gyro handler finished
This commit is contained in:
parent
76a6db18ab
commit
7e0c56edcb
2
Makefile
2
Makefile
@ -278,7 +278,7 @@ cleanbin:
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-rm -rf $(BUILDPATH)/$(OUTPUT_FOLDER)
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# Build target configuration
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release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
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release: OPTIMIZATION = -O2 $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
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release: LINK_TIME_OPTIMIZATION = -flto
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release: TARGET = Release
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release: OPTIMIZATION_MESSAGE = On with Link Time Optimization
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit 31b82975c7ef701fa7f1ba3413cfa19cc73aa2ca
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Subproject commit dcc111e4facf39137fe52d8234361b7d99bdde06
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@ -2,7 +2,8 @@
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GyroHandler::GyroHandler(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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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this) {
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}
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GyroHandler::~GyroHandler() {}
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@ -25,42 +26,192 @@ void GyroHandler::doShutDown() {
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}
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ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch(internalState) {
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case(InternalState::STATE_NONE):
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case(InternalState::STATE_NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::STATE_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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break;
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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 "
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<< "internal state!" << 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 GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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return HasReturnvaluesIF::RETURN_OK;
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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 GyroHandler::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 GyroHandler::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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return HasReturnvaluesIF::RETURN_OK;
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// SPI, 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 GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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return HasReturnvaluesIF::RETURN_OK;
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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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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::STATE_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_START): {
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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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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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ReturnValue_t result = dataset.read(20);
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if(result == HasReturnvaluesIF::RETURN_OK) {
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dataset.angVelocX = angVelocX;
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dataset.angVelocY = angVelocX;
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dataset.angVelocZ = angVelocX;
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dataset.temperature = temperature;
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dataset.setValidity(true, true);
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result = dataset.commit(20);
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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 GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 5000;
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}
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ReturnValue_t GyroHandler::initializeLocalDataPool(
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LocalDataPool &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 GyroHandler::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 GyroHandler::modeChanged() {
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internalState = InternalState::STATE_NONE;
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}
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@ -2,6 +2,7 @@
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#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include "devicedefinitions/GyroL3GD20Definitions.h"
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/**
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* @brief Device Handler for the L3GD20H gyroscope sensor
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@ -40,8 +41,9 @@ protected:
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LocalDataPoolManager &poolManager) override;
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private:
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L3GD20H::GyroPrimaryDataset dataset;
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enum InternalState {
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enum class InternalState {
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STATE_NONE,
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STATE_CONFIGURE,
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STATE_NORMAL
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@ -49,6 +51,17 @@ private:
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InternalState internalState = InternalState::STATE_NONE;
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bool commandExecuted = false;
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uint8_t statusReg = 0;
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uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
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uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
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uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
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uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
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uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
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uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
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float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
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};
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@ -23,19 +23,19 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
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void MGMHandlerLIS3MDL::doStartUp() {
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switch (internalState) {
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case STATE_NONE:
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internalState = STATE_FIRST_CONTACT;
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case(InternalState::STATE_NONE):
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internalState = InternalState::STATE_FIRST_CONTACT;
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break;
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case STATE_FIRST_CONTACT:
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internalState = STATE_SETUP;
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case(InternalState::STATE_FIRST_CONTACT):
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internalState = InternalState::STATE_SETUP;
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break;
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case STATE_SETUP:
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internalState = STATE_CHECK_REGISTERS;
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case(InternalState::STATE_SETUP):
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internalState = InternalState::STATE_CHECK_REGISTERS;
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break;
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case STATE_CHECK_REGISTERS: {
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case(InternalState::STATE_CHECK_REGISTERS): {
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// Set up cached registers which will be used to configure the MGM.
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if(commandExecuted) {
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commandExecuted = false;
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@ -56,20 +56,27 @@ void MGMHandlerLIS3MDL::doShutDown() {
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ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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switch (internalState) {
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case STATE_FIRST_CONTACT:
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case(InternalState::STATE_NONE):
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case(InternalState::STATE_NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::STATE_FIRST_CONTACT): {
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*id = MGMLIS3MDL::IDENTIFY_DEVICE;
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break;
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case STATE_SETUP:
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}
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case(InternalState::STATE_SETUP): {
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*id = MGMLIS3MDL::SETUP_MGM;
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break;
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case STATE_CHECK_REGISTERS:
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}
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case(InternalState::STATE_CHECK_REGISTERS): {
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*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
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break;
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}
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default:
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break;
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// might be a configuration error.
