From 1b75f9562b10cbe05307d4734c4ee855b9268b68 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Tue, 1 Feb 2022 00:33:04 +0100
Subject: [PATCH] Updated boardcore submodule and everything along with it
---
.vscode/c_cpp_properties.json | 12 +-
skyward-boardcore | 2 +-
.../DeathStack/AirBrakes/AirBrakesAlgorithm.h | 14 +-
.../AirBrakes/AirBrakesController.h | 32 +--
.../DeathStack/AirBrakes/AirBrakesServo.cpp | 17 +-
.../DeathStack/AirBrakes/AirBrakesServo.h | 5 +-
.../ApogeeDetectionAlgorithm/ADAAlgorithm.cpp | 7 +-
.../ApogeeDetectionAlgorithm/ADACalibrator.h | 2 -
.../ApogeeDetectionAlgorithm/ADAController.h | 73 +++---
.../ApogeeDetectionAlgorithm/ADAData.h | 3 +-
src/boards/DeathStack/DeathStack.h | 44 ++--
.../Deployment/DeploymentController.cpp | 47 ++--
.../Deployment/DeploymentController.h | 2 +-
.../DeathStack/Deployment/DeploymentData.h | 1 -
.../DeathStack/Deployment/DeploymentServo.h | 20 +-
.../FlightModeManager/FMMController.cpp | 136 +++++------
.../FlightStatsRecorder/FSRController.cpp | 96 ++++----
.../FlightStatsRecorder/FSRController.h | 11 +-
.../DeathStack/LoggerService/LoggerService.h | 4 +-
src/boards/DeathStack/Main/Radio.cpp | 18 +-
src/boards/DeathStack/Main/Sensors.cpp | 159 +++++++------
src/boards/DeathStack/Main/Sensors.h | 7 +-
src/boards/DeathStack/Main/StateMachines.cpp | 18 +-
src/boards/DeathStack/Main/StateMachines.h | 4 +-
.../NavigationAttitudeSystem/InitStates.h | 1 -
.../DeathStack/NavigationAttitudeSystem/NAS.h | 46 ++--
.../NavigationAttitudeSystem/NASCalibrator.h | 6 +-
.../NavigationAttitudeSystem/NASController.h | 54 ++---
.../DeathStack/PinHandler/PinHandler.cpp | 36 +--
.../TelemetriesTelecommands/TCHandler.cpp | 28 ++-
.../TelemetriesTelecommands/TCHandler.h | 2 +-
.../TMTCController.cpp | 72 +++---
.../TelemetriesTelecommands/TMTCController.h | 2 +-
.../TelemetriesTelecommands/TmRepository.cpp | 211 +++++++++---------
.../TelemetriesTelecommands/TmRepository.h | 16 +-
src/boards/DeathStack/configs/ADAConfig.h | 12 +-
.../DeathStack/configs/AirBrakesConfig.h | 17 +-
src/boards/DeathStack/configs/CutterConfig.h | 3 +-
.../DeathStack/configs/DeploymentConfig.h | 12 +-
src/boards/DeathStack/configs/NASConfig.h | 3 +-
src/boards/DeathStack/configs/SensorsConfig.h | 4 +-
src/boards/Payload/Main/Radio.cpp | 32 +--
src/boards/Payload/Main/Sensors.cpp | 126 +++++------
src/boards/Payload/Main/Sensors.h | 6 +-
src/boards/Payload/PayloadBoard.h | 34 ++-
src/boards/Payload/PinHandler/PinHandler.cpp | 17 +-
src/boards/Payload/WingControl/WingServo.cpp | 28 +--
src/boards/Payload/WingControl/WingServo.h | 12 +-
src/boards/Payload/configs/SensorsConfig.h | 5 +-
src/boards/Payload/configs/WingConfig.h | 22 +-
.../death-stack-x-decoder/LogTypes.h | 18 +-
src/entrypoints/death-stack-x-entry.cpp | 15 +-
src/entrypoints/death-stack-x-testsuite.cpp | 11 +-
.../hardware_in_the_loop/hil-entry.cpp | 19 +-
src/entrypoints/payload-entry.cpp | 9 +-
src/entrypoints/windtunnel-entry.cpp | 6 +-
.../windtunnel-test-decoder/LogTypes.h | 4 +-
.../HILFlightPhasesManager.h | 19 +-
.../HIL_sensors/HILBarometer.h | 2 +-
.../HIL_sensors/HILSensor.h | 4 +-
.../simulator_communication/SerialInterface.h | 1 -
src/mocksensors/MockGPS.h | 36 +--
src/mocksensors/MockIMU.h | 36 +--
src/mocksensors/MockPressureSensor.h | 14 +-
src/mocksensors/MockSensorsData.h | 22 +-
src/mocksensors/MockSpeedSensor.h | 4 +-
.../lynx_flight_data/lynx_airspeed_data.h | 2 -
.../lynx_flight_data/lynx_gps_data.h | 2 +-
.../mock_data/test-mock-sensors.cpp | 5 +-
.../airbrakes/test-airbrakes-interactive.cpp | 10 +-
.../ada/ada_kalman_p/test-ada-simulation.cpp | 25 +--
.../catch/ada/kalman_acc/test-kalman-acc.cpp | 3 +-
src/tests/catch/ada/test-rogallo-dts.cpp | 2 +-
src/tests/catch/catch-tests-entry.cpp | 4 +-
src/tests/catch/fsm/test-ada.cpp | 9 +-
src/tests/catch/fsm/test-airbrakes.cpp | 6 +-
src/tests/catch/fsm/test-deployment.cpp | 8 +-
.../catch/fsm/test-flightstatsrecorder.cpp | 9 +-
src/tests/catch/fsm/test-fmm.cpp | 9 +-
src/tests/catch/fsm/test-ignition.cpp | 14 +-
src/tests/catch/fsm/test-nas.cpp | 7 +-
src/tests/catch/fsm/test-tmtc.cpp | 9 +-
src/tests/catch/nas/test-nas-simulation.cpp | 33 +--
.../deathstack-boards/test-analog-board.cpp | 35 ++-
.../deathstack-boards/test-power-board.cpp | 15 +-
src/tests/deathstack-boards/test-rf-board.cpp | 28 +--
.../deathstack-boards/test-stm-board.cpp | 4 -
.../test-deployment-interactive.cpp | 12 +-
src/tests/drivers/test-cutter.cpp | 44 ++--
src/tests/drivers/test-imus.cpp | 1 -
src/tests/drivers/test-mavlink.cpp | 1 -
src/tests/drivers/test-servo.cpp | 15 +-
src/tests/eigen-test.cpp | 1 -
.../test-HIL+ADA+Aerobrake.cpp | 7 +-
.../test-HIL+ADA+AerobrakeController+nas.cpp | 7 +-
.../test-HIL+ADA/test-HIL+ADA.cpp | 9 +-
.../test-HIL+Aerobrake/test-HIL+Aerobrake.cpp | 3 -
.../test-HIL/test-HIL.cpp | 3 -
.../test-SerialInterface.cpp | 2 -
src/tests/mock_sensors/test-mock-sensors.cpp | 5 +-
src/tests/ram_test/ramtest.cpp | 94 ++++----
src/tests/test-ada-dpl-simulation.cpp | 17 +-
src/tests/test-fmm-interactive.cpp | 8 +-
src/tests/test-kalman-hitl.cpp | 13 +-
src/tests/test-logproxy.cpp | 1 -
src/tests/test-pinhandler.cpp | 3 -
src/tests/test-sensormanager.cpp | 7 +-
src/tests/test-sm+tmtc.cpp | 11 +-
src/tests/test-tmtc.cpp | 6 +-
109 files changed, 1083 insertions(+), 1187 deletions(-)
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 3e76f3ac8..dbed30c87 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -21,14 +21,16 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
- "${workspaceFolder}/skyward-boardcore/libs/simple-template-matrix",
+ "${workspaceFolder}/skyward-boardcore/libs/mavlink_skyward_lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
"${workspaceFolder}/skyward-boardcore/libs",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
"${workspaceFolder}/src/boards/DeathStack",
- "${workspaceFolder}/src/boards"
+ "${workspaceFolder}/src/boards",
+ "${workspaceFolder}/src/common",
+ "${workspaceFolder}/src"
],
"browse": {
"path": [
@@ -43,7 +45,6 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/util",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/e20",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/*",
- "${workspaceFolder}/skyward-boardcore/libs/simple-template-matrix",
"${workspaceFolder}/skyward-boardcore/libs/mavlink_skyward_lib",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
"${workspaceFolder}/skyward-boardcore/libs/tscpp",
@@ -51,8 +52,11 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
+ "${workspaceFolder}/src/boards/DeathStack",
"${workspaceFolder}/src/boards",
- "${workspaceFolder}/src/tests"
+ "${workspaceFolder}/src/tests",
+ "${workspaceFolder}/src/common",
+ "${workspaceFolder}/src"
],
"limitSymbolsToIncludedHeaders": true
},
diff --git a/skyward-boardcore b/skyward-boardcore
index 3a951420e..5fc8d0141 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 3a951420eb4de92f6c5b45cf65abe12869ad585a
+Subproject commit 5fc8d0141d1881cf7dd690a5308c336166c3118c
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h b/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
index 853292ae1..8f85fdfaa 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
@@ -28,9 +28,9 @@
#include <Algorithm.h>
#include <LoggerService/LoggerService.h>
#include <ServoInterface.h>
-#include <TimestampTimer.h>
#include <configs/AirBrakesConfig.h>
#include <diagnostic/PrintLogger.h>
+#include <drivers/timer/TimestampTimer.h>
#include <sensors/Sensor.h>
#include <algorithm>
@@ -89,7 +89,7 @@ public:
#ifdef HARDWARE_IN_THE_LOOP
else
{
- HIL::getInstance()->send(0.0);
+ HIL::getInstance().send(0.0);
}
#endif
}
@@ -212,8 +212,8 @@ public:
void logAirbrakesData(uint64_t t);
private:
- int indexMinVal = 0;
- float alpha = 0;
+ int indexMinVal = 0;
+ float alpha = 0;
uint64_t last_input_ts = 0;
uint64_t begin_ts = 0;
@@ -239,7 +239,7 @@ template <class T>
AirBrakesControlAlgorithm<T>::AirBrakesControlAlgorithm(
Sensor<T>& sensor, ServoInterface* actuator)
: actuator(actuator), sensor(sensor), pid(Kp, Ki),
- logger(*(LoggerService::getInstance()))
+ logger(LoggerService::getInstance())
{
}
@@ -253,7 +253,7 @@ void AirBrakesControlAlgorithm<T>::begin()
running = true;
- begin_ts = TimestampTimer::getTimestamp();
+ begin_ts = TimestampTimer::getInstance().getTimestamp();
last_input_ts = (sensor.getLastSample()).timestamp;
@@ -275,7 +275,7 @@ void AirBrakesControlAlgorithm<T>::step()
alpha = computeAlpha(input, false);
}
- uint64_t curr_ts = TimestampTimer::getTimestamp();
+ uint64_t curr_ts = TimestampTimer::getInstance().getTimestamp();
#ifdef EUROC
if (curr_ts - begin_ts < AIRBRAKES_ACTIVATION_AFTER_SHADOW_MODE * 1000)
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesController.h b/src/boards/DeathStack/AirBrakes/AirBrakesController.h
index 281e1644e..3ddb7aa73 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesController.h
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesController.h
@@ -26,9 +26,9 @@
#include <AirBrakes/AirBrakesData.h>
#include <AirBrakes/AirBrakesServo.h>
#include <System/StackLogger.h>
-#include <TimestampTimer.h>
#include <configs/AirBrakesConfig.h>
#include <diagnostic/PrintLogger.h>
+#include <drivers/timer/TimestampTimer.h>
#include <events/EventBroker.h>
#include <events/Events.h>
#include <events/FSM.h>
@@ -95,14 +95,14 @@ AirBrakesController<T>::AirBrakesController(Sensor<T>& sensor,
servo(servo), algorithm(sensor, servo)
{
memset(&status, 0, sizeof(AirBrakesControllerStatus));
- sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);
- sEventBroker->subscribe(this, TOPIC_ABK);
+ sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.subscribe(this, TOPIC_ABK);
}
template <class T>
AirBrakesController<T>::~AirBrakesController()
{
- sEventBroker->unsubscribe(this);
+ sEventBroker.unsubscribe(this);
}
template <class T>
@@ -114,7 +114,7 @@ void AirBrakesController<T>::update()
template <class T>
void AirBrakesController<T>::state_initialization(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -141,7 +141,7 @@ void AirBrakesController<T>::state_initialization(const Event& ev)
template <class T>
void AirBrakesController<T>::state_idle(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -185,12 +185,12 @@ void AirBrakesController<T>::state_idle(const Event& ev)
template <class T>
void AirBrakesController<T>::state_shadowMode(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
ev_shadow_mode_timeout_id =
- sEventBroker->postDelayed<SHADOW_MODE_DURATION>(
+ sEventBroker.postDelayed<SHADOW_MODE_DURATION>(
Event{EV_SHADOW_MODE_TIMEOUT}, TOPIC_ABK);
logStatus(AirBrakesControllerState::SHADOW_MODE);
@@ -223,7 +223,7 @@ void AirBrakesController<T>::state_shadowMode(const Event& ev)
template <class T>
void AirBrakesController<T>::state_enabled(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -259,7 +259,7 @@ void AirBrakesController<T>::state_enabled(const Event& ev)
template <class T>
void AirBrakesController<T>::state_end(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -287,7 +287,7 @@ void AirBrakesController<T>::state_end(const Event& ev)
template <class T>
void AirBrakesController<T>::state_disabled(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -315,7 +315,7 @@ void AirBrakesController<T>::state_disabled(const Event& ev)
template <class T>
void AirBrakesController<T>::state_testAirbrakes(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -329,7 +329,7 @@ void AirBrakesController<T>::state_testAirbrakes(const Event& ev)
logStatus(AirBrakesControllerState::TEST_AEROBRAKES);
- sEventBroker->post(Event{EV_TEST_TIMEOUT}, TOPIC_ABK);
+ sEventBroker.post(Event{EV_TEST_TIMEOUT}, TOPIC_ABK);
break;
}
case EV_EXIT:
@@ -392,12 +392,12 @@ void AirBrakesController<T>::incrementallyClose()
template <class T>
void AirBrakesController<T>::logStatus(AirBrakesControllerState state)
{
- status.timestamp = TimestampTimer::getTimestamp();
+ status.timestamp = TimestampTimer::getInstance().getTimestamp();
status.state = state;
- LoggerService::getInstance()->log(status);
+ LoggerService::getInstance().log(status);
- StackLogger::getInstance()->updateStack(THID_ABK_FSM);
+ StackLogger::getInstance().updateStack(THID_ABK_FSM);
}
template <class T>
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp b/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp
index cfd5cb472..b6a2c35cc 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp
@@ -43,19 +43,9 @@ AirBrakesServo::AirBrakesServo(float minPosition, float maxPosition,
AirBrakesServo::~AirBrakesServo() {}
-void AirBrakesServo::enable()
-{
- servo.setMaxPulseWidth(2500);
- servo.setMinPulseWidth(500);
- servo.enable(AB_SERVO_PWM_CH);
- servo.start();
-}
+void AirBrakesServo::enable() { servo.enable(); }
-void AirBrakesServo::disable()
-{
- servo.stop();
- servo.disable(AB_SERVO_PWM_CH);
-}
+void AirBrakesServo::disable() { servo.disable(); }
void AirBrakesServo::selfTest()
{
@@ -80,8 +70,7 @@ void AirBrakesServo::selfTest()
void AirBrakesServo::setPosition(float angle)
{
currentPosition = angle;
- // map position to [0;1] interval for the servo driver
- servo.setPosition(AirBrakesConfigs::AB_SERVO_PWM_CH, angle / 180.0f);
+ servo.setPosition180Deg(angle);
#ifdef HARDWARE_IN_THE_LOOP
simulator->send(angle);
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesServo.h b/src/boards/DeathStack/AirBrakes/AirBrakesServo.h
index 7332d38d3..8551324c3 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesServo.h
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesServo.h
@@ -26,7 +26,7 @@
#include <LoggerService/LoggerService.h>
#include <common/ServoInterface.h>
#include <configs/AirBrakesConfig.h>
-#include <drivers/servo/servo.h>
+#include <drivers/servo/Servo.h>
#include <miosix.h>
#ifdef HARDWARE_IN_THE_LOOP
@@ -59,7 +59,8 @@ public:
void selfTest() override;
private:
- Servo servo{AirBrakesConfigs::AB_SERVO_TIMER};
+ Servo servo{AirBrakesConfigs::AB_SERVO_TIMER, AB_SERVO_PWM_CH, 50, 500,
+ 2500};
#ifdef HARDWARE_IN_THE_LOOP
HIL *simulator = HIL::getInstance();
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp
index 0edebf458..126834ac6 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp
@@ -21,10 +21,9 @@
*/
#include <ApogeeDetectionAlgorithm/ADAAlgorithm.h>
-#include <Debug.h>
-#include <TimestampTimer.h>
#include <configs/ADAConfig.h>
#include <diagnostic/CpuMeter.h>
+#include <drivers/timer/TimestampTimer.h>
#include <events/EventBroker.h>
#include <events/Events.h>
#include <utils/aero/AeroUtils.h>
@@ -52,7 +51,7 @@ void ADAAlgorithm::updateBaro(float pressure)
updatePressureKalman(pressure);
// Convert filter data to altitudes & speeds
- ada_data.timestamp = TimestampTimer::getTimestamp();
+ ada_data.timestamp = TimestampTimer::getInstance().getTimestamp();
ada_data.msl_altitude = pressureToAltitude(filter.getState()(0, 0));
ada_data.agl_altitude = altitudeMSLtoAGL(ada_data.msl_altitude);
ada_data.vert_speed = aeroutils::verticalSpeed(
@@ -103,7 +102,7 @@ float ADAAlgorithm::altitudeMSLtoAGL(float altitude_msl) const
ADAKalmanState ADAAlgorithm::getKalmanState()
{
ADAKalmanState state;
- state.timestamp = TimestampTimer::getTimestamp();
+ state.timestamp = TimestampTimer::getInstance().getTimestamp();
state.x0 = filter.getState()(0, 0);
state.x1 = filter.getState()(1, 0);
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h
index 2f03b0a4c..a963aaeaa 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h
@@ -23,8 +23,6 @@
#pragma once
#include <ApogeeDetectionAlgorithm/ADAData.h>
-#include <Common.h>
-#include <Debug.h>
#include <diagnostic/PrintLogger.h>
#include <math/Stats.h>
#include <miosix.h>
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h
index d70a3b4a6..d1f7aa655 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h
@@ -29,6 +29,7 @@
#include <System/StackLogger.h>
#include <configs/ADAConfig.h>
#include <diagnostic/PrintLogger.h>
+#include <drivers/timer/TimestampTimer.h>
#include <events/EventBroker.h>
#include <events/Events.h>
#include <events/FSM.h>
@@ -221,7 +222,7 @@ private:
unsigned int n_samples_abk_disable_detected =
0; // Number of consecutive samples for abk disable
- LoggerService& logger = *(LoggerService::getInstance()); // Logger
+ LoggerService& logger = LoggerService::getInstance(); // Logger
PrintLogger log = Logging::getLogger("deathstack.fms.ada");
};
@@ -232,8 +233,8 @@ ADAController<Press, GPS>::ADAController(Sensor<Press>& barometer,
ada(ADAReferenceValues{}), barometer(barometer), gps(gps)
{
// Subscribe to topics
- sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);
- sEventBroker->subscribe(this, TOPIC_ADA);
+ sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.subscribe(this, TOPIC_ADA);
status.state = ADAState::IDLE;
}
@@ -248,9 +249,9 @@ void ADAController<Press, GPS>::update()
{
// if new gps data available, update GPS, regardless of the current state
GPS gps_data = gps.getLastSample();
- if (gps_data.gps_timestamp != last_gps_timestamp)
+ if (gps_data.gpsTimestamp != last_gps_timestamp)
{
- last_gps_timestamp = gps_data.gps_timestamp;
+ last_gps_timestamp = gps_data.gpsTimestamp;
ada.updateGPS(gps_data.latitude, gps_data.longitude, gps_data.fix);
}
@@ -258,11 +259,11 @@ void ADAController<Press, GPS>::update()
// if new pressure data available, update baro, according to current state
Press press_data = barometer.getLastSample();
- if (press_data.press_timestamp != last_press_timestamp)
+ if (press_data.pressureTimestamp != last_press_timestamp)
{
- last_press_timestamp = press_data.press_timestamp;
+ last_press_timestamp = press_data.pressureTimestamp;
- updateBaroAccordingToState(press_data.press);
+ updateBaroAccordingToState(press_data.pressure);
}
}
@@ -303,7 +304,7 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
// Log the altitude & vertical speed but don't use kalman pressure
// while we are on the ramp
ADAData d;
- d.timestamp = TimestampTimer::getTimestamp();
+ d.timestamp = TimestampTimer::getInstance().getTimestamp();
d.msl_altitude = ada.pressureToAltitude(pressure);
d.agl_altitude = ada.altitudeMSLtoAGL(d.msl_altitude);
d.vert_speed = 0;
@@ -321,8 +322,8 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
if (ada.getVerticalSpeed() < APOGEE_VERTICAL_SPEED_TARGET)
{
// Log
- ApogeeDetected apogee{TimestampTimer::getTimestamp(),
- status.state};
+ ApogeeDetected apogee{
+ TimestampTimer::getInstance().getTimestamp(), status.state};
logger.log(apogee);
}
@@ -341,13 +342,13 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
if (++n_samples_apogee_detected >= APOGEE_N_SAMPLES)
{
// Active state send notifications for apogee
- sEventBroker->post({EV_ADA_APOGEE_DETECTED}, TOPIC_ADA);
+ sEventBroker.post({EV_ADA_APOGEE_DETECTED}, TOPIC_ADA);
status.apogee_reached = true;
}
// Log
- ApogeeDetected apogee{TimestampTimer::getTimestamp(),
- status.state};
+ ApogeeDetected apogee{
+ TimestampTimer::getInstance().getTimestamp(), status.state};
logger.log(apogee);
}
else if (n_samples_apogee_detected != 0)
@@ -361,8 +362,8 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
if (++n_samples_abk_disable_detected >= ABK_DISABLE_N_SAMPLES)
{
// Active state send notifications for disabling airbrakes
- sEventBroker->post({EV_ADA_DISABLE_ABK},
- TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_ADA_DISABLE_ABK},
+ TOPIC_FLIGHT_EVENTS);
status.disable_airbrakes = true;
}
}
@@ -385,8 +386,8 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
{
if (++n_samples_deployment_detected >= DEPLOYMENT_N_SAMPLES)
{
- logger.log(
- DplAltitudeReached{TimestampTimer::getTimestamp()});
+ logger.log(DplAltitudeReached{
+ TimestampTimer::getInstance().getTimestamp()});
}
}
else if (n_samples_deployment_detected != 0)
@@ -407,10 +408,10 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
{
if (++n_samples_deployment_detected >= DEPLOYMENT_N_SAMPLES)
{
- logger.log(
- DplAltitudeReached{TimestampTimer::getTimestamp()});
+ logger.log(DplAltitudeReached{
+ TimestampTimer::getInstance().getTimestamp()});
- sEventBroker->post({EV_ADA_DPL_ALT_DETECTED}, TOPIC_ADA);
+ sEventBroker.post({EV_ADA_DPL_ALT_DETECTED}, TOPIC_ADA);
}
}
else if (n_samples_deployment_detected != 0)
@@ -503,7 +504,7 @@ void ADAController<Press, GPS>::finalizeCalibration()
LOG_INFO(log, "Finalized calibration");
// ADA READY!
- sEventBroker->post({EV_ADA_READY}, TOPIC_ADA);
+ sEventBroker.post({EV_ADA_READY}, TOPIC_ADA);
logger.log(calibrator.getReferenceValues());
logger.log(ada.getKalmanState());
@@ -513,7 +514,7 @@ void ADAController<Press, GPS>::finalizeCalibration()
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_idle(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -541,7 +542,7 @@ void ADAController<Press, GPS>::state_idle(const Event& ev)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_calibrating(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -579,7 +580,7 @@ void ADAController<Press, GPS>::state_calibrating(const Event& ev)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_ready(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -612,12 +613,12 @@ void ADAController<Press, GPS>::state_ready(const Event& ev)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_shadowMode(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
shadow_delayed_event_id =
- sEventBroker->postDelayed<TIMEOUT_ADA_SHADOW_MODE>(
+ sEventBroker.postDelayed<TIMEOUT_ADA_SHADOW_MODE>(
{EV_SHADOW_MODE_TIMEOUT}, TOPIC_ADA);
logStatus(ADAState::SHADOW_MODE);
LOG_DEBUG(log, "Entering state shadowMode");
@@ -625,7 +626,7 @@ void ADAController<Press, GPS>::state_shadowMode(const Event& ev)
}
case EV_EXIT:
{
- sEventBroker->removeDelayed(shadow_delayed_event_id);
+ sEventBroker.removeDelayed(shadow_delayed_event_id);
LOG_DEBUG(log, "Exiting state shadowMode");
break;
}
@@ -644,7 +645,7 @@ void ADAController<Press, GPS>::state_shadowMode(const Event& ev)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_active(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -672,12 +673,12 @@ void ADAController<Press, GPS>::state_active(const Event& ev)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_pressureStabilization(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
pressure_delayed_event_id =
- sEventBroker->postDelayed<TIMEOUT_ADA_P_STABILIZATION>(
+ sEventBroker.postDelayed<TIMEOUT_ADA_P_STABILIZATION>(
{EV_TIMEOUT_PRESS_STABILIZATION}, TOPIC_ADA);
logStatus(ADAState::PRESSURE_STABILIZATION);
LOG_DEBUG(log, "Entering state pressureStabilization");
@@ -685,7 +686,7 @@ void ADAController<Press, GPS>::state_pressureStabilization(const Event& ev)
}
case EV_EXIT:
{
- sEventBroker->removeDelayed(pressure_delayed_event_id);
+ sEventBroker.removeDelayed(pressure_delayed_event_id);
LOG_DEBUG(log, "Exiting state pressureStabilization");
break;
}
@@ -704,7 +705,7 @@ void ADAController<Press, GPS>::state_pressureStabilization(const Event& ev)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_drogueDescent(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -736,7 +737,7 @@ void ADAController<Press, GPS>::state_drogueDescent(const Event& ev)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::state_end(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -766,10 +767,10 @@ void ADAController<Press, GPS>::logStatus(ADAState state)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::logStatus()
{
- status.timestamp = TimestampTimer::getTimestamp();
+ status.timestamp = TimestampTimer::getInstance().getTimestamp();
logger.log(status);
- StackLogger::getInstance()->updateStack(THID_ADA_FSM);
+ StackLogger::getInstance().updateStack(THID_ADA_FSM);
}
template <typename Press, typename GPS>
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h
index f9441bb31..7889a867c 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h
@@ -25,7 +25,8 @@
#include <configs/ADAConfig.h>
#include <configs/config.h>
#include <math/Stats.h>
-#include <Constants.h>
+#include <utils/Constants.h>
+
#include <ostream>
using namespace Boardcore;
diff --git a/src/boards/DeathStack/DeathStack.h b/src/boards/DeathStack/DeathStack.h
index bff9d078a..202703941 100644
--- a/src/boards/DeathStack/DeathStack.h
+++ b/src/boards/DeathStack/DeathStack.h
@@ -22,9 +22,7 @@
#pragma once
-#include <Common.h>
#include <DeathStackStatus.h>
-#include <Debug.h>
#include <LoggerService/LoggerService.h>
#include <Main/Actuators.h>
#include <Main/Bus.h>
@@ -36,9 +34,9 @@
#include <System/TaskID.h>
#include <events/EventBroker.h>
#include <events/EventData.h>
-#include <events/utils/EventInjector.h>
#include <events/Events.h>
#include <events/Topics.h>
+#include <events/utils/EventInjector.h>
#include <events/utils/EventSniffer.h>
#include <functional>
@@ -69,7 +67,6 @@ class DeathStack : public Singleton<DeathStack>
public:
// Shared Components
- EventBroker* broker;
LoggerService* logger;
EventSniffer* sniffer;
@@ -90,7 +87,7 @@ public:
void start()
{
- if (!broker->start())
+ if (!sEventBroker.start())
{
LOG_ERR(log, "Error starting EventBroker");
status.setError(&DeathStackStatus::ev_broker);
@@ -134,12 +131,12 @@ public:
if (status.death_stack != COMP_OK)
{
LOG_ERR(log, "Initalization failed\n");
- sEventBroker->post(Event{EV_INIT_ERROR}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_INIT_ERROR}, TOPIC_FLIGHT_EVENTS);
}
else
{
LOG_INFO(log, "Initalization ok");
- sEventBroker->post(Event{EV_INIT_OK}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_INIT_OK}, TOPIC_FLIGHT_EVENTS);
}
}
@@ -156,7 +153,7 @@ public:
status.setError(&DeathStackStatus::logger);
}
- logger->log(logger->getLogger().getLogStats());
+ logger->log(logger->getLogger().getLoggerStats());
}
private:
@@ -166,19 +163,16 @@ private:
DeathStack()
{
/* Shared components */
- logger = Singleton<LoggerService>::getInstance();
+ logger = &LoggerService::getInstance();
startLogger();
- TimestampTimer::enableTimestampTimer();
-
- broker = sEventBroker;
-
// Bind the logEvent function to the event sniffer in order to log every
// event
{
using namespace std::placeholders;
- sniffer = new EventSniffer(
- *broker, TOPIC_LIST, bind(&DeathStack::logEvent, this, _1, _2));
+ sniffer =
+ new EventSniffer(sEventBroker, TOPIC_LIST,
+ bind(&DeathStack::logEvent, this, _1, _2));
}
#ifdef HARDWARE_IN_THE_LOOP
@@ -221,7 +215,8 @@ private:
*/
void logEvent(uint8_t event, uint8_t topic)
{
- EventData ev{(long long)TimestampTimer::getTimestamp(), event, topic};
+ EventData ev{(long long)TimestampTimer::getInstance().getTimestamp(),
+ event, topic};
logger->log(ev);
#ifdef DEBUG
@@ -239,25 +234,26 @@ private:
#endif
}
- inline void postEvent(Event ev, uint8_t topic) { broker->post(ev, topic); }
+ inline void postEvent(Event ev, uint8_t topic)
+ {
+ sEventBroker.post(ev, topic);
+ }
void addSchedulerStatsTask()
{
// add lambda to log scheduler tasks statistics
- scheduler->add(
- [&]() {
+ scheduler->addTask(
+ [&]()
+ {
std::vector<TaskStatResult> scheduler_stats =
scheduler->getTaskStats();
for (TaskStatResult stat : scheduler_stats)
- {
logger->log(stat);
- }
- StackLogger::getInstance()->updateStack(THID_TASK_SCHEDULER);
+ StackLogger::getInstance().updateStack(THID_TASK_SCHEDULER);
},
- 1000, // 1 hz
- TASK_SCHEDULER_STATS_ID, miosix::getTick());
+ 1000, TASK_SCHEDULER_STATS_ID);
}
EventInjector* injector;
diff --git a/src/boards/DeathStack/Deployment/DeploymentController.cpp b/src/boards/DeathStack/Deployment/DeploymentController.cpp
index 008d9b86f..b3cfc11f2 100644
--- a/src/boards/DeathStack/Deployment/DeploymentController.cpp
+++ b/src/boards/DeathStack/Deployment/DeploymentController.cpp
@@ -23,15 +23,8 @@
#include <Deployment/DeploymentController.h>
#include <LoggerService/LoggerService.h>
#include <System/StackLogger.h>
-#include <TimestampTimer.h>
-#include <configs/DeploymentConfig.h>
-#include <events/EventBroker.h>
-#include <events/Events.h>
-
-#include <LoggerService/LoggerService.h>
-#include <System/StackLogger.h>
-#include <TimestampTimer.h>
#include <configs/DeploymentConfig.h>
+#include <drivers/timer/TimestampTimer.h>
#include <events/EventBroker.h>
#include <events/Events.h>
@@ -41,38 +34,38 @@ namespace DeathStackBoard
{
DeploymentController::DeploymentController(ServoInterface* ejection_servo)
- : FSM(&DeploymentController::state_initialization),
- ejection_servo{ejection_servo}
+ : FSM(&DeploymentController::state_initialization), ejection_servo{
+ ejection_servo}
{
- sEventBroker->subscribe(this, TOPIC_DPL);
+ sEventBroker.subscribe(this, TOPIC_DPL);
}
DeploymentController::~DeploymentController()
{
- sEventBroker->unsubscribe(this);
+ sEventBroker.unsubscribe(this);
}
void DeploymentController::logStatus(DeploymentControllerState current_state)
{
- status.timestamp = TimestampTimer::getTimestamp();
- status.state = current_state;
- status.servo_position = ejection_servo->getCurrentPosition();
+ status.timestamp = TimestampTimer::getInstance().getTimestamp();
+ status.state = current_state;
+ status.servo_position = ejection_servo->getCurrentPosition();
if (current_state == DeploymentControllerState::CUTTING)
{
status.cutters_enabled = true;
}
- else
+ else
{
status.cutters_enabled = false;
}
- LoggerService::getInstance()->log(status);
- StackLogger::getInstance()->updateStack(THID_DPL_FSM);
+ LoggerService::getInstance().log(status);
+ StackLogger::getInstance().updateStack(THID_DPL_FSM);
}
void DeploymentController::state_initialization(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -80,7 +73,7 @@ void DeploymentController::state_initialization(const Event& ev)
ejection_servo->enable();
ejection_servo->reset();
-
+
logStatus(DeploymentControllerState::INITIALIZATION);
transition(&DeploymentController::state_idle);
@@ -101,7 +94,7 @@ void DeploymentController::state_initialization(const Event& ev)
void DeploymentController::state_idle(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -148,7 +141,7 @@ void DeploymentController::state_idle(const Event& ev)
void DeploymentController::state_noseconeEjection(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -156,7 +149,7 @@ void DeploymentController::state_noseconeEjection(const Event& ev)
ejectNosecone();
- ev_nc_open_timeout_id = sEventBroker->postDelayed<NC_OPEN_TIMEOUT>(
+ ev_nc_open_timeout_id = sEventBroker.postDelayed<NC_OPEN_TIMEOUT>(
Event{EV_NC_OPEN_TIMEOUT}, TOPIC_DPL);
logStatus(DeploymentControllerState::NOSECONE_EJECTION);
@@ -170,7 +163,7 @@ void DeploymentController::state_noseconeEjection(const Event& ev)
case EV_NC_DETACHED:
{
LOG_DEBUG(log, "Nosecone detached event");
- sEventBroker->removeDelayed(ev_nc_open_timeout_id);
+ sEventBroker.removeDelayed(ev_nc_open_timeout_id);
transition(&DeploymentController::state_idle);
break;
}
@@ -189,7 +182,7 @@ void DeploymentController::state_noseconeEjection(const Event& ev)
void DeploymentController::state_cutting(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -197,7 +190,7 @@ void DeploymentController::state_cutting(const Event& ev)
startCutting();
- ev_nc_cutting_timeout_id = sEventBroker->postDelayed<CUT_DURATION>(
+ ev_nc_cutting_timeout_id = sEventBroker.postDelayed<CUT_DURATION>(
Event{EV_CUTTING_TIMEOUT}, TOPIC_DPL);
logStatus(DeploymentControllerState::CUTTING);
@@ -207,7 +200,7 @@ void DeploymentController::state_cutting(const Event& ev)
case EV_EXIT:
{
stopCutting();
-
+
LOG_DEBUG(log, "Exiting state cutting");
break;
diff --git a/src/boards/DeathStack/Deployment/DeploymentController.h b/src/boards/DeathStack/Deployment/DeploymentController.h
index 8523cc4ae..c1f3363ae 100644
--- a/src/boards/DeathStack/Deployment/DeploymentController.h
+++ b/src/boards/DeathStack/Deployment/DeploymentController.h
@@ -27,7 +27,7 @@
#include <configs/CutterConfig.h>
#include <diagnostic/PrintLogger.h>
#include <drivers/hbridge/HBridge.h>
-#include <drivers/servo/servo.h>
+#include <drivers/servo/Servo.h>
#include <events/Events.h>
#include <events/FSM.h>
diff --git a/src/boards/DeathStack/Deployment/DeploymentData.h b/src/boards/DeathStack/Deployment/DeploymentData.h
index 48f504a58..bb5c5fda8 100644
--- a/src/boards/DeathStack/Deployment/DeploymentData.h
+++ b/src/boards/DeathStack/Deployment/DeploymentData.h
@@ -22,7 +22,6 @@
#pragma once
-#include <drivers/hbridge/HBridgeData.h>
#include <stdint.h>
#include <iostream>
diff --git a/src/boards/DeathStack/Deployment/DeploymentServo.h b/src/boards/DeathStack/Deployment/DeploymentServo.h
index 473b82ced..29632f1b8 100644
--- a/src/boards/DeathStack/Deployment/DeploymentServo.h
+++ b/src/boards/DeathStack/Deployment/DeploymentServo.h
@@ -24,7 +24,7 @@
#include <common/ServoInterface.h>
#include <configs/DeploymentConfig.h>
-#include <drivers/servo/servo.h>
+#include <drivers/servo/Servo.h>
#include <miosix.h>
using namespace Boardcore;
@@ -37,7 +37,7 @@ using namespace DeathStackBoard::DeploymentConfigs;
class DeploymentServo : public ServoInterface
{
public:
- Servo servo{DPL_SERVO_TIMER};
+ Servo servo{DPL_SERVO_TIMER, DPL_SERVO_PWM_CH, 50, 500, 2500};
DeploymentServo()
: ServoInterface(DPL_SERVO_MIN_POS, DPL_SERVO_MAX_POS,
@@ -50,19 +50,9 @@ public:
{
}
- void enable() override
- {
- servo.setMinPulseWidth(500);
- servo.setMaxPulseWidth(2500);
- servo.enable(DPL_SERVO_PWM_CH);
- servo.start();
- }
+ void enable() override { servo.enable(); }
- void disable() override
- {
- servo.stop();
- servo.disable(DPL_SERVO_PWM_CH);
- }
+ void disable() override { servo.disable(); }
/**
* @brief Perform wiggle around the reset position.
@@ -82,7 +72,7 @@ protected:
void setPosition(float angle) override
{
currentPosition = angle;
- servo.setPosition(DPL_SERVO_PWM_CH, currentPosition / 180.0f);
+ servo.setPosition180Deg(currentPosition);
}
private:
diff --git a/src/boards/DeathStack/FlightModeManager/FMMController.cpp b/src/boards/DeathStack/FlightModeManager/FMMController.cpp
index 35940b9e1..4b2dac76f 100644
--- a/src/boards/DeathStack/FlightModeManager/FMMController.cpp
+++ b/src/boards/DeathStack/FlightModeManager/FMMController.cpp
@@ -34,28 +34,28 @@ namespace DeathStackBoard
FMMController::FMMController()
: HSM(&FMMController::state_initialization, STACK_MIN_FOR_SKYWARD,
FMM_PRIORITY),
- logger(*(LoggerService::getInstance()))
+ logger(LoggerService::getInstance())
{
- sEventBroker->subscribe(this, TOPIC_ADA);
- sEventBroker->subscribe(this, TOPIC_NAS);
- sEventBroker->subscribe(this, TOPIC_TMTC);
- sEventBroker->subscribe(this, TOPIC_FMM);
- sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.subscribe(this, TOPIC_ADA);
+ sEventBroker.subscribe(this, TOPIC_NAS);
+ sEventBroker.subscribe(this, TOPIC_TMTC);
+ sEventBroker.subscribe(this, TOPIC_FMM);
+ sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
}
FMMController::~FMMController()
{
// Unsubscribe from all topics
- sEventBroker->unsubscribe(this);
+ sEventBroker.unsubscribe(this);
}
void FMMController::logState(FMMState current_state)
{
- status.timestamp = TimestampTimer::getTimestamp();
+ status.timestamp = TimestampTimer::getInstance().getTimestamp();
status.state = current_state;
logger.log(status);
- StackLogger::getInstance()->updateStack(THID_FMM_FSM);
+ StackLogger::getInstance().updateStack(THID_FMM_FSM);
}
State FMMController::state_initialization(const Event& ev)
@@ -69,7 +69,7 @@ State FMMController::state_initialization(const Event& ev)
State FMMController::state_onGround(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
@@ -106,7 +106,7 @@ State FMMController::state_onGround(const Event& ev)
default: /* If an event is not handled here, try with super-state */
{
// Since this is an outer super-state, the parent is HSM_top
- retState = tran_super(&FMMController::Hsm_top);
+ retState = tranSuper(&FMMController::Hsm_top);
break;
}
}
@@ -116,7 +116,7 @@ State FMMController::state_onGround(const Event& ev)
State FMMController::state_init(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
@@ -146,7 +146,7 @@ State FMMController::state_init(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_onGround);
+ retState = tranSuper(&FMMController::state_onGround);
break;
}
}
@@ -156,7 +156,7 @@ State FMMController::state_init(const Event& ev)
State FMMController::state_initError(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
@@ -181,7 +181,7 @@ State FMMController::state_initError(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_onGround);
+ retState = tranSuper(&FMMController::state_onGround);
break;
}
}
@@ -191,7 +191,7 @@ State FMMController::state_initError(const Event& ev)
State FMMController::state_initDone(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
@@ -221,7 +221,7 @@ State FMMController::state_initDone(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_onGround);
+ retState = tranSuper(&FMMController::state_onGround);
break;
}
}
@@ -231,7 +231,7 @@ State FMMController::state_initDone(const Event& ev)
State FMMController::state_sensorsCalibration(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
@@ -239,8 +239,8 @@ State FMMController::state_sensorsCalibration(const Event& ev)
LOG_DEBUG(log, "Entering sensors_calibration");
- DeathStack::getInstance()->sensors->calibrate();
- sEventBroker->post({EV_SENSORS_READY}, TOPIC_FLIGHT_EVENTS);
+ DeathStack::getInstance().sensors->calibrate();
+ sEventBroker.post({EV_SENSORS_READY}, TOPIC_FLIGHT_EVENTS);
break;
}
@@ -266,7 +266,7 @@ State FMMController::state_sensorsCalibration(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_onGround);
+ retState = tranSuper(&FMMController::state_onGround);
break;
}
}
@@ -276,14 +276,14 @@ State FMMController::state_sensorsCalibration(const Event& ev)
State FMMController::state_algosCalibration(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::ALGOS_CALIBRATION);
- sEventBroker->post({EV_CALIBRATE_ADA}, TOPIC_ADA);
- sEventBroker->post({EV_CALIBRATE_NAS}, TOPIC_NAS);
+ sEventBroker.post({EV_CALIBRATE_ADA}, TOPIC_ADA);
+ sEventBroker.post({EV_CALIBRATE_NAS}, TOPIC_NAS);
LOG_DEBUG(log, "Entering algos_calibration");
break;
@@ -308,8 +308,8 @@ State FMMController::state_algosCalibration(const Event& ev)
ada_ready = true;
if (nas_ready)
{
- sEventBroker->post(Event{EV_CALIBRATION_OK},
- TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_CALIBRATION_OK},
+ TOPIC_FLIGHT_EVENTS);
}
break;
}
@@ -318,8 +318,8 @@ State FMMController::state_algosCalibration(const Event& ev)
nas_ready = true;
if (ada_ready)
{
- sEventBroker->post(Event{EV_CALIBRATION_OK},
- TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_CALIBRATION_OK},
+ TOPIC_FLIGHT_EVENTS);
}
break;
}
@@ -330,7 +330,7 @@ State FMMController::state_algosCalibration(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_onGround);
+ retState = tranSuper(&FMMController::state_onGround);
break;
}
}
@@ -340,11 +340,11 @@ State FMMController::state_algosCalibration(const Event& ev)
State FMMController::state_disarmed(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
- sEventBroker->post({EV_DISARMED}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_DISARMED}, TOPIC_FLIGHT_EVENTS);
logState(FMMState::DISARMED);
LOG_DEBUG(log, "Entering disarmed");
@@ -380,7 +380,7 @@ State FMMController::state_disarmed(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_onGround);
+ retState = tranSuper(&FMMController::state_onGround);
break;
}
}
@@ -390,11 +390,11 @@ State FMMController::state_disarmed(const Event& ev)
State FMMController::state_armed(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
- sEventBroker->post({EV_ARMED}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_ARMED}, TOPIC_FLIGHT_EVENTS);
logState(FMMState::ARMED);
LOG_DEBUG(log, "Entering armed");
@@ -423,7 +423,7 @@ State FMMController::state_armed(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::Hsm_top);
+ retState = tranSuper(&FMMController::Hsm_top);
break;
}
}
@@ -433,7 +433,7 @@ State FMMController::state_armed(const Event& ev)
State FMMController::state_testMode(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
@@ -455,37 +455,37 @@ State FMMController::state_testMode(const Event& ev)
}
case EV_TC_NC_OPEN:
{
- sEventBroker->post(Event{EV_NC_OPEN}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_NC_OPEN}, TOPIC_DPL);
break;
}
case EV_TC_DPL_WIGGLE_SERVO:
{
- sEventBroker->post(Event{EV_WIGGLE_SERVO}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_WIGGLE_SERVO}, TOPIC_DPL);
break;
}
case EV_TC_DPL_RESET_SERVO:
{
- sEventBroker->post(Event{EV_RESET_SERVO}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_RESET_SERVO}, TOPIC_DPL);
break;
}
case EV_TC_CUT_DROGUE:
{
- sEventBroker->post(Event{EV_CUT_DROGUE}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_CUT_DROGUE}, TOPIC_DPL);
break;
}
case EV_TC_ABK_WIGGLE_SERVO:
{
- sEventBroker->post(Event{EV_WIGGLE_SERVO}, TOPIC_ABK);
+ sEventBroker.post(Event{EV_WIGGLE_SERVO}, TOPIC_ABK);
break;
}
case EV_TC_ABK_RESET_SERVO:
{
- sEventBroker->post(Event{EV_RESET_SERVO}, TOPIC_ABK);
+ sEventBroker.post(Event{EV_RESET_SERVO}, TOPIC_ABK);
break;
}
case EV_TC_TEST_ABK:
{
- sEventBroker->post(Event{EV_TEST_ABK}, TOPIC_ABK);
+ sEventBroker.post(Event{EV_TEST_ABK}, TOPIC_ABK);
break;
}
case EV_TC_CLOSE_LOG:
@@ -495,12 +495,12 @@ State FMMController::state_testMode(const Event& ev)
}
case EV_TC_START_LOG:
{
- DeathStackBoard::DeathStack::getInstance()->startLogger();
+ DeathStackBoard::DeathStack::getInstance().startLogger();
break;
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_onGround);
+ retState = tranSuper(&FMMController::state_onGround);
break;
}
}
@@ -510,20 +510,20 @@ State FMMController::state_testMode(const Event& ev)
State FMMController::state_flying(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::FLYING);
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
// Start timeout for closing file descriptors
end_mission_d_event_id =
- sEventBroker->postDelayed<TIMEOUT_END_MISSION>(
+ sEventBroker.postDelayed<TIMEOUT_END_MISSION>(
{EV_TIMEOUT_END_MISSION}, TOPIC_FMM);
#ifdef USE_MOCK_SENSORS
- DeathStack::getInstance()->sensors->signalLiftoff();
+ DeathStack::getInstance().ensors->signalLiftoff();
#endif
LOG_DEBUG(log, "Entering flying");
@@ -540,21 +540,21 @@ State FMMController::state_flying(const Event& ev)
{
LOG_DEBUG(log, "Exiting flying");
- sEventBroker->removeDelayed(end_mission_d_event_id);
+ sEventBroker.removeDelayed(end_mission_d_event_id);
break;
}
case EV_TC_NC_OPEN:
{
// Open nosecone command sent by GS in case of problems
// during flight
- sEventBroker->post(Event{EV_NC_OPEN}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_NC_OPEN}, TOPIC_DPL);
break;
}
case EV_TC_ABK_DISABLE:
{
// Disable airbrakes command sent by GS in case of problems
// during flight
- sEventBroker->post(Event{EV_DISABLE_ABK}, TOPIC_ABK);
+ sEventBroker.post(Event{EV_DISABLE_ABK}, TOPIC_ABK);
break;
}
case EV_TC_END_MISSION:
@@ -565,7 +565,7 @@ State FMMController::state_flying(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::Hsm_top);
+ retState = tranSuper(&FMMController::Hsm_top);
break;
}
}
@@ -575,7 +575,7 @@ State FMMController::state_flying(const Event& ev)
State FMMController::state_ascending(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
@@ -597,7 +597,7 @@ State FMMController::state_ascending(const Event& ev)
case EV_ADA_APOGEE_DETECTED:
{
// Notify of apogee all components
- sEventBroker->post(Event{EV_APOGEE}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_APOGEE}, TOPIC_FLIGHT_EVENTS);
retState = transition(&FMMController::state_drogueDescent);
break;
@@ -605,14 +605,14 @@ State FMMController::state_ascending(const Event& ev)
case EV_ADA_DISABLE_ABK:
{
// Send disable airbrakes
- sEventBroker->post(Event{EV_DISABLE_ABK}, TOPIC_ABK);
+ sEventBroker.post(Event{EV_DISABLE_ABK}, TOPIC_ABK);
retState = transition(&FMMController::state_ascending);
break;
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_flying);
+ retState = tranSuper(&FMMController::state_flying);
break;
}
}
@@ -622,12 +622,12 @@ State FMMController::state_ascending(const Event& ev)
State FMMController::state_drogueDescent(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
// Open nosecone
- sEventBroker->post(Event{EV_NC_OPEN}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_NC_OPEN}, TOPIC_DPL);
logState(FMMState::DROGUE_DESCENT);
LOG_DEBUG(log, "Entering drogueDescent");
@@ -651,7 +651,7 @@ State FMMController::state_drogueDescent(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_flying);
+ retState = tranSuper(&FMMController::state_flying);
break;
}
}
@@ -661,13 +661,13 @@ State FMMController::state_drogueDescent(const Event& ev)
State FMMController::state_terminalDescent(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
- sEventBroker->post({EV_DPL_ALTITUDE}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_DPL_ALTITUDE}, TOPIC_FLIGHT_EVENTS);
- sEventBroker->post(Event{EV_CUT_DROGUE}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_CUT_DROGUE}, TOPIC_DPL);
logState(FMMState::TERMINAL_DESCENT);
@@ -684,12 +684,12 @@ State FMMController::state_terminalDescent(const Event& ev)
}
case EV_TC_CUT_DROGUE: // if you want to repeat cutting
{
- sEventBroker->post(Event{EV_CUT_DROGUE}, TOPIC_DPL);
+ sEventBroker.post(Event{EV_CUT_DROGUE}, TOPIC_DPL);
break;
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::state_flying);
+ retState = tranSuper(&FMMController::state_flying);
break;
}
}
@@ -699,14 +699,14 @@ State FMMController::state_terminalDescent(const Event& ev)
State FMMController::state_landed(const Event& ev)
{
State retState = HANDLED;
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::LANDED);
// Announce landing to all components
- sEventBroker->post(Event{EV_LANDED}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_LANDED}, TOPIC_FLIGHT_EVENTS);
logger.stop();
LOG_DEBUG(log, "Entering landed");
@@ -722,7 +722,7 @@ State FMMController::state_landed(const Event& ev)
}
default: /* If an event is not handled here, try with super-state */
{
- retState = tran_super(&FMMController::Hsm_top);
+ retState = tranSuper(&FMMController::Hsm_top);
break;
}
}
diff --git a/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp b/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp
index c077390bb..1205db39d 100644
--- a/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp
+++ b/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp
@@ -35,12 +35,12 @@ namespace DeathStackBoard
FlightStatsRecorder::FlightStatsRecorder()
: FSM(&FlightStatsRecorder::state_idle)
{
- sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);
- sEventBroker->subscribe(this, TOPIC_DPL);
- sEventBroker->subscribe(this, TOPIC_STATS);
+ sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.subscribe(this, TOPIC_DPL);
+ sEventBroker.subscribe(this, TOPIC_STATS);
}
-FlightStatsRecorder::~FlightStatsRecorder() { sEventBroker->unsubscribe(this); }
+FlightStatsRecorder::~FlightStatsRecorder() { sEventBroker.unsubscribe(this); }
void FlightStatsRecorder::update(const ADAKalmanState& t)
{
@@ -125,9 +125,9 @@ void FlightStatsRecorder::update(const MS5803Data& t)
{
case FSRState::ASCENDING:
{
- if (t.press < apogee_stats.digital_min_pressure)
+ if (t.pressure < apogee_stats.digital_min_pressure)
{
- apogee_stats.digital_min_pressure = t.press;
+ apogee_stats.digital_min_pressure = t.pressure;
}
break;
}
@@ -142,9 +142,9 @@ void FlightStatsRecorder::update(const MPXHZ6130AData& t)
{
case FSRState::ASCENDING:
{
- if (t.press < apogee_stats.static_min_pressure)
+ if (t.pressure < apogee_stats.static_min_pressure)
{
- apogee_stats.static_min_pressure = t.press;
+ apogee_stats.static_min_pressure = t.pressure;
}
break;
}
@@ -159,9 +159,9 @@ void FlightStatsRecorder::update(const SSCDANN030PAAData& t)
{
case FSRState::ASCENDING:
{
- if (t.press > drogue_dpl_stats.max_dpl_vane_pressure)
+ if (t.pressure > drogue_dpl_stats.max_dpl_vane_pressure)
{
- drogue_dpl_stats.max_dpl_vane_pressure = t.press;
+ drogue_dpl_stats.max_dpl_vane_pressure = t.pressure;
}
break;
}
@@ -177,19 +177,19 @@ void FlightStatsRecorder::update(const BMX160WithCorrectionData& t)
{
case FSRState::LIFTOFF:
{
- if (fabs(t.accel_x) > liftoff_stats.acc_max)
+ if (fabs(t.accelerationX) > liftoff_stats.acc_max)
{
liftoff_stats.T_max_acc =
static_cast<uint32_t>(miosix::getTick());
- liftoff_stats.acc_max = fabs(t.accel_x);
+ liftoff_stats.acc_max = fabs(t.accelerationX);
}
break;
}
case FSRState::DROGUE_DPL:
{
- if (fabs(t.accel_x) > fabs(drogue_dpl_stats.max_dpl_acc))
+ if (fabs(t.accelerationX) > fabs(drogue_dpl_stats.max_dpl_acc))
{
- drogue_dpl_stats.max_dpl_acc = t.accel_x;
+ drogue_dpl_stats.max_dpl_acc = t.accelerationX;
drogue_dpl_stats.T_dpl =
static_cast<uint32_t>(miosix::getTick());
}
@@ -197,9 +197,9 @@ void FlightStatsRecorder::update(const BMX160WithCorrectionData& t)
}
case FSRState::MAIN_DPL:
{
- if (fabs(t.accel_x) > fabs(main_dpl_stats.max_dpl_acc))
+ if (fabs(t.accelerationX) > fabs(main_dpl_stats.max_dpl_acc))
{
- main_dpl_stats.max_dpl_acc = t.accel_x;
+ main_dpl_stats.max_dpl_acc = t.accelerationX;
}
break;
}
@@ -208,7 +208,7 @@ void FlightStatsRecorder::update(const BMX160WithCorrectionData& t)
}
}
-void FlightStatsRecorder::update(const UbloxGPSData& t)
+void FlightStatsRecorder::update(const GPSData& t)
{
switch (state)
{
@@ -232,7 +232,7 @@ void FlightStatsRecorder::update(const HILImuData& t)
{
BMX160Data d;
d.accel_timestamp = t.accel_timestamp;
- d.accel_x = t.accel_x;
+ d.accelerationX = t.accelerationX;
d.accel_y = t.accel_y;
d.accel_z = t.accel_z;
d.gyro_timestamp = t.gyro_timestamp;
@@ -250,13 +250,13 @@ void FlightStatsRecorder::update(const HILBaroData& t)
{
MS5803Data d;
d.press_timestamp = t.press_timestamp;
- d.press = t.press;
+ d.pressure = t.press;
this->update(d);
}
void FlightStatsRecorder::update(const HILGpsData& t)
{
- UbloxGPSData d;
+ GPSData d;
d.latitude = t.latitude;
d.longitude = t.longitude;
d.height = t.height;
@@ -273,15 +273,15 @@ void FlightStatsRecorder::update(const HILGpsData& t)
void FlightStatsRecorder::state_idle(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
LOG_DEBUG(log, "Entering IDLE state");
-
+
state = FSRState::IDLE;
- StackLogger::getInstance()->updateStack(THID_STATS_FSM);
+ StackLogger::getInstance().updateStack(THID_STATS_FSM);
break;
}
case EV_EXIT:
@@ -309,7 +309,7 @@ void FlightStatsRecorder::state_idle(const Event& ev)
void FlightStatsRecorder::state_liftOff(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -320,22 +320,22 @@ void FlightStatsRecorder::state_liftOff(const Event& ev)
// Collect liftoff stats until this event is received
ev_timeout_id =
sEventBroker
- ->postDelayed<FlightStatsConfig::TIMEOUT_LIFTOFF_STATS>(
+ .postDelayed<FlightStatsConfig::TIMEOUT_LIFTOFF_STATS>(
{EV_STATS_TIMEOUT}, TOPIC_STATS);
// Save liftoff time
liftoff_stats.T_liftoff = static_cast<uint32_t>(miosix::getTick());
- StackLogger::getInstance()->updateStack(THID_STATS_FSM);
+ StackLogger::getInstance().updateStack(THID_STATS_FSM);
break;
}
case EV_EXIT:
{
LOG_DEBUG(log, "Exiting LIFTOFF state");
- LoggerService::getInstance()->log(liftoff_stats);
+ LoggerService::getInstance().log(liftoff_stats);
- sEventBroker->removeDelayed(ev_timeout_id);
+ sEventBroker.removeDelayed(ev_timeout_id);
break;
}
case EV_STATS_TIMEOUT:
@@ -352,7 +352,7 @@ void FlightStatsRecorder::state_liftOff(const Event& ev)
void FlightStatsRecorder::state_ascending(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -360,16 +360,16 @@ void FlightStatsRecorder::state_ascending(const Event& ev)
state = FSRState::ASCENDING;
- StackLogger::getInstance()->updateStack(THID_STATS_FSM);
+ StackLogger::getInstance().updateStack(THID_STATS_FSM);
break;
}
case EV_EXIT:
{
LOG_DEBUG(log, "Exiting ASCENDING state");
- LoggerService::getInstance()->log(apogee_stats);
+ LoggerService::getInstance().log(apogee_stats);
- sEventBroker->removeDelayed(ev_timeout_id);
+ sEventBroker.removeDelayed(ev_timeout_id);
break;
}
case EV_APOGEE:
@@ -381,7 +381,7 @@ void FlightStatsRecorder::state_ascending(const Event& ev)
// seconds in order to record the maximum altitude.
ev_timeout_id =
sEventBroker
- ->postDelayed<FlightStatsConfig::TIMEOUT_APOGEE_STATS>(
+ .postDelayed<FlightStatsConfig::TIMEOUT_APOGEE_STATS>(
{EV_STATS_TIMEOUT}, TOPIC_STATS);
break;
}
@@ -400,7 +400,7 @@ void FlightStatsRecorder::state_ascending(const Event& ev)
void FlightStatsRecorder::state_drogueDeployment(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -411,19 +411,19 @@ void FlightStatsRecorder::state_drogueDeployment(const Event& ev)
// Collect stats until this event is received
ev_timeout_id =
sEventBroker
- ->postDelayed<FlightStatsConfig::TIMEOUT_DROGUE_DPL_STATS>(
+ .postDelayed<FlightStatsConfig::TIMEOUT_DROGUE_DPL_STATS>(
{EV_STATS_TIMEOUT}, TOPIC_STATS);
- StackLogger::getInstance()->updateStack(THID_STATS_FSM);
+ StackLogger::getInstance().updateStack(THID_STATS_FSM);
break;
}
case EV_EXIT:
{
LOG_DEBUG(log, "Exiting DROGUE_DPL state");
- LoggerService::getInstance()->log(drogue_dpl_stats);
+ LoggerService::getInstance().log(drogue_dpl_stats);
- sEventBroker->removeDelayed(ev_timeout_id);
+ sEventBroker.removeDelayed(ev_timeout_id);
break;
}
case EV_STATS_TIMEOUT:
@@ -440,7 +440,7 @@ void FlightStatsRecorder::state_drogueDeployment(const Event& ev)
void FlightStatsRecorder::state_mainDeployment(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -454,19 +454,19 @@ void FlightStatsRecorder::state_mainDeployment(const Event& ev)
// Record stats until this event occurs
ev_timeout_id =
sEventBroker
- ->postDelayed<FlightStatsConfig::TIMEOUT_MAIN_DPL_STATS>(
+ .postDelayed<FlightStatsConfig::TIMEOUT_MAIN_DPL_STATS>(
{EV_STATS_TIMEOUT}, TOPIC_STATS);
- StackLogger::getInstance()->updateStack(THID_STATS_FSM);
+ StackLogger::getInstance().updateStack(THID_STATS_FSM);
break;
}
case EV_EXIT:
{
LOG_DEBUG(log, "Exiting MAIN_DPL state");
- LoggerService::getInstance()->log(main_dpl_stats);
+ LoggerService::getInstance().log(main_dpl_stats);
- sEventBroker->removeDelayed(ev_timeout_id);
+ sEventBroker.removeDelayed(ev_timeout_id);
break;
}
case EV_STATS_TIMEOUT:
@@ -484,7 +484,7 @@ void FlightStatsRecorder::state_mainDeployment(const Event& ev)
/*
void FlightStatsRecorder::state_testingCutters(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -494,10 +494,10 @@ void FlightStatsRecorder::state_testingCutters(const Event& ev)
const int timeout = CutterConfig::CUT_TEST_DURATION;
- ev_timeout_id = sEventBroker->postDelayed<timeout>(
+ ev_timeout_id = sEventBroker.postDelayed<timeout>(
{EV_STATS_TIMEOUT}, TOPIC_STATS);
- StackLogger::getInstance()->updateStack(THID_STATS_FSM);
+ StackLogger::getInstance().updateStack(THID_STATS_FSM);
LOG_DEBUG(log, "Entering CUTTER_TEST state");
break;
}
@@ -508,8 +508,8 @@ void FlightStatsRecorder::state_testingCutters(const Event& ev)
cutters_stats.cutter_2_avg =
cutters_stats.cutter_2_avg / cutters_stats.n_samples_2;
- LoggerService::getInstance()->log(cutters_stats);
- sEventBroker->removeDelayed(ev_timeout_id);
+ LoggerService::getInstance().log(cutters_stats);
+ sEventBroker.removeDelayed(ev_timeout_id);
LOG_DEBUG(log, "Exiting CUTTER_TEST state");
break;
diff --git a/src/boards/DeathStack/FlightStatsRecorder/FSRController.h b/src/boards/DeathStack/FlightStatsRecorder/FSRController.h
index 018de20a1..f00899138 100644
--- a/src/boards/DeathStack/FlightStatsRecorder/FSRController.h
+++ b/src/boards/DeathStack/FlightStatsRecorder/FSRController.h
@@ -27,7 +27,6 @@
#include <Main/SensorsData.h>
#include <configs/FlightStatsConfig.h>
#include <diagnostic/PrintLogger.h>
-#include <drivers/gps/ublox/UbloxGPSData.h>
#include <events/FSM.h>
#include <sensors/BMX160/BMX160WithCorrectionData.h>
#include <sensors/MS5803/MS5803Data.h>
@@ -60,11 +59,11 @@ public:
void update(const ADAKalmanState& t);
void update(const ADAData& t);
- void update(const UbloxGPSData& t);
+ void update(const GPSData& t);
void update(const BMX160WithCorrectionData& t);
- //void update(const CurrentSensorData& t);
- void update(const MS5803Data& t); // digitl baro
- void update(const MPXHZ6130AData& t); // static ports baro
+ // void update(const CurrentSensorData& t);
+ void update(const MS5803Data& t); // digitl baro
+ void update(const MPXHZ6130AData& t); // static ports baro
void update(const SSCDANN030PAAData& t); // DPL vane baro
void update(const AirSpeedPitot& t);
@@ -104,7 +103,7 @@ private:
ApogeeStats apogee_stats{};
DrogueDPLStats drogue_dpl_stats{};
MainDPLStats main_dpl_stats{};
- //CutterTestStats cutters_stats{};
+ // CutterTestStats cutters_stats{};
FSRState state = FSRState::IDLE;
long long T_liftoff = 0;
diff --git a/src/boards/DeathStack/LoggerService/LoggerService.h b/src/boards/DeathStack/LoggerService/LoggerService.h
index 8f6584bd2..c4593aa70 100644
--- a/src/boards/DeathStack/LoggerService/LoggerService.h
+++ b/src/boards/DeathStack/LoggerService/LoggerService.h
@@ -46,7 +46,7 @@ public:
* @brief Generic log function, to be implemented for each loggable struct.
