Robin Mueller
0b50d9aedf
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
147 lines
5.1 KiB
C++
147 lines
5.1 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
|
|
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
|
|
|
|
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
|
|
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
|
|
|
|
#include <cstddef>
|
|
|
|
namespace ADIS16507 {
|
|
|
|
static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
|
|
static constexpr uint8_t WRITE_MASK = 0b1000'0000;
|
|
|
|
static constexpr uint32_t GYRO_RANGE = 125;
|
|
static constexpr uint32_t ACCELEROMETER_RANGE = 392;
|
|
|
|
static constexpr uint32_t STALL_TIME_MICROSECONDS = 16;
|
|
|
|
static constexpr uint16_t PROD_ID = 16507;
|
|
|
|
static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};
|
|
|
|
static constexpr dur_millis_t START_UP_TIME = 310;
|
|
static constexpr dur_millis_t SW_RESET_BREAK = 255;
|
|
static constexpr dur_millis_t FACTORY_CALIBRATION_BREAK = 136;
|
|
static constexpr dur_millis_t FLASH_MEMORY_UPDATE_BREAK = 70;
|
|
static constexpr dur_millis_t FLASH_MEMORY_TEST_BREAK = 30;
|
|
static constexpr dur_millis_t SELF_TEST_BREAK = 24;
|
|
|
|
static constexpr uint8_t DIAG_STAT_REG = 0x02;
|
|
static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
|
|
static constexpr uint8_t MSC_CTRL_REG = 0x60;
|
|
static constexpr uint8_t DEC_RATE_REG = 0x64;
|
|
static constexpr uint8_t GLOB_CMD = 0x68;
|
|
static constexpr uint8_t PROD_ID_REG = 0x72;
|
|
|
|
static constexpr DeviceCommandId_t READ_SENSOR_DATA = 0;
|
|
static constexpr DeviceCommandId_t READ_OUT_CONFIG = 1;
|
|
static constexpr DeviceCommandId_t SELF_TEST_SENSORS = 2;
|
|
static constexpr DeviceCommandId_t SELF_TEST_MEMORY = 3;
|
|
static constexpr DeviceCommandId_t UPDATE_NV_CONFIGURATION = 4;
|
|
static constexpr DeviceCommandId_t SELECT_BURST_READ_MODE = 5;
|
|
|
|
static constexpr DeviceCommandId_t RESET_SENSOR_CONFIGURATION = 30;
|
|
static constexpr DeviceCommandId_t SW_RESET = 31;
|
|
static constexpr DeviceCommandId_t PRINT_CURRENT_CONFIGURATION = 32;
|
|
|
|
static constexpr uint16_t BURST_32_BIT = 1 << 9;
|
|
static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
|
|
static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
|
|
static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6;
|
|
|
|
static constexpr size_t CONFIG_READOUT_SIZE = 10 + 2;
|
|
static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
|
|
|
|
static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
|
|
static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
|
|
|
|
enum GlobCmds: uint8_t {
|
|
FACTORY_CALIBRATION = 0b0000'0010,
|
|
SENSOR_SELF_TEST = 0b0000'0100,
|
|
FLASH_MEMORY_UPDATE = 0b0000'1000,
|
|
FLASH_MEMORY_TEST = 0b0001'0000,
|
|
SOFTWARE_RESET = 0b1000'0000
|
|
};
|
|
|
|
enum PrimaryPoolIds: lp_id_t {
|
|
ANG_VELOC_X,
|
|
ANG_VELOC_Y,
|
|
ANG_VELOC_Z,
|
|
ACCELERATION_X,
|
|
ACCELERATION_Y,
|
|
ACCELERATION_Z,
|
|
TEMPERATURE,
|
|
DIAG_STAT_REGISTER,
|
|
FILTER_SETTINGS,
|
|
MSC_CTRL_REGISTER,
|
|
DEC_RATE_REGISTER,
|
|
};
|
|
|
|
enum FilterSettings: uint8_t {
|
|
NO_FILTER = 0,
|
|
TWO_TAPS = 1,
|
|
FOUR_TAPS = 2,
|
|
EIGHT_TAPS = 3,
|
|
SIXTEEN_TAPS = 4,
|
|
THIRTYTWO_TAPS = 5,
|
|
SIXTYFOUR_TAPS = 6
|
|
};
|
|
|
|
}
|
|
|
|
class AdisGyroPrimaryDataset: public StaticLocalDataSet<8> {
|
|
public:
|
|
|
|
/** Constructor for data users like controllers */
|
|
AdisGyroPrimaryDataset(object_id_t adisId):
|
|
StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_DATASET_ID)) {
|
|
setAllVariablesReadOnly();
|
|
}
|
|
|
|
/* Angular velocities in degrees per second (DPS) */
|
|
lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId,
|
|
ADIS16507::ANG_VELOC_X, this);
|
|
lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId,
|
|
ADIS16507::ANG_VELOC_Y, this);
|
|
lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId,
|
|
ADIS16507::ANG_VELOC_Z, this);
|
|
lp_var_t<double> accelX = lp_var_t<double>(sid.objectId,
|
|
ADIS16507::ACCELERATION_X, this);
|
|
lp_var_t<double> accelY = lp_var_t<double>(sid.objectId,
|
|
ADIS16507::ACCELERATION_Y, this);
|
|
lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId,
|
|
ADIS16507::ACCELERATION_Z, this);
|
|
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
|
ADIS16507::TEMPERATURE, this);
|
|
private:
|
|
|
|
friend class GyroADIS16507Handler;
|
|
/** Constructor for the data creator */
|
|
AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
|
StaticLocalDataSet(hkOwner, ADIS16507::ADIS_DATASET_ID) {}
|
|
};
|
|
|
|
class AdisGyroConfigDataset: public StaticLocalDataSet<5> {
|
|
public:
|
|
|
|
/** Constructor for data users like controllers */
|
|
AdisGyroConfigDataset(object_id_t adisId):
|
|
StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_CFG_DATASET_ID)) {
|
|
setAllVariablesReadOnly();
|
|
}
|
|
|
|
lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId,
|
|
ADIS16507::DIAG_STAT_REGISTER);
|
|
lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS16507::FILTER_SETTINGS);
|
|
lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::MSC_CTRL_REGISTER);
|
|
lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::DEC_RATE_REGISTER);
|
|
private:
|
|
friend class GyroADIS16507Handler;
|
|
/** Constructor for the data creator */
|
|
AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner):
|
|
StaticLocalDataSet(hkOwner, ADIS16507::ADIS_CFG_DATASET_ID) {}
|
|
};
|
|
|
|
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */
|