using _ instead of - now
This commit is contained in:
3
hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
Normal file
3
hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
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@ -0,0 +1,3 @@
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target_sources(${LIB_FSFW_NAME} PRIVATE
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GyroL3GD20Handler.cpp
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)
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262
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
Normal file
262
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
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@ -0,0 +1,262 @@
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#include "fsfw-hal/devicehandlers/GyroL3GD20Handler.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 FSFW_HAL_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(goNormalModeImmediately) {
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setMode(MODE_NORMAL);
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}
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else {
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setMode(_MODE_TO_ON);
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}
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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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#if FSFW_CPP_OSTREAM_ENABLED == 1
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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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#else
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sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
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#endif
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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 | 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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sensitivity = L3GD20H::SENSITIVITY_00;
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}
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else if(not fsH and fsL) {
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sensitivity = L3GD20H::SENSITIVITY_01;
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}
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else {
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sensitivity = L3GD20H::SENSITIVITY_11;
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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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return HasReturnvaluesIF::RETURN_OK;
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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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int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
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int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
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int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
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float angVelocX = angVelocXRaw * sensitivity;
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float angVelocY = angVelocYRaw * sensitivity;
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float angVelocZ = angVelocZRaw * sensitivity;
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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 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\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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#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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void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
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this->goNormalModeImmediately = true;
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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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86
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
Normal file
86
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
Normal file
@ -0,0 +1,86 @@
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#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
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#include "fsfw/FSFW.h"
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#include "devicedefinitions/GyroL3GD20Definitions.h"
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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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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/**
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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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void setGoNormalModeAtStartup();
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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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|
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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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|
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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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|
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uint8_t statusReg = 0;
|
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bool goNormalModeImmediately = false;
|
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|
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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;
|
||||
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
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|
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// Set default value
|
||||
float sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider = nullptr;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
|
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@ -0,0 +1,143 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace L3GD20H {
|
||||
|
||||
/* Actual size is 15 but we round up a bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 16;
|
||||
|
||||
static constexpr uint8_t READ_MASK = 0b10000000;
|
||||
|
||||
static constexpr uint8_t AUTO_INCREMENT_MASK = 0b01000000;
|
||||
|
||||
static constexpr uint8_t WHO_AM_I_REG = 0b00001111;
|
||||
static constexpr uint8_t WHO_AM_I_VAL = 0b11010111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Control registers */
|
||||
/*------------------------------------------------------------------------*/
|
||||
static constexpr uint8_t CTRL_REG_1 = 0b00100000;
|
||||
static constexpr uint8_t CTRL_REG_2 = 0b00100001;
|
||||
static constexpr uint8_t CTRL_REG_3 = 0b00100010;
|
||||
static constexpr uint8_t CTRL_REG_4 = 0b00100011;
|
||||
static constexpr uint8_t CTRL_REG_5 = 0b00100100;
|
||||
|
||||
/* Register 1 */
|
||||
static constexpr uint8_t SET_DR_1 = 1 << 7;
|
||||
static constexpr uint8_t SET_DR_0 = 1 << 6;
|
||||
static constexpr uint8_t SET_BW_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_BW_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
|
||||
static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
|
||||
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
|
||||
static constexpr uint8_t SET_Y_ENABLE = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
|
||||
SET_Y_ENABLE | SET_X_ENABLE;
|
||||
|
||||
/* Register 2 */
|
||||
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
|
||||
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
|
||||
static constexpr uint8_t SET_HPM_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_HPM_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_HPCF_3 = 1 << 3;
|
||||
static constexpr uint8_t SET_HPCF_2 = 1 << 2;
|
||||
static constexpr uint8_t SET_HPCF_1 = 1 << 1;
|
||||
static constexpr uint8_t SET_HPCF_0 = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_2_VAL = 0b00000000;
|
||||
|
||||
/* Register 3 */
|
||||
static constexpr uint8_t CTRL_REG_3_VAL = 0b00000000;
|
||||
|
||||
/* Register 4 */
|
||||
static constexpr uint8_t SET_BNU = 1 << 7;
|
||||
static constexpr uint8_t SET_BLE = 1 << 6;
|
||||
static constexpr uint8_t SET_FS_1 = 1 << 5;
|
||||
static constexpr uint8_t SET_FS_0 = 1 << 4;
|
||||
static constexpr uint8_t SET_IMP_ENB = 1 << 3;
|
||||
static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
|
||||
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
|
||||
static constexpr uint8_t SET_SPI_IF_SELECT = 1;
|
||||
|
||||
/* Enable big endian data format */
|
||||
static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
|
||||
|
||||
/* Register 5 */
|
||||
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
|
||||
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
|
||||
|
||||
/* Possible range values in degrees per second (DPS). */
|
||||
static constexpr uint16_t RANGE_DPS_00 = 245;
|
||||
static constexpr float SENSITIVITY_00 = 8.75 * 0.001;
|
||||
static constexpr uint16_t RANGE_DPS_01 = 500;
|
||||
static constexpr float SENSITIVITY_01 = 17.5 * 0.001;
|
||||
static constexpr uint16_t RANGE_DPS_11 = 2000;
|
||||
static constexpr float SENSITIVITY_11 = 70.0 * 0.001;
|
||||
|
||||
static constexpr uint8_t READ_START = CTRL_REG_1;
|
||||
static constexpr size_t READ_LEN = 14;
|
||||
|
||||
/* Indexing */
|
||||
static constexpr uint8_t REFERENCE_IDX = 6;
|
||||
static constexpr uint8_t TEMPERATURE_IDX = 7;
|
||||
static constexpr uint8_t STATUS_IDX = 8;
|
||||
static constexpr uint8_t OUT_X_H = 9;
|
||||
static constexpr uint8_t OUT_X_L = 10;
|
||||
static constexpr uint8_t OUT_Y_H = 11;
|
||||
static constexpr uint8_t OUT_Y_L = 12;
|
||||
static constexpr uint8_t OUT_Z_H = 13;
|
||||
static constexpr uint8_t OUT_Z_L = 14;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device Handler specific */
|
||||
/*------------------------------------------------------------------------*/
|
||||
static constexpr DeviceCommandId_t READ_REGS = 0;
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
|
||||
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
|
||||
|
||||
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
|
||||
|
||||
enum GyroPoolIds: lp_id_t {
|
||||
ANG_VELOC_X,
|
||||
ANG_VELOC_Y,
|
||||
ANG_VELOC_Z,
|
||||
TEMPERATURE
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<5> {
|
||||
public:
|
||||
|
||||
/** Constructor for data users like controllers */
|
||||
GyroPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
/* Angular velocities in degrees per second (DPS) */
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::TEMPERATURE, this);
|
||||
private:
|
||||
|
||||
friend class GyroHandlerL3GD20H;
|
||||
/** Constructor for the data creator */
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
|
||||
};
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
|
||||
Reference in New Issue
Block a user