eive/fsfw
eive/fsfw
15
1
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests Releases 1 Wiki Activity

op divider fixes

Browse Source
This commit is contained in:
Robin Müller 2021-09-23 15:20:10 +02:00
parent 81c33d2dc6
commit c9b343ebcd
7 changed files with 25 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -3,11 +3,11 @@
#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapool/PoolReadGuard.h"
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs): CookieIF *comCookie, uint32_t transitionDelayMs):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),
switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) { transitionDelayMs(transitionDelayMs), dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5); debugDivider = new PeriodicOperationDivider(3);
#endif #endif
} }
@ -278,7 +278,7 @@ void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::NONE; internalState = InternalState::NONE;
} }
void GyroHandlerL3GD20H::setAxisLimits(float limitX, float limitY, float limitZ) { void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX; this->absLimitX = limitX;
this->absLimitY = limitY; this->absLimitY = limitY;
this->absLimitZ = limitZ; this->absLimitZ = limitZ;

4
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
View File

@ -19,7 +19,7 @@
class GyroHandlerL3GD20H: public DeviceHandlerBase { class GyroHandlerL3GD20H: public DeviceHandlerBase {
public: public:
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000); CookieIF* comCookie, uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H(); virtual ~GyroHandlerL3GD20H();
/** /**
@ -54,7 +54,7 @@ protected:
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
void modeChanged() override; void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;

6
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -6,13 +6,13 @@
#endif #endif
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay): CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), transitionDelay(transitionDelay) { dataset(this), transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5); debugDivider = new PeriodicOperationDivider(3);
#endif #endif
/* Set to default values right away. */ // Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;

8
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
View File

@ -31,7 +31,7 @@ public:
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW); static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie, MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
uint8_t switchId, uint32_t transitionDelay = 10000); uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler(); virtual ~MgmLIS3MDLHandler();
/** /**
@ -50,7 +50,7 @@ protected:
void doShutDown() override; void doShutDown() override;
void doStartUp() override; void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand( ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData, DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override; size_t commandDataLen) override;
@ -76,13 +76,13 @@ protected:
private: private:
MGMLIS3MDL::MgmPrimaryDataset dataset; MGMLIS3MDL::MgmPrimaryDataset dataset;
//Length a sindgle command SPI answer //Length a single command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
uint32_t transitionDelay; uint32_t transitionDelay;
// Single SPI command has 2 bytes, first for adress, second for content // Single SPI command has 2 bytes, first for adress, second for content
size_t singleComandSize = 2; size_t singleComandSize = 2;
//has the size for all adresses of the lis3mdl + the continous write bit // Has the size for all adresses of the lis3mdl + the continous write bit
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1]; uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
float absLimitX = 100; float absLimitX = 100;

13
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -8,10 +8,9 @@
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId, object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this), switchId(switchId), transitionDelay(transitionDelay) { primaryDataset(this), transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3); debugDivider = new PeriodicOperationDivider(3);
#endif #endif
@ -322,13 +321,7 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
} }
uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 25000; return this->transitionDelay;
}
ReturnValue_t MgmRM3100Handler::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
*switches = &switchId;
*numberOfSwitches = 1;
return HasReturnvaluesIF::RETURN_OK;
} }
void MgmRM3100Handler::setToGoToNormalMode(bool enable) { void MgmRM3100Handler::setToGoToNormalMode(bool enable) {

18
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
View File

@ -32,7 +32,7 @@ public:
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO); SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay = 10000); CookieIF* comCookie, uint32_t transitionDelay);
virtual ~MgmRM3100Handler(); virtual ~MgmRM3100Handler();
/** /**
@ -48,21 +48,16 @@ protected:
DeviceCommandId_t *id) override; DeviceCommandId_t *id) override;
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand( ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override; ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
ReturnValue_t buildCommandFromCommand( const uint8_t *commandData, size_t commandDataLen) override;
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override; DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
const uint8_t *packet) override;
ReturnValue_t getSwitches(const uint8_t **switches,
uint8_t *numberOfSwitches) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
void modeChanged(void) override; void modeChanged(void) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
@ -97,7 +92,6 @@ private:
float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN; float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
bool goToNormalModeAtStartup = false; bool goToNormalModeAtStartup = false;
uint8_t switchId;
uint32_t transitionDelay; uint32_t transitionDelay;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,

5
src/fsfw/globalfunctions/PeriodicOperationDivider.cpp
View File

@ -7,14 +7,13 @@ PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
} }
bool PeriodicOperationDivider::checkAndIncrement() { bool PeriodicOperationDivider::checkAndIncrement() {
counter++;
bool opNecessary = check(); bool opNecessary = check();
if(opNecessary) { if(opNecessary) {
if(resetAutomatically) { if(resetAutomatically) {
counter = 1; counter = 0;
} }
return opNecessary;
} }
counter++;
return opNecessary; return opNecessary;
} }