144 lines
4.9 KiB
C
144 lines
4.9 KiB
C
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
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#include <fsfw/datapoollocal/StaticLocalDataSet.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <cstdint>
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namespace L3GD20H {
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/* Actual size is 15 but we round up a bit */
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static constexpr size_t MAX_BUFFER_SIZE = 16;
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static constexpr uint8_t READ_MASK = 0b10000000;
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static constexpr uint8_t AUTO_INCREMENT_MASK = 0b01000000;
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static constexpr uint8_t WHO_AM_I_REG = 0b00001111;
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static constexpr uint8_t WHO_AM_I_VAL = 0b11010111;
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/*------------------------------------------------------------------------*/
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/* Control registers */
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/*------------------------------------------------------------------------*/
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static constexpr uint8_t CTRL_REG_1 = 0b00100000;
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static constexpr uint8_t CTRL_REG_2 = 0b00100001;
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static constexpr uint8_t CTRL_REG_3 = 0b00100010;
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static constexpr uint8_t CTRL_REG_4 = 0b00100011;
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static constexpr uint8_t CTRL_REG_5 = 0b00100100;
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/* Register 1 */
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static constexpr uint8_t SET_DR_1 = 1 << 7;
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static constexpr uint8_t SET_DR_0 = 1 << 6;
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static constexpr uint8_t SET_BW_1 = 1 << 5;
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static constexpr uint8_t SET_BW_0 = 1 << 4;
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static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
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static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
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static constexpr uint8_t SET_X_ENABLE = 1 << 1;
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static constexpr uint8_t SET_Y_ENABLE = 1;
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static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
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SET_Y_ENABLE | SET_X_ENABLE;
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/* Register 2 */
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static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
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static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
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static constexpr uint8_t SET_HPM_1 = 1 << 5;
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static constexpr uint8_t SET_HPM_0 = 1 << 4;
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static constexpr uint8_t SET_HPCF_3 = 1 << 3;
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static constexpr uint8_t SET_HPCF_2 = 1 << 2;
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static constexpr uint8_t SET_HPCF_1 = 1 << 1;
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static constexpr uint8_t SET_HPCF_0 = 1;
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static constexpr uint8_t CTRL_REG_2_VAL = 0b00000000;
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/* Register 3 */
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static constexpr uint8_t CTRL_REG_3_VAL = 0b00000000;
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/* Register 4 */
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static constexpr uint8_t SET_BNU = 1 << 7;
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static constexpr uint8_t SET_BLE = 1 << 6;
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static constexpr uint8_t SET_FS_1 = 1 << 5;
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static constexpr uint8_t SET_FS_0 = 1 << 4;
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static constexpr uint8_t SET_IMP_ENB = 1 << 3;
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static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
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static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
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static constexpr uint8_t SET_SPI_IF_SELECT = 1;
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/* Enable big endian data format */
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static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
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/* Register 5 */
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static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
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static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
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static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
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/* Possible range values in degrees per second (DPS). */
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static constexpr uint16_t RANGE_DPS_00 = 245;
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static constexpr float SENSITIVITY_00 = 8.75 * 0.001;
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static constexpr uint16_t RANGE_DPS_01 = 500;
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static constexpr float SENSITIVITY_01 = 17.5 * 0.001;
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static constexpr uint16_t RANGE_DPS_11 = 2000;
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static constexpr float SENSITIVITY_11 = 70.0 * 0.001;
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static constexpr uint8_t READ_START = CTRL_REG_1;
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static constexpr size_t READ_LEN = 14;
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/* Indexing */
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static constexpr uint8_t REFERENCE_IDX = 6;
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static constexpr uint8_t TEMPERATURE_IDX = 7;
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static constexpr uint8_t STATUS_IDX = 8;
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static constexpr uint8_t OUT_X_H = 9;
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static constexpr uint8_t OUT_X_L = 10;
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static constexpr uint8_t OUT_Y_H = 11;
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static constexpr uint8_t OUT_Y_L = 12;
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static constexpr uint8_t OUT_Z_H = 13;
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static constexpr uint8_t OUT_Z_L = 14;
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/*------------------------------------------------------------------------*/
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/* Device Handler specific */
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/*------------------------------------------------------------------------*/
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static constexpr DeviceCommandId_t READ_REGS = 0;
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static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
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static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
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static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
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enum GyroPoolIds: lp_id_t {
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ANG_VELOC_X,
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ANG_VELOC_Y,
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ANG_VELOC_Z,
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TEMPERATURE
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};
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}
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class GyroPrimaryDataset: public StaticLocalDataSet<5> {
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public:
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/** Constructor for data users like controllers */
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GyroPrimaryDataset(object_id_t mgmId):
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StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
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setAllVariablesReadOnly();
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}
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/* Angular velocities in degrees per second (DPS) */
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lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
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L3GD20H::ANG_VELOC_X, this);
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lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
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L3GD20H::ANG_VELOC_Y, this);
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lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
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L3GD20H::ANG_VELOC_Z, this);
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lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
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L3GD20H::TEMPERATURE, this);
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private:
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friend class GyroHandlerL3GD20H;
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/** Constructor for the data creator */
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GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
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StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
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};
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
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