
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internalState = InternalState::CHECK_REGS;
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commandExecuted = false;
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}
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}
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if(internalState == InternalState::CHECK_REGS) {
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if(commandExecuted) {
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internalState = InternalState::NORMAL;
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#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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setMode(MODE_NORMAL);
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#else
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setMode(_MODE_TO_ON);
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#endif
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commandExecuted = false;
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}
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}
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}
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void GyroHandlerL3GD20H::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch(internalState) {
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case(InternalState::NONE):
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case(InternalState::NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::CONFIGURE): {
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*id = L3GD20H::CONFIGURE_CTRL_REGS;
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uint8_t command [5];
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command[0] = L3GD20H::CTRL_REG_1_VAL;
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command[1] = L3GD20H::CTRL_REG_2_VAL;
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command[2] = L3GD20H::CTRL_REG_3_VAL;
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command[3] = L3GD20H::CTRL_REG_4_VAL;
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command[4] = L3GD20H::CTRL_REG_5_VAL;
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return buildCommandFromCommand(*id, command, 5);
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}
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case(InternalState::CHECK_REGS): {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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default:
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/* Might be a configuration error. */
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sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(L3GD20H::READ_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
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L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
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rawPacket = commandBuffer;
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rawPacketLen = L3GD20H::READ_LEN + 1;
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break;
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}
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case(L3GD20H::CONFIGURE_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
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if(commandData == nullptr or commandDataLen != 5) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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ctrlReg1Value = commandData[0];
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ctrlReg2Value = commandData[1];
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ctrlReg3Value = commandData[2];
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ctrlReg4Value = commandData[3];
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ctrlReg5Value = commandData[4];
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bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
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bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
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if(not fsH and not fsL) {
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scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
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}
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else if(not fsH and fsL) {
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scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
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}
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else {
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scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
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}
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commandBuffer[1] = ctrlReg1Value;
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commandBuffer[2] = ctrlReg2Value;
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commandBuffer[3] = ctrlReg3Value;
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commandBuffer[4] = ctrlReg4Value;
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commandBuffer[5] = ctrlReg5Value;
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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}
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case(L3GD20H::READ_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
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L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, 5);
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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/* For SPI, the ID will always be the one of the last sent command. */
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*foundId = this->getPendingCommand();
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*foundLen = this->rawPacketLen;
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/* Data with SPI Interface has always this answer */
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if (start[0] == 0b11111111) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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return DeviceHandlerIF::INVALID_DATA;
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}
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ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch(id) {
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case(L3GD20H::CONFIGURE_CTRL_REGS): {
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commandExecuted = true;
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break;
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}
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case(L3GD20H::READ_CTRL_REGS): {
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if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
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packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
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packet[5] == ctrlReg5Value) {
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commandExecuted = true;
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}
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else {
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/* Attempt reconfiguration. */
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internalState = InternalState::CONFIGURE;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(L3GD20H::READ_REGS): {
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if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
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packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
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packet[5] != ctrlReg5Value) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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else {