*/
template <typename T>
- inline LogResult log(const T& t)
+ inline LoggerResult log(const T& t)
{
{
miosix::PauseKernelLock kLock;
@@ -86,7 +86,7 @@ private:
* @brief Private constructor to enforce the singleton
*/
LoggerService()
- : logger(Logger::instance()), tmRepo(*(TmRepository::getInstance()))
+ : logger(Logger::getInstance()), tmRepo(TmRepository::getInstance())
{
}
diff --git a/src/boards/DeathStack/Main/Radio.cpp b/src/boards/DeathStack/Main/Radio.cpp
index 1f6248121..aa50827f5 100644
--- a/src/boards/DeathStack/Main/Radio.cpp
+++ b/src/boards/DeathStack/Main/Radio.cpp
@@ -42,9 +42,9 @@ void __attribute__((used)) EXTI10_IRQHandlerImpl()
{
using namespace DeathStackBoard;
- if (DeathStack::getInstance()->radio->xbee != nullptr)
+ if (DeathStack::getInstance().radio->xbee != nullptr)
{
- DeathStack::getInstance()->radio->xbee->handleATTNInterrupt();
+ DeathStack::getInstance().radio->xbee->handleATTNInterrupt();
}
}
@@ -55,7 +55,7 @@ Radio::Radio(SPIBusInterface& xbee_bus) : xbee_bus(xbee_bus)
{
SPIBusConfig xbee_cfg{};
- xbee_cfg.clock_div = SPIClockDivider::DIV16;
+ xbee_cfg.clockDivider = SPI::ClockDivider::DIV_16;
xbee = new Xbee::Xbee(xbee_bus, xbee_cfg, miosix::xbee::cs::getPin(),
miosix::xbee::attn::getPin(),
@@ -70,7 +70,7 @@ Radio::Radio(SPIBusInterface& xbee_bus) : xbee_bus(xbee_bus)
tmtc_manager = new TMTCController();
- tm_repo = TmRepository::getInstance();
+ tm_repo = &(TmRepository::getInstance());
enableExternalInterrupt(GPIOF_BASE, 10, InterruptTrigger::FALLING_EDGE);
}
@@ -89,11 +89,11 @@ bool Radio::start() { return mav_driver->start() && tmtc_manager->start(); }
void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
{
- LoggerService& logger = *LoggerService::getInstance();
+ LoggerService& logger = LoggerService::getInstance();
using namespace Xbee;
bool logged = false;
- switch (frame.frame_type)
+ switch (frame.frameType)
{
case FTYPE_AT_COMMAND:
{
@@ -168,9 +168,9 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
void Radio::logStatus()
{
MavlinkStatus status = mav_driver->getStatus();
- status.timestamp = TimestampTimer::getTimestamp();
- LoggerService::getInstance()->log(status);
- LoggerService::getInstance()->log(xbee->getStatus());
+ status.timestamp = TimestampTimer::getInstance().getTimestamp();
+ LoggerService::getInstance().log(status);
+ LoggerService::getInstance().log(xbee->getStatus());
}
} // namespace DeathStackBoard
\ No newline at end of file
diff --git a/src/boards/DeathStack/Main/Sensors.cpp b/src/boards/DeathStack/Main/Sensors.cpp
index 3242f76a9..78721d919 100644
--- a/src/boards/DeathStack/Main/Sensors.cpp
+++ b/src/boards/DeathStack/Main/Sensors.cpp
@@ -22,11 +22,10 @@
#include <ApogeeDetectionAlgorithm/ADAController.h>
#include <DeathStack.h>
-#include <Debug.h>
#include <LoggerService/LoggerService.h>
-#include <TimestampTimer.h>
#include <configs/SensorsConfig.h>
#include <drivers/interrupt/external_interrupts.h>
+#include <drivers/timer/TimestampTimer.h>
#include <interfaces-impl/hwmapping.h>
#include <sensors/Sensor.h>
#include <utils/aero/AeroUtils.h>
@@ -37,17 +36,15 @@
using std::bind;
using std::function;
-using namespace Boardcore;
-
// BMX160 Watermark interrupt
void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
using namespace DeathStackBoard;
- if (DeathStack::getInstance()->sensors->imu_bmx160 != nullptr)
+ if (DeathStack::getInstance().sensors->imu_bmx160 != nullptr)
{
- DeathStack::getInstance()->sensors->imu_bmx160->IRQupdateTimestamp(
- TimestampTimer::getTimestamp());
+ DeathStack::getInstance().sensors->imu_bmx160->IRQupdateTimestamp(
+ TimestampTimer::getInstance().getTimestamp());
}
}
@@ -78,7 +75,7 @@ Sensors::Sensors(SPIBusInterface& spi1_bus, TaskScheduler* scheduler)
mockSensorsInit();
#endif
- sensor_manager = new SensorManager(scheduler, sensors_map);
+ sensor_manager = new SensorManager(sensors_map, scheduler);
}
Sensors::~Sensors()
@@ -123,7 +120,7 @@ bool Sensors::start()
updateSensorsStatus();
}
- LoggerService::getInstance()->log(status);
+ LoggerService::getInstance().log(status);
return sm_start_result;
}
@@ -131,7 +128,7 @@ bool Sensors::start()
void Sensors::calibrate()
{
imu_bmx160_with_correction->calibrate();
- LoggerService::getInstance()->log(
+ LoggerService::getInstance().log(
imu_bmx160_with_correction->getGyroscopeBiases());
press_pitot->calibrate();
@@ -142,7 +139,7 @@ void Sensors::calibrate()
for (unsigned int i = 0; i < PRESS_STATIC_CALIB_SAMPLES_NUM / 10; i++)
{
Thread::sleep(SAMPLE_PERIOD_PRESS_DIGITAL);
- press_digi_stats.add(press_digital->getLastSample().press);
+ press_digi_stats.add(press_digital->getLastSample().pressure);
}
press_static_port->setReferencePressure(press_digi_stats.getStats().mean);
press_static_port->calibrate();
@@ -165,12 +162,12 @@ void Sensors::signalLiftoff()
void Sensors::internalAdcInit()
{
- internal_adc = new InternalADC(*ADC3, INTERNAL_ADC_VREF);
+ internal_adc = new InternalADC(ADC3, INTERNAL_ADC_VREF);
internal_adc->enableChannel(ADC_BATTERY_VOLTAGE);
SensorInfo info("InternalADC", SAMPLE_PERIOD_INTERNAL_ADC,
- bind(&Sensors::internalAdcCallback, this), false, true);
+ bind(&Sensors::internalAdcCallback, this));
sensors_map.emplace(std::make_pair(internal_adc, info));
LOG_INFO(log, "InternalADC setup done!");
@@ -184,7 +181,7 @@ void Sensors::batteryVoltageInit()
new BatteryVoltageSensor(voltage_fun, BATTERY_VOLTAGE_COEFF);
SensorInfo info("BatterySensor", SAMPLE_PERIOD_INTERNAL_ADC,
- bind(&Sensors::batteryVoltageCallback, this), false, true);
+ bind(&Sensors::batteryVoltageCallback, this));
sensors_map.emplace(std::make_pair(battery_voltage, info));
@@ -194,13 +191,13 @@ void Sensors::batteryVoltageInit()
void Sensors::pressDigiInit()
{
SPIBusConfig spi_cfg{};
- spi_cfg.clock_div = SPIClockDivider::DIV16;
+ spi_cfg.clockDivider = SPI::ClockDivider::DIV_16;
press_digital = new MS5803(spi1_bus, miosix::sensors::ms5803::cs::getPin(),
spi_cfg, TEMP_DIVIDER_PRESS_DIGITAL);
SensorInfo info("DigitalBarometer", SAMPLE_PERIOD_PRESS_DIGITAL,
- bind(&Sensors::pressDigiCallback, this), false, true);
+ bind(&Sensors::pressDigiCallback, this));
sensors_map.emplace(std::make_pair(press_digital, info));
@@ -210,7 +207,7 @@ void Sensors::pressDigiInit()
void Sensors::ADS1118Init()
{
SPIBusConfig spi_cfg = ADS1118::getDefaultSPIConfig();
- spi_cfg.clock_div = SPIClockDivider::DIV64;
+ spi_cfg.clockDivider = SPI::ClockDivider::DIV_64;
ADS1118::ADS1118Config ads1118Config = ADS1118::ADS1118_DEFAULT_CONFIG;
ads1118Config.bits.mode = ADS1118::ADS1118Mode::CONTIN_CONV_MODE;
@@ -229,7 +226,7 @@ void Sensors::ADS1118Init()
adc_ads1118->enableInput(ADC_CH_VREF, ADC_DR_VREF, ADC_PGA_VREF);
SensorInfo info("ADS1118", SAMPLE_PERIOD_ADC_ADS1118,
- bind(&Sensors::ADS1118Callback, this), false, true);
+ bind(&Sensors::ADS1118Callback, this));
sensors_map.emplace(std::make_pair(adc_ads1118, info));
LOG_INFO(log, "ADS1118 setup done!");
@@ -243,7 +240,7 @@ void Sensors::pressPitotInit()
PRESS_PITOT_CALIB_SAMPLES_NUM);
SensorInfo info("DiffBarometer", SAMPLE_PERIOD_PRESS_PITOT,
- bind(&Sensors::pressPitotCallback, this), false, true);
+ bind(&Sensors::pressPitotCallback, this));
sensors_map.emplace(std::make_pair(press_pitot, info));
@@ -257,7 +254,7 @@ void Sensors::pressDPLVaneInit()
press_dpl_vane = new SSCDANN030PAA(voltage_fun, REFERENCE_VOLTAGE);
SensorInfo info("DeploymentBarometer", SAMPLE_PERIOD_PRESS_DPL,
- bind(&Sensors::pressDPLVaneCallback, this), false, true);
+ bind(&Sensors::pressDPLVaneCallback, this));
sensors_map.emplace(std::make_pair(press_dpl_vane, info));
@@ -273,7 +270,7 @@ void Sensors::pressStaticInit()
PRESS_STATIC_MOVING_AVG_COEFF);
SensorInfo info("StaticPortsBarometer", SAMPLE_PERIOD_PRESS_STATIC,
- bind(&Sensors::pressStaticCallback, this), false, true);
+ bind(&Sensors::pressStaticCallback, this));
sensors_map.emplace(std::make_pair(press_static_port, info));
@@ -283,29 +280,29 @@ void Sensors::pressStaticInit()
void Sensors::imuBMXInit()
{
SPIBusConfig spi_cfg;
- spi_cfg.clock_div = SPIClockDivider::DIV8;
+ spi_cfg.clockDivider = SPI::ClockDivider::DIV_8;
BMX160Config bmx_config;
- bmx_config.fifo_mode = BMX160Config::FifoMode::HEADER;
- bmx_config.fifo_watermark = IMU_BMX_FIFO_WATERMARK;
- bmx_config.fifo_int = BMX160Config::FifoInterruptPin::PIN_INT1;
+ bmx_config.fifoMode = BMX160Config::FifoMode::HEADER;
+ bmx_config.fifoWatermark = IMU_BMX_FIFO_WATERMARK;
+ bmx_config.fifoInterrupt = BMX160Config::FifoInterruptPin::PIN_INT1;
- bmx_config.temp_divider = IMU_BMX_TEMP_DIVIDER;
+ bmx_config.temperatureDivider = IMU_BMX_TEMP_DIVIDER;
- bmx_config.acc_range = IMU_BMX_ACC_FULLSCALE_ENUM;
- bmx_config.gyr_range = IMU_BMX_GYRO_FULLSCALE_ENUM;
+ bmx_config.accelerometerRange = IMU_BMX_ACC_FULLSCALE_ENUM;
+ bmx_config.gyroscopeRange = IMU_BMX_GYRO_FULLSCALE_ENUM;
- bmx_config.acc_odr = IMU_BMX_ACC_GYRO_ODR_ENUM;
- bmx_config.gyr_odr = IMU_BMX_ACC_GYRO_ODR_ENUM;
- bmx_config.mag_odr = IMU_BMX_MAG_ODR_ENUM;
+ bmx_config.accelerometerDataRate = IMU_BMX_ACC_GYRO_ODR_ENUM;
+ bmx_config.gyroscopeDataRate = IMU_BMX_ACC_GYRO_ODR_ENUM;
+ bmx_config.magnetometerRate = IMU_BMX_MAG_ODR_ENUM;
- bmx_config.gyr_unit = BMX160Config::GyroscopeMeasureUnit::RAD;
+ bmx_config.gyroscopeUnit = BMX160Config::GyroscopeMeasureUnit::RAD;
imu_bmx160 = new BMX160(spi1_bus, miosix::sensors::bmx160::cs::getPin(),
bmx_config, spi_cfg);
SensorInfo info("BMX160", SAMPLE_PERIOD_IMU_BMX,
- bind(&Sensors::imuBMXCallback, this), false, true);
+ bind(&Sensors::imuBMXCallback, this));
sensors_map.emplace(std::make_pair(imu_bmx160, info));
@@ -353,8 +350,7 @@ void Sensors::imuBMXWithCorrectionInit()
imu_bmx160, correctionParameters, BMX160_AXIS_ROTATION);
SensorInfo info("BMX160WithCorrection", SAMPLE_PERIOD_IMU_BMX,
- bind(&Sensors::imuBMXWithCorrectionCallback, this), false,
- true);
+ bind(&Sensors::imuBMXWithCorrectionCallback, this));
sensors_map.emplace(std::make_pair(imu_bmx160_with_correction, info));
@@ -364,7 +360,7 @@ void Sensors::imuBMXWithCorrectionInit()
void Sensors::magLISinit()
{
SPIBusConfig busConfig;
- busConfig.clock_div = SPIClockDivider::DIV32;
+ busConfig.clockDivider = SPI::ClockDivider::DIV_32;
LIS3MDL::Config config;
config.odr = MAG_LIS_ODR_ENUM;
@@ -375,7 +371,7 @@ void Sensors::magLISinit()
busConfig, config);
SensorInfo info("LIS3MDL", SAMPLE_PERIOD_MAG_LIS,
- bind(&Sensors::magLISCallback, this), false, true);
+ bind(&Sensors::magLISCallback, this));
sensors_map.emplace(std::make_pair(mag_lis3mdl, info));
@@ -384,10 +380,10 @@ void Sensors::magLISinit()
void Sensors::gpsUbloxInit()
{
- gps_ublox = new UbloxGPS(GPS_BAUD_RATE, GPS_SAMPLE_RATE);
+ gps_ublox = new UbloxGPSSerial(GPS_BAUD_RATE, GPS_SAMPLE_RATE);
SensorInfo info("UbloxGPS", GPS_SAMPLE_PERIOD,
- bind(&Sensors::gpsUbloxCallback, this), false, true);
+ bind(&Sensors::gpsUbloxCallback, this));
sensors_map.emplace(std::make_pair(gps_ublox, info));
@@ -396,12 +392,12 @@ void Sensors::gpsUbloxInit()
void Sensors::internalAdcCallback()
{
- // LoggerService::getInstance()->log(internal_adc->getLastSample());
+ // LoggerService::getInstance().log(internal_adc->getLastSample());
}
void Sensors::batteryVoltageCallback()
{
- static float v = battery_voltage->getLastSample().bat_voltage;
+ static float v = battery_voltage->getLastSample().batVoltage;
if (v < BATTERY_MIN_SAFE_VOLTAGE)
{
battery_critical_counter++;
@@ -413,18 +409,18 @@ void Sensors::batteryVoltageCallback()
}
}
- LoggerService::getInstance()->log(battery_voltage->getLastSample());
+ LoggerService::getInstance().log(battery_voltage->getLastSample());
}
#ifdef HARDWARE_IN_THE_LOOP
void Sensors::hilBarometerInit()
{
- HILTransceiver* simulator = HIL::getInstance()->simulator;
+ HILTransceiver* simulator = HIL::getInstance().simulator;
hil_baro = new HILBarometer(simulator, N_DATA_BARO);
SensorInfo info_baro("HILBaro", HIL_BARO_PERIOD,
- bind(&Sensors::hilBaroCallback, this), false, true);
+ bind(&Sensors::hilBaroCallback, this));
sensors_map.emplace(std::make_pair(hil_baro, info_baro));
@@ -432,12 +428,12 @@ void Sensors::hilBarometerInit()
}
void Sensors::hilImuInit()
{
- HILTransceiver* simulator = HIL::getInstance()->simulator;
+ HILTransceiver* simulator = HIL::getInstance().simulator;
hil_imu = new HILImu(simulator, N_DATA_IMU);
SensorInfo info_imu("HILImu", HIL_IMU_PERIOD,
- bind(&Sensors::hilIMUCallback, this), false, true);
+ bind(&Sensors::hilIMUCallback, this));
sensors_map.emplace(std::make_pair(hil_imu, info_imu));
@@ -446,12 +442,12 @@ void Sensors::hilImuInit()
void Sensors::hilGpsInit()
{
- HILTransceiver* simulator = HIL::getInstance()->simulator;
+ HILTransceiver* simulator = HIL::getInstance().simulator;
hil_gps = new HILGps(simulator, N_DATA_GPS);
SensorInfo info_gps("HILGps", HIL_GPS_PERIOD,
- bind(&Sensors::hilGPSCallback, this), false, true);
+ bind(&Sensors::hilGPSCallback, this));
sensors_map.emplace(std::make_pair(hil_gps, info_gps));
@@ -465,11 +461,11 @@ void Sensors::mockSensorsInit()
mock_gps = new MockGPS();
SensorInfo info_baro("MockBaro", SAMPLE_PERIOD_PRESS_STATIC,
- bind(&Sensors::mockBaroCallback, this), false, true);
+ bind(&Sensors::mockBaroCallback, this));
SensorInfo info_imu("MockIMU", SAMPLE_PERIOD_IMU_BMX,
- bind(&Sensors::mockImuCallback, this), false, true);
+ bind(&Sensors::mockImuCallback, this));
SensorInfo info_gps("MockGPS", GPS_SAMPLE_PERIOD,
- bind(&Sensors::mockGpsCallback, this), false, true);
+ bind(&Sensors::mockGpsCallback, this));
sensors_map.emplace(std::make_pair(mock_baro, info_baro));
sensors_map.emplace(std::make_pair(mock_imu, info_imu));
@@ -481,43 +477,44 @@ void Sensors::mockSensorsInit()
void Sensors::pressDigiCallback()
{
- LoggerService::getInstance()->log(press_digital->getLastSample());
+ LoggerService::getInstance().log(press_digital->getLastSample());
}
void Sensors::ADS1118Callback()
{
- LoggerService::getInstance()->log(adc_ads1118->getLastSample());
+ LoggerService::getInstance().log(adc_ads1118->getLastSample());
}
void Sensors::pressPitotCallback()
{
SSCDRRN015PDAData d = press_pitot->getLastSample();
- LoggerService::getInstance()->log(d);
+ LoggerService::getInstance().log(d);
ADAReferenceValues rv =
DeathStack::getInstance()
- ->state_machines->ada_controller->getReferenceValues();
+ .state_machines->ada_controller->getReferenceValues();
float rel_density = aeroutils::relDensity(
- press_digital->getLastSample().press, rv.ref_pressure, rv.ref_altitude,
- rv.ref_temperature);
+ press_digital->getLastSample().pressure, rv.ref_pressure,
+ rv.ref_altitude, rv.ref_temperature);
if (rel_density != 0.0f)
{
- float airspeed = sqrtf(2 * fabs(d.press) / rel_density);
+ float airspeed = sqrtf(2 * fabs(d.pressure) / rel_density);
- AirSpeedPitot aspeed_data{TimestampTimer::getTimestamp(), airspeed};
- LoggerService::getInstance()->log(aspeed_data);
+ AirSpeedPitot aspeed_data{TimestampTimer::getInstance().getTimestamp(),
+ airspeed};
+ LoggerService::getInstance().log(aspeed_data);
}
}
void Sensors::pressDPLVaneCallback()
{
- LoggerService::getInstance()->log(press_dpl_vane->getLastSample());
+ LoggerService::getInstance().log(press_dpl_vane->getLastSample());
}
void Sensors::pressStaticCallback()
{
- LoggerService::getInstance()->log(press_static_port->getLastSample());
+ LoggerService::getInstance().log(press_static_port->getLastSample());
}
void Sensors::imuBMXCallback()
@@ -525,94 +522,92 @@ void Sensors::imuBMXCallback()
uint8_t fifo_size = imu_bmx160->getLastFifoSize();
auto& fifo = imu_bmx160->getLastFifo();
- LoggerService::getInstance()->log(imu_bmx160->getTemperature());
+ LoggerService::getInstance().log(imu_bmx160->getTemperature());
for (uint8_t i = 0; i < fifo_size; ++i)
{
- LoggerService::getInstance()->log(fifo.at(i));
+ LoggerService::getInstance().log(fifo.at(i));
}
- LoggerService::getInstance()->log(imu_bmx160->getFifoStats());
+ LoggerService::getInstance().log(imu_bmx160->getFifoStats());
}
void Sensors::imuBMXWithCorrectionCallback()
{
- LoggerService::getInstance()->log(
+ LoggerService::getInstance().log(
imu_bmx160_with_correction->getLastSample());
}
void Sensors::magLISCallback()
{
- LoggerService::getInstance()->log(mag_lis3mdl->getLastSample());
+ LoggerService::getInstance().log(mag_lis3mdl->getLastSample());
}
void Sensors::gpsUbloxCallback()
{
- LoggerService::getInstance()->log(gps_ublox->getLastSample());
+ LoggerService::getInstance().log(gps_ublox->getLastSample());
}
#ifdef HARDWARE_IN_THE_LOOP
void Sensors::hilIMUCallback()
{
- LoggerService::getInstance()->log(hil_imu->getLastSample());
+ LoggerService::getInstance().log(hil_imu->getLastSample());
}
void Sensors::hilBaroCallback()
{
- LoggerService::getInstance()->log(hil_baro->getLastSample());
+ LoggerService::getInstance().log(hil_baro->getLastSample());
}
void Sensors::hilGPSCallback()
{
- LoggerService::getInstance()->log(hil_gps->getLastSample());
+ LoggerService::getInstance().log(hil_gps->getLastSample());
}
#elif defined(USE_MOCK_SENSORS)
void Sensors::mockBaroCallback()
{
- LoggerService::getInstance()->log(mock_imu->getLastSample());
+ LoggerService::getInstance().log(mock_imu->getLastSample());
}
void Sensors::mockImuCallback()
{
- LoggerService::getInstance()->log(mock_baro->getLastSample());
+ LoggerService::getInstance().log(mock_baro->getLastSample());
}
void Sensors::mockGpsCallback()
{
- LoggerService::getInstance()->log(mock_gps->getLastSample());
+ LoggerService::getInstance().log(mock_gps->getLastSample());
}
#endif
void Sensors::updateSensorsStatus()
{
- SensorInfo info;
-
- info = sensor_manager->getSensorInfo(imu_bmx160);
- if (!info.is_initialized)
+ SensorInfo info = sensor_manager->getSensorInfo(imu_bmx160);
+ if (!info.isInitialized)
{
status.bmx160 = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(mag_lis3mdl);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.lis3mdl = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(gps_ublox);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.gps = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(internal_adc);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.internal_adc = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(adc_ads1118);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.ads1118 = SensorDriverStatus::DRIVER_ERROR;
}
diff --git a/src/boards/DeathStack/Main/Sensors.h b/src/boards/DeathStack/Main/Sensors.h
index 44f335a07..1587e1a87 100644
--- a/src/boards/DeathStack/Main/Sensors.h
+++ b/src/boards/DeathStack/Main/Sensors.h
@@ -24,16 +24,17 @@
#include <Main/SensorsData.h>
#include <diagnostic/PrintLogger.h>
-#include <drivers/adc/ADS1118/ADS1118.h>
-#include <drivers/adc/InternalADC/InternalADC.h>
-#include <drivers/gps/ublox/UbloxGPS.h>
+#include <drivers/adc/InternalADC.h>
#include <drivers/spi/SPIBusInterface.h>
+#include <scheduler/TaskScheduler.h>
+#include <sensors/ADS1118/ADS1118.h>
#include <sensors/BMX160/BMX160.h>
#include <sensors/BMX160/BMX160WithCorrection.h>
#include <sensors/LIS3MDL/LIS3MDL.h>
#include <sensors/MS5803/MS5803.h>
#include <sensors/SensorData.h>
#include <sensors/SensorManager.h>
+#include <sensors/UbloxGPS/UbloxGPS.h>
#include <sensors/analog/battery/BatteryVoltageSensor.h>
#include <sensors/analog/current/CurrentSensor.h>
#include <sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h>
diff --git a/src/boards/DeathStack/Main/StateMachines.cpp b/src/boards/DeathStack/Main/StateMachines.cpp
index f0f08297e..021e82d27 100644
--- a/src/boards/DeathStack/Main/StateMachines.cpp
+++ b/src/boards/DeathStack/Main/StateMachines.cpp
@@ -47,7 +47,7 @@ StateMachines::StateMachines(IMUType& imu, PressType& press, GPSType& gps,
fmm = new FMMController();
#ifdef HARDWARE_IN_THE_LOOP
- HIL::getInstance()->setNAS(&nas_controller->getNAS());
+ HIL::getInstance().setNAS(&nas_controller->getNAS());
#endif
addAlgorithmsToScheduler(scheduler);
@@ -72,14 +72,18 @@ void StateMachines::addAlgorithmsToScheduler(TaskScheduler* scheduler)
{
uint64_t start_time = miosix::getTick() + 10;
- scheduler->add(std::bind(&ADAControllerType::update, ada_controller),
- ADA_UPDATE_PERIOD, TASK_ADA_ID, start_time);
+ scheduler->addTask(std::bind(&ADAControllerType::update, ada_controller),
+ ADA_UPDATE_PERIOD, TASK_ADA_ID,
+ TaskScheduler::Policy::RECOVER, start_time);
- scheduler->add(std::bind(&NASControllerType::update, nas_controller),
- NAS_UPDATE_PERIOD, TASK_NAS_ID, start_time);
+ scheduler->addTask(std::bind(&NASControllerType::update, nas_controller),
+ NAS_UPDATE_PERIOD, TASK_NAS_ID,
+ TaskScheduler::Policy::RECOVER, start_time);
- scheduler->add(std::bind(&AirBrakesControllerType::update, arb_controller),
- ABK_UPDATE_PERIOD, TASK_ABK_ID, start_time);
+ scheduler->addTask(
+ std::bind(&AirBrakesControllerType::update, arb_controller),
+ ABK_UPDATE_PERIOD, TASK_ABK_ID, TaskScheduler::Policy::RECOVER,
+ start_time);
}
void StateMachines::setReferenceTemperature(float t)
diff --git a/src/boards/DeathStack/Main/StateMachines.h b/src/boards/DeathStack/Main/StateMachines.h
index a00692b76..d109922f1 100644
--- a/src/boards/DeathStack/Main/StateMachines.h
+++ b/src/boards/DeathStack/Main/StateMachines.h
@@ -24,9 +24,9 @@
#include <LoggerService/LoggerService.h>
#include <NavigationAttitudeSystem/NASData.h>
-#include <drivers/gps/ublox/UbloxGPS.h>
#include <scheduler/TaskScheduler.h>
#include <sensors/BMX160/BMX160WithCorrection.h>
+#include <sensors/UbloxGPS/UbloxGPS.h>
#include <sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h>
#ifdef HARDWARE_IN_THE_LOOP
@@ -112,8 +112,6 @@ public:
private:
void addAlgorithmsToScheduler(TaskScheduler* scheduler);
-
- LoggerService& logger = *(LoggerService::getInstance());
};
} // namespace DeathStackBoard
\ No newline at end of file
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h b/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h
index a2dff0521..6a4dd11bd 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h
@@ -29,7 +29,6 @@
#pragma once
-#include <Common.h>
#include <configs/NASConfig.h>
#include <diagnostic/PrintLogger.h>
#include <math/SkyQuaternion.h>
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h b/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h
index 6e62ccb2d..9310e21f7 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h
@@ -40,8 +40,8 @@
#include <NavigationAttitudeSystem/ExtendedKalmanEigen.h>
#include <NavigationAttitudeSystem/InitStates.h>
#include <NavigationAttitudeSystem/NASData.h>
-#include <TimestampTimer.h>
#include <diagnostic/PrintLogger.h>
+#include <drivers/timer/TimestampTimer.h>
#include <math/SkyQuaternion.h>
#include <sensors/Sensor.h>
@@ -187,7 +187,7 @@ bool NAS<IMU, Press, GPS>::init()
initialized = true;
- LoggerService::getInstance()->log(getTriadResult());
+ LoggerService::getInstance().log(getTriadResult());
return initialized;
}
@@ -211,52 +211,54 @@ NASData NAS<IMU, Press, GPS>::sampleImpl()
Press pressure_data = barometer.getLastSample();
// update ekf with new accel and gyro measures
- if (imu_data.accel_timestamp != last_accel_timestamp &&
- imu_data.gyro_timestamp != last_gyro_timestamp)
+ if (imu_data.accelerationTimestamp != last_accel_timestamp &&
+ imu_data.angularVelocityTimestamp != last_gyro_timestamp)
{
- last_accel_timestamp = imu_data.accel_timestamp;
- last_gyro_timestamp = imu_data.gyro_timestamp;
+ last_accel_timestamp = imu_data.accelerationTimestamp;
+ last_gyro_timestamp = imu_data.angularVelocityTimestamp;
- Vector3f accel_readings(imu_data.accel_x, imu_data.accel_y,
- imu_data.accel_z);
+ Vector3f accel_readings(imu_data.accelerationX, imu_data.accelerationY,
+ imu_data.accelerationZ);
filter.predict(accel_readings);
- Vector3f gyro_readings(imu_data.gyro_x, imu_data.gyro_y,
- imu_data.gyro_z);
+ Vector3f gyro_readings(imu_data.angularVelocityX,
+ imu_data.angularVelocityY,
+ imu_data.angularVelocityZ);
filter.predictMEKF(gyro_readings);
}
// check if new pressure data is available
- if (pressure_data.press_timestamp != last_press_timestamp)
+ if (pressure_data.pressureTimestamp != last_press_timestamp)
{
- last_press_timestamp = pressure_data.press_timestamp;
+ last_press_timestamp = pressure_data.pressureTimestamp;
- filter.correctBaro(pressure_data.press, ref_values.msl_pressure,
+ filter.correctBaro(pressure_data.pressure, ref_values.msl_pressure,
ref_values.msl_temperature);
}
// check if new gps data is available and the gps has fix
- if (gps_data.gps_timestamp != last_gps_timestamp && gps_data.fix == true)
+ if (gps_data.gpsTimestamp != last_gps_timestamp && gps_data.fix == true)
{
- last_gps_timestamp = gps_data.gps_timestamp;
+ last_gps_timestamp = gps_data.gpsTimestamp;
Vector3f gps_readings(gps_data.latitude, gps_data.longitude,
gps_data.height);
Vector3f gps_ned = geodetic2NED(gps_readings);
- Vector4f pos_vel(gps_ned(0), gps_ned(1), gps_data.velocity_north,
- gps_data.velocity_east);
- filter.correctGPS(pos_vel, gps_data.num_satellites);
+ Vector4f pos_vel(gps_ned(0), gps_ned(1), gps_data.velocityNorth,
+ gps_data.velocityEast);
+ filter.correctGPS(pos_vel, gps_data.satellites);
}
// check if new magnetometer data is available
- if (imu_data.mag_timestamp != last_mag_timestamp)
+ if (imu_data.magneticFieldTimestamp != last_mag_timestamp)
{
- Vector3f mag_readings(imu_data.mag_x, imu_data.mag_y, imu_data.mag_z);
+ Vector3f mag_readings(imu_data.magneticFieldX, imu_data.magneticFieldY,
+ imu_data.magneticFieldZ);
if (mag_readings.norm() < EMF * JAMMING_FACTOR)
{
- last_mag_timestamp = imu_data.mag_timestamp;
+ last_mag_timestamp = imu_data.magneticFieldTimestamp;
mag_readings.normalize();
filter.correctMEKF(mag_readings);
@@ -351,7 +353,7 @@ void NAS<IMU, Press, GPS>::setInitialOrientation(float roll, float pitch,
template <typename IMU, typename Press, typename GPS>
void NAS<IMU, Press, GPS>::updateNASData()
{
- nas_data.timestamp = TimestampTimer::getTimestamp();
+ nas_data.timestamp = TimestampTimer::getInstance().getTimestamp();
nas_data.x = x(0);
nas_data.y = x(1);
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h b/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h
index 7a115db5a..c8d12a06c 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h
@@ -22,8 +22,6 @@
#pragma once
-#include <Common.h>
-#include <Debug.h>
#include <NavigationAttitudeSystem/NASData.h>
#include <math/Stats.h>
#include <miosix.h>
@@ -99,8 +97,8 @@ private:
Stats mag_z_stats;
// Refernece flags
- bool ref_coordinates_set = false;
- bool ref_altitude_set = false;
+ bool ref_coordinates_set = false;
+ bool ref_altitude_set = false;
bool ref_temperature_set = false;
};
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h b/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h
index 425df09ce..307116324 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h
@@ -121,11 +121,11 @@ NASController<IMU, Press, GPS>::NASController(Sensor<IMU>& imu,
Sensor<GPS>& gps)
: NASFsm(&NASCtrl::state_idle), calibrator(CALIBRATION_N_SAMPLES), imu(imu),
barometer(baro), gps(gps), nas(imu, baro, gps),
- logger(*(LoggerService::getInstance()))
+ logger(LoggerService::getInstance())
{
memset(&status, 0, sizeof(NASStatus));
- sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);
- sEventBroker->subscribe(this, TOPIC_NAS);
+ sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.subscribe(this, TOPIC_NAS);
status.state = NASState::IDLE;
}
@@ -133,7 +133,7 @@ NASController<IMU, Press, GPS>::NASController(Sensor<IMU>& imu,
template <typename IMU, typename Press, typename GPS>
NASController<IMU, Press, GPS>::~NASController()
{
- sEventBroker->unsubscribe(this);
+ sEventBroker.unsubscribe(this);
}
template <typename IMU, typename Press, typename GPS>
@@ -157,31 +157,33 @@ void NASController<IMU, Press, GPS>::update()
{
Lock<FastMutex> l(mutex);
- if (imu_data.accel_timestamp != last_accel_timestamp)
+ if (imu_data.accelerationTimestamp != last_accel_timestamp)
{
- last_accel_timestamp = imu_data.accel_timestamp;
- calibrator.addAccelSample(
- imu_data.accel_x, imu_data.accel_y, imu_data.accel_z);
+ last_accel_timestamp = imu_data.accelerationTimestamp;
+ calibrator.addAccelSample(imu_data.accelerationX,
+ imu_data.accelerationY,
+ imu_data.accelerationZ);
}
- if (imu_data.mag_timestamp != last_mag_timestamp)
+ if (imu_data.magneticFieldTimestamp != last_mag_timestamp)
{
- last_mag_timestamp = imu_data.mag_timestamp;
- calibrator.addMagSample(imu_data.mag_x, imu_data.mag_y,
- imu_data.mag_z);
+ last_mag_timestamp = imu_data.magneticFieldTimestamp;
+ calibrator.addMagSample(imu_data.magneticFieldX,
+ imu_data.magneticFieldY,
+ imu_data.magneticFieldZ);
}
// Add samples to the calibration
- if (press_data.press_timestamp != last_press_timestamp)
+ if (press_data.pressureTimestamp != last_press_timestamp)
{
- last_press_timestamp = press_data.press_timestamp;
- calibrator.addBaroSample(press_data.press);
+ last_press_timestamp = press_data.pressureTimestamp;
+ calibrator.addBaroSample(press_data.pressure);
}
if (gps_data.fix == true &&
- gps_data.gps_timestamp != last_gps_timestamp)
+ gps_data.gpsTimestamp != last_gps_timestamp)
{
- last_gps_timestamp = gps_data.gps_timestamp;
+ last_gps_timestamp = gps_data.gpsTimestamp;
calibrator.addGPSSample(gps_data.latitude,
gps_data.longitude);
}
@@ -240,14 +242,14 @@ void NASController<IMU, Press, GPS>::finalizeCalibration()
LOG_INFO(log, "Finalized calibration and TRIAD");
- sEventBroker->post({EV_NAS_READY}, TOPIC_NAS);
+ sEventBroker.post({EV_NAS_READY}, TOPIC_NAS);
}
}
template <typename IMU, typename Press, typename GPS>
void NASController<IMU, Press, GPS>::state_idle(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -275,7 +277,7 @@ void NASController<IMU, Press, GPS>::state_idle(const Event& ev)
template <typename IMU, typename Press, typename GPS>
void NASController<IMU, Press, GPS>::state_calibrating(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -315,7 +317,7 @@ void NASController<IMU, Press, GPS>::state_calibrating(const Event& ev)
template <typename IMU, typename Press, typename GPS>
void NASController<IMU, Press, GPS>::state_ready(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -348,7 +350,7 @@ void NASController<IMU, Press, GPS>::state_ready(const Event& ev)
template <typename IMU, typename Press, typename GPS>
void NASController<IMU, Press, GPS>::state_active(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -376,7 +378,7 @@ void NASController<IMU, Press, GPS>::state_active(const Event& ev)
template <typename IMU, typename Press, typename GPS>
void NASController<IMU, Press, GPS>::state_end(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
@@ -457,18 +459,18 @@ void NASController<IMU, Press, GPS>::setReferenceAltitude(float altitude)
template <typename IMU, typename Press, typename GPS>
void NASController<IMU, Press, GPS>::logStatus(NASState state)
{
- status.timestamp = TimestampTimer::getTimestamp();
+ status.timestamp = TimestampTimer::getInstance().getTimestamp();
status.state = state;
logger.log(status);
- StackLogger::getInstance()->updateStack(THID_NAS_FSM);
+ StackLogger::getInstance().updateStack(THID_NAS_FSM);
}
template <typename IMU, typename Press, typename GPS>
void NASController<IMU, Press, GPS>::logData()
{
NASKalmanState kalman_state = nas.getKalmanState();
- kalman_state.timestamp = TimestampTimer::getTimestamp();
+ kalman_state.timestamp = TimestampTimer::getInstance().getTimestamp();
logger.log(kalman_state);
logger.log(nas.getLastSample());
}
diff --git a/src/boards/DeathStack/PinHandler/PinHandler.cpp b/src/boards/DeathStack/PinHandler/PinHandler.cpp
index 352c73db9..ef710a411 100644
--- a/src/boards/DeathStack/PinHandler/PinHandler.cpp
+++ b/src/boards/DeathStack/PinHandler/PinHandler.cpp
@@ -20,12 +20,12 @@
* THE SOFTWARE.
