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sensor handling moved to separate function

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This commit is contained in:
Robin Müller 2021-05-24 20:59:19 +02:00 committed by Robin Mueller
parent 0fa32ef2ea
commit 853a22c55a
2 changed files with 36 additions and 30 deletions
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65
mission/devices/GyroADIS16507Handler.cpp
View File

@ -116,42 +116,47 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case(ADIS16507::READ_SENSOR_DATA): {
BurstModes burstMode = getBurstMode();
switch(burstMode) {
case(BurstModes::BURST_16_BURST_SEL_1):
case(BurstModes::BURST_32_BURST_SEL_1): {
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Analysis with BURST_SEL1"
" not implemented!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
case(BurstModes::BURST_16_BURST_SEL_0): {
uint16_t checksum = packet[20] << 8 | packet[21];
/* Now verify the read checksum with the expected checksum
according to datasheet p. 20 */
uint16_t calcChecksum = 0;
for(size_t idx = 2; idx < 22; idx ++) {
calcChecksum += packet[idx];
}
if(checksum != calcChecksum) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: "
"Invalid checksum detected!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
}
case(BurstModes::BURST_32_BURST_SEL_0): {
}
}
return handleSensorData(packet);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
BurstModes burstMode = getBurstMode();
switch(burstMode) {
case(BurstModes::BURST_16_BURST_SEL_1):
case(BurstModes::BURST_32_BURST_SEL_1): {
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Analysis with BURST_SEL1"
" not implemented!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
case(BurstModes::BURST_16_BURST_SEL_0): {
uint16_t checksum = packet[20] << 8 | packet[21];
/* Now verify the read checksum with the expected checksum
according to datasheet p. 20 */
uint16_t calcChecksum = 0;
for(size_t idx = 2; idx < 22; idx ++) {
calcChecksum += packet[idx];
}
if(checksum != calcChecksum) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: "
"Invalid checksum detected!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
break;
}
case(BurstModes::BURST_32_BURST_SEL_0): {
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GyroADIS16507Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
}

1
mission/devices/GyroADIS16507Handler.h
View File

@ -61,6 +61,7 @@ private:
const uint8_t *sendData, size_t sendLen, void* args);
#endif
ReturnValue_t handleSensorData(const uint8_t* packet);
};