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gyro handler finished

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This commit is contained in:
Robin Müller
2020-12-23 20:17:39 +01:00
committed by Robin Mueller
parent e527aa52f6
commit efd0823da2
9 changed files with 345 additions and 51 deletions
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37
mission/devices/MGMHandlerLIS3MDL.cpp
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@ -23,19 +23,19 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
void MGMHandlerLIS3MDL::doStartUp() {
switch (internalState) {
case STATE_NONE:
internalState = STATE_FIRST_CONTACT;
case(InternalState::STATE_NONE):
internalState = InternalState::STATE_FIRST_CONTACT;
break;
case STATE_FIRST_CONTACT:
internalState = STATE_SETUP;
case(InternalState::STATE_FIRST_CONTACT):
internalState = InternalState::STATE_SETUP;
break;
case STATE_SETUP:
internalState = STATE_CHECK_REGISTERS;
case(InternalState::STATE_SETUP):
internalState = InternalState::STATE_CHECK_REGISTERS;
break;
case STATE_CHECK_REGISTERS: {
case(InternalState::STATE_CHECK_REGISTERS): {
// Set up cached registers which will be used to configure the MGM.
if(commandExecuted) {
commandExecuted = false;
@ -56,20 +56,27 @@ void MGMHandlerLIS3MDL::doShutDown() {
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
switch (internalState) {
case STATE_FIRST_CONTACT:
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
break;
case STATE_SETUP:
}
case(InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM;
break;
case STATE_CHECK_REGISTERS:
}
case(InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break;
}
default:
break;
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, NULL, 0);
}
@ -412,7 +419,7 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
}
void MGMHandlerLIS3MDL::modeChanged(void) {
internalState = STATE_NONE;
internalState = InternalState::STATE_NONE;
}
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(