diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 74b7c3142b06876e4ffd041b775273d43340eaf6..7653bbb59505e7c56fcaa0eb880e6caa114613ce 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -2,11 +2,10 @@
"env": {
"defaultDefines": [
"_MIOSIX",
- "DEBUG",
- "__cplusplus=201402L"
+ "DEBUG"
],
"defaultIncludePaths": [
- "${workspaceFolder}/skyward-boardcore/libs/Catch2/include",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
@@ -18,32 +17,11 @@
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
"${workspaceFolder}/src/boards",
+ "${workspaceFolder}/src/tests",
"${workspaceFolder}/src"
]
},
"configurations": [
- {
- "name": "stm32f205rc_skyward_ciuti",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f205RC_skyward_ciuti",
- "_BOARD_STM32F205RC_SKYWARD_CIUTI",
- "_ARCH_CORTEXM3_STM32F2",
- "STM32F205xx",
- "HSE_VALUE=25000000",
- "SYSCLK_FREQ_120MHz=120000000",
- "V_DDA_VOLTAGE=3.3f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti"
- ]
- },
{
"name": "stm32f407vg_stm32f4discovery",
"cStandard": "c11",
@@ -63,41 +41,19 @@
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery"
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/default/"
]
},
{
- "name": "stm32f429zi_hre_test_stand",
+ "name": "stm32f429zi_death_stack_v3",
"cStandard": "c11",
"cppStandard": "c++14",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
"{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_hre_test_stand",
- "_BOARD_STM32F429ZI_HRE_TEST_STAND",
- "_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",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_hre_test_stand",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_hre_test_stand"
- ]
- },
- {
- "name": "stm32f429zi_skyward_death_stack_v3",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_v3",
- "_BOARD_STM32F429ZI_SKYWARD_DEATHST_X",
+ "_MIOSIX_BOARDNAME=stm32f429zi_death_stack_v3",
+ "_BOARD_STM32F429ZI_DEATH_STACK_V3",
"_ARCH_CORTEXM4_STM32F4",
"STM32F429xx",
"HSE_VALUE=8000000",
@@ -108,8 +64,7 @@
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3"
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_death_stack_v3/**"
]
},
{
@@ -122,63 +77,23 @@
"_MIOSIX_BOARDNAME=stm32f767zi_compute_unit",
"_BOARD_STM32F767ZI_COMPUTE_UNIT",
"_ARCH_CORTEXM7_STM32F7",
- "STM32F769xx",
+ "STM32F767xx",
"HSE_VALUE=25000000",
"SYSCLK_FREQ_216MHz=216000000",
"__ENABLE_XRAM",
"V_DDA_VOLTAGE=3.3f"
],
"includePath": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
- "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/fmt/include",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src/tests",
- "${workspaceFolder}/src"
- ],
- "browse": {
- "path": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/stdlib_integration",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/interfaces",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/filesystem",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/kernel",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/util",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/e20",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/*",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs/mxgui",
- "${workspaceFolder}/skyward-boardcore/libs/fmt",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src/tests"
- ],
- "limitSymbolsToIncludedHeaders": true
- }
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_compute_unit/**"
+ ]
},
{
"name": "stm32f767zi_compute_unit_HIL",
"cStandard": "c11",
"cppStandard": "c++14",
- "compilerPath": "C://arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
"{defaultDefines}",
"_MIOSIX_BOARDNAME=stm32f767zi_compute_unit",
@@ -192,173 +107,54 @@
"HILTest"
],
"includePath": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
- "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/fmt/include",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src/tests",
- "${workspaceFolder}/src"
- ],
- "browse": {
- "path": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/stdlib_integration",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/interfaces",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/filesystem",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/kernel",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/util",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/e20",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/*",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs/mxgui",
- "${workspaceFolder}/skyward-boardcore/libs/fmt",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src/tests"
- ],
- "limitSymbolsToIncludedHeaders": true
- }
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_compute_unit/**",
+ "${workspaceFolder}/src/hardware_in_the_loop"
+ ]
},
{
- "name": "stm32f767zi_skyward_death_stack_v4",
+ "name": "stm32f767zi_death_stack_v4",
"cStandard": "c11",
"cppStandard": "c++14",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
"{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_v4",
- "_BOARD_STM32F429ZI_SKYWARD_DEATHST_V4",
"_ARCH_CORTEXM7_STM32F7",
- "_BOARD_STM32F767ZI_SKYWARD_DEATHST_V4",
- "_MIOSIX_BOARDNAME=stm32f767zi_skyward_death_stack_v4",
+ "_BOARD_STM32F767ZI_DEATH_STACK_V4",
+ "_MIOSIX_BOARDNAME=stm32f767zi_death_stack_v4",
"HSE_VALUE=8000000",
"SYSCLK_FREQ_168MHz=168000000",
- "_MIOSIX",
- "__cplusplus=201402L",
- "HILSimulation",
"ROCCARASO"
],
"includePath": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
+ "${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
- "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/fmt/include",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src",
- "${workspaceFolder}/src/hardware_in_the_loop"
- ],
- "browse": {
- "path": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/stdlib_integration",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/interfaces",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/filesystem",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/kernel",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/util",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/e20",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/*",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs/mxgui",
- "${workspaceFolder}/skyward-boardcore/libs/fmt",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/boards"
- ],
- "limitSymbolsToIncludedHeaders": true
- }
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_death_stack_v4/**"
+ ]
},
{
- "name": "stm32f767zi_skyward_death_stack_v4_HIL",
+ "name": "stm32f767zi_death_stack_v4_HIL",
"cStandard": "c11",
"cppStandard": "c++14",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
- "DEBUG",
+ "{defaultDefines}",
"_ARCH_CORTEXM7_STM32F7",
- "_BOARD_STM32F767ZI_SKYWARD_DEATHST_V4",
- "_MIOSIX_BOARDNAME=stm32f767zi_skyward_death_stack_v4",
+ "_BOARD_STM32F767ZI_DEATH_STACK_V4",
+ "_MIOSIX_BOARDNAME=stm32f767zi_death_stack_v4",
"HSE_VALUE=8000000",
"SYSCLK_FREQ_168MHz=168000000",
- "_MIOSIX",
- "__cplusplus=201103L",
- "HILSimulation",
"ROCCARASO",
+ "HILSimulation",
"HILMain"
],
"includePath": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
+ "${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
- "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/fmt/include",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_death_stack_v4/**",
"${workspaceFolder}/src/hardware_in_the_loop"
- ],
- "browse": {
- "path": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/stdlib_integration",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/interfaces",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/filesystem",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/kernel",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/util",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/e20",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/*",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs/mxgui",
- "${workspaceFolder}/skyward-boardcore/libs/fmt",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/boards"
- ],
- "limitSymbolsToIncludedHeaders": true
- }
+ ]
},
{
"name": "stm32f429zi_skyward_pyxis_auxiliary",
@@ -366,184 +162,51 @@
"cppStandard": "c++14",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
- "DEBUG",
- "_ARCH_CORTEXM4_STM32F4",
- "_BOARD_STM32F429ZI_SKYWARD_PYXIS_AUXILIARY",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_pyxis_auxiliary",
- "HSE_VALUE=8000000",
- "SYSCLK_FREQ_168MHz=168000000",
- "_MIOSIX",
- "__cplusplus=201103L"
- ],
- "includePath": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
