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Device handler updates

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This commit is contained in:
Robin Müller
2021-09-23 18:12:59 +02:00
parent 9429f6b868
commit f2bc374f0f
5 changed files with 364 additions and 12 deletions
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43
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
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@ -3,11 +3,11 @@
#include "fsfw/datapool/PoolReadGuard.h"
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),
switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
transitionDelayMs(transitionDelayMs), dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5);
debugDivider = new PeriodicOperationDivider(3);
#endif
}
@ -215,11 +215,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
PoolReadGuard readSet(&dataset);
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
dataset.angVelocX = angVelocX;
dataset.angVelocY = angVelocY;
dataset.angVelocZ = angVelocZ;
if(std::abs(angVelocX) < this->absLimitX) {
dataset.angVelocX = angVelocX;
dataset.angVelocX.setValid(true);
}
else {
dataset.angVelocX.setValid(false);
}
if(std::abs(angVelocY) < this->absLimitY) {
dataset.angVelocY = angVelocY;
dataset.angVelocY.setValid(true);
}
else {
dataset.angVelocY.setValid(false);
}
if(std::abs(angVelocZ) < this->absLimitZ) {
dataset.angVelocZ = angVelocZ;
dataset.angVelocZ.setValid(true);
}
else {
dataset.angVelocZ.setValid(false);
}
dataset.temperature = temperature;
dataset.setValidity(true, true);
dataset.temperature.setValid(true);
}
break;
}
@ -234,7 +255,7 @@ uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs;
}
void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
this->goNormalModeImmediately = true;
}
@ -256,3 +277,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::NONE;
}
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX;
this->absLimitY = limitY;
this->absLimitZ = limitZ;
}