several important changes for stm32

2021-06-09 23:20:42 +02:00
parent d194b759c4
commit 04166f87d8
11 changed files with 374 additions and 7 deletions
--- a/devicehandlers/GyroL3GD20Handler.h
+++ b/devicehandlers/GyroL3GD20Handler.h
@ -0,0 +1,80 @@
+#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
+#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
+
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+#include <OBSWConfig.h>
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+
+
+/**
+ * @brief 	Device Handler for the L3GD20H gyroscope sensor
+ *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
+ * @details
+ * Advanced documentation:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
+ *
+ * Data is read big endian with the smallest possible range of 245 degrees per second.
+ */
+class GyroHandlerL3GD20H: public DeviceHandlerBase {
+public:
+	GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
+	        CookieIF* comCookie);
+	virtual ~GyroHandlerL3GD20H();
+
+protected:
+
+	/* DeviceHandlerBase overrides */
+	ReturnValue_t buildTransitionDeviceCommand(
+	        DeviceCommandId_t *id) override;
+	void doStartUp() override;
+	void doShutDown() override;
+	ReturnValue_t buildNormalDeviceCommand(
+	        DeviceCommandId_t *id) override;
+	ReturnValue_t buildCommandFromCommand(
+	        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+			size_t commandDataLen) override;
+	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+			DeviceCommandId_t *foundId, size_t *foundLen) override;
+	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+	        const uint8_t *packet) override;
+
+	void fillCommandAndReplyMap() override;
+	void modeChanged() override;
+	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+			LocalDataPoolManager &poolManager) override;
+
+private:
+	GyroPrimaryDataset dataset;
+
+	enum class InternalState {
+	    NONE,
+		CONFIGURE,
+		CHECK_REGS,
+		NORMAL
+	};
+	InternalState internalState = InternalState::NONE;
+	bool commandExecuted = false;
+
+	uint8_t statusReg = 0;
+
+	uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
+	uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
+	uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
+	uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
+	uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
+
+	uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
+
+	float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
+
+#if L3GD20_GYRO_DEBUG == 1
+    PeriodicOperationDivider* debugDivider = nullptr;
+#endif
+};
+
+
+
+#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */