eive-obsw/mission/acs/GyrAdis1650XHandler.h
2023-03-24 20:50:33 +01:00

73 lines
2.8 KiB
C++

#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
#include <mission/acs/acsBoardPolling.h>
#include <mission/acs/gyroAdisHelpers.h>
#include "FSFWConfig.h"
#include "OBSWConfig.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
/**
* @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 GyrAdis1650XHandler : public DeviceHandlerBase {
public:
GyrAdis1650XHandler(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;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
std::array<uint8_t, 32> cmdBuf;
acs::Adis1650XRequest adisRequest;
adis1650x::Type adisType;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
double sensitivity = adis1650x::SENSITIVITY_UNSET;
bool goToNormalMode = false;
bool warningSwitch = true;
enum class InternalState { NONE, STARTUP, SHUTDOWN };
InternalState internalState = InternalState::STARTUP;
bool commandExecuted = false;
PoolEntry<uint16_t> rangMdl = PoolEntry<uint16_t>();
adis1650x::BurstModes getBurstMode();
Countdown breakCountdown;
void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo);
ReturnValue_t preparePeriodicRequest(acs::SimpleSensorMode mode);
ReturnValue_t handleSensorData(const uint8_t *packet);
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICES_GYROADIS16507HANDLER_H_ */