- "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/fmt/include",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src/tests",
- "${workspaceFolder}/src"
- ],
- "browse": {
- "path": [
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/stdlib_integration",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/interfaces",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/filesystem",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/kernel",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/util",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/e20",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/*",
- "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
- "${workspaceFolder}/skyward-boardcore/libs/eigen",
- "${workspaceFolder}/skyward-boardcore/libs/tscpp",
- "${workspaceFolder}/skyward-boardcore/libs/mxgui",
- "${workspaceFolder}/skyward-boardcore/libs/fmt",
- "${workspaceFolder}/skyward-boardcore/src/shared",
- "${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
- "${workspaceFolder}/src/boards",
- "${workspaceFolder}/src/tests"
- ],
- "limitSymbolsToIncludedHeaders": true
- }
- },
- {
- "name": "stm32f205rc_skyward_ciuti",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "DEBUG",
- "_ARCH_CORTEXM3_STM32F2",
- "_BOARD_STM32F205RC_SKYWARD_CIUTI",
- "_MIOSIX_BOARDNAME=stm32f205RC_skyward_ciuti",
- "HSE_VALUE=25000000",
- "SYSCLK_FREQ_216MHz=216000000",
- "__ENABLE_XRAM",
- "V_DDA_VOLTAGE=3.3f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4",
- ],
- },
- {
- "name": "stm32f429zi_skyward_death_stack_x",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_x",
- "_BOARD_STM32F429ZI_SKYWARD_DEATHST_X",
+ "${defaultDefines}",
"_ARCH_CORTEXM4_STM32F4",
+ "_BOARD_STM32F429ZI_PYXIS_AUXILIARY",
+ "_MIOSIX_BOARDNAME=stm32f429zi_pyxis_auxiliary",
"STM32F429xx",
"HSE_VALUE=8000000",
"SYSCLK_FREQ_168MHz=168000000",
- "__ENABLE_XRAM",
"V_DDA_VOLTAGE=3.3f"
],
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x"
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_pyxis_auxiliary/**"
]
},
{
- "name": "stm32f429zi_skyward_death_stack_x_maker_faire",
+ "name": "stm32f205rc_ciuti",
"cStandard": "c11",
"cppStandard": "c++14",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_x_maker_faire",
- "_BOARD_STM32F429ZI_SKYWARD_DEATHST_X_MAKER_FAIRE",
- "_ARCH_CORTEXM4_STM32F4",
- "STM32F429xx",
- "HSE_VALUE=8000000",
- "SYSCLK_FREQ_168MHz=168000000",
+ "${defaultDefines}",
+ "_ARCH_CORTEXM3_STM32F2",
+ "_BOARD_STM32F205RC_CIUTI",
+ "_MIOSIX_BOARDNAME=stm32f205RC_ciuti",
+ "HSE_VALUE=25000000",
+ "SYSCLK_FREQ_216MHz=216000000",
"__ENABLE_XRAM",
"V_DDA_VOLTAGE=3.3f"
],
"includePath": [
"${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x_maker_faire",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x_maker_faire"
- ]
- },
- {
- "name": "stm32f429zi_skyward_groundstation",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_groundstation",
- "_BOARD_STM32F429ZI_SKYWARD_GS",
- "_ARCH_CORTEXM4_STM32F4",
- "STM32F429xx",
- "HSE_VALUE=8000000",
- "SYSCLK_FREQ_168MHz=168000000",
- "__ENABLE_XRAM",
- "V_DDA_VOLTAGE=3.0f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation"
- ]
- },
- {
- "name": "stm32f429zi_skyward_groundstation_parafoil",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_groundstation_parafoil",
- "D_BOARD_STM32F429ZI_SKYWARD_GS_PARAFOIL",
- "_ARCH_CORTEXM4_STM32F4",
- "STM32F429xx",
- "HSE_VALUE=8000000",
- "SYSCLK_FREQ_168MHz=168000000",
- "__ENABLE_XRAM",
- "V_DDA_VOLTAGE=3.0f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_parafoil",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_parafoil"
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/common",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f205rc_ciuti/**"
]
},
{
- "name": "stm32f429zi_skyward_groundstation_v2",
+ "name": "stm32f429zi_parafoil",
"cStandard": "c11",
"cppStandard": "c++14",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
"{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_groundstation_v2",
- "_BOARD_STM32F429ZI_SKYWARD_GS_V2",
+ "_MIOSIX_BOARDNAME=stm32f429zi_parafoil",
+ "_BOARD_STM32F429ZI_PARAFOIL",
"_ARCH_CORTEXM4_STM32F4",
"STM32F429xx",
"HSE_VALUE=8000000",
@@ -554,19 +217,17 @@