*/
+#include <DeathStack.h>
#include <LoggerService/LoggerService.h>
#include <PinHandler/PinHandler.h>
#include <diagnostic/PrintLogger.h>
#include <events/EventBroker.h>
#include <events/Events.h>
-#include <DeathStack.h>
#include <functional>
@@ -40,7 +40,7 @@ namespace DeathStackBoard
{
PinHandler::PinHandler()
- : pin_obs(PIN_POLL_INTERVAL), logger(LoggerService::getInstance())
+ : pin_obs(PIN_POLL_INTERVAL), logger(&LoggerService::getInstance())
{
// Used for _1, _2. See std::bind cpp reference
using namespace std::placeholders;
@@ -85,16 +85,17 @@ void PinHandler::onLaunchPinTransition(unsigned int p, unsigned char n)
UNUSED(n);
#ifdef HARDWARE_IN_THE_LOOP
- HIL::getInstance()->signalLiftoff();
+ HIL::getInstance().signalLiftoff();
#elif defined(USE_MOCK_SENSORS)
- DeathStack::getInstance()->sensors->signalLiftoff();
+ DeathStack::getInstance().ensors->signalLiftoff();
#endif
- sEventBroker->post(Event{EV_UMBILICAL_DETACHED}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_UMBILICAL_DETACHED}, TOPIC_FLIGHT_EVENTS);
LOG_INFO(log, "Launch pin detached!");
- status_pin_launch.last_detection_time = TimestampTimer::getTimestamp();
+ status_pin_launch.last_detection_time =
+ TimestampTimer::getInstance().getTimestamp();
logger->log(status_pin_launch);
}
@@ -102,11 +103,12 @@ void PinHandler::onNCPinTransition(unsigned int p, unsigned char n)
{
UNUSED(p);
UNUSED(n);
- sEventBroker->post(Event{EV_NC_DETACHED}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_NC_DETACHED}, TOPIC_FLIGHT_EVENTS);
LOG_INFO(log, "Nosecone detached!");
- status_pin_nosecone.last_detection_time = TimestampTimer::getTimestamp();
+ status_pin_nosecone.last_detection_time =
+ TimestampTimer::getInstance().getTimestamp();
logger->log(status_pin_nosecone);
}
@@ -118,7 +120,8 @@ void PinHandler::onDPLServoPinTransition(unsigned int p, unsigned char n)
LOG_INFO(log, "Deployment servo actuated!");
// do not post any event, just log the timestamp
- status_pin_dpl_servo.last_detection_time = TimestampTimer::getTimestamp();
+ status_pin_dpl_servo.last_detection_time =
+ TimestampTimer::getInstance().getTimestamp();
logger->log(status_pin_dpl_servo);
}
@@ -128,8 +131,9 @@ void PinHandler::onLaunchPinStateChange(unsigned int p, unsigned char n,
UNUSED(p);
UNUSED(n);
- status_pin_launch.state = (uint8_t)state;
- status_pin_launch.last_state_change = TimestampTimer::getTimestamp();
+ status_pin_launch.state = (uint8_t)state;
+ status_pin_launch.last_state_change =
+ TimestampTimer::getInstance().getTimestamp();
status_pin_launch.num_state_changes += 1;
LOG_INFO(log,
@@ -145,8 +149,9 @@ void PinHandler::onNCPinStateChange(unsigned int p, unsigned char n, int state)
UNUSED(p);
UNUSED(n);
- status_pin_nosecone.state = (uint8_t)state;
- status_pin_nosecone.last_state_change = TimestampTimer::getTimestamp();
+ status_pin_nosecone.state = (uint8_t)state;
+ status_pin_nosecone.last_state_change =
+ TimestampTimer::getInstance().getTimestamp();
status_pin_nosecone.num_state_changes += 1;
LOG_INFO(log, "Nosecone pin state change at time {}: new state = {}",
@@ -161,8 +166,9 @@ void PinHandler::onDPLServoPinStateChange(unsigned int p, unsigned char n,
UNUSED(p);
UNUSED(n);
- status_pin_dpl_servo.state = (uint8_t)state;
- status_pin_dpl_servo.last_state_change = TimestampTimer::getTimestamp();
+ status_pin_dpl_servo.state = (uint8_t)state;
+ status_pin_dpl_servo.last_state_change =
+ TimestampTimer::getInstance().getTimestamp();
status_pin_dpl_servo.num_state_changes += 1;
LOG_INFO(log,
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.cpp b/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.cpp
index aba74b7bb..b34959d82 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.cpp
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.cpp
@@ -67,7 +67,7 @@ const std::map<uint8_t, uint8_t> tcMap = {
void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
{
// log status
- DeathStack::getInstance()->radio->logStatus();
+ DeathStack::getInstance().radio->logStatus();
// acknowledge
sendAck(mav_driver, msg);
@@ -83,7 +83,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
// search for the corresponding event and post it
auto it = tcMap.find(commandId);
if (it != tcMap.end())
- sEventBroker->post(Event{it->second}, TOPIC_TMTC);
+ sEventBroker.post(Event{it->second}, TOPIC_TMTC);
else
LOG_WARN(print_logger, "Unknown NOARG command {:d}", commandId);
@@ -100,7 +100,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
LOG_INFO(print_logger, "Received command CLOSE_LOG");
break;
case MAV_CMD_START_LOGGING:
- DeathStack::getInstance()->startLogger();
+ DeathStack::getInstance().startLogger();
sendTelemetry(mav_driver, MAV_LOGGER_TM_ID);
LOG_INFO(print_logger, "Received command START_LOG");
break;
@@ -128,8 +128,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
print_logger,
"Received SET_REFERENCE_ALTITUDE command. Ref altitude: {:f} m",
alt);
- DeathStack::getInstance()->state_machines->setReferenceAltitude(
- alt);
+ DeathStack::getInstance().state_machines->setReferenceAltitude(alt);
break;
}
case MAVLINK_MSG_ID_SET_REFERENCE_TEMPERATURE_TC:
@@ -140,7 +139,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
print_logger,
"Received SET_REFERENCE_TEMPERATURE command. Temp: {:f} degC",
temp);
- DeathStack::getInstance()->state_machines->setReferenceTemperature(
+ DeathStack::getInstance().state_machines->setReferenceTemperature(
temp);
break;
}
@@ -153,7 +152,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
"Received SET_DEPLOYMENT_ALTITUDE command. Dpl alt: {:f} m",
alt);
DeathStack::getInstance()
- ->state_machines->ada_controller->setDeploymentAltitude(alt);
+ .state_machines->ada_controller->setDeploymentAltitude(alt);
break;
}
case MAVLINK_MSG_ID_SET_INITIAL_ORIENTATION_TC:
@@ -166,7 +165,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
"Received SET_INITIAL_ORIENTATION command. roll: {:f}, "
"pitch: {:f}, yaw: {:f}",
roll, pitch, yaw);
- DeathStack::getInstance()->state_machines->setInitialOrientation(
+ DeathStack::getInstance().state_machines->setInitialOrientation(
roll, pitch, yaw);
break;
}
@@ -182,7 +181,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
"Received SET_INITIAL_COORDINATES command. latitude: {:f}, "
"longitude: {:f}",
latitude, longitude);
- DeathStack::getInstance()->state_machines->setInitialCoordinates(
+ DeathStack::getInstance().state_machines->setInitialCoordinates(
latitude, longitude);
break;
}
@@ -191,8 +190,8 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
LOG_DEBUG(print_logger, "Received RAW_EVENT command");
// post given event on given topic
- sEventBroker->post({mavlink_msg_raw_event_tc_get_Event_id(&msg)},
- mavlink_msg_raw_event_tc_get_Topic_id(&msg));
+ sEventBroker.post({mavlink_msg_raw_event_tc_get_Event_id(&msg)},
+ mavlink_msg_raw_event_tc_get_Topic_id(&msg));
break;
}
@@ -205,7 +204,7 @@ void handleMavlinkMessage(MavDriver* mav_driver, const mavlink_message_t& msg)
{
float pos = mavlink_msg_set_aerobrake_angle_tc_get_angle(&msg);
DeathStack::getInstance()
- ->state_machines->arb_controller->setAirBrakesPosition(pos);
+ .state_machines->arb_controller->setAirBrakesPosition(pos);
LOG_DEBUG(print_logger, "Received set ab pos: {:.1f} deg", pos);
break;
@@ -231,11 +230,10 @@ bool sendTelemetry(MavDriver* mav_driver, const uint8_t tm_id)
{
// enqueue the TM packet taking it from the TM repo (pauses kernel to
// guarantee synchronicity)
- bool ok =
- mav_driver->enqueueMsg(TmRepository::getInstance()->packTM(tm_id));
+ bool ok = mav_driver->enqueueMsg(TmRepository::getInstance().packTM(tm_id));
// update status
- DeathStack::getInstance()->radio->logStatus();
+ DeathStack::getInstance().radio->logStatus();
return ok;
}
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h b/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h
index 7ac29dc46..5921a37de 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h
@@ -37,7 +37,7 @@ bool sendTelemetry(MavDriver* mav_driver, const uint8_t tm_id);
void logMavlinkStatus(MavDriver* mav_driver);
-static LoggerService* logger = LoggerService::getInstance();
+static LoggerService* logger = &LoggerService::getInstance();
static PrintLogger print_logger =
Logging::getLogger("deathstack.tmtc.tchandler");
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp b/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp
index 77559358c..9d564a18d 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp
@@ -34,23 +34,23 @@ TMTCController::TMTCController()
: FSM(&TMTCController::stateGroundTM, skywardStack(16 * 1024))
{
// init FSM
- sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);
- sEventBroker->subscribe(this, TOPIC_TMTC);
+ sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.subscribe(this, TOPIC_TMTC);
LOG_DEBUG(log, "Created TMTCController");
}
-TMTCController::~TMTCController() { sEventBroker->unsubscribe(this); }
+TMTCController::~TMTCController() { sEventBroker.unsubscribe(this); }
bool TMTCController::send(const uint8_t tm_id)
{
- MavDriver* mav_driver = DeathStack::getInstance()->radio->mav_driver;
- TmRepository* tm_repo = DeathStack::getInstance()->radio->tm_repo;
+ MavDriver* mav_driver = DeathStack::getInstance().radio->mav_driver;
+ TmRepository* tm_repo = DeathStack::getInstance().radio->tm_repo;
// enqueue the TM packet taking it from the TM repo (pauses kernel to
// guarantee synchronicity)
bool ok = mav_driver->enqueueMsg(tm_repo->packTM(tm_id));
// update status
- DeathStack::getInstance()->radio->logStatus();
+ DeathStack::getInstance().radio->logStatus();
return ok;
}
@@ -60,7 +60,7 @@ void TMTCController::sendSerialTelemetry()
// TODO : this has a problem, mavlink bytes are printed along with debug
// messages, which confuses everything
#ifdef DEBUG
- TmRepository* tm_repo = DeathStack::getInstance()->radio->tm_repo;
+ TmRepository* tm_repo = DeathStack::getInstance().radio->tm_repo;
uint8_t buf[256];
mavlink_message_t msg = tm_repo->packTM(MAV_HR_TM_ID);
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
@@ -71,29 +71,29 @@ void TMTCController::sendSerialTelemetry()
void TMTCController::stateGroundTM(const Event& ev)
{
- // TmRepository* tm_repo = DeathStack::getInstance()->radio->tm_repo;
- switch (ev.sig)
+ // TmRepository* tm_repo = DeathStack::getInstance().radio->tm_repo;
+ switch (ev.code)
{
case EV_ENTRY:
{
// add periodic events
- periodicHrEvId = sEventBroker->postDelayed<HR_TM_GROUND_TIMEOUT>(
+ periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
Event{EV_SEND_HR_TM}, TOPIC_TMTC);
// periodicSensEvId =
- // sEventBroker->postDelayed<GROUND_SENS_TM_TIMEOUT>(
+ // sEventBroker.postDelayed<GROUND_SENS_TM_TIMEOUT>(
// Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
LOG_DEBUG(log, "Entering stateGroundTM");
// log stack usage
- StackLogger::getInstance()->updateStack(THID_TMTC_FSM);
+ StackLogger::getInstance().updateStack(THID_TMTC_FSM);
break;
}
case EV_EXIT:
{
// remove periodic events
- sEventBroker->removeDelayed(periodicHrEvId);
- sEventBroker->removeDelayed(periodicSensEvId);
+ sEventBroker.removeDelayed(periodicHrEvId);
+ sEventBroker.removeDelayed(periodicSensEvId);
LOG_DEBUG(log, "Exiting stateGroundTM");
break;
@@ -101,7 +101,7 @@ void TMTCController::stateGroundTM(const Event& ev)
case EV_SEND_HR_TM:
{
// repost periodic event
- periodicHrEvId = sEventBroker->postDelayed<HR_TM_GROUND_TIMEOUT>(
+ periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
Event{EV_SEND_HR_TM}, TOPIC_TMTC);
send(MAV_HR_TM_ID);
@@ -112,7 +112,7 @@ void TMTCController::stateGroundTM(const Event& ev)
{
// LOG_DEBUG(log, "Sending SENS_TM");
// periodicSensEvId =
- // sEventBroker->postDelayed<GROUND_SENS_TM_TIMEOUT>(
+ // sEventBroker.postDelayed<GROUND_SENS_TM_TIMEOUT>(
// Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
// send tm
@@ -142,28 +142,28 @@ void TMTCController::stateGroundTM(const Event& ev)
void TMTCController::stateFlightTM(const Event& ev)
{
- switch (ev.sig)
+ switch (ev.code)
{
case EV_ENTRY:
{
// add periodic events
- periodicLrEvId = sEventBroker->postDelayed<LR_TM_TIMEOUT>(
+ periodicLrEvId = sEventBroker.postDelayed<LR_TM_TIMEOUT>(
Event{EV_SEND_LR_TM}, TOPIC_TMTC);
- periodicHrEvId = sEventBroker->postDelayed<HR_TM_TIMEOUT>(
+ periodicHrEvId = sEventBroker.postDelayed<HR_TM_TIMEOUT>(
Event{EV_SEND_HR_TM}, TOPIC_TMTC);
LOG_DEBUG(log, "Entering stateFlightTM");
// log stack usage
- StackLogger::getInstance()->updateStack(THID_TMTC_FSM);
+ StackLogger::getInstance().updateStack(THID_TMTC_FSM);
break;
}
case EV_EXIT:
{
// remove periodic events
- sEventBroker->removeDelayed(periodicLrEvId);
- sEventBroker->removeDelayed(periodicHrEvId);
+ sEventBroker.removeDelayed(periodicLrEvId);
+ sEventBroker.removeDelayed(periodicHrEvId);
LOG_DEBUG(log, "Exiting stateFlightTM");
break;
@@ -171,7 +171,7 @@ void TMTCController::stateFlightTM(const Event& ev)
case EV_SEND_HR_TM:
{
// repost periodic event
- periodicHrEvId = sEventBroker->postDelayed<HR_TM_TIMEOUT>(
+ periodicHrEvId = sEventBroker.postDelayed<HR_TM_TIMEOUT>(
Event{EV_SEND_HR_TM}, TOPIC_TMTC);
// send tm once 4 packets are filled
@@ -186,7 +186,7 @@ void TMTCController::stateFlightTM(const Event& ev)
case EV_SEND_LR_TM:
{
// repost periodic event
- periodicLrEvId = sEventBroker->postDelayed<LR_TM_TIMEOUT>(
+ periodicLrEvId = sEventBroker.postDelayed<LR_TM_TIMEOUT>(
Event{EV_SEND_LR_TM}, TOPIC_TMTC);
// send low rate tm
@@ -207,25 +207,25 @@ void TMTCController::stateFlightTM(const Event& ev)
void TMTCController::stateSensorTM(const Event& ev)
{
- // TmRepository* tm_repo = DeathStack::getInstance()->radio->tm_repo;
- switch (ev.sig)
+ // TmRepository* tm_repo = DeathStack::getInstance().radio->tm_repo;
+ switch (ev.code)
{
case EV_ENTRY:
{
// add periodic events
- periodicSensEvId = sEventBroker->postDelayed<SENS_TM_TIMEOUT>(
+ periodicSensEvId = sEventBroker.postDelayed<SENS_TM_TIMEOUT>(
Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
LOG_DEBUG(log, "Entering stateSensorTM");
// log stack usage
- StackLogger::getInstance()->updateStack(THID_TMTC_FSM);
+ StackLogger::getInstance().updateStack(THID_TMTC_FSM);
break;
}
case EV_EXIT:
{
// remove periodic events
- sEventBroker->removeDelayed(periodicSensEvId);
+ sEventBroker.removeDelayed(periodicSensEvId);
LOG_DEBUG(log, "Exiting stateSensorTM");
break;
@@ -233,7 +233,7 @@ void TMTCController::stateSensorTM(const Event& ev)
case EV_SEND_SENS_TM:
{
// repost periodic event
- periodicSensEvId = sEventBroker->postDelayed<SENS_TM_TIMEOUT>(
+ periodicSensEvId = sEventBroker.postDelayed<SENS_TM_TIMEOUT>(
Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
send(MAV_SENSORS_TM_ID);
@@ -258,25 +258,25 @@ void TMTCController::stateSensorTM(const Event& ev)
void TMTCController::stateSerialDebugTM(const Event& ev)
{
- // TmRepository* tm_repo = DeathStack::getInstance()->radio->tm_repo;
- switch (ev.sig)
+ // TmRepository* tm_repo = DeathStack::getInstance().radio->tm_repo;
+ switch (ev.code)
{
case EV_ENTRY:
{
// add periodic events
- periodicHrEvId = sEventBroker->postDelayed<HR_TM_GROUND_TIMEOUT>(
+ periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
Event{EV_SEND_HR_TM_OVER_SERIAL}, TOPIC_TMTC);
LOG_DEBUG(log, "Entering stateSerialDebugTM");
// log stack usage
- StackLogger::getInstance()->updateStack(THID_TMTC_FSM);
+ StackLogger::getInstance().updateStack(THID_TMTC_FSM);
break;
}
case EV_EXIT:
{
// remove periodic events
- sEventBroker->removeDelayed(periodicHrEvId);
+ sEventBroker.removeDelayed(periodicHrEvId);
LOG_DEBUG(log, "Exiting stateSerialDebugTM");
break;
@@ -284,7 +284,7 @@ void TMTCController::stateSerialDebugTM(const Event& ev)
case EV_SEND_HR_TM_OVER_SERIAL:
{
// repost periodic event
- periodicHrEvId = sEventBroker->postDelayed<HR_TM_GROUND_TIMEOUT>(
+ periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
Event{EV_SEND_HR_TM_OVER_SERIAL}, TOPIC_TMTC);
sendSerialTelemetry();
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.h b/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.h
index 880070170..a1fd9d3cd 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.h
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.h
@@ -77,7 +77,7 @@ private:
void stateFlightTM(const Event& ev);
void stateSerialDebugTM(const Event& ev);
- LoggerService& logger = *(LoggerService::getInstance());
+ LoggerService& logger = LoggerService::getInstance();
uint16_t periodicHrEvId = 0;
uint16_t periodicLrEvId = 0;
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
index 4edbb81c6..3028f8037 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
@@ -21,15 +21,14 @@
* THE SOFTWARE.
*/
-#include <Constants.h>
#include <DeathStack.h>
-#include <Debug.h>
#include <FlightStatsRecorder/FSRController.h>
#include <LoggerService/LoggerService.h>
#include <System/TaskID.h>
#include <TelemetriesTelecommands/TmRepository.h>
#include <configs/SensorsConfig.h>
#include <configs/TMTCConfig.h>
+#include <utils/Constants.h>
using namespace Boardcore;
@@ -209,18 +208,18 @@ template <>
void TmRepository::update<BatteryVoltageSensorData>(
const BatteryVoltageSensorData& t)
{
- if (t.channel_id == DeathStackBoard::SensorConfigs::ADC_BATTERY_VOLTAGE)
+ if (t.channelId == DeathStackBoard::SensorConfigs::ADC_BATTERY_VOLTAGE)
{
- tm_repository.hr_tm.vbat = t.bat_voltage;
- tm_repository.sensors_tm.vbat = t.bat_voltage;
- tm_repository.adc_tm.bat_voltage = t.bat_voltage;
+ tm_repository.hr_tm.vbat = t.batVoltage;
+ tm_repository.sensors_tm.vbat = t.batVoltage;
+ tm_repository.adc_tm.bat_voltage = t.batVoltage;
}
}
template <>
void TmRepository::update<ADS1118Data>(const ADS1118Data& t)
{
- if (t.channel_id == SensorConfigs::ADC_CH_VREF)
+ if (t.channelId == SensorConfigs::ADC_CH_VREF)
{
// tm_repository.wind_tm.pressure_dpl = t.voltage;
tm_repository.sensors_tm.vsupply_5v = t.voltage;
@@ -232,17 +231,17 @@ void TmRepository::update<ADS1118Data>(const ADS1118Data& t)
template <>
void TmRepository::update<MS5803Data>(const MS5803Data& t)
{
- tm_repository.wind_tm.pressure_digital = t.press;
- tm_repository.sensors_tm.ms5803_press = t.press;
- tm_repository.digital_baro_tm.pressure = t.press;
+ tm_repository.wind_tm.pressure_digital = t.pressure;
+ tm_repository.sensors_tm.ms5803_press = t.pressure;
+ tm_repository.digital_baro_tm.pressure = t.pressure;
#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
- tm_repository.hr_tm.pressure_digi = t.press;
-#endif
+ tm_repository.hr_tm.pressure_digi = t.pressure;
+#endif
- tm_repository.sensors_tm.ms5803_temp = t.temp;
- tm_repository.hr_tm.temperature = t.temp;
- tm_repository.digital_baro_tm.temperature = t.temp;
+ tm_repository.sensors_tm.ms5803_temp = t.temperature;
+ tm_repository.hr_tm.temperature = t.temperature;
+ tm_repository.digital_baro_tm.temperature = t.temperature;
stats_rec.update(t);
}
@@ -250,12 +249,12 @@ void TmRepository::update<MS5803Data>(const MS5803Data& t)
template <>
void TmRepository::update<MPXHZ6130AData>(const MPXHZ6130AData& t)
{
- tm_repository.wind_tm.pressure_static = t.press;
- tm_repository.sensors_tm.static_press = t.press;
- tm_repository.adc_tm.static_pressure = t.press;
+ tm_repository.wind_tm.pressure_static = t.pressure;
+ tm_repository.sensors_tm.static_press = t.pressure;
+ tm_repository.adc_tm.static_pressure = t.pressure;
#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
- tm_repository.hr_tm.pressure_static = t.press;
+ tm_repository.hr_tm.pressure_static = t.pressure;
#endif
stats_rec.update(t);
@@ -264,9 +263,9 @@ void TmRepository::update<MPXHZ6130AData>(const MPXHZ6130AData& t)
template <>
void TmRepository::update<SSCDRRN015PDAData>(const SSCDRRN015PDAData& t)
{
- tm_repository.wind_tm.pressure_differential = t.press;
- tm_repository.sensors_tm.pitot_press = t.press;
- tm_repository.adc_tm.pitot_pressure = t.press;
+ tm_repository.wind_tm.pressure_differential = t.pressure;
+ tm_repository.sensors_tm.pitot_press = t.pressure;
+ tm_repository.adc_tm.pitot_pressure = t.pressure;
}
template <>
@@ -280,10 +279,10 @@ void TmRepository::update<AirSpeedPitot>(const AirSpeedPitot& t)
template <>
void TmRepository::update<SSCDANN030PAAData>(const SSCDANN030PAAData& t)
{
- tm_repository.wind_tm.pressure_dpl = t.press;
- tm_repository.sensors_tm.dpl_press = t.press;
- tm_repository.hr_tm.pressure_dpl = t.press;
- tm_repository.adc_tm.dpl_pressure = t.press;
+ tm_repository.wind_tm.pressure_dpl = t.pressure;
+ tm_repository.sensors_tm.dpl_press = t.pressure;
+ tm_repository.hr_tm.pressure_dpl = t.pressure;
+ tm_repository.adc_tm.dpl_pressure = t.pressure;
stats_rec.update(t);
}
@@ -292,40 +291,40 @@ void TmRepository::update<SSCDANN030PAAData>(const SSCDANN030PAAData& t)
template <>
void TmRepository::update<BMX160Data>(const BMX160Data& t)
{
- tm_repository.sensors_tm.bmx160_acc_x = t.accel_x;
- tm_repository.sensors_tm.bmx160_acc_y = t.accel_y;
- tm_repository.sensors_tm.bmx160_acc_z = t.accel_z;
- tm_repository.sensors_tm.bmx160_gyro_x = t.gyro_x;
- tm_repository.sensors_tm.bmx160_gyro_y = t.gyro_y;
- tm_repository.sensors_tm.bmx160_gyro_z = t.gyro_z;
- tm_repository.sensors_tm.bmx160_mag_x = t.mag_x;
- tm_repository.sensors_tm.bmx160_mag_y = t.mag_y;
- tm_repository.sensors_tm.bmx160_mag_z = t.mag_z;
+ tm_repository.sensors_tm.bmx160_acc_x = t.accelerationX;
+ tm_repository.sensors_tm.bmx160_acc_y = t.accelerationY;
+ tm_repository.sensors_tm.bmx160_acc_z = t.accelerationZ;
+ tm_repository.sensors_tm.bmx160_gyro_x = t.angularVelocityX;
+ tm_repository.sensors_tm.bmx160_gyro_y = t.angularVelocityY;
+ tm_repository.sensors_tm.bmx160_gyro_z = t.angularVelocityZ;
+ tm_repository.sensors_tm.bmx160_mag_x = t.magneticFieldX;
+ tm_repository.sensors_tm.bmx160_mag_y = t.magneticFieldY;
+ tm_repository.sensors_tm.bmx160_mag_z = t.magneticFieldZ;
}
template <>
void TmRepository::update<BMX160WithCorrectionData>(
const BMX160WithCorrectionData& t)
{
- tm_repository.bmx_tm.acc_x = t.accel_x;
- tm_repository.bmx_tm.acc_y = t.accel_y;
- tm_repository.bmx_tm.acc_z = t.accel_z;
- tm_repository.bmx_tm.gyro_x = t.gyro_x;
- tm_repository.bmx_tm.gyro_y = t.gyro_y;
- tm_repository.bmx_tm.gyro_z = t.gyro_z;
- tm_repository.bmx_tm.mag_x = t.mag_x;
- tm_repository.bmx_tm.mag_y = t.mag_y;
- tm_repository.bmx_tm.mag_z = t.mag_z;
-
- tm_repository.hr_tm.acc_x = t.accel_x;
- tm_repository.hr_tm.acc_y = t.accel_y;
- tm_repository.hr_tm.acc_z = t.accel_z;
- tm_repository.hr_tm.gyro_x = t.gyro_x;
- tm_repository.hr_tm.gyro_y = t.gyro_y;
- tm_repository.hr_tm.gyro_z = t.gyro_z;
- tm_repository.hr_tm.mag_x = t.mag_x;
- tm_repository.hr_tm.mag_y = t.mag_y;
- tm_repository.hr_tm.mag_z = t.mag_z;
+ tm_repository.bmx_tm.acc_x = t.accelerationX;
+ tm_repository.bmx_tm.acc_y = t.accelerationY;
+ tm_repository.bmx_tm.acc_z = t.accelerationZ;
+ tm_repository.bmx_tm.gyro_x = t.angularVelocityX;
+ tm_repository.bmx_tm.gyro_y = t.angularVelocityY;
+ tm_repository.bmx_tm.gyro_z = t.angularVelocityZ;
+ tm_repository.bmx_tm.mag_x = t.magneticFieldX;
+ tm_repository.bmx_tm.mag_y = t.magneticFieldY;
+ tm_repository.bmx_tm.mag_z = t.magneticFieldZ;
+
+ tm_repository.hr_tm.acc_x = t.accelerationX;
+ tm_repository.hr_tm.acc_y = t.accelerationY;
+ tm_repository.hr_tm.acc_z = t.accelerationZ;
+ tm_repository.hr_tm.gyro_x = t.angularVelocityX;
+ tm_repository.hr_tm.gyro_y = t.angularVelocityY;
+ tm_repository.hr_tm.gyro_z = t.angularVelocityZ;
+ tm_repository.hr_tm.mag_x = t.magneticFieldX;
+ tm_repository.hr_tm.mag_y = t.magneticFieldY;
+ tm_repository.hr_tm.mag_z = t.magneticFieldZ;
stats_rec.update(t);
}
@@ -334,22 +333,22 @@ void TmRepository::update<BMX160WithCorrectionData>(
template <>
void TmRepository::update<BMX160Temperature>(const BMX160Temperature& t)
{
- tm_repository.sensors_tm.bmx160_temp = t.temp;
- tm_repository.bmx_tm.temp = t.temp;
+ tm_repository.sensors_tm.bmx160_temp = t.temperature;
+ tm_repository.bmx_tm.temp = t.temperature;
}
template <>
void TmRepository::update<LIS3MDLData>(const LIS3MDLData& t)
{
- tm_repository.sensors_tm.lis3mdl_mag_x = t.mag_x;
- tm_repository.sensors_tm.lis3mdl_mag_y = t.mag_y;
- tm_repository.sensors_tm.lis3mdl_mag_z = t.mag_z;
- tm_repository.sensors_tm.lis3mdl_temp = t.temp;
+ tm_repository.sensors_tm.lis3mdl_mag_x = t.magneticFieldX;
+ tm_repository.sensors_tm.lis3mdl_mag_y = t.magneticFieldY;
+ tm_repository.sensors_tm.lis3mdl_mag_z = t.magneticFieldZ;
+ tm_repository.sensors_tm.lis3mdl_temp = t.temperature;
- tm_repository.lis3mdl_tm.mag_x = t.mag_x;
- tm_repository.lis3mdl_tm.mag_y = t.mag_y;
- tm_repository.lis3mdl_tm.mag_z = t.mag_z;
- tm_repository.lis3mdl_tm.temp = t.temp;
+ tm_repository.lis3mdl_tm.mag_x = t.magneticFieldX;
+ tm_repository.lis3mdl_tm.mag_y = t.magneticFieldY;
+ tm_repository.lis3mdl_tm.mag_z = t.magneticFieldZ;
+ tm_repository.lis3mdl_tm.temp = t.temperature;
}
#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
@@ -357,19 +356,19 @@ void TmRepository::update<LIS3MDLData>(const LIS3MDLData& t)
* @brief GPS.
