92 lines
3.4 KiB
C++
92 lines
3.4 KiB
C++
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
|
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
|
|
|
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
|
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
|
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
|
|
#include <mission/acs/acsBoardPolling.h>
|
|
|
|
/**
|
|
* @brief Device Handler for the L3GD20H gyroscope sensor
|
|
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
|
* @details
|
|
* Advanced documentation:
|
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
|
|
*
|
|
* Data is read big endian with the smallest possible range of 245 degrees per second.
|
|
*/
|
|
class GyrL3gCustomHandler : public DeviceHandlerBase {
|
|
public:
|
|
GyrL3gCustomHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
|
|
uint32_t transitionDelayMs);
|
|
virtual ~GyrL3gCustomHandler();
|
|
|
|
void enablePeriodicPrintouts(bool enable, uint8_t divider);
|
|
|
|
/**
|
|
* Set the absolute limit for the values on the axis in degrees per second.
|
|
* The dataset values will be marked as invalid if that limit is exceeded
|
|
* @param xLimit
|
|
* @param yLimit
|
|
* @param zLimit
|
|
*/
|
|
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
|
|
|
/**
|
|
* @brief Configure device handler to go to normal mode immediately
|
|
*/
|
|
void setToGoToNormalMode(bool enable);
|
|
|
|
protected:
|
|
/* DeviceHandlerBase overrides */
|
|
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
|
|
void doStartUp() override;
|
|
void doShutDown() override;
|
|
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
|
|
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
|
size_t commandDataLen) override;
|
|
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
|
|
size_t *foundLen) override;
|
|
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
|
|
|
void fillCommandAndReplyMap() override;
|
|
void modeChanged() override;
|
|
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
|
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
|
LocalDataPoolManager &poolManager) override;
|
|
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
|
|
|
|
private:
|
|
uint32_t transitionDelayMs = 0;
|
|
GyroPrimaryDataset dataset;
|
|
|
|
float absLimitX = l3gd20h::RANGE_DPS_00;
|
|
float absLimitY = l3gd20h::RANGE_DPS_00;
|
|
float absLimitZ = l3gd20h::RANGE_DPS_00;
|
|
|
|
enum class InternalState { NONE, STARTUP, SHUTDOWN, NORMAL };
|
|
InternalState internalState = InternalState::NONE;
|
|
bool commandExecuted = false;
|
|
|
|
uint8_t statusReg = 0;
|
|
bool goNormalModeImmediately = false;
|
|
|
|
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;
|
|
|
|
acs::GyroL3gRequest gyrRequest{};
|
|
|
|
// Set default value
|
|
float sensitivity = l3gd20h::SENSITIVITY_00;
|
|
|
|
bool periodicPrintout = false;
|
|
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
|
|
|
|
ReturnValue_t doPeriodicRequest(acs::SimpleSensorMode mode);
|
|
};
|
|
|
|
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
|