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Merge branch 'v3.0.0-dev' into move-pdu-datavar
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This commit is contained in:
Robin Müller
2023-06-09 13:09:34 +02:00
parent e08a2b76b9 0e171997d7
commit c14bbe4a93
10 changed files with 133 additions and 17 deletions
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17
mission/acs/GyrAdis1650XHandler.cpp
View File

@ -15,7 +15,7 @@ GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t devic
}
void GyrAdis1650XHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
if (internalState == InternalState::NONE) {
internalState = InternalState::STARTUP;
commandExecuted = false;
}
@ -24,13 +24,14 @@ void GyrAdis1650XHandler::doStartUp() {
if (not commandExecuted) {
warningSwitch = true;
breakCountdown.setTimeout(adis1650x::START_UP_TIME);
updatePeriodicReply(true, adis1650x::REPLY);
commandExecuted = true;
}
if (breakCountdown.hasTimedOut()) {
updatePeriodicReply(true, adis1650x::REPLY);
setMode(MODE_ON);
internalState = InternalState::NONE;
}
}
if (internalState == InternalState::STARTUP_DONE) {
setMode(MODE_ON);
commandExecuted = false;
internalState = InternalState::NONE;
}
}
@ -61,6 +62,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
return NOTHING_TO_SEND;
}
*id = adis1650x::REQUEST;
adisRequest.cfg.decRateReg = adis1650x::DEC_RATE;
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
case (InternalState::SHUTDOWN): {
@ -91,6 +93,9 @@ ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t rem
getMode() == _MODE_POWER_DOWN) {
return IGNORE_FULL_PACKET;
}
if (internalState == InternalState::STARTUP) {
internalState = InternalState::STARTUP_DONE;
}
*foundLen = remainingSize;
if (remainingSize != sizeof(acs::Adis1650XReply)) {
return returnvalue::FAILED;

2
mission/acs/GyrAdis1650XHandler.h
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@ -48,7 +48,7 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
bool warningSwitch = true;
enum class InternalState { NONE, STARTUP, SHUTDOWN };
enum class InternalState { NONE, STARTUP, STARTUP_DONE, SHUTDOWN };
InternalState internalState = InternalState::STARTUP;
bool commandExecuted = false;

11
mission/acs/acsBoardPolling.h
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@ -8,11 +8,6 @@
namespace acs {
struct Adis1650XRequest {
SimpleSensorMode mode;
adis1650x::Type type;
};
struct Adis1650XConfig {
uint16_t diagStat;
uint16_t filterSetting;
@ -22,6 +17,12 @@ struct Adis1650XConfig {
uint16_t prodId;
};
struct Adis1650XRequest {
SimpleSensorMode mode;
adis1650x::Type type;
Adis1650XConfig cfg;
};
struct Adis1650XData {
double sensitivity = 0.0;
// Angular velocities in all axes (X, Y and Z)

11
mission/acs/gyroAdisHelpers.cpp
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@ -52,3 +52,14 @@ double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
}
}
}
void adis1650x::prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf,
size_t maxLen) {
if (maxLen < 4) {
return;
}
outBuf[0] = regStart | adis1650x::WRITE_MASK;
outBuf[1] = val & 0xff;
outBuf[2] = (regStart + 1) | adis1650x::WRITE_MASK;
outBuf[3] = (val >> 8) & 0xff;
}

5
mission/acs/gyroAdisHelpers.h
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@ -16,6 +16,8 @@ enum class BurstModes {
};
size_t prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf, size_t maxLen);
void prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf, size_t maxLen);
BurstModes burstModeFromMscCtrl(uint16_t mscCtrl);
double rangMdlToSensitivity(uint16_t rangMdl);
@ -92,6 +94,9 @@ static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
static constexpr uint16_t FILT_CTRL = 0x0000;
static constexpr uint16_t DEC_RATE = 0x00C7;
enum GlobCmds : uint8_t {
FACTORY_CALIBRATION = 0b0000'0010,
SENSOR_SELF_TEST = 0b0000'0100,

6
mission/controller/acs/AcsParameters.h
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@ -781,9 +781,9 @@ class AcsParameters : public HasParametersIF {
/* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(3.0e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = false;
float gyrFilterWeight = 0.6;