*/
template <>
-void TmRepository::update<UbloxGPSData>(const UbloxGPSData& t)
+void TmRepository::update<GPSData>(const GPSData& t)
{
// GPS_TM
tm_repository.gps_tm.latitude = t.latitude;
tm_repository.gps_tm.longitude = t.longitude;
tm_repository.gps_tm.height = t.height;
- tm_repository.gps_tm.vel_north = t.velocity_north;
- tm_repository.gps_tm.vel_east = t.velocity_east;
- tm_repository.gps_tm.vel_down = t.velocity_down;
+ tm_repository.gps_tm.vel_north = t.velocityNorth;
+ tm_repository.gps_tm.vel_east = t.velocityEast;
+ tm_repository.gps_tm.vel_down = t.velocityDown;
tm_repository.gps_tm.speed = t.speed;
tm_repository.gps_tm.fix = (uint8_t)t.fix;
tm_repository.gps_tm.track = t.track;
- tm_repository.gps_tm.n_satellites = t.num_satellites;
+ tm_repository.gps_tm.n_satellites = t.satellites;
// HR TM
tm_repository.hr_tm.gps_lat = t.latitude;
@@ -378,7 +377,7 @@ void TmRepository::update<UbloxGPSData>(const UbloxGPSData& t)
tm_repository.hr_tm.gps_fix = (uint8_t)t.fix;
// TEST TM
- tm_repository.test_tm.gps_nsats = t.num_satellites;
+ tm_repository.test_tm.gps_nsats = t.satellites;
stats_rec.update(t);
}
@@ -399,9 +398,9 @@ template <>
void TmRepository::update<Xbee::ATCommandResponseFrameLog>(
const Xbee::ATCommandResponseFrameLog& t)
{
- if (strncmp(t.at_command, "DB", 2) == 0 && t.command_data_length == 1)
+ if (strncmp(t.atCommand, "DB", 2) == 0 && t.commandDataLength == 1)
{
- tm_repository.wind_tm.last_RSSI = -t.command_data[0];
+ tm_repository.wind_tm.last_RSSI = -t.commandData[0];
}
}
@@ -550,23 +549,23 @@ void TmRepository::update<PinStatus>(const PinStatus& t)
* @brief Logger.
*/
template <>
-void TmRepository::update<LogStats>(const LogStats& t)
+void TmRepository::update<LoggerStats>(const LoggerStats& t)
{
tm_repository.logger_tm.statLogNumber = t.logNumber;
- tm_repository.logger_tm.statTooLargeSamples = t.statTooLargeSamples;
- tm_repository.logger_tm.statDroppedSamples = t.statDroppedSamples;
- tm_repository.logger_tm.statQueuedSamples = t.statQueuedSamples;
- tm_repository.logger_tm.statBufferFilled = t.statBufferFilled;
- tm_repository.logger_tm.statBufferWritten = t.statBufferWritten;
- tm_repository.logger_tm.statWriteFailed = t.statWriteFailed;
- tm_repository.logger_tm.statWriteError = t.statWriteError;
- tm_repository.logger_tm.statWriteTime = t.statWriteTime;
- tm_repository.logger_tm.statMaxWriteTime = t.statMaxWriteTime;
+ tm_repository.logger_tm.statTooLargeSamples = t.tooLargeSamples;
+ tm_repository.logger_tm.statDroppedSamples = t.droppedSamples;
+ tm_repository.logger_tm.statQueuedSamples = t.queuedSamples;
+ tm_repository.logger_tm.statBufferFilled = t.buffersFilled;
+ tm_repository.logger_tm.statBufferWritten = t.buffersWritten;
+ tm_repository.logger_tm.statWriteFailed = t.writesFailed;
+ tm_repository.logger_tm.statWriteError = t.lastWriteError;
+ tm_repository.logger_tm.statWriteTime = t.writeTime;
+ tm_repository.logger_tm.statMaxWriteTime = t.maxWriteTime;
tm_repository.wind_tm.log_num = t.logNumber;
- tm_repository.wind_tm.log_status = t.opened ? t.statWriteError : -1000;
+ tm_repository.wind_tm.log_status = t.lastWriteError;
- tm_repository.hr_tm.logger_error = t.opened ? t.statWriteError : -1;
+ tm_repository.hr_tm.logger_error = t.lastWriteError;
}
/**
@@ -576,21 +575,21 @@ template <>
void TmRepository::update<MavlinkStatus>(const MavlinkStatus& t)
{
// mavchannel stats
- tm_repository.tmtc_tm.n_send_queue = t.n_send_queue;
- tm_repository.tmtc_tm.max_send_queue = t.max_send_queue;
- tm_repository.tmtc_tm.n_send_errors = t.n_send_errors;
- tm_repository.tmtc_tm.msg_received = t.mav_stats.msg_received;
+ tm_repository.tmtc_tm.n_send_queue = t.nSendQueue;
+ tm_repository.tmtc_tm.max_send_queue = t.maxSendQueue;
+ tm_repository.tmtc_tm.n_send_errors = t.nSendErrors;
+ tm_repository.tmtc_tm.msg_received = t.mavStats.msg_received;
// mav stats
- tm_repository.tmtc_tm.buffer_overrun = t.mav_stats.buffer_overrun;
- tm_repository.tmtc_tm.parse_error = t.mav_stats.parse_error;
- tm_repository.tmtc_tm.parse_state = t.mav_stats.parse_state;
- tm_repository.tmtc_tm.packet_idx = t.mav_stats.packet_idx;
- tm_repository.tmtc_tm.current_rx_seq = t.mav_stats.current_rx_seq;
- tm_repository.tmtc_tm.current_tx_seq = t.mav_stats.current_tx_seq;
+ tm_repository.tmtc_tm.buffer_overrun = t.mavStats.buffer_overrun;
+ tm_repository.tmtc_tm.parse_error = t.mavStats.parse_error;
+ tm_repository.tmtc_tm.parse_state = t.mavStats.parse_state;
+ tm_repository.tmtc_tm.packet_idx = t.mavStats.packet_idx;
+ tm_repository.tmtc_tm.current_rx_seq = t.mavStats.current_rx_seq;
+ tm_repository.tmtc_tm.current_tx_seq = t.mavStats.current_tx_seq;
tm_repository.tmtc_tm.packet_rx_success_count =
- t.mav_stats.packet_rx_success_count;
+ t.mavStats.packet_rx_success_count;
tm_repository.tmtc_tm.packet_rx_drop_count =
- t.mav_stats.packet_rx_drop_count;
+ t.mavStats.packet_rx_drop_count;
}
/**
@@ -692,7 +691,7 @@ void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
tm_repository.task_stats_tm.task_sensors_6ms_mean =
t.periodStats.mean;
tm_repository.task_stats_tm.task_sensors_6ms_stddev =
- t.periodStats.stdev;
+ t.periodStats.stdDev;
break;
case TASK_SENSORS_15_MS_ID:
tm_repository.task_stats_tm.task_sensors_15ms_max =
@@ -702,7 +701,7 @@ void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
tm_repository.task_stats_tm.task_sensors_15ms_mean =
t.periodStats.mean;
tm_repository.task_stats_tm.task_sensors_15ms_stddev =
- t.periodStats.stdev;
+ t.periodStats.stdDev;
break;
case TASK_SENSORS_20_MS_ID:
tm_repository.task_stats_tm.task_sensors_20ms_max =
@@ -712,7 +711,7 @@ void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
tm_repository.task_stats_tm.task_sensors_20ms_mean =
t.periodStats.mean;
tm_repository.task_stats_tm.task_sensors_20ms_stddev =
- t.periodStats.stdev;
+ t.periodStats.stdDev;
break;
case TASK_SENSORS_24_MS_ID:
tm_repository.task_stats_tm.task_sensors_24ms_max =
@@ -722,7 +721,7 @@ void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
tm_repository.task_stats_tm.task_sensors_24ms_mean =
t.periodStats.mean;
tm_repository.task_stats_tm.task_sensors_24ms_stddev =
- t.periodStats.stdev;
+ t.periodStats.stdDev;
break;
case TASK_SENSORS_40_MS_ID:
tm_repository.task_stats_tm.task_sensors_40ms_max =
@@ -732,7 +731,7 @@ void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
tm_repository.task_stats_tm.task_sensors_40ms_mean =
t.periodStats.mean;
tm_repository.task_stats_tm.task_sensors_40ms_stddev =
- t.periodStats.stdev;
+ t.periodStats.stdDev;
break;
case TASK_SENSORS_1000_MS_ID:
tm_repository.task_stats_tm.task_sensors_1000ms_max =
@@ -742,25 +741,25 @@ void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
tm_repository.task_stats_tm.task_sensors_1000ms_mean =
t.periodStats.mean;
tm_repository.task_stats_tm.task_sensors_1000ms_stddev =
- t.periodStats.stdev;
+ t.periodStats.stdDev;
break;
case TASK_ADA_ID:
tm_repository.task_stats_tm.task_ada_max = t.periodStats.maxValue;
tm_repository.task_stats_tm.task_ada_min = t.periodStats.minValue;
tm_repository.task_stats_tm.task_ada_mean = t.periodStats.mean;
- tm_repository.task_stats_tm.task_ada_stddev = t.periodStats.stdev;
+ tm_repository.task_stats_tm.task_ada_stddev = t.periodStats.stdDev;
break;
case TASK_ABK_ID:
tm_repository.task_stats_tm.task_abk_max = t.periodStats.maxValue;
tm_repository.task_stats_tm.task_abk_min = t.periodStats.minValue;
tm_repository.task_stats_tm.task_abk_mean = t.periodStats.mean;
- tm_repository.task_stats_tm.task_abk_stddev = t.periodStats.stdev;
+ tm_repository.task_stats_tm.task_abk_stddev = t.periodStats.stdDev;
break;
case TASK_NAS_ID:
tm_repository.task_stats_tm.task_nas_max = t.periodStats.maxValue;
tm_repository.task_stats_tm.task_nas_min = t.periodStats.minValue;
tm_repository.task_stats_tm.task_nas_mean = t.periodStats.mean;
- tm_repository.task_stats_tm.task_nas_stddev = t.periodStats.stdev;
+ tm_repository.task_stats_tm.task_nas_stddev = t.periodStats.stdDev;
break;
// case TASK_SCHEDULER_STATS_ID:
// tm_repository.task_stats_tm.task_250hz_max =
@@ -770,7 +769,7 @@ void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
// tm_repository.task_stats_tm.task_250hz_mean =
// t.periodStats.mean;
// tm_repository.task_stats_tm.task_250hz_stddev =
- // t.periodStats.stdev; break;
+ // t.periodStats.stdDev; break;
default:
break;
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h
index fa1077442..c8141b2ac 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h
@@ -29,17 +29,17 @@
#include <FlightModeManager/FMMStatus.h>
#include <FlightStatsRecorder/FSRController.h>
#include <FlightStatsRecorder/FSRData.h>
+#include <Main/SensorsData.h>
#include <NavigationAttitudeSystem/NASData.h>
#include <PinHandler/PinHandlerData.h>
#include <Singleton.h>
#include <SystemData.h>
-#include <Main/SensorsData.h>
#include <TelemetriesTelecommands/Mavlink.h>
+#include <configs/TMTCConfig.h>
#include <diagnostic/PrintLogger.h>
#include <drivers/Xbee/APIFramesLog.h>
-#include <drivers/adc/ADS1118/ADS1118Data.h>
-#include <drivers/gps/ublox/UbloxGPSData.h>
#include <scheduler/TaskSchedulerData.h>
+#include <sensors/ADS1118/ADS1118Data.h>
#include <sensors/BMX160/BMX160WithCorrectionData.h>
#include <sensors/LIS3MDL/LIS3MDLData.h>
#include <sensors/MS5803/MS5803Data.h>
@@ -49,8 +49,6 @@
#include <sensors/analog/pressure/honeywell/SSCDANN030PAAData.h>
#include <sensors/analog/pressure/honeywell/SSCDRRN015PDAData.h>
-#include <configs/TMTCConfig.h>
-
#ifdef HARDWARE_IN_THE_LOOP
#include <hardware_in_the_loop/HIL_sensors/HILSensors.h>
#elif defined(USE_MOCK_SENSORS)
@@ -175,7 +173,7 @@ void TmRepository::update<AirSpeedPitot>(const AirSpeedPitot& t);
template <>
void TmRepository::update<SSCDANN030PAAData>(const SSCDANN030PAAData& t);
-#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
+#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
template <>
void TmRepository::update<BMX160Data>(const BMX160Data& t);
@@ -190,9 +188,9 @@ void TmRepository::update<BMX160Temperature>(const BMX160Temperature& t);
template <>
void TmRepository::update<LIS3MDLData>(const LIS3MDLData& t);
-#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
+#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
template <>
-void TmRepository::update<UbloxGPSData>(const UbloxGPSData& t);
+void TmRepository::update<GPSData>(const GPSData& t);
#endif
template <>
@@ -213,7 +211,7 @@ void TmRepository::update<Xbee::ATCommandResponseFrameLog>(
* @brief Logger.
*/
template <>
-void TmRepository::update<LogStats>(const LogStats& t);
+void TmRepository::update<LoggerStats>(const LoggerStats& t);
/**
* @brief Initialization status of the board.
diff --git a/src/boards/DeathStack/configs/ADAConfig.h b/src/boards/DeathStack/configs/ADAConfig.h
index ce0a20746..2d4734402 100644
--- a/src/boards/DeathStack/configs/ADAConfig.h
+++ b/src/boards/DeathStack/configs/ADAConfig.h
@@ -74,12 +74,12 @@ static const float KALMAN_INITIAL_ACCELERATION = -500;
static const uint8_t KALMAN_STATES_NUM = 3;
static const uint8_t KALMAN_OUTPUTS_NUM = 1;
-using MatrixNN = Matrix<float, KALMAN_STATES_NUM, KALMAN_STATES_NUM>;
-using MatrixPN = Matrix<float, KALMAN_OUTPUTS_NUM, KALMAN_STATES_NUM>;
-using MatrixNP = Matrix<float, KALMAN_STATES_NUM, KALMAN_OUTPUTS_NUM>;
-using MatrixPP = Matrix<float, KALMAN_OUTPUTS_NUM, KALMAN_OUTPUTS_NUM>;
-using CVectorN = Matrix<float, KALMAN_STATES_NUM, 1>;
-using CVectorP = Matrix<float, KALMAN_OUTPUTS_NUM, 1>;
+using MatrixNN = Eigen::Matrix<float, KALMAN_STATES_NUM, KALMAN_STATES_NUM>;
+using MatrixPN = Eigen::Matrix<float, KALMAN_OUTPUTS_NUM, KALMAN_STATES_NUM>;
+using MatrixNP = Eigen::Matrix<float, KALMAN_STATES_NUM, KALMAN_OUTPUTS_NUM>;
+using MatrixPP = Eigen::Matrix<float, KALMAN_OUTPUTS_NUM, KALMAN_OUTPUTS_NUM>;
+using CVectorN = Eigen::Matrix<float, KALMAN_STATES_NUM, 1>;
+using CVectorP = Eigen::Matrix<float, KALMAN_OUTPUTS_NUM, 1>;
// clang-format off
static inline MatrixNN f_init()
diff --git a/src/boards/DeathStack/configs/AirBrakesConfig.h b/src/boards/DeathStack/configs/AirBrakesConfig.h
index cef109a53..e01b39474 100644
--- a/src/boards/DeathStack/configs/AirBrakesConfig.h
+++ b/src/boards/DeathStack/configs/AirBrakesConfig.h
@@ -22,9 +22,8 @@
#pragma once
-#include <Constants.h>
-#include <drivers/HardwareTimer.h>
-#include <drivers/pwm/pwm.h>
+#include <drivers/timer/PWM.h>
+#include <utils/Constants.h>
namespace DeathStackBoard
{
@@ -32,17 +31,15 @@ namespace DeathStackBoard
namespace AirBrakesConfigs
{
-static const PWM::Timer AB_SERVO_TIMER{
- TIM8, &(RCC->APB2ENR), RCC_APB2ENR_TIM8EN,
- TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB2)};
-
-static constexpr PWMChannel AB_SERVO_PWM_CH = PWMChannel::CH2;
+static TIM_TypeDef* const AB_SERVO_TIMER = TIM8;
+static constexpr TimerUtils::Channel AB_SERVO_PWM_CH =
+ TimerUtils::Channel::CHANNEL_2;
// Rocket's parameters
#ifdef EUROC
static constexpr float M = 27.0; /**< rocket's mass */
#else
-static constexpr float M = 18.362; /**< rocket's mass */
+static constexpr float M = 18.362; /**< rocket's mass */
#endif
static constexpr float D = 0.15; /**< rocket's diameter */
@@ -87,7 +84,7 @@ static constexpr float FILTER_COEFF = 0.9;
#ifdef HARDWARE_IN_THE_LOOP
static constexpr float ABK_UPDATE_PERIOD = 0.1 * 1000; // ms -> 10 Hz
#else
-static constexpr float ABK_UPDATE_PERIOD = 0.05 * 1000; // ms -> 20 Hz
+static constexpr float ABK_UPDATE_PERIOD = 0.05 * 1000; // ms -> 20 Hz
#endif
static constexpr float ABK_UPDATE_PERIOD_SECONDS = ABK_UPDATE_PERIOD / 1000;
diff --git a/src/boards/DeathStack/configs/CutterConfig.h b/src/boards/DeathStack/configs/CutterConfig.h
index 964a59300..daed3af10 100644
--- a/src/boards/DeathStack/configs/CutterConfig.h
+++ b/src/boards/DeathStack/configs/CutterConfig.h
@@ -22,8 +22,7 @@
#pragma once
-#include <drivers/HardwareTimer.h>
-#include <drivers/pwm/pwm.h>
+#include <drivers/timer/PWM.h>
#include <interfaces-impl/hwmapping.h>
namespace DeathStackBoard
diff --git a/src/boards/DeathStack/configs/DeploymentConfig.h b/src/boards/DeathStack/configs/DeploymentConfig.h
index 04f0d71a5..b2fdaace3 100644
--- a/src/boards/DeathStack/configs/DeploymentConfig.h
+++ b/src/boards/DeathStack/configs/DeploymentConfig.h
@@ -22,8 +22,8 @@
#pragma once
-#include <drivers/HardwareTimer.h>
-#include <drivers/pwm/pwm.h>
+#include <drivers/timer/PWM.h>
+#include <drivers/timer/TimerUtils.h>
using namespace Boardcore;
@@ -33,11 +33,9 @@ namespace DeathStackBoard
namespace DeploymentConfigs
{
-static const PWM::Timer DPL_SERVO_TIMER{
- TIM4, &(RCC->APB1ENR), RCC_APB1ENR_TIM4EN,
- TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB1)};
-
-static constexpr PWMChannel DPL_SERVO_PWM_CH = PWMChannel::CH1;
+static TIM_TypeDef* const DPL_SERVO_TIMER = TIM4;
+static constexpr TimerUtils::Channel DPL_SERVO_PWM_CH =
+ TimerUtils::Channel::CHANNEL_1;
static constexpr int NC_OPEN_TIMEOUT = 5000;
diff --git a/src/boards/DeathStack/configs/NASConfig.h b/src/boards/DeathStack/configs/NASConfig.h
index 0fe5edeff..5c8d00f1c 100644
--- a/src/boards/DeathStack/configs/NASConfig.h
+++ b/src/boards/DeathStack/configs/NASConfig.h
@@ -22,7 +22,8 @@
#pragma once
-#include "Constants.h"
+#include <utils/Constants.h>
+
#include "Eigen/Dense"
using namespace Eigen;
diff --git a/src/boards/DeathStack/configs/SensorsConfig.h b/src/boards/DeathStack/configs/SensorsConfig.h
index e1c82647a..d0cfd9573 100644
--- a/src/boards/DeathStack/configs/SensorsConfig.h
+++ b/src/boards/DeathStack/configs/SensorsConfig.h
@@ -22,9 +22,9 @@
#pragma once
-#include <drivers/adc/ADS1118/ADS1118.h>
-#include <drivers/adc/InternalADC/InternalADC.h>
+#include <drivers/adc/InternalADC.h>
#include <interfaces-impl/hwmapping.h>
+#include <sensors/ADS1118/ADS1118.h>
#include <sensors/BMX160/BMX160Config.h>
#include <sensors/LIS3MDL/LIS3MDL.h>
#include <sensors/calibration/Calibration.h>
diff --git a/src/boards/Payload/Main/Radio.cpp b/src/boards/Payload/Main/Radio.cpp
index 39944320e..31a52fabf 100644
--- a/src/boards/Payload/Main/Radio.cpp
+++ b/src/boards/Payload/Main/Radio.cpp
@@ -42,9 +42,9 @@ void __attribute__((used)) EXTI10_IRQHandlerImpl()
{
using namespace PayloadBoard;
- /*if (DeathStack::getInstance()->radio->xbee != nullptr)
+ /*if (DeathStack::getInstance().radio->xbee != nullptr)
{
- DeathStack::getInstance()->radio->xbee->handleATTNInterrupt();
+ DeathStack::getInstance().radio->xbee->handleATTNInterrupt();
}*/
}
@@ -55,7 +55,7 @@ Radio::Radio(SPIBusInterface& xbee_bus) : xbee_bus(xbee_bus)
{
SPIBusConfig xbee_cfg{};
- xbee_cfg.clock_div = SPIClockDivider::DIV16;
+ xbee_cfg.clockDivider = SPI::ClockDivider::DIV_16;
xbee = new Xbee::Xbee(xbee_bus, xbee_cfg, miosix::xbee::cs::getPin(),
miosix::xbee::attn::getPin(),
@@ -93,11 +93,11 @@ bool Radio::start()
void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
{
- //LoggerService& logger = *LoggerService::getInstance();
+ // LoggerService& logger = *LoggerService::getInstance();
using namespace Xbee;
bool logged = false;
- switch (frame.frame_type)
+ switch (frame.frameType)
{
case FTYPE_AT_COMMAND:
{
@@ -105,7 +105,7 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
logged = ATCommandFrameLog::toFrameType(frame, &dest);
if (logged)
{
- //logger.log(dest);
+ // logger.log(dest);
}
break;
}
@@ -115,7 +115,7 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
logged = ATCommandResponseFrameLog::toFrameType(frame, &dest);
if (logged)
{
- //logger.log(dest);
+ // logger.log(dest);
}
break;
}
@@ -125,7 +125,7 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
logged = ModemStatusFrameLog::toFrameType(frame, &dest);
if (logged)
{
- //logger.log(dest);
+ // logger.log(dest);
}
break;
}
@@ -135,7 +135,7 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
logged = TXRequestFrameLog::toFrameType(frame, &dest);
if (logged)
{
- //logger.log(dest);
+ // logger.log(dest);
}
break;
}
@@ -145,7 +145,7 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
logged = TXStatusFrameLog::toFrameType(frame, &dest);
if (logged)
{
- //logger.log(dest);
+ // logger.log(dest);
}
break;
}
@@ -155,7 +155,7 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
logged = RXPacketFrameLog::toFrameType(frame, &dest);
if (logged)
{
- //logger.log(dest);
+ // logger.log(dest);
}
break;
}
@@ -165,16 +165,16 @@ void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
{
APIFrameLog api;
APIFrameLog::fromAPIFrame(frame, &api);
- //logger.log(api);
+ // logger.log(api);
}
}
void Radio::logStatus()
{
- //MavlinkStatus status = mav_driver->getStatus();
- //status.timestamp = TimestampTimer::getTimestamp();
- //LoggerService::getInstance()->log(status);
- //LoggerService::getInstance()->log(xbee->getStatus());
+ // MavlinkStatus status = mav_driver->getStatus();
+ // status.timestamp = TimestampTimer::getInstance().getTimestamp();
+ // LoggerService::getInstance().log(status);
+ // LoggerService::getInstance().log(xbee->getStatus());
}
} // namespace PayloadBoard
\ No newline at end of file
diff --git a/src/boards/Payload/Main/Sensors.cpp b/src/boards/Payload/Main/Sensors.cpp
index 48d38f6ed..695403d72 100644
--- a/src/boards/Payload/Main/Sensors.cpp
+++ b/src/boards/Payload/Main/Sensors.cpp
@@ -22,11 +22,10 @@
//#include <ApogeeDetectionAlgorithm/ADAController.h>
#include <Payload/PayloadBoard.h>
-#include <Debug.h>
//#include <LoggerService/LoggerService.h>
-#include <TimestampTimer.h>
#include <Payload/configs/SensorsConfig.h>
#include <drivers/interrupt/external_interrupts.h>
+#include <drivers/timer/TimestampTimer.h>
#include <interfaces-impl/hwmapping.h>
#include <sensors/Sensor.h>
#include <utils/aero/AeroUtils.h>
@@ -44,10 +43,10 @@ void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
using namespace PayloadBoard;
- /*if (Payload::getInstance()->sensors->imu_bmx160 != nullptr)
+ /*if (Payload::getInstance().sensors->imu_bmx160 != nullptr)
{
- Payload::getInstance()->sensors->imu_bmx160->IRQupdateTimestamp(
- TimestampTimer::getTimestamp());
+ Payload::getInstance().ensors->imu_bmx160->IRQupdateTimestamp(
+ TimestampTimer::getInstance().getTimestamp());
}*/
}
@@ -72,7 +71,7 @@ Sensors::Sensors(SPIBusInterface& spi1_bus, TaskScheduler* scheduler)
internalAdcInit();
batteryVoltageInit();
- sensor_manager = new SensorManager(scheduler, sensors_map);
+ sensor_manager = new SensorManager(sensors_map, scheduler);
}
Sensors::~Sensors()
@@ -108,7 +107,7 @@ bool Sensors::start()
updateSensorsStatus();
}
- //LoggerService::getInstance()->log(status);
+ // LoggerService::getInstance().log(status);
return sm_start_result;
}
@@ -116,7 +115,7 @@ bool Sensors::start()
void Sensors::calibrate()
{
imu_bmx160_with_correction->calibrate();
- //LoggerService::getInstance()->log(
+ // LoggerService::getInstance().log(
// imu_bmx160_with_correction->getGyroscopeBiases());
press_pitot->calibrate();
@@ -127,7 +126,7 @@ void Sensors::calibrate()
for (unsigned int i = 0; i < PRESS_STATIC_CALIB_SAMPLES_NUM / 10; i++)
{
Thread::sleep(SAMPLE_PERIOD_PRESS_DIGITAL);
- press_digi_stats.add(press_digital->getLastSample().press);
+ press_digi_stats.add(press_digital->getLastSample().pressure);
}
press_static_port->setReferencePressure(press_digi_stats.getStats().mean);
press_static_port->calibrate();
@@ -141,12 +140,12 @@ void Sensors::calibrate()
void Sensors::internalAdcInit()
{
- internal_adc = new InternalADC(*ADC3, INTERNAL_ADC_VREF);
+ internal_adc = new InternalADC(ADC3, INTERNAL_ADC_VREF);
internal_adc->enableChannel(ADC_BATTERY_VOLTAGE);
SensorInfo info("InternalADC", SAMPLE_PERIOD_INTERNAL_ADC,
- bind(&Sensors::internalAdcCallback, this), false, true);
+ bind(&Sensors::internalAdcCallback, this));
sensors_map.emplace(std::make_pair(internal_adc, info));
LOG_INFO(log, "InternalADC setup done!");
@@ -160,7 +159,7 @@ void Sensors::batteryVoltageInit()
new BatteryVoltageSensor(voltage_fun, BATTERY_VOLTAGE_COEFF);
SensorInfo info("BatterySensor", SAMPLE_PERIOD_INTERNAL_ADC,
- bind(&Sensors::batteryVoltageCallback, this), false, true);
+ bind(&Sensors::batteryVoltageCallback, this));
sensors_map.emplace(std::make_pair(battery_voltage, info));
@@ -170,13 +169,13 @@ void Sensors::batteryVoltageInit()
void Sensors::pressDigiInit()
{
SPIBusConfig spi_cfg{};
- spi_cfg.clock_div = SPIClockDivider::DIV16;
+ spi_cfg.clockDivider = SPI::ClockDivider::DIV_16;
press_digital = new MS5803(spi1_bus, miosix::sensors::ms5803::cs::getPin(),
spi_cfg, TEMP_DIVIDER_PRESS_DIGITAL);
SensorInfo info("DigitalBarometer", SAMPLE_PERIOD_PRESS_DIGITAL,
- bind(&Sensors::pressDigiCallback, this), false, true);
+ bind(&Sensors::pressDigiCallback, this));
sensors_map.emplace(std::make_pair(press_digital, info));
@@ -186,7 +185,7 @@ void Sensors::pressDigiInit()
void Sensors::ADS1118Init()
{
SPIBusConfig spi_cfg = ADS1118::getDefaultSPIConfig();
- spi_cfg.clock_div = SPIClockDivider::DIV64;
+ spi_cfg.clockDivider = SPI::ClockDivider::DIV_64;
ADS1118::ADS1118Config ads1118Config = ADS1118::ADS1118_DEFAULT_CONFIG;
ads1118Config.bits.mode = ADS1118::ADS1118Mode::CONTIN_CONV_MODE;
@@ -205,7 +204,7 @@ void Sensors::ADS1118Init()
adc_ads1118->enableInput(ADC_CH_VREF, ADC_DR_VREF, ADC_PGA_VREF);
SensorInfo info("ADS1118", SAMPLE_PERIOD_ADC_ADS1118,
- bind(&Sensors::ADS1118Callback, this), false, true);
+ bind(&Sensors::ADS1118Callback, this));
sensors_map.emplace(std::make_pair(adc_ads1118, info));
LOG_INFO(log, "ADS1118 setup done!");
@@ -219,7 +218,7 @@ void Sensors::pressPitotInit()
PRESS_PITOT_CALIB_SAMPLES_NUM);
SensorInfo info("DiffBarometer", SAMPLE_PERIOD_PRESS_PITOT,
- bind(&Sensors::pressPitotCallback, this), false, true);
+ bind(&Sensors::pressPitotCallback, this));
sensors_map.emplace(std::make_pair(press_pitot, info));
@@ -233,7 +232,7 @@ void Sensors::pressDPLVaneInit()
press_dpl_vane = new SSCDANN030PAA(voltage_fun, REFERENCE_VOLTAGE);
SensorInfo info("DeploymentBarometer", SAMPLE_PERIOD_PRESS_DPL,
- bind(&Sensors::pressDPLVaneCallback, this), false, true);
+ bind(&Sensors::pressDPLVaneCallback, this));
sensors_map.emplace(std::make_pair(press_dpl_vane, info));
@@ -249,7 +248,7 @@ void Sensors::pressStaticInit()
PRESS_STATIC_MOVING_AVG_COEFF);
SensorInfo info("StaticPortsBarometer", SAMPLE_PERIOD_PRESS_STATIC,
- bind(&Sensors::pressStaticCallback, this), false, true);
+ bind(&Sensors::pressStaticCallback, this));
sensors_map.emplace(std::make_pair(press_static_port, info));
@@ -259,29 +258,29 @@ void Sensors::pressStaticInit()
void Sensors::imuBMXInit()
{
SPIBusConfig spi_cfg;
- spi_cfg.clock_div = SPIClockDivider::DIV8;
+ spi_cfg.clockDivider = SPI::ClockDivider::DIV_8;
BMX160Config bmx_config;
- bmx_config.fifo_mode = BMX160Config::FifoMode::HEADER;
- bmx_config.fifo_watermark = IMU_BMX_FIFO_WATERMARK;
- bmx_config.fifo_int = BMX160Config::FifoInterruptPin::PIN_INT1;
+ bmx_config.fifoMode = BMX160Config::FifoMode::HEADER;
+ bmx_config.fifoWatermark = IMU_BMX_FIFO_WATERMARK;
+ bmx_config.fifoInterrupt = BMX160Config::FifoInterruptPin::PIN_INT1;
- bmx_config.temp_divider = IMU_BMX_TEMP_DIVIDER;
+ bmx_config.temperatureDivider = IMU_BMX_TEMP_DIVIDER;
- bmx_config.acc_range = IMU_BMX_ACC_FULLSCALE_ENUM;
- bmx_config.gyr_range = IMU_BMX_GYRO_FULLSCALE_ENUM;
+ bmx_config.accelerometerRange = IMU_BMX_ACC_FULLSCALE_ENUM;
+ bmx_config.gyroscopeRange = IMU_BMX_GYRO_FULLSCALE_ENUM;
- bmx_config.acc_odr = IMU_BMX_ACC_GYRO_ODR_ENUM;
- bmx_config.gyr_odr = IMU_BMX_ACC_GYRO_ODR_ENUM;
- bmx_config.mag_odr = IMU_BMX_MAG_ODR_ENUM;
+ bmx_config.accelerometerDataRate = IMU_BMX_ACC_GYRO_ODR_ENUM;
+ bmx_config.gyroscopeDataRate = IMU_BMX_ACC_GYRO_ODR_ENUM;
+ bmx_config.magnetometerRate = IMU_BMX_MAG_ODR_ENUM;
- bmx_config.gyr_unit = BMX160Config::GyroscopeMeasureUnit::RAD;
+ bmx_config.gyroscopeUnit = BMX160Config::GyroscopeMeasureUnit::RAD;
imu_bmx160 = new BMX160(spi1_bus, miosix::sensors::bmx160::cs::getPin(),
bmx_config, spi_cfg);
SensorInfo info("BMX160", SAMPLE_PERIOD_IMU_BMX,
- bind(&Sensors::imuBMXCallback, this), false, true);
+ bind(&Sensors::imuBMXCallback, this));
sensors_map.emplace(std::make_pair(imu_bmx160, info));
@@ -329,8 +328,7 @@ void Sensors::imuBMXWithCorrectionInit()
imu_bmx160, correctionParameters, BMX160_AXIS_ROTATION);
SensorInfo info("BMX160WithCorrection", SAMPLE_PERIOD_IMU_BMX,
- bind(&Sensors::imuBMXWithCorrectionCallback, this), false,
- true);
+ bind(&Sensors::imuBMXWithCorrectionCallback, this));
sensors_map.emplace(std::make_pair(imu_bmx160_with_correction, info));
@@ -340,7 +338,7 @@ void Sensors::imuBMXWithCorrectionInit()
void Sensors::magLISinit()
{
SPIBusConfig busConfig;
- busConfig.clock_div = SPIClockDivider::DIV32;
+ busConfig.clockDivider = SPI::ClockDivider::DIV_32;
LIS3MDL::Config config;
config.odr = MAG_LIS_ODR_ENUM;
@@ -351,7 +349,7 @@ void Sensors::magLISinit()
busConfig, config);
SensorInfo info("LIS3MDL", SAMPLE_PERIOD_MAG_LIS,
- bind(&Sensors::magLISCallback, this), false, true);
+ bind(&Sensors::magLISCallback, this));
sensors_map.emplace(std::make_pair(mag_lis3mdl, info));
@@ -360,10 +358,10 @@ void Sensors::magLISinit()
void Sensors::gpsUbloxInit()
{
- gps_ublox = new UbloxGPS(GPS_BAUD_RATE, GPS_SAMPLE_RATE);
+ gps_ublox = new UbloxGPSSerial(GPS_BAUD_RATE, GPS_SAMPLE_RATE);
SensorInfo info("UbloxGPS", GPS_SAMPLE_PERIOD,
- bind(&Sensors::gpsUbloxCallback, this), false, true);
+ bind(&Sensors::gpsUbloxCallback, this));
sensors_map.emplace(std::make_pair(gps_ublox, info));
@@ -372,12 +370,12 @@ void Sensors::gpsUbloxInit()
void Sensors::internalAdcCallback()
{
- //LoggerService::getInstance()->log(internal_adc->getLastSample());
+ // LoggerService::getInstance().log(internal_adc->getLastSample());
}
void Sensors::batteryVoltageCallback()
{
- static float v = battery_voltage->getLastSample().bat_voltage;
+ static float v = battery_voltage->getLastSample().batVoltage;
if (v < BATTERY_MIN_SAFE_VOLTAGE)
{
battery_critical_counter++;
@@ -389,48 +387,48 @@ void Sensors::batteryVoltageCallback()
}
}
- //LoggerService::getInstance()->log(battery_voltage->getLastSample());
+ // LoggerService::getInstance().log(battery_voltage->getLastSample());
}
void Sensors::pressDigiCallback()
{
- //LoggerService::getInstance()->log(press_digital->getLastSample());
+ // LoggerService::getInstance().log(press_digital->getLastSample());
}
void Sensors::ADS1118Callback()
{
- //LoggerService::getInstance()->log(adc_ads1118->getLastSample());
+ // LoggerService::getInstance().log(adc_ads1118->getLastSample());
}
void Sensors::pressPitotCallback()
{
SSCDRRN015PDAData d = press_pitot->getLastSample();
- //LoggerService::getInstance()->log(d);
+ // LoggerService::getInstance().log(d);
/*ADAReferenceValues rv =
DeathStack::getInstance()
->state_machines->ada_controller->getReferenceValues();
float rel_density = aeroutils::relDensity(
- press_digital->getLastSample().press, rv.ref_pressure, rv.ref_altitude,
- rv.ref_temperature);
- if (rel_density != 0.0f)
+ press_digital->getLastSample().pressure, rv.ref_pressure,
+ rv.ref_altitude, rv.ref_temperature); if (rel_density != 0.0f)
{
- float airspeed = sqrtf(2 * fabs(d.press) / rel_density);
+ float airspeed = sqrtf(2 * fabs(d.pressure) / rel_density);
- AirSpeedPitot aspeed_data{TimestampTimer::getTimestamp(), airspeed};
- //LoggerService::getInstance()->log(aspeed_data);
+ AirSpeedPitot
+ aspeed_data{TimestampTimer::getInstance().getTimestamp(), airspeed};
+ //LoggerService::getInstance().log(aspeed_data);
}*/
}
void Sensors::pressDPLVaneCallback()
{
- //LoggerService::getInstance()->log(press_dpl_vane->getLastSample());
+ // LoggerService::getInstance().log(press_dpl_vane->getLastSample());
}
void Sensors::pressStaticCallback()
{
- //LoggerService::getInstance()->log(press_static_port->getLastSample());
+ // LoggerService::getInstance().log(press_static_port->getLastSample());
}
void Sensors::imuBMXCallback()
@@ -438,62 +436,60 @@ void Sensors::imuBMXCallback()
uint8_t fifo_size = imu_bmx160->getLastFifoSize();
auto& fifo = imu_bmx160->getLastFifo();
- //LoggerService::getInstance()->log(imu_bmx160->getTemperature());
+ // LoggerService::getInstance().log(imu_bmx160->getTemperature());
for (uint8_t i = 0; i < fifo_size; ++i)
{
- //LoggerService::getInstance()->log(fifo.at(i));
+ // LoggerService::getInstance().log(fifo.at(i));
}
- //LoggerService::getInstance()->log(imu_bmx160->getFifoStats());
+ // LoggerService::getInstance().log(imu_bmx160->getFifoStats());
}
void Sensors::imuBMXWithCorrectionCallback()
{
- //LoggerService::getInstance()->log(
+ // LoggerService::getInstance().log(
// imu_bmx160_with_correction->getLastSample());
}
void Sensors::magLISCallback()
{
- //LoggerService::getInstance()->log(mag_lis3mdl->getLastSample());
+ // LoggerService::getInstance().log(mag_lis3mdl->getLastSample());
}
void Sensors::gpsUbloxCallback()
{
- //LoggerService::getInstance()->log(gps_ublox->getLastSample());
+ // LoggerService::getInstance().log(gps_ublox->getLastSample());
}
void Sensors::updateSensorsStatus()
{
- SensorInfo info;
-
- info = sensor_manager->getSensorInfo(imu_bmx160);
- if (!info.is_initialized)
+ SensorInfo info = sensor_manager->getSensorInfo(imu_bmx160);
+ if (!info.isInitialized)
{
status.bmx160 = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(mag_lis3mdl);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.lis3mdl = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(gps_ublox);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.gps = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(internal_adc);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.internal_adc = SensorDriverStatus::DRIVER_ERROR;
}
info = sensor_manager->getSensorInfo(adc_ads1118);
- if (!info.is_initialized)
+ if (!info.isInitialized)
{
status.ads1118 = SensorDriverStatus::DRIVER_ERROR;
}
diff --git a/src/boards/Payload/Main/Sensors.h b/src/boards/Payload/Main/Sensors.h
index 4811c2c2b..0263065e3 100644
--- a/src/boards/Payload/Main/Sensors.h
+++ b/src/boards/Payload/Main/Sensors.h
@@ -24,16 +24,16 @@
#include <Payload/Main/SensorsData.h>
#include <diagnostic/PrintLogger.h>
-#include <drivers/adc/ADS1118/ADS1118.h>
-#include <drivers/adc/InternalADC/InternalADC.h>
-#include <drivers/gps/ublox/UbloxGPS.h>
+#include <drivers/adc/InternalADC.h>
#include <drivers/spi/SPIBusInterface.h>
+#include <sensors/ADS1118/ADS1118.h>
#include <sensors/BMX160/BMX160.h>
#include <sensors/BMX160/BMX160WithCorrection.h>
#include <sensors/LIS3MDL/LIS3MDL.h>
#include <sensors/MS5803/MS5803.h>
#include <sensors/SensorData.h>
#include <sensors/SensorManager.h>
+#include <sensors/UbloxGPS/UbloxGPS.h>
#include <sensors/analog/battery/BatteryVoltageSensor.h>
#include <sensors/analog/current/CurrentSensor.h>
#include <sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h>
diff --git a/src/boards/Payload/PayloadBoard.h b/src/boards/Payload/PayloadBoard.h
index c01728f44..dc591cf3b 100644
--- a/src/boards/Payload/PayloadBoard.h
+++ b/src/boards/Payload/PayloadBoard.h
@@ -22,9 +22,7 @@
#pragma once
-#include <Common.h>
#include <Payload/PayloadStatus.h>
-#include <Debug.h>
//#include <LoggerService/LoggerService.h>
#include <Payload/Main/Actuators.h>
#include <Payload/Main/Bus.h>
@@ -36,9 +34,9 @@
#include <System/TaskID.h>
#include <events/EventBroker.h>
#include <events/EventData.h>
-#include <events/utils/EventInjector.h>
#include <events/Events.h>
#include <events/Topics.h>
+#include <events/utils/EventInjector.h>
#include <events/utils/EventSniffer.h>
#include <functional>
@@ -66,11 +64,11 @@ class Payload : public Singleton<Payload>
public:
// Shared Components
EventBroker* broker;
- //LoggerService* logger;
+ // LoggerService* logger;
EventSniffer* sniffer;
- //StateMachines* state_machines;
+ // StateMachines* state_machines;
Bus* bus;
Sensors* sensors;
Radio* radio;
@@ -116,18 +114,18 @@ public:
injector->start();
#endif
- //logger->log(status);
+ // logger->log(status);
// If there was an error, signal it to the FMM and light a LED.
if (status.payload_board != COMP_OK)
{
LOG_ERR(log, "Initalization failed\n");
- sEventBroker->post(Event{EV_INIT_ERROR}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_INIT_ERROR}, TOPIC_FLIGHT_EVENTS);
}
else
{
LOG_INFO(log, "Initalization ok");
- sEventBroker->post(Event{EV_INIT_OK}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_INIT_OK}, TOPIC_FLIGHT_EVENTS);
}
}
@@ -144,7 +142,7 @@ public:
status.setError(&PayloadStatus::logger);
}
- logger->log(logger->getLogger().getLogStats());
+ logger->log(logger->getLogger().getLoggerStats());
}*/
private:
@@ -154,12 +152,10 @@ private:
Payload()
{
/* Shared components */
- //logger = Singleton<LoggerService>::getInstance();
- //startLogger();
-
- TimestampTimer::enableTimestampTimer();
+ // logger = Singleton<LoggerService>::getInstance();
+ // startLogger();
- broker = sEventBroker;
+ broker = &sEventBroker;
// Bind the logEvent function to the event sniffer in order to log every
// event
@@ -190,8 +186,8 @@ private:
*/
/*void logEvent(uint8_t event, uint8_t topic)
{
- EventData ev{(long long)TimestampTimer::getTimestamp(), event, topic};
- logger->log(ev);
+ EventData ev{(long long)TimestampTimer::getInstance().getTimestamp(),
+event, topic}; logger->log(ev);
#ifdef DEBUG
// Don't TRACE if event is in the blacklist to avoid cluttering the
@@ -213,17 +209,17 @@ private:
/*void addSchedulerStatsTask()
{
// add lambda to log scheduler tasks statistics
- scheduler->add(
+ scheduler.add(
[&]() {
std::vector<TaskStatResult> scheduler_stats =
- scheduler->getTaskStats();
+ scheduler.getTaskStats();
for (TaskStatResult stat : scheduler_stats)
{
logger->log(stat);
}
- StackLogger::getInstance()->updateStack(THID_TASK_SCHEDULER);
+ StackLogger::getInstance().updateStack(THID_TASK_SCHEDULER);
},
1000, // 1 hz
TASK_SCHEDULER_STATS_ID, miosix::getTick());
diff --git a/src/boards/Payload/PinHandler/PinHandler.cpp b/src/boards/Payload/PinHandler/PinHandler.cpp
index 165b0a87a..7fb6eedf2 100644
--- a/src/boards/Payload/PinHandler/PinHandler.cpp
+++ b/src/boards/Payload/PinHandler/PinHandler.cpp
@@ -23,6 +23,7 @@
//#include <LoggerService/LoggerService.h>
#include <Payload/PinHandler/PinHandler.h>
#include <diagnostic/PrintLogger.h>
+#include <drivers/timer/TimestampTimer.h>
#include <events/EventBroker.h>
#include <events/Events.h>
//#include <Payload/PayloadBoard.h>
@@ -36,7 +37,7 @@ namespace PayloadBoard
{
PinHandler::PinHandler()
- : pin_obs(PIN_POLL_INTERVAL) //, logger(LoggerService::getInstance())
+ : pin_obs(PIN_POLL_INTERVAL) //, logger(LoggerService::getInstance())
{
// Used for _1, _2. See std::bind cpp reference
using namespace std::placeholders;
@@ -57,12 +58,13 @@ void PinHandler::onNCPinTransition(unsigned int p, unsigned char n)
{
UNUSED(p);
UNUSED(n);
- sEventBroker->post(Event{EV_NC_DETACHED}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Event{EV_NC_DETACHED}, TOPIC_FLIGHT_EVENTS);
LOG_INFO(log, "Nosecone detached!");
- status_pin_nosecone.last_detection_time = TimestampTimer::getTimestamp();
- //logger->log(status_pin_nosecone);
+ status_pin_nosecone.last_detection_time =
+ TimestampTimer::getInstance().getTimestamp();
+ // logger->log(status_pin_nosecone);
}
void PinHandler::onNCPinStateChange(unsigned int p, unsigned char n, int state)
@@ -70,14 +72,15 @@ void PinHandler::onNCPinStateChange(unsigned int p, unsigned char n, int state)
UNUSED(p);
UNUSED(n);
- status_pin_nosecone.state = (uint8_t)state;
- status_pin_nosecone.last_state_change = TimestampTimer::getTimestamp();
+ status_pin_nosecone.state = (uint8_t)state;
+ status_pin_nosecone.last_state_change =
+ TimestampTimer::getInstance().getTimestamp();
status_pin_nosecone.num_state_changes += 1;
LOG_INFO(log, "Nosecone pin state change at time {}: new state = {}",
status_pin_nosecone.last_state_change, status_pin_nosecone.state);
- //logger->log(status_pin_nosecone);
+ // logger->log(status_pin_nosecone);
}
} // namespace PayloadBoard
\ No newline at end of file
diff --git a/src/boards/Payload/WingControl/WingServo.cpp b/src/boards/Payload/WingControl/WingServo.cpp
index 6587d27db..16f534eab 100644
--- a/src/boards/Payload/WingControl/WingServo.cpp
+++ b/src/boards/Payload/WingControl/WingServo.cpp
@@ -27,34 +27,18 @@ namespace PayloadBoard
using namespace WingConfigs;
-WingServo::WingServo(PWM::Timer servo_timer, PWMChannel servo_ch)
- : ServoInterface(WING_SERVO_MIN_POS, WING_SERVO_MAX_POS),
- servo(servo_timer), servo_channel(servo_ch)
-{
-}
-
-WingServo::WingServo(PWM::Timer servo_timer, PWMChannel servo_ch,
+WingServo::WingServo(TIM_TypeDef* const timer, TimerUtils::Channel channel,
float minPosition, float maxPosition)
- : ServoInterface(minPosition, maxPosition), servo(servo_timer),
- servo_channel(servo_ch)
+ : ServoInterface(minPosition, maxPosition),
+ servo(timer, channel, 50, 500, 2500)
{
}
WingServo::~WingServo() {}
-void WingServo::enable()
-{
- servo.setMaxPulseWidth(2500);
- servo.setMinPulseWidth(500);
- servo.enable(servo_channel);
- servo.start();
-}
+void WingServo::enable() { servo.enable(); }
-void WingServo::disable()
-{
- servo.stop();
- servo.disable(servo_channel);
-}
+void WingServo::disable() { servo.disable(); }
void WingServo::selfTest()
{
@@ -80,7 +64,7 @@ void WingServo::setPosition(float angle)
{
this->currentPosition = angle;
// map position to [0;1] interval for the servo driver
- servo.setPosition(servo_channel, angle / 180.0f);
+ servo.setPosition180Deg(angle);
}
} // namespace PayloadBoard
\ No newline at end of file
diff --git a/src/boards/Payload/WingControl/WingServo.h b/src/boards/Payload/WingControl/WingServo.h
index 2c9f1893b..4c42ddd28 100644
--- a/src/boards/Payload/WingControl/WingServo.h
+++ b/src/boards/Payload/WingControl/WingServo.h
@@ -22,9 +22,9 @@
#pragma once
-#include <common/ServoInterface.h>
#include <Payload/configs/WingConfig.h>
-#include <drivers/servo/servo.h>
+#include <common/ServoInterface.h>
+#include <drivers/servo/Servo.h>
#include <miosix.h>
using namespace Boardcore;
@@ -36,10 +36,9 @@ class WingServo : public ServoInterface
{
public:
- WingServo(PWM::Timer servo_timer, PWMChannel servo_ch);
-
- WingServo(PWM::Timer servo_timer, PWMChannel servo_ch, float minPosition,
- float maxPosition);
+ WingServo(TIM_TypeDef* const timer, TimerUtils::Channel channel,
+ float minPosition = WingConfigs::WING_SERVO_MIN_POS,
+ float maxPosition = WingConfigs::WING_SERVO_MAX_POS);
virtual ~WingServo();
@@ -54,7 +53,6 @@ public:
private:
Servo servo;
- PWMChannel servo_channel;
protected:
/**
diff --git a/src/boards/Payload/configs/SensorsConfig.h b/src/boards/Payload/configs/SensorsConfig.h
index e84959be0..14e657ad6 100644
--- a/src/boards/Payload/configs/SensorsConfig.h
+++ b/src/boards/Payload/configs/SensorsConfig.h
@@ -22,9 +22,9 @@
#pragma once
-#include <drivers/adc/ADS1118/ADS1118.h>
-#include <drivers/adc/InternalADC/InternalADC.h>
+#include <drivers/adc/InternalADC.h>
#include <interfaces-impl/hwmapping.h>
+#include <sensors/ADS1118/ADS1118.h>
#include <sensors/BMX160/BMX160Config.h>
#include <sensors/LIS3MDL/LIS3MDL.h>
#include <sensors/calibration/Calibration.h>
@@ -36,6 +36,7 @@ namespace PayloadBoard
namespace SensorConfigs
{
+
static constexpr float INTERNAL_ADC_VREF = 3.3;
static constexpr InternalADC::Channel ADC_BATTERY_VOLTAGE =
InternalADC::Channel::CH5;
diff --git a/src/boards/Payload/configs/WingConfig.h b/src/boards/Payload/configs/WingConfig.h
index 4eb08d4b2..1665891f9 100644
--- a/src/boards/Payload/configs/WingConfig.h
+++ b/src/boards/Payload/configs/WingConfig.h
@@ -22,9 +22,9 @@
#pragma once
-#include <Constants.h>
-#include <drivers/HardwareTimer.h>
-#include <drivers/pwm/pwm.h>
+#include <drivers/timer/PWM.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <utils/Constants.h>
using namespace Boardcore;
@@ -34,17 +34,13 @@ namespace PayloadBoard
namespace WingConfigs
{
-static const PWM::Timer WING_SERVO_1_TIMER{
- TIM8, &(RCC->APB2ENR), RCC_APB2ENR_TIM8EN,
- TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB2)};
+static TIM_TypeDef* const WING_SERVO_1_TIMER = TIM8;
+static constexpr TimerUtils::Channel WING_SERVO_1_PWM_CH =
+ TimerUtils::Channel::CHANNEL_2;
-static constexpr PWMChannel WING_SERVO_1_PWM_CH = PWMChannel::CH2;
-
-static const PWM::Timer WING_SERVO_2_TIMER{
- TIM8, &(RCC->APB2ENR), RCC_APB2ENR_TIM8EN,
- TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB2)};
-
-static constexpr PWMChannel WING_SERVO_2_PWM_CH = PWMChannel::CH2;
+static const TIM_TypeDef* WING_SERVO_2_TIMER = TIM4;
+static constexpr TimerUtils::Channel WING_SERVO_2_PWM_CH =
+ TimerUtils::Channel::CHANNEL_1;
// Wing servo configs
static constexpr float WING_SERVO_MAX_POS = 180.0; // deg
diff --git a/src/entrypoints/death-stack-x-decoder/LogTypes.h b/src/entrypoints/death-stack-x-decoder/LogTypes.h
index a6f1c0fe5..facc537a7 100644
--- a/src/entrypoints/death-stack-x-decoder/LogTypes.h
+++ b/src/entrypoints/death-stack-x-decoder/LogTypes.h
@@ -23,7 +23,7 @@
#pragma once
#include <drivers/adc/ADS1118/ADS1118Data.h>
-#include <drivers/gps/ublox/UbloxGPSData.h>
+#include <drivers/gps/ublox/GPSData.h>
#include <sensors/BMX160/BMX160Data.h>
#include <sensors/BMX160/BMX160WithCorrectionData.h>
#include <sensors/LIS3MDL/LIS3MDLData.h>
@@ -37,13 +37,15 @@
#include <fstream>
#include <iostream>
-#include "ApogeeDetectionAlgorithm/ADAData.h"
#include "AirBrakes/AirBrakesData.h"
+#include "ApogeeDetectionAlgorithm/ADAData.h"
//#include "AirBrakes/WindData.h"
+#include "../../hardware_in_the_loop/HIL_sensors/HILSensorsData.h"
#include "DeathStackStatus.h"
#include "Deployment/DeploymentData.h"
#include "FlightModeManager/FMMStatus.h"
-#include "LogStats.h"
+#include "FlightStatsRecorder/FSRData.h"
+#include "LoggerStats.h"
#include "Main/SensorsData.h"
#include "NavigationAttitudeSystem/NASData.h"
#include "PinHandler/PinHandlerData.h"
@@ -56,8 +58,6 @@
#include "events/EventData.h"
#include "logger/Deserializer.h"
#include "scheduler/TaskSchedulerData.h"
-#include "FlightStatsRecorder/FSRData.h"
-#include "../../hardware_in_the_loop/HIL_sensors/HILSensorsData.h"
// Serialized classes
using std::ofstream;
@@ -87,7 +87,7 @@ void registerTypes(Deserializer& ds)
// Sensors
registerType<CurrentSensorData>(ds);
registerType<BatteryVoltageSensorData>(ds);
- registerType<UbloxGPSData>(ds);
+ registerType<GPSData>(ds);
registerType<BMX160Data>(ds);
registerType<BMX160WithCorrectionData>(ds);
registerType<BMX160GyroscopeCalibrationBiases>(ds);
@@ -107,7 +107,7 @@ void registerTypes(Deserializer& ds)
registerType<SensorsStatus>(ds);
registerType<FMMStatus>(ds);
registerType<PinStatus>(ds);
- registerType<LogStats>(ds);
+ registerType<LoggerStats>(ds);
registerType<DeploymentStatus>(ds);
registerType<ADAControllerStatus>(ds);
@@ -142,7 +142,7 @@ void registerTypes(Deserializer& ds)
registerType<AirBrakesAlgorithmData>(ds);
registerType<AirBrakesChosenTrajectory>(ds);
- // FlightStatsRecorder
+ // FlightStatsRecorder
registerType<LiftOffStats>(ds);
registerType<ApogeeStats>(ds);
registerType<DrogueDPLStats>(ds);
@@ -155,5 +155,5 @@ void registerTypes(Deserializer& ds)
// Others
registerType<EventData>(ds);
- //registerType<WindData>(ds);
+ // registerType<WindData>(ds);
}
diff --git a/src/entrypoints/death-stack-x-entry.cpp b/src/entrypoints/death-stack-x-entry.cpp
index b21dd0366..428b7d8f3 100644
--- a/src/entrypoints/death-stack-x-entry.cpp
+++ b/src/entrypoints/death-stack-x-entry.cpp
@@ -21,7 +21,6 @@
*/
#include <DeathStack.h>
-#include <Debug.h>
#include <FlightStatsRecorder/FSRController.h>
#include <diagnostic/CpuMeter.h>
#include <math/Stats.h>
@@ -45,17 +44,17 @@ int main()
SystemData system_data;
// Instantiate the stack
- DeathStack::getInstance()->start();
+ DeathStack::getInstance().start();
LOG_INFO(log, "Death stack started");
- LoggerService* logger_service = LoggerService::getInstance();
+ LoggerService& logger_service = LoggerService::getInstance();
for (;;)
{
Thread::sleep(1000);
- logger_service->log(logger_service->getLogger().getLogStats());
+ logger_service.log(logger_service.getLogger().getLoggerStats());
- StackLogger::getInstance()->updateStack(THID_ENTRYPOINT);
+ StackLogger::getInstance().updateStack(THID_ENTRYPOINT);
system_data.timestamp = miosix::getTick();
system_data.cpu_usage = averageCpuUtilization();
@@ -69,8 +68,8 @@ int main()
system_data.min_free_heap = MemoryProfiling::getAbsoluteFreeHeap();
system_data.free_heap = MemoryProfiling::getCurrentFreeHeap();
- logger_service->log(system_data);
-
- StackLogger::getInstance()->log();
+ logger_service.log(system_data);
+
+ StackLogger::getInstance().log();
}
}
\ No newline at end of file
diff --git a/src/entrypoints/death-stack-x-testsuite.cpp b/src/entrypoints/death-stack-x-testsuite.cpp
index c2184e33a..b23445418 100644
--- a/src/entrypoints/death-stack-x-testsuite.cpp
+++ b/src/entrypoints/death-stack-x-testsuite.cpp
@@ -21,18 +21,18 @@
*/
#include <AirBrakes/AirBrakesServo.h>
-#include <Common.h>
#include <Deployment/DeploymentServo.h>
-#include <drivers/adc/ADS1118/ADS1118.h>
-#include <drivers/adc/InternalADC/InternalADC.h>
-#include <drivers/gps/ublox/UbloxGPS.h>
+#include <drivers/adc/InternalADC.h>
#include <drivers/hbridge/HBridge.h>
+#include <drivers/servo/Servo.h>
#include <drivers/spi/SPIDriver.h>
#include <interfaces-impl/hwmapping.h>
#include <miosix.h>
+#include <sensors/ADS1118/ADS1118.h>
#include <sensors/BMX160/BMX160.h>
#include <sensors/LIS3MDL/LIS3MDL.h>
#include <sensors/MS5803/MS5803.h>
+#include <sensors/UbloxGPS/UbloxGPS.h>
#include <sensors/analog/battery/BatteryVoltageSensor.h>
#include <sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h>
#include <sensors/analog/pressure/honeywell/SSCDANN030PAA.h>
@@ -44,7 +44,6 @@
#include <vector>
#include "PinHandler/PinHandler.h"
-#include "drivers/servo/servo.h"
#include "math/Stats.h"
using namespace std;
@@ -73,8 +72,6 @@ int menu();
int main()
{
- TimestampTimer::enableTimestampTimer();
-
switch (menu())
{
case 1:
diff --git a/src/entrypoints/hardware_in_the_loop/hil-entry.cpp b/src/entrypoints/hardware_in_the_loop/hil-entry.cpp
index 42780794c..0ca4f829f 100644
--- a/src/entrypoints/hardware_in_the_loop/hil-entry.cpp
+++ b/src/entrypoints/hardware_in_the_loop/hil-entry.cpp
@@ -22,7 +22,6 @@
#define EIGEN_NO_MALLOC // enable eigen malloc usage assert
-#include <Common.h>
#include <events/EventBroker.h>
#include <events/Events.h>
#include <events/utils/EventCounter.h>
@@ -70,7 +69,7 @@ void threadFunc(void* arg)
/*-------------- [FPM] Flight Phases Manager --------------*/
HILFlightPhasesManager* flightPhasesManager =
- HIL::getInstance()->flightPhasesManager;
+ HIL::getInstance().flightPhasesManager;
/*flightPhasesManager->registerToFlightPhase(
SIMULATION_STOPPED, bind(&setIsSimulationRunning, false));*/
@@ -83,7 +82,7 @@ void threadFunc(void* arg)
SIMULATION_STOPPED, bind(&TaskScheduler::stop, &scheduler));
/*-------------- [HIL] HILTransceiver --------------*/
- HILTransceiver* simulator = HIL::getInstance()->simulator;
+ HILTransceiver* simulator = HIL::getInstance().imulator;
/*-------------- Sensors & Actuators --------------*/
@@ -130,7 +129,7 @@ void threadFunc(void* arg)
NASController<HILImuData, HILBaroData, HILGpsData> nas_controller(
*sensors.imu, *sensors.barometer, *sensors.gps);
- HIL::getInstance()->setNAS(&nas_controller.getNAS());
+ HIL::getInstance().etNAS(&nas_controller.getNAS());
/*-------------- [CA] Control Algorithm --------------*/
AirBrakesController<NASData> airbrakes_controller(nas_controller.getNAS());
@@ -143,7 +142,7 @@ void threadFunc(void* arg)
/*-------------- Events --------------*/
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_FLIGHT_EVENTS);
counter.subscribe(TOPIC_ADA);
counter.subscribe(TOPIC_NAS);
@@ -187,7 +186,7 @@ void threadFunc(void* arg)
/*---------- Starting threads --------*/
- sEventBroker->start();
+ sEventBroker.start();
fmm.start();
ada_controller.start();
nas_controller.start();
@@ -196,10 +195,10 @@ void threadFunc(void* arg)
// pin_handler.start();
scheduler.start(); // started only the scheduler instead of the SM
- sEventBroker->post({EV_INIT_OK}, TOPIC_FMM);
+ sEventBroker.post({EV_INIT_OK}, TOPIC_FMM);
Thread::sleep(100);
- HIL::getInstance()->start(); // wait for first message from simulator
+ HIL::getInstance().tart(); // wait for first message from simulator
/*---------- Wait for simulator to startup ----------*/
while (!flightPhasesManager->isSimulationStarted())
@@ -214,15 +213,13 @@ void threadFunc(void* arg)
scheduler.stop();
- sEventBroker->post({EV_LANDED}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LANDED}, TOPIC_FLIGHT_EVENTS);
Thread::sleep(1000);
}
int main()
{
- TimestampTimer::enableTimestampTimer();
-
Thread::create(threadFunc, STACK_MIN_FOR_SKYWARD, MAIN_PRIORITY, nullptr);
unsigned int counter = 0;
diff --git a/src/entrypoints/payload-entry.cpp b/src/entrypoints/payload-entry.cpp
index ecf8b8c1e..583f1612a 100644
--- a/src/entrypoints/payload-entry.cpp
+++ b/src/entrypoints/payload-entry.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include <Debug.h>
#include <Payload/PayloadBoard.h>
#include <SystemData.h>
#include <diagnostic/CpuMeter.h>
@@ -44,7 +43,7 @@ int main()
SystemData system_data;
// Instantiate the payload
- Payload::getInstance()->start();
+ Payload::getInstance().start();
LOG_INFO(log, "Payload started");
// LoggerService* logger_service = LoggerService::getInstance();
@@ -52,9 +51,9 @@ int main()
for (;;)
{
Thread::sleep(1000);
- // logger_service->log(logger_service->getLogger().getLogStats());
+ // logger_service->log(logger_service->getLogger().getLoggerStats());
- // StackLogger::getInstance()->updateStack(THID_ENTRYPOINT);
+ // StackLogger::getInstance().updateStack(THID_ENTRYPOINT);
system_data.timestamp = miosix::getTick();
system_data.cpu_usage = averageCpuUtilization();
@@ -70,6 +69,6 @@ int main()
// logger_service->log(system_data);
- // StackLogger::getInstance()->log();
+ // StackLogger::getInstance().log();
}
}
\ No newline at end of file
diff --git a/src/entrypoints/windtunnel-entry.cpp b/src/entrypoints/windtunnel-entry.cpp
index 8c6a85792..89e4deeb3 100644
--- a/src/entrypoints/windtunnel-entry.cpp
+++ b/src/entrypoints/windtunnel-entry.cpp
@@ -33,15 +33,15 @@ int main()
{
TRACE("Starting windtunnel test....\n");
// Instantiate the stack
- DeathStack::getInstance()->start();
+ DeathStack::getInstance().start();
TRACE("Running\n");
// bool printed = false;
for (;;)
{
Thread::sleep(1000);
- LoggerService::getInstance()->log(
- LoggerService::getInstance()->getLogger().getLogStats());
+ LoggerService::getInstance().log(
+ LoggerService::getInstance().getLogger().getLoggerStats());
// if(buf_adc_pitot.size() >= GLOBAL_BUF_LEN && !printed)
// {
// printed = true;
diff --git a/src/entrypoints/windtunnel-test-decoder/LogTypes.h b/src/entrypoints/windtunnel-test-decoder/LogTypes.h
index a093dd70e..5b370ad57 100644
--- a/src/entrypoints/windtunnel-test-decoder/LogTypes.h
+++ b/src/entrypoints/windtunnel-test-decoder/LogTypes.h
@@ -34,7 +34,7 @@
#include "drivers/mavlink/MavlinkStatus.h"
#include "events/EventData.h"
#include "logger/Deserializer.h"
-#include "logger/LogStats.h"
+#include "logger/LoggerStats.h"
#include "sensors/MS580301BA07/MS580301BA07Data.h"
#include "sensors/analog/pressure/MPXHZ6130A/MPXHZ6130AData.h"
#include "sensors/analog/pressure/honeywell/SSCDANN030PAAData.h"
@@ -59,7 +59,7 @@ void registerType(Deserializer& ds)
void registerTypes(Deserializer& ds)
