fsfw/fsfw-hal
13
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity

refactored everything

Browse Source
This commit is contained in:
Robin Müller
2021-06-10 19:09:33 +02:00
parent 0e79b5f4ae
commit 8f61c23e62
18 changed files with 740 additions and 265 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
devicehandlers/GyroL3GD20Handler.cpp
View File

@ -6,7 +6,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) {
#if L3GD20_GYRO_DEBUG == 1
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5);
#endif
}
@ -28,11 +28,12 @@ void GyroHandlerL3GD20H::doStartUp() {
if(internalState == InternalState::CHECK_REGS) {
if(commandExecuted) {
internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
if(goNormalModeImmediately) {
setMode(MODE_NORMAL);
}
else {
setMode(_MODE_TO_ON);
}
commandExecuted = false;
}
}
@ -85,9 +86,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
size_t commandDataLen) {
switch(deviceCommand) {
case(L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
L3GD20H::READ_MASK;
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1;
@ -196,7 +195,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
#if L3GD20_GYRO_DEBUG == 1
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -235,6 +234,10 @@ uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 10000;
}
void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
this->goNormalModeImmediately = true;
}
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,

10
devicehandlers/GyroL3GD20Handler.h
View File

@ -7,9 +7,9 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#ifndef L3GD20_GYRO_DEBUG
#define L3GD20_GYRO_DEBUG 1
#endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#define FSFW_HAL_L3GD20_GYRO_DEBUG 1
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
@ -26,6 +26,7 @@ public:
CookieIF* comCookie);
virtual ~GyroHandlerL3GD20H();
void setGoNormalModeAtStartup();
protected:
/* DeviceHandlerBase overrides */
@ -62,6 +63,7 @@ private:
bool commandExecuted = false;
uint8_t statusReg = 0;
bool goNormalModeImmediately = false;
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
@ -74,7 +76,7 @@ private:
// Set default value
float sensitivity = L3GD20H::SENSITIVITY_00;
#if L3GD20_GYRO_DEBUG == 1
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider = nullptr;
#endif
};