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if(internalState == InternalState::CHECK_REGS) {
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commandExecuted = true;
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}
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}
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statusReg = packet[L3GD20H::STATUS_IDX];
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float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
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packet[L3GD20H::OUT_X_L]) * scaleFactor;
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float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
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packet[L3GD20H::OUT_Y_L]) * scaleFactor;
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float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
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packet[L3GD20H::OUT_Z_L]) * scaleFactor;
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int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
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float temperature = 25.0 + temperaturOffset;
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#if L3GD20_GYRO_DEBUG == 1
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if(debugDivider->checkAndIncrement()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
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std::endl;
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sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
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sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
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sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
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#else
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sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
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sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
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sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
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sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
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#endif
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}
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#endif
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PoolReadGuard readSet(&dataset);
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if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
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dataset.angVelocX = angVelocX;
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dataset.angVelocY = angVelocY;
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dataset.angVelocZ = angVelocZ;
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dataset.temperature = temperature;
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dataset.setValidity(true, true);
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}
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return result;
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}
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uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 10000;
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}
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ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
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new PoolEntry<float>({0.0}));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
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insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
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insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
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}
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void GyroHandlerL3GD20H::modeChanged() {
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internalState = InternalState::NONE;
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}
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//#include "GyroL3GD20Handler.h"
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//#include <OBSWConfig.h>
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//
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//#include <fsfw/datapool/PoolReadGuard.h>
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//
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//GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
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// CookieIF *comCookie):
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// DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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// dataset(this) {
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//#if L3GD20_GYRO_DEBUG == 1
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// debugDivider = new PeriodicOperationDivider(5);
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//#endif
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//}
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//
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//GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
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//
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//void GyroHandlerL3GD20H::doStartUp() {
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// if(internalState == InternalState::NONE) {
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// internalState = InternalState::CONFIGURE;
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// }
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//
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// if(internalState == InternalState::CONFIGURE) {
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// if(commandExecuted) {
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// internalState = InternalState::CHECK_REGS;
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// commandExecuted = false;
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// }
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// }
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//
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// if(internalState == InternalState::CHECK_REGS) {
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// if(commandExecuted) {
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// internalState = InternalState::NORMAL;
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//#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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// setMode(MODE_NORMAL);
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//#else
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// setMode(_MODE_TO_ON);
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//#endif
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// commandExecuted = false;
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// }
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// }
|
||||
//}
|
||||
//
|
||||
//void GyroHandlerL3GD20H::doShutDown() {
|
||||
// setMode(_MODE_POWER_DOWN);
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
// switch(internalState) {
|
||||
// case(InternalState::NONE):
|
||||
// case(InternalState::NORMAL): {
|
||||
// return HasReturnvaluesIF::RETURN_OK;
|
||||
// }
|
||||
// case(InternalState::CONFIGURE): {
|
||||
// *id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
// uint8_t command [5];
|
||||
// command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
// command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
// command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
// command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
// command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
// return buildCommandFromCommand(*id, command, 5);
|
||||
// }
|
||||
// case(InternalState::CHECK_REGS): {
|
||||
// *id = L3GD20H::READ_REGS;
|
||||
// return buildCommandFromCommand(*id, nullptr, 0);
|
||||
// }
|
||||
// default:
|
||||
// /* Might be a configuration error. */
|
||||
// sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||
// std::endl;
|
||||
// return HasReturnvaluesIF::RETURN_OK;
|
||||
// }
|
||||
// return HasReturnvaluesIF::RETURN_OK;
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
// *id = L3GD20H::READ_REGS;
|
||||
// return buildCommandFromCommand(*id, nullptr, 0);
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
|
||||
// DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
// size_t commandDataLen) {
|
||||
// switch(deviceCommand) {
|
||||
// case(L3GD20H::READ_REGS): {
|
||||
// commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
|
||||
// L3GD20H::READ_MASK;
|
||||
//
|
||||
// std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
// rawPacket = commandBuffer;
|
||||
// rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
// break;
|
||||
// }
|
||||
// case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
// commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
// if(commandData == nullptr or commandDataLen != 5) {
|
||||
// return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
// }
|
||||
//
|
||||
// ctrlReg1Value = commandData[0];
|
||||
// ctrlReg2Value = commandData[1];
|
||||
// ctrlReg3Value = commandData[2];
|
||||
// ctrlReg4Value = commandData[3];
|
||||
// ctrlReg5Value = commandData[4];
|
||||
//
|
||||
// bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
// bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
//
|
||||
// if(not fsH and not fsL) {
|
||||
// scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
|
||||
// }
|
||||
// else if(not fsH and fsL) {
|
||||
// scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
|
||||
// }
|
||||
// else {
|
||||
// scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
|
||||
// }
|
||||
//
|
||||
// commandBuffer[1] = ctrlReg1Value;
|
||||
// commandBuffer[2] = ctrlReg2Value;
|
||||
// commandBuffer[3] = ctrlReg3Value;
|
||||
// commandBuffer[4] = ctrlReg4Value;
|
||||
// commandBuffer[5] = ctrlReg5Value;
|
||||
//
|
||||
// rawPacket = commandBuffer;
|
||||
// rawPacketLen = 6;
|
||||
// break;
|
||||
// }
|
||||
// case(L3GD20H::READ_CTRL_REGS): {
|
||||
// commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
|
||||
// L3GD20H::READ_MASK;
|
||||
//
|
||||
// std::memset(commandBuffer + 1, 0, 5);
|
||||
// rawPacket = commandBuffer;
|
||||
// rawPacketLen = 6;
|
||||
// break;
|
||||
// }
|
||||
// default:
|
||||
// return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
// }
|
||||
// return HasReturnvaluesIF::RETURN_OK;
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
// DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// /* For SPI, the ID will always be the one of the last sent command. */
|
||||
// *foundId = this->getPendingCommand();
|
||||
// *foundLen = this->rawPacketLen;
|
||||
//
|
||||
// /* Data with SPI Interface has always this answer */
|
||||
// if (start[0] == 0b11111111) {
|
||||
// return HasReturnvaluesIF::RETURN_OK;
|
||||
// }
|
||||
// return DeviceHandlerIF::INVALID_DATA;
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
// const uint8_t *packet) {
|
||||
// ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
// switch(id) {
|
||||
// case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
// commandExecuted = true;
|
||||
// break;
|
||||
// }
|
||||
// case(L3GD20H::READ_CTRL_REGS): {
|
||||
// if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
// packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
// packet[5] == ctrlReg5Value) {
|
||||
// commandExecuted = true;
|
||||
// }
|
||||
// else {
|
||||
// /* Attempt reconfiguration. */
|
||||
// internalState = InternalState::CONFIGURE;
|
||||
// return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
// }
|
||||
// break;
|
||||
// }
|
||||
// case(L3GD20H::READ_REGS): {
|
||||
// if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
// packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
// packet[5] != ctrlReg5Value) {
|
||||
// return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
// }
|
||||
// else {
|
||||
// if(internalState == InternalState::CHECK_REGS) {
|
||||
// commandExecuted = true;
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// statusReg = packet[L3GD20H::STATUS_IDX];
|
||||
//
|
||||
// float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
|
||||
// packet[L3GD20H::OUT_X_L]) * scaleFactor;
|
||||
// float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
|
||||
// packet[L3GD20H::OUT_Y_L]) * scaleFactor;
|
||||
// float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
|
||||
// packet[L3GD20H::OUT_Z_L]) * scaleFactor;
|
||||
//
|
||||
// int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
// float temperature = 25.0 + temperaturOffset;
|
||||
//#if L3GD20_GYRO_DEBUG == 1
|
||||
// if(debugDivider->checkAndIncrement()) {
|
||||
// /* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
//#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
// sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
|
||||
// std::endl;
|
||||
// sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
|
||||
// sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
|
||||
// sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
|
||||
//#else
|
||||
// sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
|
||||
// sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
|
||||
// sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
|
||||
// sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
|
||||
//#endif
|
||||
// }
|
||||
//#endif
|
||||
//
|
||||
// PoolReadGuard readSet(&dataset);
|
||||
// if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
// dataset.angVelocX = angVelocX;
|
||||
// dataset.angVelocY = angVelocY;
|
||||
// dataset.angVelocZ = angVelocZ;
|
||||
// dataset.temperature = temperature;
|
||||
// dataset.setValidity(true, true);
|
||||
// }
|
||||
// break;
|
||||
// }
|
||||
// default:
|
||||
// return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
// }
|
||||
// return result;
|
||||
//}
|
||||
//
|
||||
//
|
||||
//uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
// return 10000;
|
||||
//}
|
||||
//
|
||||
//ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
|
||||
// localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
// localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
|
||||
// new PoolEntry<float>({0.0}));
|
||||
// localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
|
||||
// new PoolEntry<float>({0.0}));
|
||||
// localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
|
||||
// new PoolEntry<float>({0.0}));
|
||||
// localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
|
||||
// new PoolEntry<float>({0.0}));
|
||||
// return HasReturnvaluesIF::RETURN_OK;
|
||||
//}
|
||||
//
|
||||
//void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
|
||||
// insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
// insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
// insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
//}
|
||||
//
|
||||
//void GyroHandlerL3GD20H::modeChanged() {
|
||||
// internalState = InternalState::NONE;
|
||||
//}
|
||||
|
||||
@ -1,80 +1,80 @@
|
||||
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
* @details
|
||||
* Advanced documentation:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
|
||||
*
|
||||
* Data is read big endian with the smallest possible range of 245 degrees per second.
