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minor ADIS updates
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This commit is contained in:
Robin Müller
2022-01-19 14:08:30 +01:00
parent 3ab6494c28
commit dc6a2ffe56
5 changed files with 28 additions and 8 deletions
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21
mission/devices/GyroADIS1650XHandler.cpp
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@ -36,6 +36,7 @@ void GyroADIS1650XHandler::doStartUp() {
// Initial 310 ms start up time after power-up
if (internalState == InternalState::STARTUP) {
if (not commandExecuted) {
warningSwitch = true;
breakCountdown.setTimeout(ADIS1650X::START_UP_TIME);
commandExecuted = true;
}
@ -54,8 +55,11 @@ void GyroADIS1650XHandler::doStartUp() {
}
if (internalState == InternalState::IDLE) {
setMode(MODE_NORMAL);
// setMode(MODE_ON);
if(goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(MODE_ON);
}
}
}
@ -81,7 +85,7 @@ ReturnValue_t GyroADIS1650XHandler::buildTransitionDeviceCommand(DeviceCommandId
break;
}
default: {
/* Might be a configuration error. */
// Might be a configuration error
sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
"Unknown internal state!"
<< std::endl;
@ -207,8 +211,11 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl;
if(warningSwitch) {
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl;
}
warningSwitch = false;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -321,7 +328,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
}
uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 10000;
return 6000;
}
void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
@ -479,4 +486,6 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
return HasReturnvaluesIF::RETURN_OK;
}
void GyroADIS1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
#endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */