several important changes for stm32
This commit is contained in:
parent
d194b759c4
commit
04166f87d8
@ -34,8 +34,32 @@ target_link_libraries(${LIB_FSFW_HAL_NAME} PRIVATE
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${LIB_FSFW_NAME}
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)
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foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
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if(IS_ABSOLUTE ${INCLUDE_PATH})
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set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
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else()
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get_filename_component(CURR_ABS_INC_PATH
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${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
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endif()
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if(CMAKE_VERBOSE)
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message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
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endif()
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list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
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endforeach()
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target_include_directories(${LIB_FSFW_HAL_NAME} PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}
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${FSFW_HAL_ADD_INC_PATHS_ABS}
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)
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target_compile_definitions(${LIB_FSFW_HAL_NAME} PRIVATE
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${FSFW_HAL_DEFINES}
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)
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target_link_libraries(${LIB_FSFW_HAL_NAME} PRIVATE
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${FSFW_HAL_LINK_LIBS}
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)
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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3
devicehandlers/CMakeLists.txt
Normal file
3
devicehandlers/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
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target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
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GyroL3GD20Handler.cpp
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)
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260
devicehandlers/GyroL3GD20Handler.cpp
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260
devicehandlers/GyroL3GD20Handler.cpp
Normal file
@ -0,0 +1,260 @@
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#include "GyroL3GD20Handler.h"
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#include <OBSWConfig.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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dataset(this) {
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#if L3GD20_GYRO_DEBUG == 1
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debugDivider = new PeriodicOperationDivider(5);
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#endif
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}
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GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
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void GyroHandlerL3GD20H::doStartUp() {
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if(internalState == InternalState::NONE) {
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internalState = InternalState::CONFIGURE;
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}
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if(internalState == InternalState::CONFIGURE) {
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if(commandExecuted) {
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internalState = InternalState::CHECK_REGS;
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commandExecuted = false;
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}
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}
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if(internalState == InternalState::CHECK_REGS) {
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if(commandExecuted) {
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internalState = InternalState::NORMAL;
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#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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setMode(MODE_NORMAL);
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#else
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setMode(_MODE_TO_ON);
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#endif
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commandExecuted = false;
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}
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}
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}
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void GyroHandlerL3GD20H::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch(internalState) {
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case(InternalState::NONE):
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case(InternalState::NORMAL): {
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(InternalState::CONFIGURE): {
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*id = L3GD20H::CONFIGURE_CTRL_REGS;
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uint8_t command [5];
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command[0] = L3GD20H::CTRL_REG_1_VAL;
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command[1] = L3GD20H::CTRL_REG_2_VAL;
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command[2] = L3GD20H::CTRL_REG_3_VAL;
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command[3] = L3GD20H::CTRL_REG_4_VAL;
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command[4] = L3GD20H::CTRL_REG_5_VAL;
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return buildCommandFromCommand(*id, command, 5);
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}
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case(InternalState::CHECK_REGS): {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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default:
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/* Might be a configuration error. */
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sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
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std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = L3GD20H::READ_REGS;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(L3GD20H::READ_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
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L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
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rawPacket = commandBuffer;
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rawPacketLen = L3GD20H::READ_LEN + 1;
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break;
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}
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case(L3GD20H::CONFIGURE_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
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if(commandData == nullptr or commandDataLen != 5) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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ctrlReg1Value = commandData[0];
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ctrlReg2Value = commandData[1];
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ctrlReg3Value = commandData[2];
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ctrlReg4Value = commandData[3];
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ctrlReg5Value = commandData[4];
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bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
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bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
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if(not fsH and not fsL) {
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scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
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}
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else if(not fsH and fsL) {
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scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
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}
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else {
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scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
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}
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commandBuffer[1] = ctrlReg1Value;
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commandBuffer[2] = ctrlReg2Value;
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commandBuffer[3] = ctrlReg3Value;
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commandBuffer[4] = ctrlReg4Value;
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commandBuffer[5] = ctrlReg5Value;
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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}
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case(L3GD20H::READ_CTRL_REGS): {
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commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
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L3GD20H::READ_MASK;
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std::memset(commandBuffer + 1, 0, 5);
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rawPacket = commandBuffer;
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rawPacketLen = 6;
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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/* For SPI, the ID will always be the one of the last sent command. */
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*foundId = this->getPendingCommand();
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*foundLen = this->rawPacketLen;
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/* Data with SPI Interface has always this answer */
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if (start[0] == 0b11111111) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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return DeviceHandlerIF::INVALID_DATA;
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}
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ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch(id) {
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case(L3GD20H::CONFIGURE_CTRL_REGS): {
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commandExecuted = true;
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break;
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}
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case(L3GD20H::READ_CTRL_REGS): {
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if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
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packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
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packet[5] == ctrlReg5Value) {
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commandExecuted = true;
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}
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else {
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/* Attempt reconfiguration. */
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internalState = InternalState::CONFIGURE;
