eive-obsw/mission/devices/GyroADIS1650XHandler.h
Marius Eggert aeddc92cf3
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changed ang vel calculation to being sensitivity based instead of range based
2023-01-20 10:33:36 +01:00

85 lines
3.0 KiB
C++

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