From 091aad0eae81710063de85315877ed479fb56a65 Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Fri, 9 Feb 2024 17:45:55 +0100
Subject: [PATCH] [RIG] Adjusted servo timing
---
.vscode/c_cpp_properties.json | 23 ++++++++++++++++++
src/boards/RIG/Configs/ActuatorsConfig.h | 8 +++----
.../GroundModeManager/GroundModeManager.cpp | 24 +++++++++----------
3 files changed, 39 insertions(+), 16 deletions(-)
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 7653bbb59..d492a2b8f 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -241,6 +241,29 @@
"${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_rig/**"
]
},
+ {
+ "name": "stm32f429zi_skyward_con_rig",
+ "cStandard": "c11",
+ "cppStandard": "c++14",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "{defaultDefines}",
+ "_MIOSIX_BOARDNAME=stm32f429zi_skyward_con_rig",
+ "_BOARD_STM32F429ZI_SKYWARD_CON_RIG",
+ "_ARCH_CORTEXM4_STM32F4",
+ "STM32F429xx",
+ "HSE_VALUE=8000000",
+ "SYSCLK_FREQ_168MHz=168000000",
+ "__ENABLE_XRAM",
+ "V_DDA_VOLTAGE=3.0f"
+ ],
+ "includePath": [
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_con_rig",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_con_rig"
+ ]
+ },
{
"name": "stm32f429zi_stm32f4discovery",
"cStandard": "c11",
diff --git a/src/boards/RIG/Configs/ActuatorsConfig.h b/src/boards/RIG/Configs/ActuatorsConfig.h
index 1236761a0..56f0feb85 100644
--- a/src/boards/RIG/Configs/ActuatorsConfig.h
+++ b/src/boards/RIG/Configs/ActuatorsConfig.h
@@ -46,8 +46,8 @@ constexpr Boardcore::TimerUtils::Channel SERVO4_PWM_CH =
constexpr Boardcore::TimerUtils::Channel SERVO5_PWM_CH =
Boardcore::TimerUtils::Channel::CHANNEL_1;
-constexpr uint16_t MIN_PULSE = 900;
-constexpr uint16_t MAX_PULSE = 2000;
+constexpr uint16_t MIN_PULSE = 500;
+constexpr uint16_t MAX_PULSE = 2500;
constexpr uint16_t SERVO_TIMINGS_CHECK_PERIOD = 100;
constexpr uint16_t SERVO_CONFIDENCE_TIME = 500; // 0.5s
@@ -59,10 +59,10 @@ constexpr uint32_t DEFAULT_MAIN_OPENING_TIME = 6000; // 6s
constexpr uint32_t DEFAULT_RELEASE_OPENING_TIME = 10000; // 10s
constexpr uint32_t DEFAULT_DISCONNECT_OPENING_TIME = 10000; // 10s
-constexpr float DEFAULT_FILLING_MAXIMUM_APERTURE = 0.97f;
+constexpr float DEFAULT_FILLING_MAXIMUM_APERTURE = 1.00f;
constexpr float DEFAULT_VENTING_MAXIMUM_APERTURE = 0.80f;
constexpr float DEFAULT_MAIN_MAXIMUM_APERTURE = 0.87f;
-constexpr float DEFAULT_RELEASE_MAXIMUM_APERTURE = 0.80f;
+constexpr float DEFAULT_RELEASE_MAXIMUM_APERTURE = 1.0f;
constexpr float DEFAULT_DISCONNECT_MAXIMUM_APERTURE = 0.110f;
} // namespace Servos
} // namespace Config
diff --git a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp b/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
index 67bded4a9..bd6754712 100644
--- a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
+++ b/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
@@ -153,18 +153,18 @@ void GroundModeManager::state_igniting(const Event& event)
break;
}
case MOTOR_CLOSE_FEED_VALVE:
- {
- // Shut down the igniter
- miosix::relays::ignition::high();
-
- // Close all the valves
- modules.get<Actuators>()->closeAllServo();
-
- EventBroker::getInstance().removeDelayed(oxidantTimeoutEventId);
-
- transition(&GroundModeManager::state_ready);
- break;
- }
+ // {
+ // // Shut down the igniter
+ // miosix::relays::ignition::high();
+ //
+ // // Close all the valves
+ // modules.get<Actuators>()->closeAllServo();
+ //
+ // EventBroker::getInstance().removeDelayed(oxidantTimeoutEventId);
+ //
+ // transition(&GroundModeManager::state_ready);
+ // break;
+ // }
case TMTC_DISARM:
{
// Shut down the igniter
--
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