87 lines
2.8 KiB
C++
87 lines
2.8 KiB
C++
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#include "fsfw/FSFW.h"
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#include "devicedefinitions/GyroL3GD20Definitions.h"
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
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#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
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#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
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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,
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CookieIF* comCookie);
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virtual ~GyroHandlerL3GD20H();
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void setGoNormalModeAtStartup();
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protected:
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/* DeviceHandlerBase overrides */
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ReturnValue_t buildTransitionDeviceCommand(
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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(
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DeviceCommandId_t *id) override;
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ReturnValue_t buildCommandFromCommand(
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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,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void fillCommandAndReplyMap() override;
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void modeChanged() override;
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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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GyroPrimaryDataset dataset;
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enum class InternalState {
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NONE,
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CONFIGURE,
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CHECK_REGS,
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NORMAL
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};
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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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#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
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PeriodicOperationDivider* debugDivider = nullptr;
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#endif
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};
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#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
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