diff --git a/src/fsfw_hal/devicehandlers/CMakeLists.txt b/src/fsfw_hal/devicehandlers/CMakeLists.txt index 17139416..e5999ad5 100644 --- a/src/fsfw_hal/devicehandlers/CMakeLists.txt +++ b/src/fsfw_hal/devicehandlers/CMakeLists.txt @@ -1,3 +1,5 @@ target_sources( ${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp MgmRM3100Handler.cpp MgmLIS3MDLHandler.cpp) + +add_subdirectory(devicedefinitions) diff --git a/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index 46ca17b9..c71f34ce 100644 --- a/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -46,17 +46,17 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t return NOTHING_TO_SEND; } case (InternalState::CONFIGURE): { - *id = L3GD20H::CONFIGURE_CTRL_REGS; + *id = l3gd20h::CONFIGURE_CTRL_REGS; uint8_t command[5]; - command[0] = L3GD20H::CTRL_REG_1_VAL; - command[1] = L3GD20H::CTRL_REG_2_VAL; - command[2] = L3GD20H::CTRL_REG_3_VAL; - command[3] = L3GD20H::CTRL_REG_4_VAL; - command[4] = L3GD20H::CTRL_REG_5_VAL; + command[0] = l3gd20h::CTRL_REG_1_VAL; + command[1] = l3gd20h::CTRL_REG_2_VAL; + command[2] = l3gd20h::CTRL_REG_3_VAL; + command[3] = l3gd20h::CTRL_REG_4_VAL; + command[4] = l3gd20h::CTRL_REG_5_VAL; return buildCommandFromCommand(*id, command, 5); } case (InternalState::CHECK_REGS): { - *id = L3GD20H::READ_REGS; + *id = l3gd20h::READ_REGS; return buildCommandFromCommand(*id, nullptr, 0); } default: @@ -76,7 +76,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t } ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) { - *id = L3GD20H::READ_REGS; + *id = l3gd20h::READ_REGS; return buildCommandFromCommand(*id, nullptr, 0); } @@ -84,15 +84,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi const uint8_t *commandData, size_t commandDataLen) { switch (deviceCommand) { - case (L3GD20H::READ_REGS): { - commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK; - std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN); + case (l3gd20h::READ_REGS): { + commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK; + std::memset(commandBuffer + 1, 0, l3gd20h::READ_LEN); rawPacket = commandBuffer; - rawPacketLen = L3GD20H::READ_LEN + 1; + rawPacketLen = l3gd20h::READ_LEN + 1; break; } - case (L3GD20H::CONFIGURE_CTRL_REGS): { - commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK; + case (l3gd20h::CONFIGURE_CTRL_REGS): { + commandBuffer[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK; if (commandData == nullptr or commandDataLen != 5) { return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; } @@ -103,15 +103,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi ctrlReg4Value = commandData[3]; ctrlReg5Value = commandData[4]; - bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1; - bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0; + bool fsH = ctrlReg4Value & l3gd20h::SET_FS_1; + bool fsL = ctrlReg4Value & l3gd20h::SET_FS_0; if (not fsH and not fsL) { - sensitivity = L3GD20H::SENSITIVITY_00; + sensitivity = l3gd20h::SENSITIVITY_00; } else if (not fsH and fsL) { - sensitivity = L3GD20H::SENSITIVITY_01; + sensitivity = l3gd20h::SENSITIVITY_01; } else { - sensitivity = L3GD20H::SENSITIVITY_11; + sensitivity = l3gd20h::SENSITIVITY_11; } commandBuffer[1] = ctrlReg1Value; @@ -124,8 +124,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi rawPacketLen = 6; break; } - case (L3GD20H::READ_CTRL_REGS): { - commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK; + case (l3gd20h::READ_CTRL_REGS): { + commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK; std::memset(commandBuffer + 1, 0, 5); rawPacket = commandBuffer; @@ -151,11 +151,11 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { ReturnValue_t result = returnvalue::OK; switch (id) { - case (L3GD20H::CONFIGURE_CTRL_REGS): { + case (l3gd20h::CONFIGURE_CTRL_REGS): { commandExecuted = true; break; } - case (L3GD20H::READ_CTRL_REGS): { + case (l3gd20h::READ_CTRL_REGS): { if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and packet[5] == ctrlReg5Value) { @@ -167,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, } break; } - case (L3GD20H::READ_REGS): { + case (l3gd20h::READ_REGS): { if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and packet[5] != ctrlReg5Value) { @@ -178,16 +178,16 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, } } - statusReg = packet[L3GD20H::STATUS_IDX]; + statusReg = packet[l3gd20h::STATUS_IDX]; - int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L]; - int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L]; - int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L]; + int16_t angVelocXRaw = packet[l3gd20h::OUT_X_H] << 8 | packet[l3gd20h::OUT_X_L]; + int16_t angVelocYRaw = packet[l3gd20h::OUT_Y_H] << 8 | packet[l3gd20h::OUT_Y_L]; + int16_t angVelocZRaw = packet[l3gd20h::OUT_Z_H] << 8 | packet[l3gd20h::OUT_Z_L]; float angVelocX = angVelocXRaw * sensitivity; float angVelocY = angVelocYRaw * sensitivity; float angVelocZ = angVelocZRaw * sensitivity; - int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; + int8_t temperaturOffset = (-1) * packet[l3gd20h::TEMPERATURE_IDX]; float temperature = 25.0 + temperaturOffset; if (periodicPrintout) { if (debugDivider.checkAndIncrement()) { @@ -248,19 +248,19 @@ void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeIm ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { - localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry({0.0})); - localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry({0.0})); - localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry({0.0})); - localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry({0.0})); + localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry({0.0})); + localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry({0.0})); + localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry({0.0})); + localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry({0.0})); poolManager.subscribeForRegularPeriodicPacket( subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0)); return returnvalue::OK; } void GyroHandlerL3GD20H::fillCommandAndReplyMap() { - insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset); - insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1); - insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1); + insertInCommandAndReplyMap(l3gd20h::READ_REGS, 1, &dataset); + insertInCommandAndReplyMap(l3gd20h::CONFIGURE_CTRL_REGS, 1); + insertInCommandAndReplyMap(l3gd20h::READ_CTRL_REGS, 1); } void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; } diff --git a/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h index 7c1ebdac..9897dc00 100644 --- a/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h +++ b/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h @@ -3,8 +3,7 @@ #include #include - -#include "devicedefinitions/GyroL3GD20Definitions.h" +#include /** * @brief Device Handler for the L3GD20H gyroscope sensor @@ -59,9 +58,9 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { uint32_t transitionDelayMs = 0; GyroPrimaryDataset dataset; - float absLimitX = L3GD20H::RANGE_DPS_00; - float absLimitY = L3GD20H::RANGE_DPS_00; - float absLimitZ = L3GD20H::RANGE_DPS_00; + float absLimitX = l3gd20h::RANGE_DPS_00; + float absLimitY = l3gd20h::RANGE_DPS_00; + float absLimitZ = l3gd20h::RANGE_DPS_00; enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL }; InternalState internalState = InternalState::NONE; @@ -70,16 +69,16 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { uint8_t statusReg = 0; bool goNormalModeImmediately = false; - uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL; - uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL; - uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL; - uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL; - uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL; + uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL; + uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL; + uint8_t ctrlReg3Value = l3gd20h::CTRL_REG_3_VAL; + uint8_t ctrlReg4Value = l3gd20h::CTRL_REG_4_VAL; + uint8_t ctrlReg5Value = l3gd20h::CTRL_REG_5_VAL; - uint8_t commandBuffer[L3GD20H::READ_LEN + 1]; + uint8_t commandBuffer[l3gd20h::READ_LEN + 1]; // Set default value - float