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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break;
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}
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case(L3GD20H::READ_REGS): {
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if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
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packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
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packet[5] != ctrlReg5Value) {
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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else {
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if(internalState == InternalState::CHECK_REGS) {
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commandExecuted = true;
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}
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}
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statusReg = packet[L3GD20H::STATUS_IDX];
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float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
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packet[L3GD20H::OUT_X_L]) * scaleFactor;
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float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
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packet[L3GD20H::OUT_Y_L]) * scaleFactor;
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float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
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packet[L3GD20H::OUT_Z_L]) * scaleFactor;
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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 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 FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
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std::endl;
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sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
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sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
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sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
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#else
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sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
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sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
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sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
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sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
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#endif
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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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dataset.angVelocX = angVelocX;
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dataset.angVelocY = angVelocY;
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dataset.angVelocZ = angVelocZ;
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dataset.temperature = temperature;
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dataset.setValidity(true, true);
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}
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return result;
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}
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uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 10000;
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}
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ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
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new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
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new PoolEntry<float>({0.0}));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
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insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
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insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
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}
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void GyroHandlerL3GD20H::modeChanged() {
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internalState = InternalState::NONE;
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}
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80
devicehandlers/GyroL3GD20Handler.h
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80
devicehandlers/GyroL3GD20Handler.h
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@ -0,0 +1,80 @@
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#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#include "devicedefinitions/GyroL3GD20Definitions.h"
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#include <OBSWConfig.h>
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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/**
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* @brief Device Handler for the L3GD20H gyroscope sensor
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* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
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* @details
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* Advanced documentation:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
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*
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* Data is read big endian with the smallest possible range of 245 degrees per second.
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*/
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class GyroHandlerL3GD20H: public DeviceHandlerBase {
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public:
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GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF* comCookie);
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virtual ~GyroHandlerL3GD20H();
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protected:
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/* DeviceHandlerBase overrides */
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ReturnValue_t buildTransitionDeviceCommand(
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DeviceCommandId_t *id) override;
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(
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DeviceCommandId_t *id) override;
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ReturnValue_t buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void fillCommandAndReplyMap() override;
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void modeChanged() override;
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uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
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private:
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GyroPrimaryDataset dataset;
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enum class InternalState {
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NONE,
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CONFIGURE,
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CHECK_REGS,
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NORMAL
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};
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InternalState internalState = InternalState::NONE;
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bool commandExecuted = false;
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uint8_t statusReg = 0;
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uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
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uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
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uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
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uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
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uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
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uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
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float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
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#if L3GD20_GYRO_DEBUG == 1
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PeriodicOperationDivider* debugDivider = nullptr;
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#endif
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};
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#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
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@ -1,4 +1,4 @@
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target_sources(${TARGET_NAME} PUBLIC
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target_sources(${LIB_FSFW_HAL_NAME} PUBLIC
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I2cComIF.cpp
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I2cCookie.cpp
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)
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@ -1,4 +1,4 @@
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target_sources(${TARGET_NAME} PUBLIC
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target_sources(${LIB_FSFW_HAL_NAME} PUBLIC
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SpiComIF.cpp
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SpiCookie.cpp
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)
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@ -1,6 +1,6 @@
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add_subdirectory(spi)
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add_subdirectory(devicetest)
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target_sources(${TARGET_NAME} PRIVATE
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target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
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dmaInterrupts.cpp
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)
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@ -1,3 +1,3 @@
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target_sources(${TARGET_NAME} PRIVATE
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target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
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GyroL3GD20H.cpp
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)
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@ -1,2 +1,2 @@
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target_sources(${TARGET_NAME} PRIVATE
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target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
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)
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@ -1,4 +1,4 @@
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target_sources(${TARGET_NAME} PRIVATE
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target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
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spiCore.cpp
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spiDefinitions.cpp
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spiInterrupts.cpp
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@ -1,2 +1,2 @@
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target_sources(${TARGET_NAME} PRIVATE
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target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
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)
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