|
||||
*/
|
||||
class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
|
||||
protected:
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
GyroPrimaryDataset dataset;
|
||||
|
||||
enum class InternalState {
|
||||
NONE,
|
||||
CONFIGURE,
|
||||
CHECK_REGS,
|
||||
NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
|
||||
uint8_t statusReg = 0;
|
||||
|
||||
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
|
||||
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
|
||||
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
|
||||
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
|
||||
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
|
||||
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
|
||||
|
||||
#if L3GD20_GYRO_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider = nullptr;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
|
||||
//#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
//#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
//
|
||||
//#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
//#include <OBSWConfig.h>
|
||||
//
|
||||
//#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
//#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
//
|
||||
//
|
||||
///**
|
||||
// * @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
// * (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
// * @details
|
||||
// * Advanced documentation:
|
||||
// * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
|
||||
// *
|
||||
// * Data is read big endian with the smallest possible range of 245 degrees per second.
|
||||
// */
|
||||
//class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
//public:
|
||||
// GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
// CookieIF* comCookie);
|
||||
// virtual ~GyroHandlerL3GD20H();
|
||||
//
|
||||
//protected:
|
||||
//
|
||||
// /* DeviceHandlerBase overrides */
|
||||
// ReturnValue_t buildTransitionDeviceCommand(
|
||||
// DeviceCommandId_t *id) override;
|
||||
// void doStartUp() override;
|
||||
// void doShutDown() override;
|
||||
// ReturnValue_t buildNormalDeviceCommand(
|
||||
// DeviceCommandId_t *id) override;
|
||||
// ReturnValue_t buildCommandFromCommand(
|
||||
// DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
// size_t commandDataLen) override;
|
||||
// ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
// DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
// ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
// const uint8_t *packet) override;
|
||||
//
|
||||
// void fillCommandAndReplyMap() override;
|
||||
// void modeChanged() override;
|
||||
// uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
// ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
// LocalDataPoolManager &poolManager) override;
|
||||
//
|
||||
//private:
|
||||
// GyroPrimaryDataset dataset;
|
||||
//
|
||||
// enum class InternalState {
|
||||
// NONE,
|
||||
// CONFIGURE,
|
||||
// CHECK_REGS,
|
||||
// NORMAL
|
||||
// };
|
||||
// InternalState internalState = InternalState::NONE;
|
||||
// bool commandExecuted = false;
|
||||
//
|
||||
// uint8_t statusReg = 0;
|
||||
//
|
||||
// uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
|
||||
// uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
|
||||
// uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
|
||||
// uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
|
||||
// uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
//
|
||||
// uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
//
|
||||
// float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
|
||||
//
|
||||
//#if L3GD20_GYRO_DEBUG == 1
|
||||
// PeriodicOperationDivider* debugDivider = nullptr;
|
||||
//#endif
|
||||
//};
|
||||
//
|
||||
//
|
||||
//
|
||||
//#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user