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This commit is contained in:
Robin Müller
2023-02-28 01:25:25 +01:00
parent e9514b1c97
commit d4923ac3e8
10 changed files with 43 additions and 306 deletions
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3
linux/devices/AcsBoardPolling.cpp
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@ -178,6 +178,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
} else {
mgm.ownReply.dataWasRead = false;
}
mgm.mode = req->mode;
}
@ -717,6 +718,8 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
// value which is configurable!
mgm.ownReply.scaleFactors[idx] = 1.0 / mgmRm3100::DEFAULT_GAIN;
}
mgm.ownReply.dataWasRead = true;
// Bitshift trickery to account for 24 bit signed value.
mgm.ownReply.mgmValuesRaw[0] =
((rawReply[1] << 24) | (rawReply[2] << 16) | (rawReply[3] << 8)) >> 8;
mgm.ownReply.mgmValuesRaw[1] =

2
linux/devices/AcsBoardPolling.h
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@ -30,7 +30,7 @@ class AcsBoardPolling : public SystemObject,
SpiCookie* cookie = nullptr;
bool performStartup = false;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
ReturnValue_t replyResult;
ReturnValue_t replyResult = returnvalue::OK;
};
struct GyroAdis : public DevBase {