sensitivity = L3GD20H::SENSITIVITY_00; + float sensitivity = l3gd20h::SENSITIVITY_00; bool periodicPrintout = false; PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3); diff --git a/src/fsfw_hal/devicehandlers/devicedefinitions/CMakeLists.txt b/src/fsfw_hal/devicehandlers/devicedefinitions/CMakeLists.txt new file mode 100644 index 00000000..e77862c1 --- /dev/null +++ b/src/fsfw_hal/devicehandlers/devicedefinitions/CMakeLists.txt @@ -0,0 +1 @@ +target_sources(${LIB_FSFW_NAME} PRIVATE gyroL3gHelpers.cpp) diff --git a/src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.cpp b/src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.cpp new file mode 100644 index 00000000..13f00b10 --- /dev/null +++ b/src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.cpp @@ -0,0 +1,14 @@ +#include + +float l3gd20h::ctrlReg4ToSensitivity(uint8_t reg) { + bool fsH = reg & l3gd20h::SET_FS_1; + bool fsL = reg & l3gd20h::SET_FS_0; + + if (not fsH and not fsL) { + return l3gd20h::SENSITIVITY_00; + } else if (not fsH and fsL) { + return l3gd20h::SENSITIVITY_01; + } else { + return l3gd20h::SENSITIVITY_11; + } +} diff --git a/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h b/src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h similarity index 87% rename from src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h rename to src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h index 2a85ff3e..4aef6811 100644 --- a/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h +++ b/src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h @@ -6,7 +6,9 @@ #include -namespace L3GD20H { +namespace l3gd20h { + +float ctrlReg4ToSensitivity(uint8_t reg); /* Actual size is 15 but we round up a bit */ static constexpr size_t MAX_BUFFER_SIZE = 16; @@ -103,31 +105,33 @@ static constexpr DeviceCommandId_t READ_REGS = 0; static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1; static constexpr DeviceCommandId_t READ_CTRL_REGS = 2; +static constexpr DeviceCommandId_t REQUEST = 0x70; +static constexpr DeviceCommandId_t REPLY = 0x77; + static constexpr uint32_t GYRO_DATASET_ID = READ_REGS; enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE }; -} // namespace L3GD20H +} // namespace l3gd20h class GyroPrimaryDataset : public StaticLocalDataSet<5> { public: /** Constructor for data users like controllers */ GyroPrimaryDataset(object_id_t mgmId) - : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) { + : StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) { setAllVariablesReadOnly(); } - - /* Angular velocities in degrees per second (DPS) */ - lp_var_t angVelocX = lp_var_t(sid.objectId, L3GD20H::ANG_VELOC_X, this); - lp_var_t angVelocY = lp_var_t(sid.objectId, L3GD20H::ANG_VELOC_Y, this); - lp_var_t angVelocZ = lp_var_t(sid.objectId, L3GD20H::ANG_VELOC_Z, this); - lp_var_t temperature = lp_var_t(sid.objectId, L3GD20H::TEMPERATURE, this); - - private: - friend class GyroHandlerL3GD20H; /** Constructor for the data creator */ GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner) - : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {} + : StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {} + + /* Angular velocities in degrees per second (DPS) */ + lp_var_t angVelocX = lp_var_t(sid.objectId, l3gd20h::ANG_VELOC_X, this); + lp_var_t angVelocY = lp_var_t(sid.objectId, l3gd20h::ANG_VELOC_Y, this); + lp_var_t angVelocZ = lp_var_t(sid.objectId, l3gd20h::ANG_VELOC_Z, this); + lp_var_t temperature = lp_var_t(sid.objectId, l3gd20h::TEMPERATURE, this); + + private: }; #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */ diff --git a/src/fsfw_hal/linux/spi/SpiComIF.h b/src/fsfw_hal/linux/spi/SpiComIF.h index 7033ea37..14a3355a 100644 --- a/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/src/fsfw_hal/linux/spi/SpiComIF.h @@ -90,8 +90,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * pulled high */ MutexIF* csMutex = nullptr; - // MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; - // uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT; spi_ioc_transfer clockUpdateTransfer = {}; using SpiDeviceMap = std::unordered_map;