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_v2",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_v2"
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_parafoil/**"
]
},
{
- "name": "stm32f429zi_skyward_parafoil",
+ "name": "stm32f429zi_rig",
"cStandard": "c11",
"cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
"{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_parafoil",
- "_BOARD_STM32F429ZI_SKYWARD_PARAFOIL",
+ "_MIOSIX_BOARDNAME=stm32f429zi_rig",
+ "_BOARD_STM32F429ZI_RIG",
"_ARCH_CORTEXM4_STM32F4",
"STM32F429xx",
"HSE_VALUE=8000000",
@@ -577,53 +238,7 @@
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil"
- ]
- },
- {
- "name": "stm32f429zi_skyward_pyxis_auxiliary",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_pyxis_auxiliary",
- "_BOARD_STM32F429ZI_SKYWARD_PYXIS_AUXILIARY",
- "_ARCH_CORTEXM4_STM32F4",
- "STM32F429xx",
- "HSE_VALUE=8000000",
- "SYSCLK_FREQ_168MHz=168000000",
- "V_DDA_VOLTAGE=3.3f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary"
- ]
- },
- {
- "name": "stm32f429zi_skyward_rig",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_rig",
- "_BOARD_STM32F429ZI_SKYWARD_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",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig"
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_rig/**"
]
},
{
@@ -646,30 +261,8 @@
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_stm32f4discovery",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_stm32f4discovery"
- ]
- },
- {
- "name": "stm32f767zi_compute_unit",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f767zi_compute_unit",
- "_BOARD_STM32F767ZI_COMPUTE_UNIT",
- "_ARCH_CORTEXM7_STM32F7",
- "STM32F767xx",
- "HSE_VALUE=25000000",
- "SYSCLK_FREQ_216MHz=216000000",
- "__ENABLE_XRAM",
- "V_DDA_VOLTAGE=3.3f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_compute_unit",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_compute_unit"
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_stm32f4discovery",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/default/"
]
},
{
@@ -691,8 +284,7 @@
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_motor",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_gemini_motor"
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_gemini_motor/**"
]
},
{
@@ -703,7 +295,7 @@
"defines": [
"{defaultDefines}",
"_MIOSIX_BOARDNAME=stm32f756zg_nucleo",
- "D_BOARD_STM32F756ZG_NUCLEO",
+ "_BOARD_STM32F756ZG_NUCLEO",
"_ARCH_CORTEXM7_STM32F7",
"STM32F756xx",
"HSE_VALUE=25000000",
@@ -714,8 +306,7 @@
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f756zg_nucleo",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f756zg_nucleo"
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f756zg_nucleo/**"
]
},
{
@@ -726,7 +317,7 @@
"defines": [
"{defaultDefines}",
"_MIOSIX_BOARDNAME=stm32f767zi_nucleo",
- "D_BOARD_STM32F767ZI_NUCLEO",
+ "_BOARD_STM32F767ZI_NUCLEO",
"_ARCH_CORTEXM7_STM32F7",
"STM32F767xx",
"HSE_VALUE=25000000",
@@ -738,7 +329,8 @@
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_nucleo",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_nucleo"
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_nucleo",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/default/"
]
},
{
@@ -761,7 +353,8 @@
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f769ni_discovery",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f769ni_discovery"
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f769ni_discovery",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/default/"
]
},
{
@@ -783,31 +376,7 @@
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs"
- ]
- },
- {
- "name": "stm32f429zi_skyward_groundstation_v2",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_groundstation_v2",
- "_BOARD_STM32F429ZI_SKYWARD_GS_V2",
- "_ARCH_CORTEXM4_STM32F4",
- "STM32F429xx",
- "HSE_VALUE=8000000",
- "SYSCLK_FREQ_168MHz=168000000",
- "__ENABLE_XRAM",
- "V_DDA_VOLTAGE=3.0f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_v2",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_v2"
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_gemini_gs/**"
]
}
],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index a51e6cc187fb81ae22cabe4c3fa1497faa877e3e..ad62c26731816d98d09c56c75bab66a64d314265 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -169,7 +169,7 @@
"VREF",
"Xbee"
],
- "C_Cpp.errorSquiggles": "Enabled",
+ "C_Cpp.errorSquiggles": "enabled",
"cmake.configureSettings": {
"CMAKE_C_COMPILER_LAUNCHER": "ccache",
"CMAKE_CXX_COMPILER_LAUNCHER": "ccache"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index bb34a759c97938be60a951c975b88d18189764c6..ec35b72dba4edc0662b46e7382712148cd0f21b6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,7 @@
cmake_minimum_required(VERSION 3.16)
enable_testing()
include(skyward-boardcore/cmake/sbs.cmake)
+include(cmake/dependencies.cmake)
# -----------------------------------------------------------------------------#
# Project #
@@ -40,27 +41,27 @@ sbs_target(test-hil stm32f767zi_compute_unit)
add_executable(main-entry src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
target_include_directories(main-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(main-entry stm32f767zi_skyward_death_stack_v4)
+sbs_target(main-entry stm32f767zi_death_stack_v4)
add_executable(main-entry-roccaraso src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
target_include_directories(main-entry-roccaraso PRIVATE ${OBSW_INCLUDE_DIRS})
target_compile_definitions(main-entry-roccaraso PRIVATE ROCCARASO)
-sbs_target(main-entry-roccaraso stm32f767zi_skyward_death_stack_v4)
+sbs_target(main-entry-roccaraso stm32f767zi_death_stack_v4)
add_executable(main-entry-euroc src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
target_include_directories(main-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
target_compile_definitions(main-entry-euroc PRIVATE EUROC)
-sbs_target(main-entry-euroc stm32f767zi_skyward_death_stack_v4)
+sbs_target(main-entry-euroc stm32f767zi_death_stack_v4)
add_executable(payload-entry-roccaraso src/entrypoints/Payload/payload-entry.cpp ${PAYLOAD_COMPUTER})
target_include_directories(payload-entry-roccaraso PRIVATE ${OBSW_INCLUDE_DIRS})
target_compile_definitions(payload-entry-roccaraso PRIVATE ROCCARASO)
-sbs_target(payload-entry-roccaraso stm32f767zi_skyward_death_stack_v4)
+sbs_target(payload-entry-roccaraso stm32f767zi_death_stack_v4)
add_executable(payload-entry-euroc src/entrypoints/Payload/payload-entry.cpp ${PAYLOAD_COMPUTER})
target_include_directories(payload-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
target_compile_definitions(payload-entry-euroc PRIVATE EUROC)
-sbs_target(payload-entry-euroc stm32f767zi_skyward_death_stack_v4)
+sbs_target(payload-entry-euroc stm32f767zi_death_stack_v4)
add_executable(motor-entry src/entrypoints/Motor/motor-entry.cpp ${MOTOR_SOURCES})
target_include_directories(motor-entry PRIVATE ${OBSW_INCLUDE_DIRS})
@@ -68,7 +69,7 @@ sbs_target(motor-entry stm32f767zi_gemini_motor)
add_executable(rig-entry src/entrypoints/RIG/rig-entry.cpp ${RIG_COMPUTER})
target_include_directories(rig-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(rig-entry stm32f429zi_skyward_rig)
+sbs_target(rig-entry stm32f429zi_rig)
add_executable(con_rig-entry src/entrypoints/con_RIG/con_rig-entry.cpp ${CON_RIG_COMPUTER})
target_include_directories(con_rig-entry PRIVATE ${OBSW_INCLUDE_DIRS})
@@ -86,4 +87,4 @@ add_executable(nokia-groundstation-entry
${GROUNDSTATION_COMMON} ${GROUNDSTATION_NOKIA}
)
target_include_directories(nokia-groundstation-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(nokia-groundstation-entry stm32f429zi_skyward_groundstation_v2)
+sbs_target(nokia-groundstation-entry stm32f429zi_nokia)
diff --git a/skyward-boardcore b/skyward-boardcore
index c0c732f55291f08ffb25360dd5f98cb63184b620..ca0d670eacd36291ba477565604f20c979146969 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit c0c732f55291f08ffb25360dd5f98cb63184b620
+Subproject commit ca0d670eacd36291ba477565604f20c979146969
diff --git a/src/boards/Groundstation/Common/Radio/RadioBase.cpp b/src/boards/Groundstation/Common/Radio/RadioBase.cpp
index 22be5ff3b345e82f6ab3be4e18705317eec2b7c1..2ff68656c97562e9c05ded77bc908384c89aca03 100644
--- a/src/boards/Groundstation/Common/Radio/RadioBase.cpp
+++ b/src/boards/Groundstation/Common/Radio/RadioBase.cpp
@@ -108,7 +108,7 @@ void RadioBase::run()
miosix::Thread::sleep(AUTOMATIC_FLUSH_PERIOD);
// If enough time has passed, automatically flush.
- if (miosix::getTick() > last_eot_packet_ts + AUTOMATIC_FLUSH_DELAY)
+ if (Kernel::getOldTick() > last_eot_packet_ts + AUTOMATIC_FLUSH_DELAY)
{
flush();
}
@@ -144,7 +144,7 @@ void RadioBase::handleMsg(const mavlink_message_t& msg)
if (isEndOfTransmissionPacket(msg))
{
- last_eot_packet_ts = miosix::getTick();
+ last_eot_packet_ts = Kernel::getOldTick();
flush();
}
}
diff --git a/src/boards/Motor/Actuators/Actuators.cpp b/src/boards/Motor/Actuators/Actuators.cpp
index 4e7050ac4d3dd718f004002a5f482ace632ebf59..33f67891047c5de4edc21543490221973ccd18a1 100644
--- a/src/boards/Motor/Actuators/Actuators.cpp
+++ b/src/boards/Motor/Actuators/Actuators.cpp
@@ -27,6 +27,7 @@
#include <common/Topics.h>
#include <drivers/timer/TimestampTimer.h>
#include <miosix.h>
+#include <utils/KernelTime.h>
#include "ActuatorsData.h"
@@ -96,8 +97,8 @@ void Actuators::openServoAtomic(ServosList servo, uint32_t time)
// Open the valve if it's closed
if (timings[servo] == 0)
{
- timings[servo] = getTick() + time;
- setFlag[servo] = getTick();
+ timings[servo] = Kernel::getOldTick() + time;
+ setFlag[servo] = Kernel::getOldTick();
}
}
}
@@ -112,7 +113,7 @@ void Actuators::closeServo(ServosList servo)
if (timings[servo] > 0)
{
timings[servo] = 0;
- setFlag[servo] = getTick();
+ setFlag[servo] = Kernel::getOldTick();
}
}
}
@@ -153,7 +154,7 @@ Servo* Actuators::getServo(ServosList servo)
void Actuators::checkTimings()
{
- uint64_t currentTick = getTick();
+ uint64_t currentTick = Kernel::getOldTick();
// Enter in protected zone where the timings should be checked and changed
// and the servo should be positioned atomically over all the threads. A
diff --git a/src/boards/Motor/Actuators/Actuators.h b/src/boards/Motor/Actuators/Actuators.h
index 61caeefedd26475d715467d7621aba1d709d8a28..837a7040226075c589aeaaad882c9661065095cc 100644
--- a/src/boards/Motor/Actuators/Actuators.h
+++ b/src/boards/Motor/Actuators/Actuators.h
@@ -95,14 +95,14 @@ private:
void checkTimings();
// Create the list of timings for every servo
- uint64_t timings[ServosList::ServosList_ENUM_END] = {0};
+ uint64_t timings[ServosList::ServosList_ENUM_END] = {0}; // [ms]
// This set of flags helps the controller to know when the servo have been
// set, in order to change slightly their angle after CONSTANT time, to
// avoid over consumption
- uint64_t setFlag[ServosList::ServosList_ENUM_END] = {0};
+ uint64_t setFlag[ServosList::ServosList_ENUM_END] = {0}; // [ms]
float openings[ServosList::ServosList_ENUM_END] = {0};
- uint64_t openingTimes[ServosList::ServosList_ENUM_END] = {0};
+ uint64_t openingTimes[ServosList::ServosList_ENUM_END] = {0}; // [ms]
// This set represents the events to throw at opening/closing of valves
uint8_t openingEvents[ServosList::ServosList_ENUM_END] = {0};
diff --git a/src/boards/RIG/Actuators/Actuators.cpp b/src/boards/RIG/Actuators/Actuators.cpp
index 0273849a869ffe503fa76eda11a5d61b6ac51adf..0fb5eadbe8f71fb04f73637e425bb794958674e2 100644
--- a/src/boards/RIG/Actuators/Actuators.cpp
+++ b/src/boards/RIG/Actuators/Actuators.cpp
@@ -193,7 +193,7 @@ void Actuators::setServoPosition(ServosList servo, float position)
void Actuators::checkTimings()
{
- uint64_t currentTick = getTick();
+ uint64_t currentTick = Kernel::getOldTick();
// Enter in protected zone where the timings should be checked and changed
// and the servo should be positioned atomically over all the threads. A
@@ -265,7 +265,7 @@ void Actuators::toggleServo(ServosList servo)
if (timings[servo] > 0)
{
timings[servo] = 0;
- setFlag[servo] = getTick();
+ setFlag[servo] = Kernel::getOldTick();
{
RestartKernelLock l(lock);
@@ -282,8 +282,8 @@ void Actuators::toggleServo(ServosList servo)
}
else
{
- timings[servo] = getTick() + openingTimes[servo];
- setFlag[servo] = getTick();
+ timings[servo] = Kernel::getOldTick() + openingTimes[servo];
+ setFlag[servo] = Kernel::getOldTick();
{
RestartKernelLock l(lock);
@@ -311,7 +311,7 @@ void Actuators::openServoAtomic(ServosList servo, uint32_t time)
if (timings[servo] > 0)
{
timings[servo] = 0;
- setFlag[servo] = getTick();
+ setFlag[servo] = Kernel::getOldTick();
{
RestartKernelLock l(lock);
@@ -328,8 +328,8 @@ void Actuators::openServoAtomic(ServosList servo, uint32_t time)
}
else
{
- timings[servo] = getTick() + time;
- setFlag[servo] = getTick();
+ timings[servo] = Kernel::getOldTick() + time;
+ setFlag[servo] = Kernel::getOldTick();
{
RestartKernelLock l(lock);
@@ -358,7 +358,7 @@ void Actuators::closeAllServo()
{
// Make the timings expire
timings[i] = 0;
- setFlag[i] = getTick();
+ setFlag[i] = Kernel::getOldTick();
// Publish the command also into the CAN bus
ModuleManager::getInstance().get<CanHandler>()->sendCanServoCommand(
diff --git a/src/boards/RIG/Actuators/Actuators.h b/src/boards/RIG/Actuators/Actuators.h
index b6e2118eedaf08af26518087343f709920934948..bc98af801139b25f822b99e8e4cef6181d26689c 100644
--- a/src/boards/RIG/Actuators/Actuators.h
+++ b/src/boards/RIG/Actuators/Actuators.h
@@ -133,15 +133,15 @@ private:
void checkTimings();
// Create the list of timings for every servo
- uint64_t timings[ServosList::ServosList_ENUM_END] = {0};
+ uint64_t timings[ServosList::ServosList_ENUM_END] = {0}; // [ms]
// This set of flags helps the controller to know when the servo have been
// set, in order to change slightly their angle after CONSTANT time, to
// avoid over consumption
- uint64_t setFlag[ServosList::ServosList_ENUM_END] = {0};
+ uint64_t setFlag[ServosList::ServosList_ENUM_END] = {0}; // [ms]
float openings[ServosList::ServosList_ENUM_END] = {1};
uint64_t openingTimes[ServosList::ServosList_ENUM_END] = {
- 100000}; // Default 100s
+ 100000}; // Default 100s [ms]
// This set represents the events to throw at opening/closing of valves
uint8_t openingEvents[ServosList::ServosList_ENUM_END] = {0};
diff --git a/src/boards/RIG/Radio/Radio.cpp b/src/boards/RIG/Radio/Radio.cpp
index 3febc05c03b92e5878092eec5f7a67abf165b43b..bf3be8a30547760c3d9bef3077070e61070237ed 100644
--- a/src/boards/RIG/Radio/Radio.cpp
+++ b/src/boards/RIG/Radio/Radio.cpp
@@ -239,8 +239,9 @@ void Radio::handleMavlinkMessage(const mavlink_message_t& msg)
// Extract the buttons data and if there is a slope post the event
if (previousState.arm_switch == 0 && state.arm_switch == 1)
{
- if (getTick() > lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
+ if (Kernel::getOldTick() >
+ lastManualCommand +
+ Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
{
EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
Common::TOPIC_TARS);
@@ -249,84 +250,90 @@ void Radio::handleMavlinkMessage(const mavlink_message_t& msg)
modules.get<CanHandler>()->sendEvent(
Common::CanConfig::EventId::ARM);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
}
if (previousState.filling_valve_btn == 0 &&
state.filling_valve_btn == 1)
{
- if (getTick() > lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
+ if (Kernel::getOldTick() >
+ lastManualCommand +
+ Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
{
EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
Common::TOPIC_TARS);
modules.get<Actuators>()->toggleServo(
ServosList::FILLING_VALVE);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
}
if (previousState.ignition_btn == 0 && state.ignition_btn == 1)
{
- if (getTick() > lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
+ if (Kernel::getOldTick() >
+ lastManualCommand +
+ Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
