eive-obsw/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
Robin Mueller 0b50d9aedf
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fix for ADIS device
2021-09-22 16:00:31 +02:00

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_ */