fsfw/fsfw-hal
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important bugfixes

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This commit is contained in:
Robin Müller
2021-06-10 14:17:13 +02:00
parent 92a3f13172
commit 05b64b05a3
5 changed files with 236 additions and 220 deletions
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25
stm32h7/devicetest/GyroL3GD20H.cpp
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@ -15,7 +15,7 @@
alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
TransferStates transferState = TransferStates::IDLE;
spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
@ -24,7 +24,7 @@ DMA_HandleTypeDef txDmaHandle;
DMA_HandleTypeDef rxDmaHandle;
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
spiHandle(spiHandle) {
spiHandle(spiHandle) {
transferMode = transferMode_;
if(transferMode == spi::TransferModes::DMA) {
spi::setDmaHandles(&txDmaHandle, &rxDmaHandle);
@ -291,7 +291,6 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
// Configure the 5 configuration registers
@ -317,7 +316,6 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 5);
@ -358,6 +356,7 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
handleSensorReadout();
@ -484,22 +483,32 @@ void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
configRegs[0] = 0b00001111;
configRegs[1] = 0b00000000;
configRegs[2] = 0b00000000;
configRegs[3] = 0b01000000;
// Big endian select
configRegs[3] = 0b01000000;
configRegs[4] = 0b00000000;
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
std::memcpy(txBuffer.data() + 1, configRegs, 5);
}
uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
uint8_t rxBuf[2] = {};
uint8_t txBuf[2] = {};
txBuf[0] = reg | STM_READ_MASK;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
return rxBuf[1];
}
void GyroL3GD20H::handleSensorReadout() {
uint8_t statusReg = rxBuffer[8];
int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
float gyroX = static_cast<float>(gyroXRaw) / INT16_MAX * L3G_RANGE;
float gyroX = static_cast<float>(gyroXRaw) * 0.00875;
int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
float gyroY = static_cast<float>(gyroYRaw) / INT16_MAX * L3G_RANGE;
float gyroY = static_cast<float>(gyroYRaw) * 0.00875;
int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
float gyroZ = static_cast<float>(gyroZRaw) / INT16_MAX * L3G_RANGE;
float gyroZ = static_cast<float>(gyroZRaw) * 0.00875;
sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
sif::printInfo("Gyro X: %f\n", gyroX);
sif::printInfo("Gyro Y: %f\n", gyroY);