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important bugfix for ADIS handler
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This commit is contained in:
Robin Müller 2022-02-19 16:51:46 +01:00
parent 6ddd2e4759
commit 8498a84354
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GPG Key ID: 71B58F8A3CDFA9AC
2 changed files with 27 additions and 21 deletions
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41
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -20,10 +20,6 @@ GyroADIS1650XHandler::GyroADIS1650XHandler(object_id_t objectId, object_id_t dev
primaryDataset(this), primaryDataset(this),
configDataset(this), configDataset(this),
breakCountdown() { breakCountdown() {
#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5);
#endif
#if OBSW_ADIS1650X_LINUX_COM_IF == 1 #if OBSW_ADIS1650X_LINUX_COM_IF == 1
SpiCookie *cookie = dynamic_cast<SpiCookie *>(comCookie); SpiCookie *cookie = dynamic_cast<SpiCookie *>(comCookie);
if (cookie != nullptr) { if (cookie != nullptr) {
@ -101,7 +97,7 @@ ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t de
switch (deviceCommand) { switch (deviceCommand) {
case (ADIS1650X::READ_OUT_CONFIG): { case (ADIS1650X::READ_OUT_CONFIG): {
this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE; this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE;
uint8_t regList[5]; uint8_t regList[5] = {};
regList[0] = ADIS1650X::DIAG_STAT_REG; regList[0] = ADIS1650X::DIAG_STAT_REG;
regList[1] = ADIS1650X::FILTER_CTRL_REG; regList[1] = ADIS1650X::FILTER_CTRL_REG;
regList[2] = ADIS1650X::MSC_CTRL_REG; regList[2] = ADIS1650X::MSC_CTRL_REG;
@ -305,18 +301,18 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
primaryDataset.setValidity(true, true); primaryDataset.setValidity(true, true);
} }
#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1 if (periodicPrintout) {
if (debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
sif::info << "GyroADIS1650XHandler: 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 << "X: " << primaryDataset.angVelocX.value << std::endl;
sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl; sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl; sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
sif::info << "GyroADIS1650XHandler: 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 << "X: " << primaryDataset.accelX.value << std::endl;
sif::info << "Y: " << primaryDataset.accelY.value << std::endl; sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
sif::info << "Z: " << primaryDataset.accelZ.value << std::endl; sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
}
} }
#endif
break; break;
} }
@ -446,6 +442,9 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
} }
size_t idx = 0; size_t idx = 0;
spi_ioc_transfer *transferStruct = cookie->getTransferStructHandle();
uint64_t origTx = transferStruct->tx_buf;
uint64_t origRx = transferStruct->rx_buf;
while (idx < sendLen) { while (idx < sendLen) {
// Pull SPI CS low. For now, no support for active high given // Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
@ -471,11 +470,12 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
if (idx < sendLen) { if (idx < sendLen) {
usleep(ADIS1650X::STALL_TIME_MICROSECONDS); usleep(ADIS1650X::STALL_TIME_MICROSECONDS);
} }
spi_ioc_transfer *transferStruct = cookie->getTransferStructHandle();
transferStruct->tx_buf += 2; transferStruct->tx_buf += 2;
transferStruct->rx_buf += 2; transferStruct->rx_buf += 2;
} }
transferStruct->tx_buf = origTx;
transferStruct->rx_buf = origRx;
if (gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
mutex->unlockMutex(); mutex->unlockMutex();
} }
@ -486,4 +486,9 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
void GyroADIS1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; } void GyroADIS1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
void GyroADIS1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
#endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */ #endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */

7
mission/devices/GyroADIS1650XHandler.h
View File

@ -23,6 +23,7 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie, GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
ADIS1650X::Type type); ADIS1650X::Type type);
void enablePeriodicPrintouts(bool enable, uint8_t divider);
void setToGoToNormalModeImmediately(); void setToGoToNormalModeImmediately();
// DeviceHandlerBase abstract function implementation // DeviceHandlerBase abstract function implementation
@ -69,13 +70,13 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
size_t sendLen, void *args); size_t sendLen, void *args);
#endif #endif
#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
PeriodicOperationDivider *debugDivider;
#endif
Countdown breakCountdown; Countdown breakCountdown;
void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo); 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);
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
}; };
#endif /* MISSION_DEVICES_GYROADIS16507HANDLER_H_ */ #endif /* MISSION_DEVICES_GYROADIS16507HANDLER_H_ */