{
EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
Common::TOPIC_TARS);
EventBroker::getInstance().post(Common::MOTOR_IGNITION,
Common::TOPIC_MOTOR);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
}
if (previousState.quick_connector_btn == 0 &&
state.quick_connector_btn == 1)
{
- if (getTick() > lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
+ if (Kernel::getOldTick() >
+ lastManualCommand +
+ Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
{
EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
Common::TOPIC_TARS);
modules.get<Actuators>()->toggleServo(
ServosList::DISCONNECT_SERVO);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
}
if (previousState.release_pressure_btn == 0 &&
state.release_pressure_btn == 1)
{
- if (getTick() > lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
+ if (Kernel::getOldTick() >
+ lastManualCommand +
+ Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
{
EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
Common::TOPIC_TARS);
modules.get<Actuators>()->toggleServo(
ServosList::RELEASE_VALVE);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
}
if (previousState.start_tars_btn == 0 && state.start_tars_btn == 1)
{
- if (getTick() > lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
+ if (Kernel::getOldTick() >
+ lastManualCommand +
+ Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
{
EventBroker::getInstance().post(Common::MOTOR_START_TARS,
Common::TOPIC_TARS);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
}
if (previousState.venting_valve_btn == 0 &&
state.venting_valve_btn == 1)
{
- if (getTick() > lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
+ if (Kernel::getOldTick() >
+ lastManualCommand +
+ Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
{
EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
Common::TOPIC_TARS);
modules.get<Actuators>()->toggleServo(
ServosList::VENTING_VALVE);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
}
@@ -339,7 +346,7 @@ void Radio::handleMavlinkMessage(const mavlink_message_t& msg)
modules.get<CanHandler>()->sendEvent(
Common::CanConfig::EventId::DISARM);
- lastManualCommand = getTick();
+ lastManualCommand = Kernel::getOldTick();
}
previousState = state;
diff --git a/src/boards/RIG/Radio/Radio.h b/src/boards/RIG/Radio/Radio.h
index 7f91e498ed11d0e89f11f46965523013103212c6..bf45c6ef668f71508bafc2e9160666261509114c 100644
--- a/src/boards/RIG/Radio/Radio.h
+++ b/src/boards/RIG/Radio/Radio.h
@@ -94,8 +94,8 @@ private:
buffer;
std::thread radioBackupDIO;
- long long int lastManualCommand =
- 0; // Specifies the last tick [ms] in which a command is executed
+ long long lastManualCommand =
+ 0; // Timestamp of the last command execution [ms]
Boardcore::Logger& SDlogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("Radio");
};
diff --git a/src/boards/RIG/StatesMonitor/StatesMonitor.cpp b/src/boards/RIG/StatesMonitor/StatesMonitor.cpp
index 65144b1ac369098e0c8d75758fb016874c791173..32c287881890cc3ad23247439bbb0e8dc7a0cadc 100644
--- a/src/boards/RIG/StatesMonitor/StatesMonitor.cpp
+++ b/src/boards/RIG/StatesMonitor/StatesMonitor.cpp
@@ -52,7 +52,7 @@ void StatesMonitor::update()
for (int i = 0; i < Config::StatesMonitor::BOARDS_NUMBER; i++)
{
// Check if the time since the last config expires
- if (getTick() >
+ if (Kernel::getOldTick() >
updateTimestamps[i] + Config::StatesMonitor::MAX_TIMEOUT)
{
boardStatuses[i] = 0;
@@ -70,7 +70,7 @@ void StatesMonitor::setBoardStatus(Common::CanConfig::Board board,
if (index < Config::StatesMonitor::BOARDS_NUMBER)
{
boardStatuses[index] = status;
- updateTimestamps[index] = getTick();
+ updateTimestamps[index] = Kernel::getOldTick();
}
}