Merge pull request 'HAL Devicehandlers: Periodic printouts are runtime configurable now' (#561) from eive/fsfw:mueller/dev-printout-runtime-configurable into development
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Reviewed-on: #561
This commit is contained in:
commit
c88b931ef1
@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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## Changes
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- HAL Devicehandlers: Periodic printout is run-time configurable now
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- `oneShotAction` flag in the `TestTask` class is not static anymore
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## Removed
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@ -8,11 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
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CookieIF *comCookie, uint32_t transitionDelayMs)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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transitionDelayMs(transitionDelayMs),
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dataset(this) {
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#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(3);
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#endif
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}
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dataset(this) {}
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GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
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@ -193,22 +189,22 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
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float temperature = 25.0 + temperaturOffset;
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#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
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if (debugDivider->checkAndIncrement()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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if (periodicPrintout) {
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if (debugDivider.checkAndIncrement()) {
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/* Set terminal to utf-8 if there is an issue with micro printout. */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
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sif::info << "X: " << angVelocX << std::endl;
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sif::info << "Y: " << angVelocY << std::endl;
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sif::info << "Z: " << angVelocZ << std::endl;
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sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
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sif::info << "X: " << angVelocX << std::endl;
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sif::info << "Y: " << angVelocY << std::endl;
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sif::info << "Z: " << angVelocZ << std::endl;
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#else
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sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
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sif::printInfo("X: %f\n", angVelocX);
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sif::printInfo("Y: %f\n", angVelocY);
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sif::printInfo("Z: %f\n", angVelocZ);
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sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
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sif::printInfo("X: %f\n", angVelocX);
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sif::printInfo("Y: %f\n", angVelocY);
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sif::printInfo("Z: %f\n", angVelocZ);
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#endif
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}
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}
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#endif
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PoolReadGuard readSet(&dataset);
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if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
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@ -272,3 +268,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
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this->absLimitY = limitY;
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this->absLimitZ = limitZ;
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}
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void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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@ -5,7 +5,6 @@
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#include "devicedefinitions/GyroL3GD20Definitions.h"
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#include "fsfw/FSFW.h"
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/**
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* @brief Device Handler for the L3GD20H gyroscope sensor
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@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
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uint32_t transitionDelayMs);
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virtual ~GyroHandlerL3GD20H();
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void enablePeriodicPrintouts(bool enable, uint8_t divider);
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/**
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* Set the absolute limit for the values on the axis in degrees per second.
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* The dataset values will be marked as invalid if that limit is exceeded
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@ -80,9 +81,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
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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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bool periodicPrintout = false;
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PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
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};
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#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
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@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this),
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transitionDelay(transitionDelay) {
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(3);
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#endif
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// Set to default values right away
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registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
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registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
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@ -264,7 +261,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
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int16_t mgmMeasurementRawZ =
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packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
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/* Target value in microtesla */
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// Target value in microtesla
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float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
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MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
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@ -272,23 +269,24 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
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float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
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MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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if (debugDivider->checkAndIncrement()) {
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if (periodicPrintout) {
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if (debugDivider.checkAndIncrement()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MGMHandlerLIS3: Magnetic field strength in"
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" microtesla:"
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<< std::endl;
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sif::info << "X: " << mgmX << " uT" << std::endl;
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sif::info << "Y: " << mgmY << " uT" << std::endl;
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sif::info << "Z: " << mgmZ << " uT" << std::endl;
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sif::info << "MGMHandlerLIS3: Magnetic field strength in"
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" microtesla:"
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<< std::endl;
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sif::info << "X: " << mgmX << " uT" << std::endl;
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sif::info << "Y: " << mgmY << " uT" << std::endl;
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sif::info << "Z: " << mgmZ << " uT" << std::endl;
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#else
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sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
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sif::printInfo("X: %f uT\n", mgmX);
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sif::printInfo("Y: %f uT\n", mgmY);
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sif::printInfo("Z: %f uT\n", mgmZ);
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sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
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sif::printInfo("X: %f uT\n", mgmX);
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sif::printInfo("Y: %f uT\n", mgmY);
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sif::printInfo("Z: %f uT\n", mgmZ);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
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}
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}
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#endif /* OBSW_VERBOSE_LEVEL >= 1 */
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PoolReadGuard readHelper(&dataset);
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if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
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if (std::abs(mgmX) < absLimitX) {
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@ -318,15 +316,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
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case MGMLIS3MDL::READ_TEMPERATURE: {
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int16_t tempValueRaw = packet[2] << 8 | packet[1];
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float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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if (debugDivider->check()) {
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if (periodicPrintout) {
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if (debugDivider.check()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
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sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
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#else
