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update for SPI/gyro dev handler code

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muellerr committed 2023-02-26 14:54:35 +01:00
1 parent bdfe31dba4
commit cf735143fe
7 files changed
+81 -63
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src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+36 -36
View File
@@ -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<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({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; }