Gyro.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef GYRO_H_
#define GYRO_H_
 
#include <GyroSettings.h>
#include <SupportFPGAData.h>
#include <cRIO/DataTypes.h>
#include <string>
 
struct MTM1M3_gyroDataC;
struct MTM1M3_logevent_gyroWarningC;
 
namespace LSST {
namespace M1M3 {
namespace SS {

class Gyro {
public:
    Gyro();

    void bit();

    void enterConfigurationMode();
    void exitConfigurationMode();

    void resetConfiguration();

    void setRotationFormatRate();
    void setRotationUnitsDegrees();
    void setAxis();
    void setDataRate();

    void processData();
 
private:
    void writeCommand(std::string command);
 
    GyroSettings *_gyroSettings;
 
    MTM1M3_gyroDataC *_gyroData;
    MTM1M3_logevent_gyroWarningC *_gyroWarning;
 
    uint64_t _lastSampleTimestamp;
    uint64_t _lastBITTimestamp;
    uint64_t _lastErrorTimestamp;
 
    bool _errorCleared;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* GYRO_H_ */