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sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
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sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
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#endif
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}
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}
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#endif
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ReturnValue_t result = dataset.read();
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if (result == HasReturnvaluesIF::RETURN_OK) {
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dataset.temperature = tempValue;
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@ -462,7 +461,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
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return RETURN_OK;
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}
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void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
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void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
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DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
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}
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uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
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@ -482,3 +483,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
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this->absLimitY = yLimit;
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this->absLimitZ = zLimit;
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}
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void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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@ -3,8 +3,8 @@
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#include "devicedefinitions/MgmLIS3HandlerDefs.h"
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#include "events/subsystemIdRanges.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
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class PeriodicOperationDivider;
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@ -30,6 +30,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
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uint32_t transitionDelay);
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virtual ~MgmLIS3MDLHandler();
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void enablePeriodicPrintouts(bool enable, uint8_t divider);
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/**
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* Set the absolute limit for the values on the axis in microtesla. The dataset values will
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* be marked as invalid if that limit is exceeded
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@ -167,9 +168,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
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*/
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ReturnValue_t prepareCtrlRegisterWrite();
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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PeriodicOperationDivider *debugDivider;
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#endif
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bool periodicPrintout = false;
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PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
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};
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#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
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@ -10,11 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
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CookieIF *comCookie, uint32_t transitionDelay)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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primaryDataset(this),
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transitionDelay(transitionDelay) {
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#if FSFW_HAL_RM3100_MGM_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(3);
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#endif
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}
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transitionDelay(transitionDelay) {}
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MgmRM3100Handler::~MgmRM3100Handler() {}
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@ -337,23 +333,23 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
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float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
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float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
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#if FSFW_HAL_RM3100_MGM_DEBUG == 1
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if (debugDivider->checkAndIncrement()) {
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if (periodicPrintout) {
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if (debugDivider.checkAndIncrement()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "MgmRM3100Handler: Magnetic field strength in"
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" microtesla:"
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<< std::endl;
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sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
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sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
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sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
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sif::info << "MgmRM3100Handler: Magnetic field strength in"
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" microtesla:"
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<< std::endl;
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sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
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sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
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sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
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#else
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sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
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sif::printInfo("X: %f uT\n", fieldStrengthX);
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sif::printInfo("Y: %f uT\n", fieldStrengthY);
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sif::printInfo("Z: %f uT\n", fieldStrengthZ);
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sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
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sif::printInfo("X: %f uT\n", fieldStrengthX);
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sif::printInfo("Y: %f uT\n", fieldStrengthY);
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sif::printInfo("Z: %f uT\n", fieldStrengthZ);
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#endif
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}
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}
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#endif
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// TODO: Sanity check on values?
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PoolReadGuard readGuard(&primaryDataset);
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@ -365,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
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}
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return RETURN_OK;
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}
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void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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@ -2,12 +2,8 @@
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#define MISSION_DEVICES_MGMRM3100HANDLER_H_
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#include "devicedefinitions/MgmRM3100HandlerDefs.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#if FSFW_HAL_RM3100_MGM_DEBUG == 1
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#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
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#endif
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/**
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* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
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@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
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uint32_t transitionDelay);
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virtual ~MgmRM3100Handler();
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void enablePeriodicPrintouts(bool enable, uint8_t divider);
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/**
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* Configure device handler to go to normal mode after startup immediately
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* @param enable
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@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
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size_t commandDataLen);
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ReturnValue_t handleDataReadout(const uint8_t *packet);
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#if FSFW_HAL_RM3100_MGM_DEBUG == 1
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PeriodicOperationDivider *debugDivider;
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#endif
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bool periodicPrintout = false;
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PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
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};
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#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
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@ -57,18 +57,6 @@
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#define FSFW_HAL_SPI_WIRETAPPING 0
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#endif
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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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#ifndef FSFW_HAL_RM3100_MGM_DEBUG
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#define FSFW_HAL_RM3100_MGM_DEBUG 0
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#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
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#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
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#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
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#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
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// Can be used for low-level debugging of the I2C bus
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#ifndef FSFW_HAL_I2C_WIRETAPPING
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#define FSFW_HAL_I2C_WIRETAPPING 0
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