277 lines
9.5 KiB
C++
277 lines
9.5 KiB
C++
#include "GyroL3GD20Handler.h"
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#include <cmath>
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#include "fsfw/datapool/PoolReadGuard.h"
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GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, uint32_t transitionDelayMs)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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transitionDelayMs(transitionDelayMs),
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dataset(this) {}
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GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
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void GyroHandlerL3GD20H::doStartUp() {
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if (internalState == InternalState::NONE) {
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internalState = InternalState::CONFIGURE;
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}
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if (internalState == InternalState::CONFIGURE) {
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if (commandExecuted) {
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internalState = InternalState::CHECK_REGS;
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commandExecuted = false;
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}
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}
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if (internalState == InternalState::CHECK_REGS) {
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if (commandExecuted) {
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internalState = InternalState::NORMAL;
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if (goNormalModeImmediately) {
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setMode(MODE_NORMAL);
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} else {
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setMode(_MODE_TO_ON);
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}
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commandExecuted = false;
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}
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}
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}
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void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch (internalState) {
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case (InternalState::NONE):
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case (InternalState::NORMAL): {
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return NOTHING_TO_SEND;
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}
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case (InternalState::CONFIGURE): {
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*id = L3GD20H::CONFIGURE_CTRL_REGS;
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uint8_t command[5];
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command[0] = L3GD20H::CTRL_REG_1_VAL;
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command[1] = L3GD20H::CTRL_REG_2_VAL;
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command[2] = L3GD20H::CTRL_REG_3_VAL;
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command[3] = L3GD20H::CTRL_REG_4_VAL;
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command[4] = L3GD20H::CTRL_REG_5_VAL;
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return buildCommandFromCommand(*id, command, 5);
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}
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case (InternalState::CHECK_REGS): {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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/* Might be a configuration error. */
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sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!"
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<< std::endl;
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#else
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sif::printDebug(
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"GyroL3GD20Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!\n");
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,
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size_t commandDataLen) {
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switch (deviceCommand) {
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case (L3GD20H::READ_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
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rawPacket = commandBuffer;
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rawPacketLen = L3GD20H::READ_LEN + 1;
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break;
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}
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case (L3GD20H::CONFIGURE_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
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if (commandData == nullptr or commandDataLen != 5) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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ctrlReg1Value = commandData[0];
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ctrlReg2Value = commandData[1];
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ctrlReg3Value = commandData[2];
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ctrlReg4Value = commandData[3];
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ctrlReg5Value = commandData[4];
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bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
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bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
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if (not fsH and not fsL) {
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sensitivity = L3GD20H::SENSITIVITY_00;
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} else if (not fsH and fsL) {
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sensitivity = L3GD20H::SENSITIVITY_01;
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} else {
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sensitivity = L3GD20H::SENSITIVITY_11;
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}
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commandBuffer[1] = ctrlReg1Value;
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commandBuffer[2] = ctrlReg2Value;
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commandBuffer[3] = ctrlReg3Value;
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commandBuffer[4] = ctrlReg4Value;
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commandBuffer[5] = ctrlReg5Value;
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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}
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case (L3GD20H::READ_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, 5);
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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// For SPI, the ID will always be the one of the last sent command
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*foundId = this->getPendingCommand();
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*foundLen = this->rawPacketLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch (id) {
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case (L3GD20H::CONFIGURE_CTRL_REGS): {
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commandExecuted = true;
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break;
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}
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case (L3GD20H::READ_CTRL_REGS): {
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if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
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packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
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packet[5] == ctrlReg5Value) {
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commandExecuted = true;
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} else {
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// Attempt reconfiguration
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internalState = InternalState::CONFIGURE;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case (L3GD20H::READ_REGS): {
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if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
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packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
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packet[5] != ctrlReg5Value) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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} else {
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if (internalState == InternalState::CHECK_REGS) {
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commandExecuted = true;
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}
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}
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statusReg = packet[L3GD20H::STATUS_IDX];
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int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
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int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
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int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
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float angVelocX = angVelocXRaw * sensitivity;
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float angVelocY = angVelocYRaw * sensitivity;
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float angVelocZ = angVelocZRaw * sensitivity;
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int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
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float temperature = 25.0 + temperaturOffset;
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if (periodicPrintout) {
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if (debugDivider.checkAndIncrement()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
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sif::info << "X: " << angVelocX << std::endl;
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sif::info << "Y: " << angVelocY << std::endl;
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sif::info << "Z: " << angVelocZ << std::endl;
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#else
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sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
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sif::printInfo("X: %f\n", angVelocX);
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sif::printInfo("Y: %f\n", angVelocY);
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sif::printInfo("Z: %f\n", angVelocZ);
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#endif
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}
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}
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PoolReadGuard readSet(&dataset);
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if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
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if (std::abs(angVelocX) < this->absLimitX) {
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dataset.angVelocX = angVelocX;
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dataset.angVelocX.setValid(true);
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} else {
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dataset.angVelocX.setValid(false);
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}
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if (std::abs(angVelocY) < this->absLimitY) {
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dataset.angVelocY = angVelocY;
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dataset.angVelocY.setValid(true);
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} else {
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dataset.angVelocY.setValid(false);
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}
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if (std::abs(angVelocZ) < this->absLimitZ) {
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dataset.angVelocZ = angVelocZ;
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dataset.angVelocZ.setValid(true);
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} else {
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dataset.angVelocZ.setValid(false);
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}
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dataset.temperature = temperature;
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dataset.temperature.setValid(true);
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}
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return result;
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}
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uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return this->transitionDelayMs;
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}
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void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
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ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
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poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
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insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
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insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
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}
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void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
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void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
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this->absLimitX = limitX;
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this->absLimitY = limitY;
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this->absLimitZ = limitZ;
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}
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void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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