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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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62
mission/devices/MGMHandlerRM3100.cpp
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@ -17,25 +17,25 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
MGMHandlerRM3100::~MGMHandlerRM3100() {}
void MGMHandlerRM3100::doStartUp() {
if(internalState == STATE_NONE) {
internalState = STATE_CONFIGURE_CMM;
if(internalState == InternalState::STATE_NONE) {
internalState = InternalState::STATE_CONFIGURE_CMM;
}
if(internalState == STATE_CONFIGURE_CMM) {
internalState = STATE_READ_CMM;
if(internalState == InternalState::STATE_CONFIGURE_CMM) {
internalState = InternalState::STATE_READ_CMM;
}
else if(internalState == STATE_READ_CMM) {
else if(internalState == InternalState::STATE_READ_CMM) {
if(commandExecuted) {
internalState = STATE_CONFIGURE_TMRC;
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
}
if(internalState == STATE_CONFIGURE_TMRC) {
internalState = STATE_READ_TMRC;
if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
internalState = InternalState::STATE_READ_TMRC;
}
else if(internalState == STATE_READ_TMRC) {
else if(internalState == InternalState::STATE_READ_TMRC) {
if(commandExecuted) {
internalState = STATE_NORMAL;
internalState = InternalState::STATE_NORMAL;
setMode(_MODE_TO_ON);
}
}
@ -47,20 +47,32 @@ void MGMHandlerRM3100::doShutDown() {
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
if(internalState == STATE_CONFIGURE_CMM) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
break;
}
if(internalState == STATE_READ_CMM) {
case(InternalState::STATE_READ_CMM): {
*id = RM3100::READ_CMM;
break;
}
if(internalState == STATE_CONFIGURE_TMRC) {
case(InternalState::STATE_CONFIGURE_TMRC): {
*id = RM3100::CONFIGURE_TMRC;
break;
}
if(internalState == STATE_READ_TMRC) {
case(InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
break;
}
default:
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, nullptr, 0);
@ -137,22 +149,26 @@ ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
if (start[0] == 0b11111111) {
return RETURN_OK;
}
else {
return DeviceHandlerIF::INVALID_DATA;
}
return DeviceHandlerIF::INVALID_DATA;
}
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
// We can only check whether write was sucessful with read operation.
break;
}
case(RM3100::READ_CMM): {
if(packet[1] == cmmRegValue) {
commandExecuted = true;
}
else {
// Attempt reconfiguration.
internalState = STATE_CONFIGURE_CMM;
internalState = InternalState::STATE_CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
@ -167,7 +183,7 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
}
else {
// Attempt reconfiguration.
internalState = STATE_CONFIGURE_TMRC;
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
@ -284,7 +300,7 @@ void MGMHandlerRM3100::fillCommandAndReplyMap() {
}
void MGMHandlerRM3100::modeChanged(void) {
internalState = STATE_NONE;
internalState = InternalState::STATE_NONE;
}
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(