85 lines
3.0 KiB
C++
85 lines
3.0 KiB
C++
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
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#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
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#include "FSFWConfig.h"
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#include "OBSWConfig.h"
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#include "devicedefinitions/GyroADIS1650XDefinitions.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
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#ifdef FSFW_OSAL_LINUX
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class SpiComIF;
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class SpiCookie;
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#endif
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/**
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* @brief Device handle for the ADIS16507 Gyroscope by Analog Devices
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* @details
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/ADIS16507_Gyro
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*/
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class GyroADIS1650XHandler : public DeviceHandlerBase {
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public:
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GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
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ADIS1650X::Type type);
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void enablePeriodicPrintouts(bool enable, uint8_t divider);
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void setToGoToNormalModeImmediately();
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// DeviceHandlerBase abstract function implementation
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
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size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
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private:
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std::array<uint8_t, 32> commandBuffer;
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ADIS1650X::Type adisType;
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AdisGyroPrimaryDataset primaryDataset;
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AdisGyroConfigDataset configDataset;
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double sensitivity = ADIS1650X::SENSITIVITY_UNSET;
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bool goToNormalMode = false;
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bool warningSwitch = true;
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enum class InternalState { STARTUP, CONFIG, IDLE };
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enum class BurstModes {
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BURST_16_BURST_SEL_0,
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BURST_16_BURST_SEL_1,
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BURST_32_BURST_SEL_0,
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BURST_32_BURST_SEL_1
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};
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InternalState internalState = InternalState::STARTUP;
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bool commandExecuted = false;
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void prepareReadCommand(uint8_t *regList, size_t len);
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BurstModes getBurstMode();
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#ifdef FSFW_OSAL_LINUX
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static ReturnValue_t spiSendCallback(SpiComIF *comIf, SpiCookie *cookie, const uint8_t *sendData,
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size_t sendLen, void *args);
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#endif
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Countdown breakCountdown;
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void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo);
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ReturnValue_t handleSensorData(const uint8_t *packet);
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bool periodicPrintout = false;
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PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
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};
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#endif /* MISSION_DEVICES_GYROADIS16507HANDLER_H_ */
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