diff --git a/src/shared/sensors/LIS3MDL/LIS3MDL.cpp b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
index 34b7ce31945d75b44f6cc0f05005aa9c21e413be..bdb11ce427c0db4f9a130da6210af0a9d783501a 100644
--- a/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
+++ b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
@@ -27,6 +27,37 @@
namespace Boardcore
{
+namespace LIS3MDLDefs
+{
+
+static constexpr uint32_t WHO_AM_I_VALUE = 0x3d;
+static constexpr uint32_t CONTINUOS_CONVERSION = 0x0;
+
+static constexpr uint32_t REFERENCE_TEMPERATURE = 25;
+static constexpr float DEG_PER_LSB = 0.125;
+
+static constexpr float GAUSS_PER_LSB_FS_4 = 0.000146156;
+static constexpr float GAUSS_PER_LSB_FS_8 = 0.000292312;
+static constexpr float GAUSS_PER_LSB_FS_12 = 0.000438404;
+static constexpr float GAUSS_PER_LSB_FS_16 = 0.000584454;
+
+static constexpr uint32_t ENABLE_TEMPERATURE = 1 << 7;
+static constexpr uint32_t ENABLE_SELF_TEST = 1 << 0;
+static constexpr uint32_t ENABLE_BDU = 1 << 6;
+
+static constexpr uint32_t ENABLE_INT_PIN = 1 << 0;
+static constexpr uint32_t ENABLE_INT_X = 1 << 7;
+static constexpr uint32_t ENABLE_INT_Y = 1 << 6;
+static constexpr uint32_t ENABLE_INT_Z = 1 << 5;
+
+/**
+ * This flag is needed because the device requires the 7th address bit
+ * asserted in order to increment the address in transaction with more than
+ * one bytes.
+ */
+static constexpr uint8_t INCREMENT_REG_FLAG = 0x40;
+} // namespace LIS3MDLDefs
+
LIS3MDL::LIS3MDL(SPIBusInterface& bus, miosix::GpioPin pin,
SPIBusConfig spiConfig, Config config)
: slave(bus, pin, spiConfig), configuration(config)
@@ -48,12 +79,12 @@ bool LIS3MDL::init()
SPITransaction spi(slave);
uint8_t res = spi.readRegister(WHO_AM_I);
- if (res != WHO_AM_I_VALUE)
+ if (res != LIS3MDLDefs::WHO_AM_I_VALUE)
{
LOG_ERR(logger,
"WHO_AM_I value differs from expectation: read 0x{:x} "
"but expected 0x{:x}",
- res, WHO_AM_I_VALUE);
+ res, LIS3MDLDefs::WHO_AM_I_VALUE);
lastError = INVALID_WHOAMI;
return false;
}
@@ -108,7 +139,7 @@ bool LIS3MDL::selfTest()
{
SPITransaction spi(slave);
- spi.writeRegister(CTRL_REG1, ODR_20_HZ | ENABLE_SELF_TEST |
+ spi.writeRegister(CTRL_REG1, ODR_20_HZ | LIS3MDLDefs::ENABLE_SELF_TEST |
(OM_ULTRA_HIGH_POWER << 4));
spi.writeRegister(CTRL_REG2, FS_12_GAUSS);
spi.writeRegister(CTRL_REG4, OM_ULTRA_HIGH_POWER << 2);
@@ -157,7 +188,7 @@ bool LIS3MDL::applyConfig(Config config)
// CTRL_REG1
if (config.temperatureDivider != 0)
{
- reg = ENABLE_TEMPERATURE;
+ reg = LIS3MDLDefs::ENABLE_TEMPERATURE;
}
reg |= config.odr;
@@ -173,7 +204,7 @@ bool LIS3MDL::applyConfig(Config config)
err |= spi.readRegister(CTRL_REG2) != reg;
// CTRL_REG3
- reg = CONTINUOS_CONVERSION;
+ reg = LIS3MDLDefs::CONTINUOS_CONVERSION;
spi.writeRegister(CTRL_REG3, reg);
err |= spi.readRegister(CTRL_REG3) != reg;
@@ -184,7 +215,7 @@ bool LIS3MDL::applyConfig(Config config)
// CTRL_REG5
if (config.doBlockDataUpdate)
- reg = ENABLE_BDU;
+ reg = LIS3MDLDefs::ENABLE_BDU;
else
reg = 0;
@@ -219,10 +250,11 @@ LIS3MDLData LIS3MDL::sampleImpl()
if (configuration.temperatureDivider != 0 &&
tempCounter % configuration.temperatureDivider == 0)
{
- int16_t outTemp = spi.readRegister16(TEMP_OUT_L | INCREMENT_REG_FLAG);
+ int16_t outTemp =
+ spi.readRegister16(TEMP_OUT_L | LIS3MDLDefs::INCREMENT_REG_FLAG);
newData.temperatureTimestamp = TimestampTimer::getTimestamp();
- newData.temperature = DEG_PER_LSB * outTemp;
- newData.temperature += REFERENCE_TEMPERATURE;
+ newData.temperature = LIS3MDLDefs::DEG_PER_LSB * outTemp;
+ newData.temperature += LIS3MDLDefs::REFERENCE_TEMPERATURE;
}
else
{
@@ -230,7 +262,7 @@ LIS3MDLData LIS3MDL::sampleImpl()
}
int16_t values[3];
- spi.readRegisters(OUT_X_L | INCREMENT_REG_FLAG,
+ spi.readRegisters(OUT_X_L | LIS3MDLDefs::INCREMENT_REG_FLAG,
reinterpret_cast<uint8_t*>(values), sizeof(values));
newData.magneticFieldTimestamp = TimestampTimer::getTimestamp();
newData.magneticFieldX = currentUnit * values[0];
@@ -245,19 +277,19 @@ void LIS3MDL::updateUnit(FullScale fs)
switch (fs)
{
case FS_4_GAUSS:
- currentUnit = GAUSS_PER_LSB_FS_4;
+ currentUnit = LIS3MDLDefs::GAUSS_PER_LSB_FS_4;
break;
case FS_8_GAUSS:
- currentUnit = GAUSS_PER_LSB_FS_8;
+ currentUnit = LIS3MDLDefs::GAUSS_PER_LSB_FS_8;
break;
case FS_12_GAUSS:
- currentUnit = GAUSS_PER_LSB_FS_12;
+ currentUnit = LIS3MDLDefs::GAUSS_PER_LSB_FS_12;
break;
case FS_16_GAUSS:
- currentUnit = GAUSS_PER_LSB_FS_16;
+ currentUnit = LIS3MDLDefs::GAUSS_PER_LSB_FS_16;
break;
}
};
diff --git a/src/shared/sensors/LIS3MDL/LIS3MDL.h b/src/shared/sensors/LIS3MDL/LIS3MDL.h
index 2e0a5d90514b563930a3ef55532ceb86111fbf5a..259c423cf52010e4c4a2a5ef0c56a67c96f6dff0 100644
--- a/src/shared/sensors/LIS3MDL/LIS3MDL.h
+++ b/src/shared/sensors/LIS3MDL/LIS3MDL.h
@@ -184,33 +184,6 @@ private:
INT_THS_H = 0x33,
};
- static constexpr uint32_t WHO_AM_I_VALUE = 0x3d;
- static constexpr uint32_t CONTINUOS_CONVERSION = 0x0;
-
- static constexpr uint32_t REFERENCE_TEMPERATURE = 25;
- static constexpr float DEG_PER_LSB = 0.125;
-
- static constexpr float GAUSS_PER_LSB_FS_4 = 0.000146156;
- static constexpr float GAUSS_PER_LSB_FS_8 = 0.000292312;
- static constexpr float GAUSS_PER_LSB_FS_12 = 0.000438404;
- static constexpr float GAUSS_PER_LSB_FS_16 = 0.000584454;
-
- static constexpr uint32_t ENABLE_TEMPERATURE = 1 << 7;
- static constexpr uint32_t ENABLE_SELF_TEST = 1 << 0;
- static constexpr uint32_t ENABLE_BDU = 1 << 6;
-
- static constexpr uint32_t ENABLE_INT_PIN = 1 << 0;
- static constexpr uint32_t ENABLE_INT_X = 1 << 7;
- static constexpr uint32_t ENABLE_INT_Y = 1 << 6;
- static constexpr uint32_t ENABLE_INT_Z = 1 << 5;
-
- /**
- * This flag is needed because the device requires the 7th address bit
- * asserted in order to increment the address in transaction with more than
- * one bytes.
- */
- static constexpr uint8_t INCREMENT_REG_FLAG = 0x40;
-
PrintLogger logger = Logging::getLogger("lis3mdl");
};
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
index c7051b97e07f6faaa5637081e19384a7ce0cc3b2..d6b719572161e1fb7650651be0ed2fa96dda67f6 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
@@ -31,6 +31,12 @@ using namespace miosix;
namespace Boardcore
{
+namespace UBXGPSSerialDefs
+{
+static constexpr unsigned int RESET_SLEEP_TIME = 5000; // [ms]
+static constexpr unsigned int MAX_TRIES = 5; // [1]
+} // namespace UBXGPSSerialDefs
+
UBXGPSSerial::UBXGPSSerial(int baudrate, uint8_t sampleRate,
USARTType* usartNumber, int defaultBaudrate)
{
@@ -135,7 +141,7 @@ bool UBXGPSSerial::reset()
return false;
// Do not interact with the module while it is resetting
- miosix::Thread::sleep(RESET_SLEEP_TIME);
+ miosix::Thread::sleep(UBXGPSSerialDefs::RESET_SLEEP_TIME);
return true;
}
@@ -306,11 +312,11 @@ bool UBXGPSSerial::writeUBXFrame(const UBXFrame& frame)
bool UBXGPSSerial::safeWriteUBXFrame(const UBXFrame& frame)
{
- for (unsigned int i = 0; i < MAX_TRIES; i++)
+ for (unsigned int i = 0; i < UBXGPSSerialDefs::MAX_TRIES; i++)
{
if (i > 0)
LOG_DEBUG(logger, "Retrying (attempt {:#d} of {:#d})...", i + 1,
- MAX_TRIES);
+ UBXGPSSerialDefs::MAX_TRIES);
if (!writeUBXFrame(frame))
return false;
@@ -340,7 +346,7 @@ bool UBXGPSSerial::safeWriteUBXFrame(const UBXFrame& frame)
return true;
}
- LOG_ERR(logger, "Gave up after {:#d} tries", MAX_TRIES);
+ LOG_ERR(logger, "Gave up after {:#d} tries", UBXGPSSerialDefs::MAX_TRIES);
return false;
}
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.h b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
index 9187466a692e354a3454855c7d8f43073835a845..faabfe313fd6e712a0dd436522eec7f3ac2c930b 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.h
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
@@ -169,9 +169,6 @@ private:
UBXGPSData threadSample{};
PrintLogger logger = Logging::getLogger("ubloxgps");
-
- static constexpr unsigned int RESET_SLEEP_TIME = 5000; // [ms]
- static constexpr unsigned int MAX_TRIES = 5; // [1]
};
} // namespace Boardcore