182 lines
6.3 KiB
C++
182 lines
6.3 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
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#include <cstddef>
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#include "fsfw/datapoollocal/StaticLocalDataSet.h"
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#include "fsfw/devicehandlers/DeviceHandlerIF.h"
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namespace adis1650x {
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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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size_t prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf, size_t maxLen);
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BurstModes burstModeFromMscCtrl(uint16_t mscCtrl);
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double rangMdlToSensitivity(uint16_t rangMdl);
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enum class Type : uint8_t { ADIS16505, ADIS16507 };
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static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
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static constexpr uint8_t WRITE_MASK = 0b1000'0000;
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// Ranges in deg / s
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static constexpr double RANGE_UNSET = 0.0;
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static constexpr double RANGE_1BMLZ = 125.0;
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static constexpr double RANGE_2BMLZ = 500.0;
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static constexpr double RANGE_3BMLZ = 2000.0;
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// Sensitivities in deg/s/LSB
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static constexpr double SENSITIVITY_UNSET = 0.0;
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static constexpr double SENSITIVITY_1BMLZ = 0.00625;
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static constexpr double SENSITIVITY_2BMLZ = 0.025;
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static constexpr double SENSITIVITY_3BMLZ = 0.1;
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enum RangMdlBitfield {
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RANGE_125_1BMLZ = 0b00,
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RANGE_500_2BMLZ = 0b01,
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RESERVED = 0b10,
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RANGE_2000_3BMLZ = 0b11
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};
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static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392;
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static constexpr float ACCELEROMETER_RANGE_16505 = 78.4;
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static constexpr uint32_t STALL_TIME_MICROSECONDS = 16;
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static constexpr uint16_t PROD_ID_16507 = 16507;
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static constexpr uint16_t PROD_ID_16505 = 16505;
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static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};
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static constexpr dur_millis_t START_UP_TIME = 310;
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static constexpr dur_millis_t SW_RESET_BREAK = 255;
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static constexpr dur_millis_t FACTORY_CALIBRATION_BREAK = 136;
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static constexpr dur_millis_t FLASH_MEMORY_UPDATE_BREAK = 70;
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static constexpr dur_millis_t FLASH_MEMORY_TEST_BREAK = 30;
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static constexpr dur_millis_t SELF_TEST_BREAK = 24;
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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 RANG_MDL_REG = 0x5e;
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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 DeviceCommandId_t REQUEST = 0x70;
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static constexpr DeviceCommandId_t REPLY = 0x77;
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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 = 12 + 2;
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static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
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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 GlobCmds : uint8_t {
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FACTORY_CALIBRATION = 0b0000'0010,
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SENSOR_SELF_TEST = 0b0000'0100,
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FLASH_MEMORY_UPDATE = 0b0000'1000,
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FLASH_MEMORY_TEST = 0b0001'0000,
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SOFTWARE_RESET = 0b1000'0000
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};
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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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DIAG_STAT_REGISTER,
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FILTER_SETTINGS,
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RANG_MDL,
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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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} // namespace adis1650x
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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, adis1650x::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, adis1650x::ANG_VELOC_X, this);
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lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_Y, this);
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lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_Z, this);
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lp_var_t<double> accelX = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_X, this);
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lp_var_t<double> accelY = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_Y, this);
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lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_Z, this);
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lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, adis1650x::TEMPERATURE, this);
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private:
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friend class GyrAdis1650XHandler;
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friend class GyroAdisDummy;
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/** Constructor for the data creator */
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AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
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: StaticLocalDataSet(hkOwner, adis1650x::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, adis1650x::ADIS_CFG_DATASET_ID)) {
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setAllVariablesReadOnly();
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}
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lp_var_t<uint16_t> diagStatReg =
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lp_var_t<uint16_t>(sid.objectId, adis1650x::DIAG_STAT_REGISTER, this);
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lp_var_t<uint8_t> filterSetting =
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lp_var_t<uint8_t>(sid.objectId, adis1650x::FILTER_SETTINGS, this);
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lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, adis1650x::RANG_MDL, this);
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lp_var_t<uint16_t> mscCtrlReg =
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lp_var_t<uint16_t>(sid.objectId, adis1650x::MSC_CTRL_REGISTER, this);
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lp_var_t<uint16_t> decRateReg =
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lp_var_t<uint16_t>(sid.objectId, adis1650x::DEC_RATE_REGISTER, this);
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private:
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friend class GyrAdis1650XHandler;
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/** Constructor for the data creator */
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AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner)
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: StaticLocalDataSet(hkOwner, adis1650x::ADIS_CFG_DATASET_ID) {}
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};
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */
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