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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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21
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
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@ -19,13 +19,22 @@
class GyroHandlerL3GD20H: public DeviceHandlerBase {
public:
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();
/**
* Set the absolute limit for the values on the axis in degrees per second.
* The dataset values will be marked as invalid if that limit is exceeded
* @param xLimit
* @param yLimit
* @param zLimit
*/
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
/**
* @brief Configure device handler to go to normal mode immediately
*/
void setGoNormalModeAtStartup();
void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */
@ -40,12 +49,12 @@ protected:
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() 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,
LocalDataPoolManager &poolManager) override;
@ -54,6 +63,10 @@ private:
uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset;
float absLimitX = L3GD20H::RANGE_DPS_00;
float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00;
enum class InternalState {
NONE,
CONFIGURE,