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Update FSFW #33

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meierj merged 75 commits from mueller/master into eive/develop 2022-02-21 11:00:17 +01:00
Conversation 0 Commits 75 Files Changed 53 +92 -93
7 changed files with 92 additions and 93 deletions
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15
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
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@ -9,9 +9,6 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs),
dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
}
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
@ -193,8 +190,8 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
if (debugDivider->checkAndIncrement()) {
if(periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
@ -208,7 +205,8 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
sif::printInfo("Z: %f\n", angVelocZ);
#endif
}
#endif
}
PoolReadGuard readSet(&dataset);
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@ -272,3 +270,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
this->absLimitY = limitY;
this->absLimitZ = limitZ;
}
void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

13
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
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@ -1,12 +1,11 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include "fsfw/FSFW.h"
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* 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
@ -58,6 +59,7 @@ 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;
@ -80,9 +82,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
// Set default value
float sensitivity = L3GD20H::SENSITIVITY_00;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
PeriodicOperationDivider *debugDivider = nullptr;
#endif
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

24
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
// Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@ -272,8 +269,8 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if (debugDivider->checkAndIncrement()) {
if(periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:"
@ -288,7 +285,9 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
sif::printInfo("Z: %f uT\n", mgmZ);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
}
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
}
PoolReadGuard readHelper(&dataset);
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) < absLimitX) {
@ -318,15 +317,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if (debugDivider->check()) {
if(periodicPrintout) {
if (debugDivider.check()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
#else
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif
}
#endif
}
ReturnValue_t result = dataset.read();
if (result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue;
@ -484,3 +484,9 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
this->absLimitY = yLimit;
this->absLimitZ = zLimit;
}
void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

9
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
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@ -1,9 +1,10 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
class PeriodicOperationDivider;
@ -30,6 +31,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
* be marked as invalid if that limit is exceeded
@ -167,9 +169,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
*/
ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
PeriodicOperationDivider *debugDivider;
#endif
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

15
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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@ -11,9 +11,6 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
}
MgmRM3100Handler::~MgmRM3100Handler() {}
@ -337,8 +334,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
if (debugDivider->checkAndIncrement()) {
if(periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:"
@ -353,7 +350,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif
}
#endif
}
// TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset);
@ -365,3 +363,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
}
return RETURN_OK;
}
void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

11
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
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@ -2,12 +2,8 @@
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
/**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
uint32_t transitionDelay);
virtual ~MgmRM3100Handler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Configure device handler to go to normal mode after startup immediately
* @param enable
@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t *packet);
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
PeriodicOperationDivider *debugDivider;
#endif
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

12
src/fsfw/FSFW.h.in
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@ -62,16 +62,4 @@
#define FSFW_HAL_I2C_WIRETAPPING 0
#endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
#ifndef FSFW_HAL_RM3100_MGM_DEBUG
#define FSFW_HAL_RM3100_MGM_DEBUG 0
#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
#endif /* FSFW_FSFW_H_ */