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new MGM polling
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This commit is contained in:
Robin Müller
2023-02-27 11:44:52 +01:00
parent c7bed10bdf
commit e9514b1c97
11 changed files with 507 additions and 30 deletions
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20
mission/devices/GyrAdis1650XHandler.cpp
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@ -15,6 +15,10 @@ GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t devic
}
void GyrAdis1650XHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
internalState = InternalState::STARTUP;
commandExecuted = false;
}
// Initial 310 ms start up time after power-up
if (internalState == InternalState::STARTUP) {
if (not commandExecuted) {
@ -29,19 +33,9 @@ void GyrAdis1650XHandler::doStartUp() {
} else {
setMode(MODE_ON);
}
internalState = InternalState::NONE;
}
}
// // Read all configuration registers first
// if (internalState == InternalState::CONFIG) {
// if (commandExecuted) {
// commandExecuted = false;
// internalState = InternalState::IDLE;
// }
// }
//
// if (internalState == InternalState::IDLE) {
// }
}
void GyrAdis1650XHandler::doShutDown() {
@ -50,8 +44,10 @@ void GyrAdis1650XHandler::doShutDown() {
primaryDataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
}
if (commandExecuted) {
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
updatePeriodicReply(false, adis1650x::REPLY);
internalState = InternalState::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
}