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sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
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<< "internal state!" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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@ -412,7 +419,7 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
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}
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void MGMHandlerLIS3MDL::modeChanged(void) {
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internalState = STATE_NONE;
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internalState = InternalState::STATE_NONE;
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}
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ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
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@ -145,11 +145,15 @@ private:
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*/
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ReturnValue_t prepareCtrlRegisterWrite();
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enum InternalState {
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STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
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enum class InternalState {
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STATE_NONE,
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STATE_FIRST_CONTACT,
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STATE_SETUP,
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STATE_CHECK_REGISTERS,
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STATE_NORMAL
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};
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InternalState internalState = STATE_NONE;
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InternalState internalState = InternalState::STATE_NONE;
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CommunicationStep communicationStep = CommunicationStep::DATA;
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bool commandExecuted = false;
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@ -17,25 +17,25 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
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MGMHandlerRM3100::~MGMHandlerRM3100() {}
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void MGMHandlerRM3100::doStartUp() {
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if(internalState == STATE_NONE) {
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internalState = STATE_CONFIGURE_CMM;
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if(internalState == InternalState::STATE_NONE) {
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internalState = InternalState::STATE_CONFIGURE_CMM;
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}
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if(internalState == STATE_CONFIGURE_CMM) {
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internalState = STATE_READ_CMM;
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if(internalState == InternalState::STATE_CONFIGURE_CMM) {
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internalState = InternalState::STATE_READ_CMM;
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}
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else if(internalState == STATE_READ_CMM) {
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else if(internalState == InternalState::STATE_READ_CMM) {
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if(commandExecuted) {
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internalState = STATE_CONFIGURE_TMRC;
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internalState = InternalState::STATE_CONFIGURE_TMRC;
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}
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}
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if(internalState == STATE_CONFIGURE_TMRC) {
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internalState = STATE_READ_TMRC;
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if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
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internalState = InternalState::STATE_READ_TMRC;
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}
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else if(internalState == STATE_READ_TMRC) {
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else if(internalState == InternalState::STATE_READ_TMRC) {
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if(commandExecuted) {
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internalState = STATE_NORMAL;
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internalState = InternalState::STATE_NORMAL;
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setMode(_MODE_TO_ON);
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}
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}
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@ -47,20 +47,32 @@ void MGMHandlerRM3100::doShutDown() {
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ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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if(internalState == STATE_CONFIGURE_CMM) {
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switch(internalState) {
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case(InternalState::STATE_NONE):
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case(InternalState::STATE_NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::STATE_CONFIGURE_CMM): {
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*id = RM3100::CONFIGURE_CMM;
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break;
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}
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if(internalState == STATE_READ_CMM) {
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case(InternalState::STATE_READ_CMM): {
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*id = RM3100::READ_CMM;
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break;
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}
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if(internalState == STATE_CONFIGURE_TMRC) {
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case(InternalState::STATE_CONFIGURE_TMRC): {
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*id = RM3100::CONFIGURE_TMRC;
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break;
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}
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if(internalState == STATE_READ_TMRC) {
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case(InternalState::STATE_READ_TMRC): {
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*id = RM3100::READ_TMRC;
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break;
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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 "
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<< "internal state!" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return buildCommandFromCommand(*id, nullptr, 0);
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@ -137,22 +149,26 @@ ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
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if (start[0] == 0b11111111) {
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return RETURN_OK;
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}
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else {
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return DeviceHandlerIF::INVALID_DATA;
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}
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return DeviceHandlerIF::INVALID_DATA;
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}
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ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
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DeviceCommandId_t id, 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(RM3100::CONFIGURE_CMM):
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case(RM3100::CONFIGURE_CYCLE_COUNT):
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case(RM3100::CONFIGURE_TMRC): {
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// We can only check whether write was sucessful with read operation.
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break;
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}
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case(RM3100::READ_CMM): {
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if(packet[1] == cmmRegValue) {
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commandExecuted = true;
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}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
internalState = STATE_CONFIGURE_CMM;
|
||||
internalState = InternalState::STATE_CONFIGURE_CMM;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
@ -167,7 +183,7 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
internalState = STATE_CONFIGURE_TMRC;
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
@ -284,7 +300,7 @@ void MGMHandlerRM3100::fillCommandAndReplyMap() {
|
||||
}
|
||||
|
||||
void MGMHandlerRM3100::modeChanged(void) {
|
||||
internalState = STATE_NONE;
|
||||
internalState = InternalState::STATE_NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
|
||||
|
||||
@ -60,7 +60,7 @@ protected:
|
||||
|
||||
private:
|
||||
|
||||
enum InternalState {
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_CONFIGURE_CMM,
|
||||
STATE_READ_CMM,
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace L3GD20H {
|
||||
@ -12,12 +13,114 @@ static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
|
||||
static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111;
|
||||
static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Control registers
|
||||
/*------------------------------------------------------------------------*/
|
||||
static constexpr uint8_t CTRL_REG_1 = 0b0010'0000;
|
||||
static constexpr uint8_t CTRL_REG_2 = 0b0010'0001;
|
||||
static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
|
||||
static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
|
||||
static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
|
||||
|
||||
// Register 1
|
||||
static constexpr uint8_t SET_DR_1 = 1 << 7;
|
||||
static constexpr uint8_t SET_DR_0 = 1 << 6;
|
||||
static constexpr uint8_t SET_BW_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_BW_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
|
||||
static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
|
||||
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
|
||||
static constexpr uint8_t SET_Y_ENABLE = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
|
||||
SET_Y_ENABLE | SET_X_ENABLE;
|
||||
|
||||
// Register 2
|
||||
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
|
||||
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
|
||||
static constexpr uint8_t SET_HPM_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_HPM_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_HPCF_3 = 1 << 3;
|
||||
static constexpr uint8_t SET_HPCF_2 = 1 << 2;
|
||||
static constexpr uint8_t SET_HPCF_1 = 1 << 1;
|
||||
static constexpr uint8_t SET_HPCF_0 = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
|
||||
|
||||
// Register 3
|
||||
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
|
||||
|
||||
// Register 4
|
||||
static constexpr uint8_t SET_BNU = 1 << 7;
|
||||
static constexpr uint8_t SET_BLE = 1 << 6;
|
||||
static constexpr uint8_t SET_FS_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_FS_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_IMP_ENB = 1 << 3;
|
||||
static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
|
||||
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
|
||||
static constexpr uint8_t SET_SPI_IF_SELECT = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_4_VAL = 0b0000'0000;
|
||||
|
||||
// Register 5
|
||||
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
|
||||
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
|
||||
|
||||
// In degrees per second (DPS) for now.
|
||||
static constexpr uint16_t RANGE_DPS_00 = 245;
|
||||
static constexpr uint16_t RANGE_DPS_01 = 500;
|
||||
static constexpr uint16_t RANGE_DPS_11 = 2000;
|
||||
|
||||
static constexpr uint8_t READ_START = CTRL_REG_1;
|
||||
static constexpr size_t READ_LEN = 14;
|
||||
|
||||
// Indexing
|
||||
static constexpr uint8_t REFERENCE_IDX = 6;
|
||||
static constexpr uint8_t TEMPERATURE_IDX = 7;
|
||||
static constexpr uint8_t STATUS_IDX = 8;
|
||||
static constexpr uint8_t OUT_X_L = 9;
|
||||
static constexpr uint8_t OUT_X_H = 10;
|
||||
static constexpr uint8_t OUT_Y_L = 11;
|
||||
static constexpr uint8_t OUT_Y_H = 12;
|
||||
static constexpr uint8_t OUT_Z_L = 13;
|
||||
static constexpr uint8_t OUT_Z_H = 14;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device Handler specific
|
||||
/*------------------------------------------------------------------------*/
|
||||
static constexpr DeviceCommandId_t READ_REGS = 0;
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
|
||||
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
|
||||
|
||||
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
|
||||
|
||||
enum GyroPoolIds: lp_id_t {
|
||||
ANG_VELOC_X,
|
||||
ANG_VELOC_Y,
|
||||
ANG_VELOC_Z,
|
||||
TEMPERATURE
|
||||
};
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, GYRO_DATASET_ID) {}
|
||||
|
||||
GyroPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, GYRO_DATASET_ID)) {}
|
||||
|
||||
// Angular velocities in degrees per second (DPS)
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user