{
- registerType<LogStats>(ds);
+ registerType<LoggerStats>(ds);
registerType<EventData>(ds);
registerType<MS5803Data>(ds);
diff --git a/src/hardware_in_the_loop/HILFlightPhasesManager.h b/src/hardware_in_the_loop/HILFlightPhasesManager.h
index 0da4add27..d60c9d5db 100644
--- a/src/hardware_in_the_loop/HILFlightPhasesManager.h
+++ b/src/hardware_in_the_loop/HILFlightPhasesManager.h
@@ -67,7 +67,7 @@ struct Outcomes
Outcomes() : t(0), z(0), vz(0) {}
Outcomes(float z, float vz)
- : t(TimestampTimer::getTimestamp()), z(z), vz(vz)
+ : t(TimestampTimer::getInstance().getTimestamp()), z(z), vz(vz)
{
}
@@ -90,16 +90,16 @@ public:
HILFlightPhasesManager()
{
updateFlags({0, 0, 0, 0, 0, 0});
- counter_flight_events = new EventCounter(*sEventBroker);
+ counter_flight_events = new EventCounter(sEventBroker);
counter_flight_events->subscribe(TOPIC_FLIGHT_EVENTS);
- counter_airbrakes = new EventCounter(*sEventBroker);
+ counter_airbrakes = new EventCounter(sEventBroker);
counter_airbrakes->subscribe(TOPIC_ABK);
- counter_ada = new EventCounter(*sEventBroker);
+ counter_ada = new EventCounter(sEventBroker);
counter_ada->subscribe(TOPIC_ADA);
- counter_dpl = new EventCounter(*sEventBroker);
+ counter_dpl = new EventCounter(sEventBroker);
counter_dpl->subscribe(TOPIC_DPL);
}
@@ -135,7 +135,7 @@ public:
// set true when the first packet from the simulator arrives
if (isSetTrue(SIMULATION_STARTED))
{
- t_start = TimestampTimer::getTimestamp();
+ t_start = TimestampTimer::getInstance().getTimestamp();
TRACE("[HIL] ------- SIMULATION STARTED ! ------- \n");
changed_flags.push_back(SIMULATION_STARTED);
@@ -162,9 +162,8 @@ public:
{
if (isSetTrue(FLYING))
{
- t_liftoff = TimestampTimer::getTimestamp();
- sEventBroker->post({EV_UMBILICAL_DETACHED},
- TOPIC_FLIGHT_EVENTS);
+ t_liftoff = TimestampTimer::getInstance().getTimestamp();
+ sEventBroker.post({EV_UMBILICAL_DETACHED}, TOPIC_FLIGHT_EVENTS);
TRACE("[HIL] ------- LIFTOFF ! ------- \n");
changed_flags.push_back(FLYING);
@@ -211,7 +210,7 @@ public:
else if (isSetTrue(SIMULATION_STOPPED))
{
changed_flags.push_back(SIMULATION_STOPPED);
- t_stop = TimestampTimer::getTimestamp();
+ t_stop = TimestampTimer::getInstance().getTimestamp();
TRACE("[HIL] ------- SIMULATION STOPPED ! -------: %f \n\n\n",
(double)t_stop / 1000000.0f);
printOutcomes();
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILBarometer.h b/src/hardware_in_the_loop/HIL_sensors/HILBarometer.h
index 3c23d7211..16e5d2d5e 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILBarometer.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILBarometer.h
@@ -45,7 +45,7 @@ protected:
{
HILBaroData tempData;
- tempData.press = sensorData->barometer.measures[sampleCounter];
+ tempData.pressure = sensorData->barometer.measures[sampleCounter];
tempData.press_timestamp = updateTimestamp();
return tempData;
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILSensor.h b/src/hardware_in_the_loop/HIL_sensors/HILSensor.h
index 57a1f0768..253e8e135 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILSensor.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILSensor.h
@@ -24,6 +24,7 @@
#include <typeinfo>
+#include "HILSensorsData.h"
#include "HILTimestampManagement.h"
#include "TimestampTimer.h"
#include "hardware_in_the_loop/HILConfig.h"
@@ -31,7 +32,6 @@
#include "math/Vec3.h"
#include "sensors/Sensor.h"
#include "sensors/SensorData.h"
-#include "HILSensorsData.h"
/**
* @brief Fake sensor base used for the simulation. Every sensor for the
@@ -140,7 +140,7 @@ protected:
uint64_t updateTimestamp()
{
sampleCounter++;
- return TimestampTimer::getTimestamp();
+ return TimestampTimer::getInstance().getTimestamp();
}
/**
diff --git a/src/hardware_in_the_loop/simulator_communication/SerialInterface.h b/src/hardware_in_the_loop/simulator_communication/SerialInterface.h
index 37857e3d1..e8ba4476b 100644
--- a/src/hardware_in_the_loop/simulator_communication/SerialInterface.h
+++ b/src/hardware_in_the_loop/simulator_communication/SerialInterface.h
@@ -22,7 +22,6 @@
#pragma once
-#include <Common.h>
#include <fcntl.h>
#include <stdio.h>
diff --git a/src/mocksensors/MockGPS.h b/src/mocksensors/MockGPS.h
index 17ecf424d..17b04b9a8 100644
--- a/src/mocksensors/MockGPS.h
+++ b/src/mocksensors/MockGPS.h
@@ -22,10 +22,10 @@
#pragma once
-#include <TimestampTimer.h>
-#include <sensors/Sensor.h>
+#include <drivers/timer/TimestampTimer.h>
#include <mocksensors/MockSensorsData.h>
#include <mocksensors/lynx_flight_data/lynx_gps_data.h>
+#include <sensors/Sensor.h>
namespace DeathStackBoard
{
@@ -54,28 +54,28 @@ public:
MockGPSData data;
- data.gps_timestamp = TimestampTimer::getTimestamp();
- data.fix = true;
+ data.gpsTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.fix = true;
if (before_liftoff)
{
- data.latitude = GPS_DATA_LAT[0];
- data.longitude = GPS_DATA_LON[0];
- data.velocity_north = GPS_DATA_VNORD[0];
- data.velocity_east = GPS_DATA_VEAST[0];
- data.velocity_down = GPS_DATA_VDOWN[0];
- data.num_satellites = GPS_DATA_NSATS[0];
- data.fix = true;
+ data.latitude = GPS_DATA_LAT[0];
+ data.longitude = GPS_DATA_LON[0];
+ data.velocityNorth = GPS_DATA_VNORD[0];
+ data.velocityEast = GPS_DATA_VEAST[0];
+ data.velocityDown = GPS_DATA_VDOWN[0];
+ data.satellites = GPS_DATA_NSATS[0];
+ data.fix = true;
}
else if (i < GPS_DATA_SIZE)
{
- data.latitude = GPS_DATA_LAT[i];
- data.longitude = GPS_DATA_LON[i];
- data.velocity_north = GPS_DATA_VNORD[i];
- data.velocity_east = GPS_DATA_VEAST[i];
- data.velocity_down = GPS_DATA_VDOWN[i];
- data.num_satellites = GPS_DATA_NSATS[i];
- data.fix = true;
+ data.latitude = GPS_DATA_LAT[i];
+ data.longitude = GPS_DATA_LON[i];
+ data.velocityNorth = GPS_DATA_VNORD[i];
+ data.velocityEast = GPS_DATA_VEAST[i];
+ data.velocityDown = GPS_DATA_VDOWN[i];
+ data.satellites = GPS_DATA_NSATS[i];
+ data.fix = true;
i++;
}
diff --git a/src/mocksensors/MockIMU.h b/src/mocksensors/MockIMU.h
index 94ac9f373..acd1bf1e3 100644
--- a/src/mocksensors/MockIMU.h
+++ b/src/mocksensors/MockIMU.h
@@ -22,10 +22,10 @@
#pragma once
-#include <TimestampTimer.h>
-#include <sensors/Sensor.h>
+#include <drivers/timer/TimestampTimer.h>
#include <mocksensors/MockSensorsData.h>
#include <mocksensors/lynx_flight_data/lynx_imu_data.h>
+#include <sensors/Sensor.h>
namespace DeathStackBoard
{
@@ -47,22 +47,22 @@ public:
}
MockIMUData data;
- uint64_t t = TimestampTimer::getTimestamp();
-
- data.accel_timestamp = t;
- data.accel_x = ACCEL_DATA[index][0];
- data.accel_y = ACCEL_DATA[index][1];
- data.accel_z = ACCEL_DATA[index][2];
-
- data.gyro_timestamp = t;
- data.gyro_x = GYRO_DATA[index][0];
- data.gyro_y = GYRO_DATA[index][1];
- data.gyro_z = GYRO_DATA[index][2];
-
- data.mag_timestamp = t;
- data.mag_x = MAG_DATA[index][0];
- data.mag_y = MAG_DATA[index][1];
- data.mag_z = MAG_DATA[index][2];
+ uint64_t t = TimestampTimer::getInstance().getTimestamp();
+
+ data.accelerationTimestamp = t;
+ data.accelerationX = ACCEL_DATA[index][0];
+ data.accelerationY = ACCEL_DATA[index][1];
+ data.accelerationZ = ACCEL_DATA[index][2];
+
+ data.angularVelocityTimestamp = t;
+ data.angularVelocityX = GYRO_DATA[index][0];
+ data.angularVelocityY = GYRO_DATA[index][1];
+ data.angularVelocityZ = GYRO_DATA[index][2];
+
+ data.magneticFieldTimestamp = t;
+ data.magneticFieldX = MAG_DATA[index][0];
+ data.magneticFieldY = MAG_DATA[index][1];
+ data.magneticFieldZ = MAG_DATA[index][2];
// when finished, go back to the beginning
index = (index + 1) % IMU_DATA_SIZE;
diff --git a/src/mocksensors/MockPressureSensor.h b/src/mocksensors/MockPressureSensor.h
index 7100f81b9..1a6b7ccc7 100644
--- a/src/mocksensors/MockPressureSensor.h
+++ b/src/mocksensors/MockPressureSensor.h
@@ -22,11 +22,11 @@
#pragma once
-#include <Common.h>
#include <mocksensors/MockSensorsData.h>
//#include <mocksensors/lynx_flight_data/lynx_press_data.h>
#include <mocksensors/lynx_flight_data/lynx_pressure_static_data.h>
#include <sensors/Sensor.h>
+
#include <random>
namespace DeathStackBoard
@@ -45,31 +45,31 @@ public:
{
MockPressureData data;
- data.press_timestamp = TimestampTimer::getTimestamp();
+ data.pressureTimestamp = TimestampTimer::getInstance().getTimestamp();
if (before_liftoff)
{
- data.press = PRESSURE_STATIC_DATA[0];
+ data.pressure = PRESSURE_STATIC_DATA[0];
}
else
{
if (i < PRESSURE_STATIC_DATA_SIZE)
{
- data.press = PRESSURE_STATIC_DATA[i++];
+ data.pressure = PRESSURE_STATIC_DATA[i++];
}
else
{
- data.press =
+ data.pressure =
PRESSURE_STATIC_DATA[PRESSURE_STATIC_DATA_SIZE - 1];
}
}
if (with_noise)
{
- data.press = addNoise(data.press);
+ data.pressure = addNoise(data.pressure);
}
- data.press = movingAverage(data.press);
+ data.pressure = movingAverage(data.pressure);
return data;
}
diff --git a/src/mocksensors/MockSensorsData.h b/src/mocksensors/MockSensorsData.h
index 4358df593..d9edc2220 100644
--- a/src/mocksensors/MockSensorsData.h
+++ b/src/mocksensors/MockSensorsData.h
@@ -37,10 +37,12 @@ struct MockIMUData : public AccelerometerData,
void print(std::ostream& os) const
{
- os << accel_timestamp << "," << accel_x << "," << accel_y << ","
- << accel_z << "," << gyro_timestamp << "," << gyro_x << "," << gyro_y
- << "," << gyro_z << "," << mag_timestamp << "," << mag_x << ","
- << mag_y << "," << mag_z << "\n";
+ os << accelerationTimestamp << "," << accelerationX << ","
+ << accelerationY << "," << accelerationZ << ","
+ << angularVelocityTimestamp << "," << angularVelocityX << ","
+ << angularVelocityY << "," << angularVelocityZ << ","
+ << magneticFieldTimestamp << "," << magneticFieldX << ","
+ << magneticFieldY << "," << magneticFieldZ << "\n";
}
};
@@ -53,7 +55,7 @@ struct MockPressureData : public PressureData
void print(std::ostream& os) const
{
- os << press_timestamp << "," << press << "\n";
+ os << pressureTimestamp << "," << pressure << "\n";
}
};
@@ -65,12 +67,12 @@ struct MockGPSData : public GPSData
"velocity_east,velocity_down,speed,track,num_satellites,fix\n";
}
- void print(std::ostream &os) const
+ void print(std::ostream& os) const
{
- os << gps_timestamp << "," << latitude << "," << longitude << ","
- << height << "," << velocity_north << "," << velocity_east << ","
- << velocity_down << "," << speed << "," << track << ","
- << (int)num_satellites << "," << (int)fix << "\n";
+ os << gpsTimestamp << "," << latitude << "," << longitude << ","
+ << height << "," << velocityNorth << "," << velocityEast << ","
+ << velocityDown << "," << speed << "," << track << ","
+ << (int)satellites << "," << (int)fix << "\n";
}
};
diff --git a/src/mocksensors/MockSpeedSensor.h b/src/mocksensors/MockSpeedSensor.h
index a9dd3b3f9..c7c01cae0 100644
--- a/src/mocksensors/MockSpeedSensor.h
+++ b/src/mocksensors/MockSpeedSensor.h
@@ -22,10 +22,10 @@
#pragma once
-#include <Common.h>
#include <mocksensors/MockSensorsData.h>
#include <mocksensors/lynx_flight_data/lynx_airspeed_data.h>
#include <sensors/Sensor.h>
+
#include <random>
namespace DeathStackBoard
@@ -44,7 +44,7 @@ public:
{
MockSpeedData data;
- data.timestamp = TimestampTimer::getTimestamp();
+ data.timestamp = TimestampTimer::getInstance().getTimestamp();
if (before_liftoff)
{
diff --git a/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h b/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h
index d0948bffb..7fa3e38da 100644
--- a/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h
+++ b/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h
@@ -22,8 +22,6 @@
#pragma once
-#include <Common.h>
-
/**
* Pitot airspeed data from Lynx flight test in Roccaraso.
* Sampled at 42 Hz (24 ms period).
diff --git a/src/mocksensors/lynx_flight_data/lynx_gps_data.h b/src/mocksensors/lynx_flight_data/lynx_gps_data.h
index a82162aca..3318c3a51 100644
--- a/src/mocksensors/lynx_flight_data/lynx_gps_data.h
+++ b/src/mocksensors/lynx_flight_data/lynx_gps_data.h
@@ -22,7 +22,7 @@
#pragma once
-#include <Common.h>
+#include <stdint.h>
/**
* Ublox Neo-M9N GPS data from Lynx flight test in Roccaraso.
diff --git a/src/mocksensors/mock_data/test-mock-sensors.cpp b/src/mocksensors/mock_data/test-mock-sensors.cpp
index d21fa7b4e..2181291ea 100644
--- a/src/mocksensors/mock_data/test-mock-sensors.cpp
+++ b/src/mocksensors/mock_data/test-mock-sensors.cpp
@@ -20,15 +20,12 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <mocksensors/MockSensors.h>
using namespace DeathStackBoard;
int main()
{
- TimestampTimer::enableTimestampTimer();
-
MockGPS gps;
MockPressureSensor p_sensor;
MockIMU imu;
@@ -55,7 +52,7 @@ int main()
p_sensor.sample();
PressureData pressure = p_sensor.getLastSample();
TRACE("PRESSURE SAMPLE: \n");
- TRACE("pressure = %f \n\n", pressure.press);
+ TRACE("pressure = %f \n\n", pressure.pressure);
imu.sample();
MockIMUData imu_data = imu.getLastSample();
diff --git a/src/tests/airbrakes/test-airbrakes-interactive.cpp b/src/tests/airbrakes/test-airbrakes-interactive.cpp
index f15d6d74f..36fcdf1ae 100644
--- a/src/tests/airbrakes/test-airbrakes-interactive.cpp
+++ b/src/tests/airbrakes/test-airbrakes-interactive.cpp
@@ -90,7 +90,7 @@ float resetPosition = AirBrakesConfigs::AB_SERVO_MIN_POS;
int main()
{
- sEventBroker->start();
+ sEventBroker.start();
miosix::GpioPin pwmPin = miosix::GpioPin(GPIOC_BASE, 7);
pwmPin.mode(miosix::Mode::ALTERNATE);
@@ -164,13 +164,13 @@ void testAlgorithm()
// Start the state machine
airbrakesController.start();
sensor.sample();
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_FLIGHT_EVENTS);
counter.subscribe(TOPIC_ABK);
// Start test
cout << "Starting airbrakes test\n";
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
while (counter.getCount(EV_SHADOW_MODE_TIMEOUT) < 1)
{
Thread::sleep(10);
@@ -208,12 +208,12 @@ void testAirBrakes()
// Start the state machine
airbrakesController.start();
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_ABK);
// Start test
cout << "Starting airbrakes test\n";
- sEventBroker->post({EV_TEST_ABK}, TOPIC_ABK);
+ sEventBroker.post({EV_TEST_ABK}, TOPIC_ABK);
while (counter.getCount(EV_TEST_TIMEOUT) < 1)
{
diff --git a/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp b/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp
index d88c8b7c1..74070c368 100644
--- a/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp
+++ b/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp
@@ -26,22 +26,20 @@
#define EIGEN_NO_MALLOC
-
-#include <catch2/catch.hpp>
-
#include <Eigen/Dense>
+#include <catch2/catch.hpp>
#define private public
#define protected public
-#include <ApogeeDetectionAlgorithm/ADAController.h>
#include <ApogeeDetectionAlgorithm/ADAAlgorithm.h>
+#include <ApogeeDetectionAlgorithm/ADAController.h>
#include <DeathStack.h>
-#include <Common.h>
#include <events/EventBroker.h>
#include <events/Events.h>
#include <events/FSM.h>
#include <events/utils/EventCounter.h>
+
#include <algorithm>
#include <cmath>
#include <iostream>
@@ -88,7 +86,8 @@ public:
}
}
- return PressureData{TimestampTimer::getTimestamp(), press};
+ return PressureData{TimestampTimer::getInstance().getTimestamp(),
+ press};
}
void signalLiftoff() { before_liftoff = false; }
@@ -145,14 +144,12 @@ void checkState(unsigned int i, ADAKalmanState state)
TEST_CASE("Testing ada_controller from calibration to first descent phase")
{
- TimestampTimer::enableTimestampTimer();
-
ada_controller = new ADACtrl(mock_baro, mock_gps);
TRACE("ADA init : %d \n", ada_controller->start());
// Start event broker and ada_controller
- sEventBroker->start();
- EventCounter counter{*sEventBroker};
+ sEventBroker.start();
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_ADA);
// Startup: we should be in idle
@@ -160,7 +157,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
REQUIRE(ada_controller->testState(&ADACtrl::state_idle));
// Enter Calibrating and REQUIRE
- sEventBroker->post({EV_CALIBRATE_ADA}, TOPIC_ADA);
+ sEventBroker.post({EV_CALIBRATE_ADA}, TOPIC_ADA);
Thread::sleep(100);
REQUIRE(ada_controller->testState(&ADACtrl::state_calibrating));
@@ -216,7 +213,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
REQUIRE(ada_controller->testState(&ADACtrl::state_ready));
// Send liftoff event: should be in shadow mode
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
mock_baro.signalLiftoff();
Thread::sleep(100);
REQUIRE(ada_controller->testState(&ADACtrl::state_shadowMode));
@@ -230,7 +227,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
mock_baro.sample();
Thread::sleep(5);
ada_controller->update();
- float noisy_p = mock_baro.getLastSample().press;
+ float noisy_p = mock_baro.getLastSample().pressure;
// Thread::sleep(100);
ADAKalmanState state = ada_controller->ada.getKalmanState();
printf("%d,%f,%f,%f\n", (int)i, noisy_p, state.x0,
@@ -252,7 +249,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
mock_baro.sample();
Thread::sleep(5);
ada_controller->update();
- float noisy_p = mock_baro.getLastSample().press;
+ float noisy_p = mock_baro.getLastSample().pressure;
// Thread::sleep(100);
ADAKalmanState state = ada_controller->ada.getKalmanState();
printf("%d,%f,%f,%f\n", (int)i, noisy_p, state.x0,
diff --git a/src/tests/catch/ada/kalman_acc/test-kalman-acc.cpp b/src/tests/catch/ada/kalman_acc/test-kalman-acc.cpp
index 8169ac0fe..52accdb46 100644
--- a/src/tests/catch/ada/kalman_acc/test-kalman-acc.cpp
+++ b/src/tests/catch/ada/kalman_acc/test-kalman-acc.cpp
@@ -27,13 +27,12 @@
#define private public
#include <ADA/ADA.h>
-#include <Common.h>
#include <configs/ADAConfig.h>
+#include <catch2/catch.hpp>
#include <iostream>
#include <random>
#include <sstream>
-#include <catch2/catch.hpp>
#include "test-kalman-acc-data.h"
diff --git a/src/tests/catch/ada/test-rogallo-dts.cpp b/src/tests/catch/ada/test-rogallo-dts.cpp
index ac887b85e..2770af03b 100644
--- a/src/tests/catch/ada/test-rogallo-dts.cpp
+++ b/src/tests/catch/ada/test-rogallo-dts.cpp
@@ -119,7 +119,7 @@ TEST_CASE("[RogalloDTS] Test Launch Hazard Circles")
TEST_CASE("[Rogallo DTS] Test deployment altitude")
{
- EventCounter c{*sEventBroker};
+ EventCounter c{sEventBroker};
c.subscribe(TOPIC_ADA);
RogalloDTS dts;
diff --git a/src/tests/catch/catch-tests-entry.cpp b/src/tests/catch/catch-tests-entry.cpp
index 389ee6f73..3167810e3 100644
--- a/src/tests/catch/catch-tests-entry.cpp
+++ b/src/tests/catch/catch-tests-entry.cpp
@@ -55,9 +55,9 @@
#include <miosix.h>
+#include <catch2/catch.hpp>
#include <cstring>
#include <string>
-#include <catch2/catch.hpp>
#include <vector>
using miosix::Thread;
@@ -137,7 +137,7 @@ int main()
}
// Run tests with the provided arguments
- int result = Catch::Session().run(argc, argv);
+ Catch::Session().run(argc, argv);
// Clear memory
for (size_t i = 0; i < argc; i++)
diff --git a/src/tests/catch/fsm/test-ada.cpp b/src/tests/catch/fsm/test-ada.cpp
index 51ee14fe9..775ae083f 100644
--- a/src/tests/catch/fsm/test-ada.cpp
+++ b/src/tests/catch/fsm/test-ada.cpp
@@ -29,9 +29,8 @@
#include <miosix.h>
-#include <catch2/catch.hpp>
-
#include <Eigen/Dense>
+#include <catch2/catch.hpp>
#define private public
#define protected public
@@ -53,7 +52,7 @@ public:
// This is called at the beginning of each test / section
ADAControllerFixture()
{
- sEventBroker->start();
+ sEventBroker.start();
controller = new ADACtrl(mock_baro, mock_gps);
controller->start();
}
@@ -62,8 +61,8 @@ public:
~ADAControllerFixture()
{
controller->stop();
- sEventBroker->unsubscribe(controller);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(controller);
+ sEventBroker.clearDelayedEvents();
delete controller;
}
diff --git a/src/tests/catch/fsm/test-airbrakes.cpp b/src/tests/catch/fsm/test-airbrakes.cpp
index 0eb3af90c..51d7ec5bb 100644
--- a/src/tests/catch/fsm/test-airbrakes.cpp
+++ b/src/tests/catch/fsm/test-airbrakes.cpp
@@ -75,7 +75,7 @@ public:
AirBrakesControllerFixture()
{
controller = new AirBrakesController<InputClass>(sensor);
- sEventBroker->start();
+ sEventBroker.start();
controller->start();
}
@@ -83,8 +83,8 @@ public:
~AirBrakesControllerFixture()
{
controller->stop();
- sEventBroker->unsubscribe(controller);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(controller);
+ sEventBroker.clearDelayedEvents();
delete controller;
}
diff --git a/src/tests/catch/fsm/test-deployment.cpp b/src/tests/catch/fsm/test-deployment.cpp
index 68d0df735..137f2f925 100644
--- a/src/tests/catch/fsm/test-deployment.cpp
+++ b/src/tests/catch/fsm/test-deployment.cpp
@@ -29,7 +29,7 @@
#define protected public
#include <Deployment/DeploymentController.h>
-#include <drivers/servo/servo.h>
+#include <drivers/servo/Servo.h>
#include <miosix.h>
#include <catch2/catch.hpp>
@@ -48,7 +48,7 @@ public:
DeploymentControllerFixture()
{
controller = new DeploymentController(&ejection_servo);
- sEventBroker->start();
+ sEventBroker.start();
controller->start();
}
@@ -56,8 +56,8 @@ public:
~DeploymentControllerFixture()
{
controller->stop();
- sEventBroker->unsubscribe(controller);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(controller);
+ sEventBroker.clearDelayedEvents();
delete controller;
}
diff --git a/src/tests/catch/fsm/test-flightstatsrecorder.cpp b/src/tests/catch/fsm/test-flightstatsrecorder.cpp
index 45e9cee8e..1ca268fbe 100644
--- a/src/tests/catch/fsm/test-flightstatsrecorder.cpp
+++ b/src/tests/catch/fsm/test-flightstatsrecorder.cpp
@@ -30,9 +30,8 @@
#include <miosix.h>
-#include <catch2/catch.hpp>
-
#include <Eigen/Dense>
+#include <catch2/catch.hpp>
#define private public
#define protected public
@@ -51,7 +50,7 @@ public:
// This is called at the beginning of each test / section
FlightStatsFixture()
{
- sEventBroker->start();
+ sEventBroker.start();
fsm = new FlightStatsRecorder();
fsm->start();
}
@@ -60,8 +59,8 @@ public:
~FlightStatsFixture()
{
fsm->stop();
- sEventBroker->unsubscribe(fsm);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(fsm);
+ sEventBroker.clearDelayedEvents();
delete fsm;
}
diff --git a/src/tests/catch/fsm/test-fmm.cpp b/src/tests/catch/fsm/test-fmm.cpp
index 793a6a547..0b65370bb 100644
--- a/src/tests/catch/fsm/test-fmm.cpp
+++ b/src/tests/catch/fsm/test-fmm.cpp
@@ -29,12 +29,11 @@
#include <miosix.h>
+#include <Eigen/Dense>
#include <catch2/catch.hpp>
#include "events/Events.h"
-#include <Eigen/Dense>
-
#define private public
#define protected public
@@ -51,7 +50,7 @@ public:
// This is called at the beginning of each test / section
FMMFixture()
{
- sEventBroker->start();
+ sEventBroker.start();
fsm = new FMMController();
fsm->start();
}
@@ -60,8 +59,8 @@ public:
~FMMFixture()
{
fsm->stop();
- sEventBroker->unsubscribe(fsm);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(fsm);
+ sEventBroker.clearDelayedEvents();
delete fsm;
}
diff --git a/src/tests/catch/fsm/test-ignition.cpp b/src/tests/catch/fsm/test-ignition.cpp
index 5df0ea6a9..19afdf1c2 100644
--- a/src/tests/catch/fsm/test-ignition.cpp
+++ b/src/tests/catch/fsm/test-ignition.cpp
@@ -55,8 +55,8 @@ public:
}
~IgnitionTestFixture()
{
- sEventBroker->unsubscribe(ign);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(ign);
+ sEventBroker.clearDelayedEvents();
delete ign;
delete can;
delete can_mgr;
@@ -161,7 +161,7 @@ class IgnitionTestFixture2
public:
IgnitionTestFixture2()
{
- sEventBroker->start();
+ sEventBroker.start();
can_mgr = new CanManager(CAN1);
can = new CanProxy(can_mgr);
ign = new IgnitionController(can);
@@ -170,8 +170,8 @@ public:
~IgnitionTestFixture2()
{
ign->stop();
- sEventBroker->unsubscribe(ign);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(ign);
+ sEventBroker.clearDelayedEvents();
delete ign;
delete can;
delete can_mgr;
@@ -201,7 +201,7 @@ TEST_CASE_METHOD(IgnitionTestFixture2, "Igntiion: Testing IDLE functions")
{
TRACE("Beginning of section\n");
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_FLIGHT_EVENTS);
// Sending ign status
@@ -251,7 +251,7 @@ TEST_CASE_METHOD(IgnitionTestFixture2, "Igntiion: Testing IDLE functions")
// the delayed ev_ign_offline
// should be deleted
{
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_FLIGHT_EVENTS);
Thread::sleep(TIMEOUT_IGN_OFFLINE / 2);
diff --git a/src/tests/catch/fsm/test-nas.cpp b/src/tests/catch/fsm/test-nas.cpp
index 1d1b51496..5aea6b14c 100644
--- a/src/tests/catch/fsm/test-nas.cpp
+++ b/src/tests/catch/fsm/test-nas.cpp
@@ -34,6 +34,7 @@
#include <NavigationAttitudeSystem/NASCalibrator.h>
#include <NavigationAttitudeSystem/NASController.h>
#include <mocksensors/MockSensors.h>
+
#include "events/Events.h"
#include "utils/testutils/TestHelper.h"
@@ -47,7 +48,7 @@ public:
// This is called at the beginning of each test / section
NASControllerFixture() : controller(mock_imu, mock_baro, mock_gps)
{
- sEventBroker->start();
+ sEventBroker.start();
controller.start();
}
@@ -55,8 +56,8 @@ public:
~NASControllerFixture()
{
controller.stop();
- sEventBroker->unsubscribe(&controller);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(&controller);
+ sEventBroker.clearDelayedEvents();
}
protected:
diff --git a/src/tests/catch/fsm/test-tmtc.cpp b/src/tests/catch/fsm/test-tmtc.cpp
index 65b7478eb..8d6943553 100644
--- a/src/tests/catch/fsm/test-tmtc.cpp
+++ b/src/tests/catch/fsm/test-tmtc.cpp
@@ -30,9 +30,8 @@
#include <miosix.h>
-#include <catch2/catch.hpp>
-
#include <Eigen/Dense>
+#include <catch2/catch.hpp>
#define private public
#define protected public
@@ -51,7 +50,7 @@ public:
// This is called at the beginning of each test / section
TMTCFixture()
{
- sEventBroker->start();
+ sEventBroker.start();
fsm = new TMTCController();
fsm->start();
}
@@ -60,8 +59,8 @@ public:
~TMTCFixture()
{
fsm->stop();
- sEventBroker->unsubscribe(fsm);
- sEventBroker->clearDelayedEvents();
+ sEventBroker.unsubscribe(fsm);
+ sEventBroker.clearDelayedEvents();
delete fsm;
}
diff --git a/src/tests/catch/nas/test-nas-simulation.cpp b/src/tests/catch/nas/test-nas-simulation.cpp
index 0ba5573b6..75fced107 100644
--- a/src/tests/catch/nas/test-nas-simulation.cpp
+++ b/src/tests/catch/nas/test-nas-simulation.cpp
@@ -64,12 +64,10 @@ void signalLiftoff()
TEST_CASE("Testing Navigation System Controller")
{
- TimestampTimer::enableTimestampTimer();
-
- sEventBroker->start();
+ sEventBroker.start();
controller.start();
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_NAS);
// Startup: we should be in idle
@@ -77,7 +75,7 @@ TEST_CASE("Testing Navigation System Controller")
REQUIRE(controller.testState(&NASCtrl::state_idle));
// Enter Calibrating and REQUIRE
- sEventBroker->post(Event{EV_CALIBRATE_NAS}, TOPIC_NAS);
+ sEventBroker.post(Event{EV_CALIBRATE_NAS}, TOPIC_NAS);
Thread::sleep(100);
REQUIRE(controller.testState(&NASCtrl::state_calibrating));
@@ -101,9 +99,11 @@ TEST_CASE("Testing Navigation System Controller")
MockIMUData imu_data =
mock_imu.getLastSample(); // still before liftoff ...
