done

mission/acs/gyroAdisHelpers.cpp

@@ -0,0 +1,54 @@
+#include "gyroAdisHelpers.h"
+
+size_t adis1650x::prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf,
+                                     size_t maxLen) {
+  if (len * 2 + 2 > maxLen) {
+    return 0;
+  }
+  for (size_t idx = 0; idx < len; idx++) {
+    outBuf[idx * 2] = regList[idx];
+    outBuf[idx * 2 + 1] = 0x00;
+  }
+  outBuf[len * 2] = 0x00;
+  outBuf[len * 2 + 1] = 0x00;
+  return len * 2 + 2;
+}
+
+adis1650x::BurstModes adis1650x::burstModeFromMscCtrl(uint16_t mscCtrl) {
+  if ((mscCtrl & adis1650x::BURST_32_BIT) == adis1650x::BURST_32_BIT) {
+    if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
+      return BurstModes::BURST_32_BURST_SEL_1;
+    } else {
+      return BurstModes::BURST_32_BURST_SEL_0;
+    }
+  } else {
+    if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
+      return BurstModes::BURST_16_BURST_SEL_1;
+    } else {
+      return BurstModes::BURST_16_BURST_SEL_0;
+    }
+  }
+}
+
+double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
+  adis1650x::RangMdlBitfield bitfield =
+      static_cast<adis1650x::RangMdlBitfield>((rangMdl >> 2) & 0b11);
+  switch (bitfield) {
+    case (adis1650x::RangMdlBitfield::RANGE_125_1BMLZ): {
+      return SENSITIVITY_1BMLZ;
+    }
+    case (adis1650x::RangMdlBitfield::RANGE_500_2BMLZ): {
+      return SENSITIVITY_2BMLZ;
+    }
+    case (adis1650x::RangMdlBitfield::RANGE_2000_3BMLZ): {
+      return SENSITIVITY_3BMLZ;
+    }
+    case (RangMdlBitfield::RESERVED):
+    default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
+#endif
+      return 0.0;
+    }
+  }
+}