added functions to set x,y,z limits

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -215,7 +215,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
         PoolReadGuard readSet(&dataset);
         if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(angVelocX) > 100) {
+            if(std::abs(angVelocX) < this->absLimitX) {
                 dataset.angVelocX = angVelocX;
                 dataset.angVelocX.setValid(true);
             }
@@ -223,7 +223,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
                 dataset.angVelocX.setValid(false);
             }
 
-            if(std::abs(angVelocY) > 100) {
+            if(std::abs(angVelocY) < this->absLimitY) {
                 dataset.angVelocY = angVelocY;
                 dataset.angVelocY.setValid(true);
             }
@@ -231,7 +231,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
                 dataset.angVelocY.setValid(false);
             }
 
-            if(std::abs(angVelocZ) > 100) {
+            if(std::abs(angVelocZ) < this->absLimitZ) {
                 dataset.angVelocZ = angVelocZ;
                 dataset.angVelocZ.setValid(true);
             }
@@ -277,3 +277,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
 void GyroHandlerL3GD20H::modeChanged() {
     internalState = InternalState::NONE;
 }
+
+void GyroHandlerL3GD20H::setAxisLimits(float limitX, float limitY, float limitZ) {
+    this->absLimitX = limitX;
+    this->absLimitY = limitY;
+    this->absLimitZ = limitZ;
+}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -22,6 +22,15 @@ public:
             CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
     virtual ~GyroHandlerL3GD20H();
 
+    /**
+     * 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
      */
@@ -40,13 +49,6 @@ protected:
             size_t commandDataLen) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    /**
-     * This implementation is tailored towards space systems and flags angular velocities
-     * larger than 100 as invalid
-     * @param id
-     * @param packet
-     * @return
-     */
     virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
 
@@ -61,6 +63,10 @@ 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,
         CONFIGURE,

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -291,7 +291,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Magnetic field strength in"
                     " microtesla:" << std::endl;
@@ -308,7 +307,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 #endif /* OBSW_VERBOSE_LEVEL >= 1 */
         PoolReadGuard readHelper(&dataset);
         if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(mgmX) > 100.0) {
+            if(std::abs(mgmX) < absLimitX) {
                 dataset.fieldStrengthX = mgmX;
                 dataset.fieldStrengthX.setValid(true);
             }
@@ -316,7 +315,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
                 dataset.fieldStrengthX.setValid(false);
             }
 
-            if(std::abs(mgmY) > 100.0) {
+            if(std::abs(mgmY) < absLimitY) {
                 dataset.fieldStrengthY = mgmY;
                 dataset.fieldStrengthY.setValid(true);
             }
@@ -324,7 +323,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
                 dataset.fieldStrengthY.setValid(false);
             }
 
-            if(std::abs(mgmZ) > 150.0) {
+            if(std::abs(mgmZ) < absLimitZ) {
                 dataset.fieldStrengthZ = mgmZ;
                 dataset.fieldStrengthZ.setValid(true);
             }
@@ -340,7 +339,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
         float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
     #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->check()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
                     std::endl;
@@ -463,16 +461,6 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
 }
 
 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-    /*
-     * Regarding ArduinoBoard:
-     * Actually SPI answers directly, but as commanding ArduinoBoard the
-     * communication could be delayed
-     * SPI always has to be triggered, so there could be no periodic answer of
-     * the device, the device has to asked with a command, so periodic is zero.
-     *
-     * We dont read single registers, we just expect special
-     * reply from he Readall_MGM
-     */
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
     insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
@@ -494,7 +482,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
     rawPacket = commandBuffer;
     rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
-    /* We dont have to check if this is working because we just did it */
+    // We dont have to check if this is working because we just did i
     return RETURN_OK;
 }
 
@@ -522,3 +510,9 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
             new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
+    this->absLimitX = xLimit;
+    this->absLimitY = yLimit;
+    this->absLimitZ = zLimit;
+}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -34,6 +34,14 @@ public:
             uint8_t switchId, uint32_t transitionDelay = 10000);
     virtual ~MgmLIS3MDLHandler();
 
+    /**
+     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+     * be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
     void setToGoToNormalMode(bool enable);
 
 protected:
@@ -77,6 +85,10 @@ private:
     //has the size for all adresses of the lis3mdl + the continous write bit
     uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
 
+    float absLimitX = 100;
+    float absLimitY = 100;
+    float absLimitZ = 150;
+
     /**
      * We want to save the registers we set, so we dont have to read the
      * registers when we want to change something.