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update for SPI/gyro dev handler code

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This commit is contained in:
Robin Müller
2023-02-26 14:54:35 +01:00
parent bdfe31dba4
commit cf735143fe
7 changed files with 81 additions and 63 deletions
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1
src/fsfw_hal/devicehandlers/devicedefinitions/CMakeLists.txt Normal file
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@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PRIVATE gyroL3gHelpers.cpp)

14
src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.cpp Normal file
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@ -0,0 +1,14 @@
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
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;
}
}

30
src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h → src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h
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@ -6,7 +6,9 @@
#include <cstdint>
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<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(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<float> angVelocX = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, l3gd20h::TEMPERATURE, this);
private:
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */