88 lines
3.2 KiB
C++
88 lines
3.2 KiB
C++
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
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/**
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* @brief Device Handler for the L3GD20H gyroscope sensor
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* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
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* @details
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* Advanced documentation:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
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*
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* Data is read big endian with the smallest possible range of 245 degrees per second.
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*/
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class GyroHandlerL3GD20H : public DeviceHandlerBase {
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public:
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GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
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uint32_t transitionDelayMs);
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virtual ~GyroHandlerL3GD20H();
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void enablePeriodicPrintouts(bool enable, uint8_t divider);
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/**
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* Set the absolute limit for the values on the axis in degrees per second.
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* The dataset values will be marked as invalid if that limit is exceeded
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* @param xLimit
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* @param yLimit
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* @param zLimit
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*/
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void setAbsoluteLimits(float limitX, float limitY, float limitZ);
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/**
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* @brief Configure device handler to go to normal mode immediately
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*/
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void setToGoToNormalMode(bool enable);
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protected:
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/* DeviceHandlerBase overrides */
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
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size_t *foundLen) override;
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virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
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void fillCommandAndReplyMap() override;
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void modeChanged() override;
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virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
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private:
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uint32_t transitionDelayMs = 0;
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GyroPrimaryDataset dataset;
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float absLimitX = l3gd20h::RANGE_DPS_00;
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float absLimitY = l3gd20h::RANGE_DPS_00;
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float absLimitZ = l3gd20h::RANGE_DPS_00;
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enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
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InternalState internalState = InternalState::NONE;
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bool commandExecuted = false;
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uint8_t statusReg = 0;
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bool goNormalModeImmediately = false;
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uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
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uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;
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uint8_t ctrlReg3Value = l3gd20h::CTRL_REG_3_VAL;
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uint8_t ctrlReg4Value = l3gd20h::CTRL_REG_4_VAL;
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uint8_t ctrlReg5Value = l3gd20h::CTRL_REG_5_VAL;
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uint8_t commandBuffer[l3gd20h::READ_LEN + 1];
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// Set default value
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float sensitivity = l3gd20h::SENSITIVITY_00;
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bool periodicPrintout = false;
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PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
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};
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#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
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