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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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2
Makefile
View File

@ -278,7 +278,7 @@ cleanbin:
-rm -rf $(BUILDPATH)/$(OUTPUT_FOLDER) -rm -rf $(BUILDPATH)/$(OUTPUT_FOLDER)
# Build target configuration # Build target configuration
release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION) release: OPTIMIZATION = -O2 $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
release: LINK_TIME_OPTIMIZATION = -flto release: LINK_TIME_OPTIMIZATION = -flto
release: TARGET = Release release: TARGET = Release
release: OPTIMIZATION_MESSAGE = On with Link Time Optimization release: OPTIMIZATION_MESSAGE = On with Link Time Optimization

2
fsfw

@ -1 +1 @@
Subproject commit 31b82975c7ef701fa7f1ba3413cfa19cc73aa2ca Subproject commit dcc111e4facf39137fe52d8234361b7d99bdde06

163
mission/devices/GyroL3GD20Handler.cpp
View File

@ -2,7 +2,8 @@
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication, GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie): CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) { DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) {
} }
GyroHandler::~GyroHandler() {} GyroHandler::~GyroHandler() {}
@ -25,42 +26,192 @@ void GyroHandler::doShutDown() {
} }
ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) { ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS;
uint8_t command [5];
command[0] = L3GD20H::CTRL_REG_1_VAL;
command[1] = L3GD20H::CTRL_REG_2_VAL;
command[2] = L3GD20H::CTRL_REG_3_VAL;
command[3] = L3GD20H::CTRL_REG_4_VAL;
command[4] = L3GD20H::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5);
break;
}
default:
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) { ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK; *id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t GyroHandler::buildCommandFromCommand( ReturnValue_t GyroHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) {
case(L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1;
break;
}
case(L3GD20H::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
if(commandData == nullptr or commandDataLen != 5) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
ctrlReg1Value = commandData[0];
ctrlReg2Value = commandData[1];
ctrlReg3Value = commandData[2];
ctrlReg4Value = commandData[3];
ctrlReg5Value = commandData[4];
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
if(not fsH and not fsL) {
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
}
else if(not fsH and fsL) {
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
}
else {
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
}
commandBuffer[1] = ctrlReg1Value;
commandBuffer[2] = ctrlReg2Value;
commandBuffer[3] = ctrlReg3Value;
commandBuffer[4] = ctrlReg4Value;
commandBuffer[5] = ctrlReg5Value;
rawPacket = commandBuffer;
rawPacketLen = 6;
break;
}
case(L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer;
rawPacketLen = 6;
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len, ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) { DeviceCommandId_t *foundId, size_t *foundLen) {
return HasReturnvaluesIF::RETURN_OK; // SPI, ID will always be the one of the last sent command.
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
// Data with SPI Interface has always this answer
if (start[0] == 0b11111111) {
return HasReturnvaluesIF::RETURN_OK;
}
return DeviceHandlerIF::INVALID_DATA;
} }
ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) { const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(L3GD20H::CONFIGURE_CTRL_REGS): {
break;
}
case(L3GD20H::READ_CTRL_REGS): {
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
packet[5] == ctrlReg5Value) {
commandExecuted = true;
}
else {
// Attempt reconfiguration.
internalState = InternalState::STATE_CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(L3GD20H::READ_START): {
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
statusReg = packet[L3GD20H::STATUS_IDX];
float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
packet[L3GD20H::OUT_X_L]) * scaleFactor;
float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
packet[L3GD20H::OUT_Y_L]) * scaleFactor;
float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
packet[L3GD20H::OUT_Z_L]) * scaleFactor;
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
ReturnValue_t result = dataset.read(20);
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.angVelocX = angVelocX;
dataset.angVelocY = angVelocX;
dataset.angVelocZ = angVelocX;
dataset.temperature = temperature;
dataset.setValidity(true, true);
result = dataset.commit(20);
}
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return result;
} }
uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000; return 5000;
} }
ReturnValue_t GyroHandler::initializeLocalDataPool( ReturnValue_t GyroHandler::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void GyroHandler::fillCommandAndReplyMap() { void GyroHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
} }
void GyroHandler::modeChanged() { void GyroHandler::modeChanged() {
internalState = InternalState::STATE_NONE;
} }

15
mission/devices/GyroL3GD20Handler.h
View File

@ -2,6 +2,7 @@
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_ #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
/** /**
* @brief Device Handler for the L3GD20H gyroscope sensor * @brief Device Handler for the L3GD20H gyroscope sensor
@ -40,8 +41,9 @@ protected:
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
L3GD20H::GyroPrimaryDataset dataset;
enum InternalState { enum class InternalState {
STATE_NONE, STATE_NONE,
STATE_CONFIGURE, STATE_CONFIGURE,
STATE_NORMAL STATE_NORMAL
@ -49,6 +51,17 @@ private:
InternalState internalState = InternalState::STATE_NONE; InternalState internalState = InternalState::STATE_NONE;
bool commandExecuted = false; bool commandExecuted = false;
uint8_t statusReg = 0;
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
}; };

