132 lines
4.5 KiB
C++
132 lines
4.5 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
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#include "fsfw/datapoollocal/StaticLocalDataSet.h"
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#include <cstddef>
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namespace ADIS16507 {
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static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
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static constexpr uint32_t GYRO_RANGE = 125;
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static constexpr uint32_t ACCELEROMETER_RANGE = 392;
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static constexpr uint32_t STALL_TIME_MICROSECONDS = 16;
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static constexpr uint16_t PROD_ID = 16507;
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static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};
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static constexpr uint8_t DIAG_STAT_REG = 0x02;
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static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
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static constexpr uint8_t MSC_CTRL_REG = 0x60;
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static constexpr uint8_t DEC_RATE_REG = 0x64;
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static constexpr uint8_t GLOB_CMD = 0x68;
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static constexpr uint8_t PROD_ID_REG = 0x72;
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static constexpr DeviceCommandId_t READ_SENSOR_DATA = 0;
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static constexpr DeviceCommandId_t READ_OUT_CONFIG = 1;
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static constexpr DeviceCommandId_t SELF_TEST_SENSORS = 2;
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static constexpr DeviceCommandId_t SELF_TEST_MEMORY = 3;
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static constexpr DeviceCommandId_t UPDATE_NV_CONFIGURATION = 4;
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static constexpr DeviceCommandId_t SELECT_BURST_READ_MODE = 5;
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static constexpr DeviceCommandId_t RESET_SENSOR_CONFIGURATION = 30;
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static constexpr DeviceCommandId_t SW_RESET = 31;
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static constexpr DeviceCommandId_t PRINT_CURRENT_CONFIGURATION = 32;
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static constexpr uint16_t BURST_32_BIT = 1 << 9;
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static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
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static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
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static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6;
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static constexpr size_t CONFIG_READOUT_SIZE = 8;
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static constexpr size_t SENSOR_READOUT_SIZE = 22;
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static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
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static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
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enum PrimaryPoolIds: lp_id_t {
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ANG_VELOC_X,
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ANG_VELOC_Y,
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ANG_VELOC_Z,
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ACCELERATION_X,
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ACCELERATION_Y,
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ACCELERATION_Z,
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TEMPERATURE
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};
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enum ConfigPoolIds: lp_id_t {
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DIAG_STAT_REGISTER,
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FILTER_SETTINGS,
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MSC_CTRL_REGISTER,
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DEC_RATE_REGISTER,
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};
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enum FilterSettings: uint8_t {
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NO_FILTER = 0,
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TWO_TAPS = 1,
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FOUR_TAPS = 2,
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EIGHT_TAPS = 3,
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SIXTEEN_TAPS = 4,
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THIRTYTWO_TAPS = 5,
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SIXTYFOUR_TAPS = 6
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};
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}
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class AdisGyroPrimaryDataset: public StaticLocalDataSet<8> {
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public:
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/** Constructor for data users like controllers */
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AdisGyroPrimaryDataset(object_id_t adisId):
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StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_DATASET_ID)) {
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setAllVariablesReadOnly();
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}
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/* Angular velocities in degrees per second (DPS) */
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lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId,
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ADIS16507::ANG_VELOC_X, this);
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lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId,
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ADIS16507::ANG_VELOC_Y, this);
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lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId,
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ADIS16507::ANG_VELOC_Z, this);
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lp_var_t<double> accelX = lp_var_t<double>(sid.objectId,
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ADIS16507::ACCELERATION_X, this);
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lp_var_t<double> accelY = lp_var_t<double>(sid.objectId,
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ADIS16507::ACCELERATION_Y, this);
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lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId,
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ADIS16507::ACCELERATION_Z, this);
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lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
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ADIS16507::TEMPERATURE, this);
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private:
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friend class GyroADIS16507Handler;
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/** Constructor for the data creator */
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AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
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StaticLocalDataSet(hkOwner, ADIS16507::ADIS_DATASET_ID) {}
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};
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class AdisGyroConfigDataset: public StaticLocalDataSet<5> {
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public:
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/** Constructor for data users like controllers */
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AdisGyroConfigDataset(object_id_t adisId):
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StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_DATASET_ID)) {
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setAllVariablesReadOnly();
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}
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lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::DIAG_STAT_REG);
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lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS16507::FILTER_SETTINGS);
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lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::MSC_CTRL_REGISTER);
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lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::DEC_RATE_REGISTER);
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private:
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friend class GyroADIS16507Handler;
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/** Constructor for the data creator */
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AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner):
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StaticLocalDataSet(hkOwner, ADIS16507::ADIS_CFG_DATASET_ID) {}
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};
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */
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