37
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -23,19 +23,19 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
void MGMHandlerLIS3MDL::doStartUp() { void MGMHandlerLIS3MDL::doStartUp() {
switch (internalState) { switch (internalState) {
case STATE_NONE: case(InternalState::STATE_NONE):
internalState = STATE_FIRST_CONTACT; internalState = InternalState::STATE_FIRST_CONTACT;
break; break;
case STATE_FIRST_CONTACT: case(InternalState::STATE_FIRST_CONTACT):
internalState = STATE_SETUP; internalState = InternalState::STATE_SETUP;
break; break;
case STATE_SETUP: case(InternalState::STATE_SETUP):
internalState = STATE_CHECK_REGISTERS; internalState = InternalState::STATE_CHECK_REGISTERS;
break; break;
case STATE_CHECK_REGISTERS: { case(InternalState::STATE_CHECK_REGISTERS): {
// Set up cached registers which will be used to configure the MGM. // Set up cached registers which will be used to configure the MGM.
if(commandExecuted) { if(commandExecuted) {
commandExecuted = false; commandExecuted = false;
@ -56,20 +56,27 @@ void MGMHandlerLIS3MDL::doShutDown() {
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand( ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
DeviceCommandId_t *id) { DeviceCommandId_t *id) {
switch (internalState) { 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; *id = MGMLIS3MDL::IDENTIFY_DEVICE;
break; break;
}
case STATE_SETUP: case(InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM; *id = MGMLIS3MDL::SETUP_MGM;
break; break;
}
case STATE_CHECK_REGISTERS: case(InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA; *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break; break;
}
default: 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); return buildCommandFromCommand(*id, NULL, 0);
} }
@ -412,7 +419,7 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
} }
void MGMHandlerLIS3MDL::modeChanged(void) { void MGMHandlerLIS3MDL::modeChanged(void) {
internalState = STATE_NONE; internalState = InternalState::STATE_NONE;
} }
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool( ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(

10
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -145,11 +145,15 @@ private:
*/ */
ReturnValue_t prepareCtrlRegisterWrite(); ReturnValue_t prepareCtrlRegisterWrite();
enum InternalState { enum class InternalState {
STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS STATE_NONE,
STATE_FIRST_CONTACT,
STATE_SETUP,
STATE_CHECK_REGISTERS,
STATE_NORMAL
}; };
InternalState internalState = STATE_NONE; InternalState internalState = InternalState::STATE_NONE;
CommunicationStep communicationStep = CommunicationStep::DATA; CommunicationStep communicationStep = CommunicationStep::DATA;
bool commandExecuted = false; bool commandExecuted = false;

62
mission/devices/MGMHandlerRM3100.cpp
View File

@ -17,25 +17,25 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
MGMHandlerRM3100::~MGMHandlerRM3100() {} MGMHandlerRM3100::~MGMHandlerRM3100() {}
void MGMHandlerRM3100::doStartUp() { void MGMHandlerRM3100::doStartUp() {
if(internalState == STATE_NONE) { if(internalState == InternalState::STATE_NONE) {
internalState = STATE_CONFIGURE_CMM; internalState = InternalState::STATE_CONFIGURE_CMM;
} }
if(internalState == STATE_CONFIGURE_CMM) { if(internalState == InternalState::STATE_CONFIGURE_CMM) {
internalState = STATE_READ_CMM; internalState = InternalState::STATE_READ_CMM;
} }
else if(internalState == STATE_READ_CMM) { else if(internalState == InternalState::STATE_READ_CMM) {
if(commandExecuted) { if(commandExecuted) {
internalState = STATE_CONFIGURE_TMRC; internalState = InternalState::STATE_CONFIGURE_TMRC;
} }
} }
if(internalState == STATE_CONFIGURE_TMRC) { if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
internalState = STATE_READ_TMRC; internalState = InternalState::STATE_READ_TMRC;
} }
else if(internalState == STATE_READ_TMRC) { else if(internalState == InternalState::STATE_READ_TMRC) {
if(commandExecuted) { if(commandExecuted) {
internalState = STATE_NORMAL; internalState = InternalState::STATE_NORMAL;
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
} }
} }
@ -47,20 +47,32 @@ void MGMHandlerRM3100::doShutDown() {
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand( ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) { 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; *id = RM3100::CONFIGURE_CMM;
break;
} }
case(InternalState::STATE_READ_CMM): {
if(internalState == STATE_READ_CMM) {
*id = RM3100::READ_CMM; *id = RM3100::READ_CMM;
break;
} }
case(InternalState::STATE_CONFIGURE_TMRC): {
if(internalState == STATE_CONFIGURE_TMRC) {
*id = RM3100::CONFIGURE_TMRC; *id = RM3100::CONFIGURE_TMRC;
break;
} }
case(InternalState::STATE_READ_TMRC): {
if(internalState == STATE_READ_TMRC) {
*id = RM3100::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); return buildCommandFromCommand(*id, nullptr, 0);
@ -137,22 +149,26 @@ ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
if (start[0] == 0b11111111) { if (start[0] == 0b11111111) {
return RETURN_OK; return RETURN_OK;
} }
else { return DeviceHandlerIF::INVALID_DATA;
return DeviceHandlerIF::INVALID_DATA;
}
} }
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply( ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) { DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) { 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): { case(RM3100::READ_CMM): {
if(packet[1] == cmmRegValue) { if(packet[1] == cmmRegValue) {
commandExecuted = true; commandExecuted = true;
} }
else { else {
// Attempt reconfiguration. // Attempt reconfiguration.
internalState = STATE_CONFIGURE_CMM; internalState = InternalState::STATE_CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
@ -167,7 +183,7 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
} }
else { else {
// Attempt reconfiguration. // Attempt reconfiguration.
internalState = STATE_CONFIGURE_TMRC; internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
@ -284,7 +300,7 @@ void MGMHandlerRM3100::fillCommandAndReplyMap() {
} }
void MGMHandlerRM3100::modeChanged(void) { void MGMHandlerRM3100::modeChanged(void) {
internalState = STATE_NONE; internalState = InternalState::STATE_NONE;
} }
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool( ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(

2
mission/devices/MGMHandlerRM3100.h
View File

@ -60,7 +60,7 @@ protected:
private: private:
enum InternalState { enum class InternalState {
STATE_NONE, STATE_NONE,
STATE_CONFIGURE_CMM, STATE_CONFIGURE_CMM,
STATE_READ_CMM, STATE_READ_CMM,

103
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -1,6 +1,7 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint> #include <cstdint>
namespace L3GD20H { namespace L3GD20H {
@ -12,12 +13,114 @@ static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111; static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111;
static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111; static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111;
/*------------------------------------------------------------------------*/
/* Control registers
/*------------------------------------------------------------------------*/
static constexpr uint8_t CTRL_REG_1 = 0b0010'0000; static constexpr uint8_t CTRL_REG_1 = 0b0010'0000;
static constexpr uint8_t CTRL_REG_2 = 0b0010'0001; static constexpr uint8_t CTRL_REG_2 = 0b0010'0001;
static constexpr uint8_t CTRL_REG_3 = 0b0010'0010; static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
static constexpr uint8_t CTRL_REG_4 = 0b0010'0011; static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
static constexpr uint8_t CTRL_REG_5 = 0b0010'0100; static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
// Register 1
static constexpr uint8_t SET_DR_1 = 1 << 7;
static constexpr uint8_t SET_DR_0 = 1 << 6;
static constexpr uint8_t SET_BW_1 = 1 << 5;
static constexpr uint8_t SET_BW_0 = 1 << 4;
static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
static constexpr uint8_t SET_Y_ENABLE = 1;
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
SET_Y_ENABLE | SET_X_ENABLE;
// Register 2
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
static constexpr uint8_t SET_HPM_1 = 1 << 5;
static constexpr uint8_t SET_HPM_0 = 1 << 4;
static constexpr uint8_t SET_HPCF_3 = 1 << 3;
static constexpr uint8_t SET_HPCF_2 = 1 << 2;
static constexpr uint8_t SET_HPCF_1 = 1 << 1;
static constexpr uint8_t SET_HPCF_0 = 1;
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
// Register 3
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
// Register 4
static constexpr uint8_t SET_BNU = 1 << 7;
static constexpr uint8_t SET_BLE = 1 << 6;
static constexpr uint8_t SET_FS_1 = 1 << 5;
static constexpr uint8_t SET_FS_0 = 1 << 4;
static constexpr uint8_t SET_IMP_ENB = 1 << 3;
static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
static constexpr uint8_t SET_SPI_IF_SELECT = 1;
static constexpr uint8_t CTRL_REG_4_VAL = 0b0000'0000;
// Register 5
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
// In degrees per second (DPS) for now.
static constexpr uint16_t RANGE_DPS_00 = 245;
static constexpr uint16_t RANGE_DPS_01 = 500;
static constexpr uint16_t RANGE_DPS_11 = 2000;
static constexpr uint8_t READ_START = CTRL_REG_1;
static constexpr size_t READ_LEN = 14;
// Indexing
static constexpr uint8_t REFERENCE_IDX = 6;
static constexpr uint8_t TEMPERATURE_IDX = 7;
static constexpr uint8_t STATUS_IDX = 8;
static constexpr uint8_t OUT_X_L = 9;
static constexpr uint8_t OUT_X_H = 10;
static constexpr uint8_t OUT_Y_L = 11;
static constexpr uint8_t OUT_Y_H = 12;
static constexpr uint8_t OUT_Z_L = 13;
static constexpr uint8_t OUT_Z_H = 14;
/*------------------------------------------------------------------------*/
/* Device Handler specific
/*------------------------------------------------------------------------*/
static constexpr DeviceCommandId_t READ_REGS = 0;
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds: lp_id_t {
ANG_VELOC_X,
ANG_VELOC_Y,
ANG_VELOC_Z,
TEMPERATURE
};
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, GYRO_DATASET_ID) {}
GyroPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, GYRO_DATASET_ID)) {}
// Angular velocities in degrees per second (DPS)
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
TEMPERATURE, this);
};
} }