NASReferenceValues ref_values{
- press_data.press, gps_data.latitude, gps_data.longitude,
- imu_data.accel_x, imu_data.accel_y, imu_data.accel_z,
- imu_data.mag_x, imu_data.mag_y, imu_data.mag_z};
+ press_data.pressure, gps_data.latitude,
+ gps_data.longitude, imu_data.accelerationX,
+ imu_data.accelerationY, imu_data.accelerationZ,
+ imu_data.magneticFieldX, imu_data.magneticFieldY,
+ imu_data.magneticFieldZ};
REQUIRE(ref_values == controller.calibrator.getReferenceValues());
// Now we should be in ready
@@ -115,7 +115,7 @@ TEST_CASE("Testing Navigation System Controller")
Thread::sleep(100);
// retry the calibration phase
- sEventBroker->post({EV_CALIBRATE_NAS}, TOPIC_NAS);
+ sEventBroker.post({EV_CALIBRATE_NAS}, TOPIC_NAS);
Thread::sleep(100);
REQUIRE(controller.testState(&NASCtrl::state_calibrating));
// sample some data for calibration
@@ -130,11 +130,14 @@ TEST_CASE("Testing Navigation System Controller")
// i.e. the first element of the arrays from which the sensors get the data
press_data = mock_baro.getLastSample(); // still before liftoff
// (same as SIMULATED_PRESSURE[0])
- gps_data = mock_gps.getLastSample(); // still before liftoff ...
- imu_data = mock_imu.getLastSample(); // still before liftoff ...
- ref_values = NASReferenceValues{press_data.press, gps_data.latitude, gps_data.longitude,
- imu_data.accel_x, imu_data.accel_y, imu_data.accel_z,
- imu_data.mag_x, imu_data.mag_y, imu_data.mag_z};
+ gps_data = mock_gps.getLastSample(); // still before liftoff ...
+ imu_data = mock_imu.getLastSample(); // still before liftoff ...
+ ref_values =
+ NASReferenceValues{press_data.pressure, gps_data.latitude,
+ gps_data.longitude, imu_data.accelerationX,
+ imu_data.accelerationY, imu_data.accelerationZ,
+ imu_data.magneticFieldX, imu_data.magneticFieldY,
+ imu_data.magneticFieldZ};
REQUIRE(ref_values == controller.calibrator.getReferenceValues());
// Now we should be in ready
@@ -144,7 +147,7 @@ TEST_CASE("Testing Navigation System Controller")
REQUIRE(controller.testState(&NASCtrl::state_ready));
// Send liftoff event: should be in state active
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
signalLiftoff();
Thread::sleep(100);
REQUIRE(controller.testState(&NASCtrl::state_active));
diff --git a/src/tests/deathstack-boards/test-analog-board.cpp b/src/tests/deathstack-boards/test-analog-board.cpp
index bc8dcd064..bf05c3c92 100644
--- a/src/tests/deathstack-boards/test-analog-board.cpp
+++ b/src/tests/deathstack-boards/test-analog-board.cpp
@@ -36,10 +36,9 @@
* Deatachment pins
*/
-#include <Common.h>
-#include <drivers/adc/ADS1118/ADS1118.h>
#include <interfaces-impl/hwmapping.h>
#include <miosix.h>
+#include <sensors/ADS1118/ADS1118.h>
#include <sensors/MS5803/MS5803.h>
#include <sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h>
#include <sensors/analog/pressure/honeywell/SSCDANN030PAA.h>
@@ -76,8 +75,6 @@ void sampleAll();
int main()
{
- TimestampTimer::enableTimestampTimer();
-
switch (menu())
{
case 1:
@@ -148,7 +145,7 @@ void sampleAnalogPressureSensor(ADS1118::ADS1118Mux channel)
SPIBus spiBus(SPI1);
SPIBusConfig spiConfig = ADS1118::getDefaultSPIConfig();
- spiConfig.clock_div = SPIClockDivider::DIV64;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
SPISlave spiSlave(spiBus, miosix::sensors::ads1118::cs::getPin(),
spiConfig);
@@ -169,8 +166,8 @@ void sampleAnalogPressureSensor(ADS1118::ADS1118Mux channel)
{
ads1118.sample();
pressureSensor.sample();
- printf("%llu,%.2f\n", pressureSensor.getLastSample().press_timestamp,
- pressureSensor.getLastSample().press);
+ printf("%llu,%.2f\n", pressureSensor.getLastSample().pressureTimestamp,
+ pressureSensor.getLastSample().pressure);
miosix::delayMs(1000 / SAMPLING_FREQUENCY);
}
@@ -183,7 +180,7 @@ void sampleMS5803()
// Sensor setup
SPIBusConfig spiCfg{};
- spiCfg.clock_div = SPIClockDivider::DIV16;
+ spiCfg.clockDivider = SPI::ClockDivider::DIV_16;
SPIBus spiBus(SPI1);
SPISlave spiSlave(spiBus, miosix::sensors::ms5803::cs::getPin(), spiCfg);
MS5803 ms5803 = MS5803(spiSlave);
@@ -193,7 +190,7 @@ void sampleMS5803()
for (int i = 0; i < seconds * SAMPLING_FREQUENCY; i++)
{
ms5803.sample();
- printf("%.2f\n", ms5803.getLastSample().press);
+ printf("%.2f\n", ms5803.getLastSample().pressure);
miosix::delayMs(1000 / SAMPLING_FREQUENCY);
}
@@ -208,9 +205,9 @@ void sampleAll()
SPIBus spiBus(SPI1);
SPIBusConfig adsSpiConfig = ADS1118::getDefaultSPIConfig();
- adsSpiConfig.clock_div = SPIClockDivider::DIV64;
+ adsSpiConfig.clockDivider = SPI::ClockDivider::DIV_64;
SPISlave adsSpiSlave(spiBus, miosix::sensors::ads1118::cs::getPin(),
- adsSpiConfig);
+ adsSpiConfig);
ADS1118::ADS1118Config ads1118Config = ADS1118::ADS1118_DEFAULT_CONFIG;
ads1118Config.bits.mode = ADS1118::ADS1118Mode::CONTIN_CONV_MODE;
@@ -240,10 +237,11 @@ void sampleAll()
SUPPLIED_VOLTAGE);
SSCDRRN015PDA honeywell2(get_voltage_function_honeywell_2,
SUPPLIED_VOLTAGE);
-
+
SPIBusConfig ms5803SpiCfg{};
- ms5803SpiCfg.clock_div = SPIClockDivider::DIV16;
- SPISlave ms5803SpiSlave(spiBus, miosix::sensors::ms5803::cs::getPin(), ms5803SpiCfg);
+ ms5803SpiCfg.clockDivider = SPI::ClockDivider::DIV_16;
+ SPISlave ms5803SpiSlave(spiBus, miosix::sensors::ms5803::cs::getPin(),
+ ms5803SpiCfg);
MS5803 ms5803 = MS5803(ms5803SpiSlave);
ms5803.init();
@@ -257,10 +255,11 @@ void sampleAll()
honeywell2.sample();
ms5803.sample();
printf("%llu,%.2f,%.2f,%.2f,%.2f,%.2f\n",
- ads1118.getLastSample().adc_timestamp,
- npx1.getLastSample().press, npx2.getLastSample().press,
- honeywell1.getLastSample().press,
- honeywell2.getLastSample().press, ms5803.getLastSample().press);
+ ads1118.getLastSample().voltageTimestamp,
+ npx1.getLastSample().pressure, npx2.getLastSample().pressure,
+ honeywell1.getLastSample().pressure,
+ honeywell2.getLastSample().pressure,
+ ms5803.getLastSample().pressure);
miosix::delayMs(1000 / SAMPLING_FREQUENCY);
}
diff --git a/src/tests/deathstack-boards/test-power-board.cpp b/src/tests/deathstack-boards/test-power-board.cpp
index acc36ed2f..72d942bbd 100644
--- a/src/tests/deathstack-boards/test-power-board.cpp
+++ b/src/tests/deathstack-boards/test-power-board.cpp
@@ -29,11 +29,10 @@
*/
#include <AirBrakes/AirBrakesServo.h>
-#include <Common.h>
#include <Deployment/DeploymentServo.h>
-#include <drivers/adc/InternalADC/InternalADC.h>
+#include <drivers/adc/InternalADC.h>
#include <drivers/hbridge/HBridge.h>
-#include <drivers/servo/servo.h>
+#include <drivers/servo/Servo.h>
#include <sensors/analog/battery/BatteryVoltageSensor.h>
#include <cstdio>
@@ -62,8 +61,6 @@ void sampleBatteryVoltage();
int main()
{
- TimestampTimer::enableTimestampTimer();
-
switch (menu())
{
case 1:
@@ -120,7 +117,7 @@ void sampleBatteryVoltage()
// Sensor setup
- InternalADC internalADC = InternalADC(*ADC3, 3.3);
+ InternalADC internalADC = InternalADC(ADC3, 3.3);
internalADC.enableChannel(InternalADC::CH5);
internalADC.init();
@@ -138,10 +135,10 @@ void sampleBatteryVoltage()
BatteryVoltageSensorData data = batterySensor.getLastSample();
// Calculate a simple linear battery percentage
- float batteryPercentage = 100 * (data.bat_voltage - 9.6) / (12.6 - 9.6);
+ float batteryPercentage = 100 * (data.batVoltage - 9.6) / (12.6 - 9.6);
- printf("%llu,%.3f,%.3f,%.1f\n", data.adc_timestamp, data.voltage,
- data.bat_voltage, batteryPercentage);
+ printf("%llu,%.3f,%.3f,%.1f\n", data.voltageTimestamp, data.voltage,
+ data.batVoltage, batteryPercentage);
miosix::delayMs(1000 / SAMPLING_FREQUENCY);
}
diff --git a/src/tests/deathstack-boards/test-rf-board.cpp b/src/tests/deathstack-boards/test-rf-board.cpp
index 6448e6d7a..b24ab76a9 100644
--- a/src/tests/deathstack-boards/test-rf-board.cpp
+++ b/src/tests/deathstack-boards/test-rf-board.cpp
@@ -31,13 +31,12 @@
* SD card
*/
-#include <Common.h>
-#include <drivers/gps/ublox/UbloxGPS.h>
#include <drivers/spi/SPIDriver.h>
#include <interfaces-impl/hwmapping.h>
#include <miosix.h>
#include <sensors/BMX160/BMX160.h>
#include <sensors/LIS3MDL/LIS3MDL.h>
+#include <sensors/UbloxGPS/UbloxGPS.h>
#include <ctime>
#include <iostream>
@@ -46,6 +45,8 @@
#include "math/Stats.h"
+using namespace Boardcore;
+
namespace SDCardBenchmark
{
#include "../../skyward-boardcore/src/entrypoints/sdcard-benchmark.cpp"
@@ -132,8 +133,8 @@ void sampleLIS3MDL()
SPIBus spiBus(SPI1);
SPIBusConfig spiConfig;
- spiConfig.clock_div = SPIClockDivider::DIV32;
- spiConfig.mode = SPIMode::MODE1;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
+ spiConfig.mode = SPI::Mode::MODE_1;
LIS3MDL::Config lis3mdlConfig;
lis3mdlConfig.odr = LIS3MDL::ODR_560_HZ;
@@ -167,9 +168,9 @@ void sampleBMX160()
SPIBus spiBus(SPI1);
BMX160Config bmx160Config;
- bmx160Config.fifo_mode = BMX160Config::FifoMode::DISABLED;
- bmx160Config.fifo_int = BMX160Config::FifoInterruptPin::PIN_INT1;
- bmx160Config.temp_divider = 1;
+ bmx160Config.fifoMode = BMX160Config::FifoMode::DISABLED;
+ bmx160Config.fifoInterrupt = BMX160Config::FifoInterruptPin::PIN_INT1;
+ bmx160Config.temperatureDivider = 1;
BMX160 bmx160 =
BMX160(spiBus, miosix::sensors::bmx160::cs::getPin(), bmx160Config);
@@ -197,8 +198,8 @@ void sampleAll()
SPIBus spiBus(SPI1);
SPIBusConfig spiConfig;
- spiConfig.clock_div = SPIClockDivider::DIV32;
- spiConfig.mode = SPIMode::MODE1;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
+ spiConfig.mode = SPI::Mode::MODE_1;
LIS3MDL::Config lis3mdlConfig;
lis3mdlConfig.odr = LIS3MDL::ODR_560_HZ;
@@ -210,9 +211,9 @@ void sampleAll()
lis3mdl.init();
BMX160Config bmx160Config;
- bmx160Config.fifo_mode = BMX160Config::FifoMode::DISABLED;
- bmx160Config.fifo_int = BMX160Config::FifoInterruptPin::PIN_INT1;
- bmx160Config.temp_divider = 1;
+ bmx160Config.fifoMode = BMX160Config::FifoMode::DISABLED;
+ bmx160Config.fifoInterrupt = BMX160Config::FifoInterruptPin::PIN_INT1;
+ bmx160Config.temperatureDivider = 1;
BMX160 bmx160 =
BMX160(spiBus, miosix::sensors::bmx160::cs::getPin(), bmx160Config);
@@ -240,7 +241,8 @@ void sampleGPS()
// Sensor setup
- UbloxGPS gps(38400);
+ UbloxGPSSerial gps;
+
gps.init();
miosix::delayMs(200);
gps.start();
diff --git a/src/tests/deathstack-boards/test-stm-board.cpp b/src/tests/deathstack-boards/test-stm-board.cpp
index 053619d50..5f1d3133c 100644
--- a/src/tests/deathstack-boards/test-stm-board.cpp
+++ b/src/tests/deathstack-boards/test-stm-board.cpp
@@ -28,8 +28,6 @@
* External oscillator
*/
-#include <Common.h>
-
#include <iostream>
#include <sstream>
@@ -53,8 +51,6 @@ int askSeconds();
int main()
{
- TimestampTimer::enableTimestampTimer();
-
switch (menu())
{
case 1:
diff --git a/src/tests/deployment/test-deployment-interactive.cpp b/src/tests/deployment/test-deployment-interactive.cpp
index eba886c72..c0bcf55ca 100644
--- a/src/tests/deployment/test-deployment-interactive.cpp
+++ b/src/tests/deployment/test-deployment-interactive.cpp
@@ -73,7 +73,7 @@ int main()
ejection_servo.enable();
ejection_servo.reset();
- sEventBroker->start();
+ sEventBroker.start();
string temp;
for (;;)
@@ -172,7 +172,7 @@ void cuttingSequence()
deploymentController.start();
Thread::sleep(1000);
- sEventBroker->post({EV_CUT_DROGUE}, TOPIC_DPL);
+ sEventBroker.post({EV_CUT_DROGUE}, TOPIC_DPL);
waitForEvent(EV_CUTTING_TIMEOUT, TOPIC_DPL, waitEventTimeout);
@@ -220,12 +220,12 @@ void cutterContinuity()
if (cutter == 1)
{
cout << "Activating primary cutter...\n";
- sEventBroker->post({EV_TEST_CUT_PRIMARY}, TOPIC_DPL);
+ sEventBroker.post({EV_TEST_CUT_PRIMARY}, TOPIC_DPL);
}
else
{
cout << "Activating backup cutter...\n";
- sEventBroker->post({EV_TEST_CUT_BACKUP}, TOPIC_DPL);
+ sEventBroker.post({EV_TEST_CUT_BACKUP}, TOPIC_DPL);
}
waitForEvent(EV_CUTTING_TIMEOUT, TOPIC_DPL);
@@ -243,7 +243,7 @@ void noseconeEjection()
waitUserInput();
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
HBridge primaryCutter{PrimaryCutterEna::getPin(), CUTTER_TIM,
CUTTER_CHANNEL_PRIMARY, primaryCutterFrequency,
@@ -266,7 +266,7 @@ void noseconeEjection()
}
deploymentController.start();
- sEventBroker->post({EV_NC_OPEN}, TOPIC_DPL);
+ sEventBroker.post({EV_NC_OPEN}, TOPIC_DPL);
for (;;)
{
diff --git a/src/tests/drivers/test-cutter.cpp b/src/tests/drivers/test-cutter.cpp
index 5b1f45b74..e7eed18de 100644
--- a/src/tests/drivers/test-cutter.cpp
+++ b/src/tests/drivers/test-cutter.cpp
@@ -20,9 +20,8 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <configs/CutterConfig.h>
-#include <drivers/adc/InternalADC/InternalADC.h>
+#include <drivers/adc/InternalADC.h>
#include <drivers/hbridge/HBridge.h>
#include <sensors/analog/current/CurrentSensor.h>
@@ -40,6 +39,7 @@
*/
using namespace std;
+using namespace miosix;
using namespace Boardcore;
using namespace DeathStackBoard::CutterConfig;
@@ -51,18 +51,18 @@ constexpr int SAMPLING_FREQUENCY = 20;
* They are not useful for activating the COTS ones
* (i.e. they are currently used only in the test-cutter entrypoint)
*/
-static const PWM::Timer CUTTER_TIM{
- TIM9, &(RCC->APB2ENR), RCC_APB2ENR_TIM9EN,
- TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB2)};
+static TIM_TypeDef *const CUTTER_TIM = TIM9;
-static const PWMChannel CUTTER_CHANNEL_PRIMARY = PWMChannel::CH2;
-static const PWMChannel CUTTER_CHANNEL_BACKUP = PWMChannel::CH2;
+static const TimerUtils::Channel CUTTER_CHANNEL_PRIMARY =
+ TimerUtils::Channel::CHANNEL_2;
+static const TimerUtils::Channel CUTTER_CHANNEL_BACKUP =
+ TimerUtils::Channel::CHANNEL_2;
static const unsigned int PRIMARY_CUTTER_PWM_FREQUENCY = 10000; // Hz
static constexpr float PRIMARY_CUTTER_PWM_DUTY_CYCLE = 0.45f;
static const unsigned int BACKUP_CUTTER_PWM_FREQUENCY = 10000; // Hz
static constexpr float BACKUP_CUTTER_PWM_DUTY_CYCLE = 0.45f;
static constexpr float CUTTER_TEST_PWM_DUTY_CYCLE = 0.1f;
-static constexpr int CUT_TEST_DURATION = 1 * 1000;
+static constexpr int CUT_TEST_DURATION = 1 * 1000;
// This could go into CutterConfig
static constexpr InternalADC::Channel ADC_CHANNEL_PRIMARY =
@@ -79,13 +79,15 @@ static constexpr float ADC_TO_CURR_COEFF = ADC_TO_CURR_DKILIS / ADC_TO_CURR_RIS;
static constexpr float ADC_TO_CURR_OFFSET =
ADC_TO_CURR_DKILIS * ADC_TO_CURR_IISOFF;
-function<float(float)> adc_to_current = [](float adc_in) {
+function<float(float)> adc_to_current = [](float adc_in)
+{
return ADC_TO_CURR_DKILIS * (adc_in / ADC_TO_CURR_RIS - ADC_TO_CURR_IISOFF);
};
bool finished = false;
-void menu(unsigned int *cutterNo, uint32_t *frequency, float *dutyCycle, uint32_t *cutDuration);
+void menu(unsigned int *cutterNo, uint32_t *frequency, float *dutyCycle,
+ uint32_t *cutDuration);
void elapsedTimeAndCsense(void *args);
@@ -94,9 +96,7 @@ int main()
unsigned int cutterNo = 0;
uint32_t frequency = 0;
float dutyCycle = 0;
- uint32_t cutDuration = 0; // for cots cutters
-
- TimestampTimer::enableTimestampTimer();
+ uint32_t cutDuration = 0; // for cots cutters
// Set the clock divider for the analog circuitry (/8)
ADC->CCR |= ADC_CCR_ADCPRE_0 | ADC_CCR_ADCPRE_1;
@@ -107,7 +107,7 @@ int main()
// Cutter setup
GpioPin *ena_pin;
- PWMChannel pwmChannel;
+ TimerUtils::Channel pwmChannel;
if (cutterNo == 3) // COTS cutters
{
@@ -125,19 +125,17 @@ int main()
{ // SRAD cutters
if (cutterNo == 1)
{
- ena_pin = new GpioPin(
- PrimaryCutterEna::getPin());
+ ena_pin = new GpioPin(PrimaryCutterEna::getPin());
pwmChannel = CUTTER_CHANNEL_PRIMARY;
}
else // if (cutterNo == 2)
{
- ena_pin = new GpioPin(
- BackupCutterEna::getPin());
+ ena_pin = new GpioPin(BackupCutterEna::getPin());
pwmChannel = CUTTER_CHANNEL_BACKUP;
}
- HBridge cutter(*ena_pin, CUTTER_TIM,
- pwmChannel, frequency, dutyCycle / 100.0f);
+ HBridge cutter(*ena_pin, CUTTER_TIM, pwmChannel, frequency,
+ dutyCycle / 100.0f);
// Start the test
@@ -221,7 +219,7 @@ void elapsedTimeAndCsense(void *args)
int cutterNo = *(unsigned int *)args;
// Sensors setup
- InternalADC internalADC(*ADC3, 3.3);
+ InternalADC internalADC(ADC3, 3.3);
internalADC.init();
internalADC.enableChannel(ADC_CHANNEL_PRIMARY);
internalADC.enableChannel(ADC_CHANNEL_BACKUP);
@@ -243,14 +241,14 @@ void elapsedTimeAndCsense(void *args)
current_sensor.init();
// Save the cuttent timestamp
- uint64_t t = TimestampTimer::getTimestamp() / 1000;
+ uint64_t t = TimestampTimer::getInstance().getTimestamp() / 1000;
uint64_t t0 = t;
while (t < t0 + MAX_CUTTING_TIME && !finished)
{
Thread::sleep(1000 / SAMPLING_FREQUENCY);
- t = TimestampTimer::getTimestamp() / 1000;
+ t = TimestampTimer::getInstance().getTimestamp() / 1000;
internalADC.sample();
current_sensor.sample();
diff --git a/src/tests/drivers/test-imus.cpp b/src/tests/drivers/test-imus.cpp
index 78c6b4b9d..321068864 100644
--- a/src/tests/drivers/test-imus.cpp
+++ b/src/tests/drivers/test-imus.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <interfaces-impl/hwmapping.h>
#include "configs/SensorManagerConfig.h"
diff --git a/src/tests/drivers/test-mavlink.cpp b/src/tests/drivers/test-mavlink.cpp
index 45f2e47a7..8f5aecab8 100644
--- a/src/tests/drivers/test-mavlink.cpp
+++ b/src/tests/drivers/test-mavlink.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <configs/TMTCConfig.h>
#include <drivers/Xbee/Xbee.h>
#include <drivers/gamma868/Gamma868.h>
diff --git a/src/tests/drivers/test-servo.cpp b/src/tests/drivers/test-servo.cpp
index 4fdf14806..7df7efba4 100644
--- a/src/tests/drivers/test-servo.cpp
+++ b/src/tests/drivers/test-servo.cpp
@@ -30,6 +30,7 @@
#include <string>
using namespace std;
+using namespace Boardcore;
using namespace DeathStackBoard;
int servoMenu();
@@ -51,7 +52,7 @@ float perlin2d(float x, float y, float freq, int depth);
int servoChoice;
ServoInterface* servo;
-PWMChannel channel;
+TimerUtils::Channel channel;
constexpr int WIGGLE_STEPS = 5;
@@ -77,8 +78,6 @@ static int hashh[] = {
int main()
{
- TimestampTimer::enableTimestampTimer();
-
servoChoice = servoMenu();
switch (servoChoice)
@@ -266,15 +265,17 @@ void servoBreakIn()
waitUserInput();
- uint64_t start = TimestampTimer::getTimestamp();
+ uint64_t start = TimestampTimer::getInstance().getTimestamp();
- while (TimestampTimer::getTimestamp() - start < minutes * 60 * 1000000)
+ while (TimestampTimer::getInstance().getTimestamp() - start <
+ minutes * 60 * 1000000)
{
- uint64_t start2 = TimestampTimer::getTimestamp();
+ uint64_t start2 = TimestampTimer::getInstance().getTimestamp();
float counter = 0;
// 10 seconds
- while (TimestampTimer::getTimestamp() - start2 < 10 * 1000000)
+ while (TimestampTimer::getInstance().getTimestamp() - start2 <
+ 10 * 1000000)
{
double angolo =
servo->MIN_POS + abs(perlin2d(counter, 0, .075, 10)) *
diff --git a/src/tests/eigen-test.cpp b/src/tests/eigen-test.cpp
index 7a3ebb4d0..52cedb086 100644
--- a/src/tests/eigen-test.cpp
+++ b/src/tests/eigen-test.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <miosix.h>
#include <Eigen/Dense>
diff --git a/src/tests/hardware_in_the_loop/test-HIL+ADA+Aerobrake/test-HIL+ADA+Aerobrake.cpp b/src/tests/hardware_in_the_loop/test-HIL+ADA+Aerobrake/test-HIL+ADA+Aerobrake.cpp
index d57fd42a4..132d3426b 100644
--- a/src/tests/hardware_in_the_loop/test-HIL+ADA+Aerobrake/test-HIL+ADA+Aerobrake.cpp
+++ b/src/tests/hardware_in_the_loop/test-HIL+ADA+Aerobrake/test-HIL+ADA+Aerobrake.cpp
@@ -22,7 +22,6 @@
#define EIGEN_RUNTIME_NO_MALLOC // enable eigen malloc usage assert
-#include <Common.h>
#include <events/EventBroker.h>
#include <events/Events.h>
@@ -86,8 +85,6 @@ int main()
// crash if eigen dynamically allocates memory
Eigen::internal::set_is_malloc_allowed(false);
- TimestampTimer::enableTimestampTimer();
-
// Definition of the flight phases manager
HILFlightPhasesManager *flightPhasesManager =
HILFlightPhasesManager::getInstance();
@@ -184,7 +181,7 @@ int main()
/*-------------- Events --------------*/
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_FLIGHT_EVENTS);
counter.subscribe(TOPIC_ADA);
@@ -224,7 +221,7 @@ int main()
matlab->start();
ada_controller->start();
- sEventBroker->start();
+ sEventBroker.start();
scheduler.start(); // started only the scheduler instead of the SM
/*---------- Normal execution --------*/
diff --git a/src/tests/hardware_in_the_loop/test-HIL+ADA+AerobrakeController+nas/test-HIL+ADA+AerobrakeController+nas.cpp b/src/tests/hardware_in_the_loop/test-HIL+ADA+AerobrakeController+nas/test-HIL+ADA+AerobrakeController+nas.cpp
index 51bb28c8b..03f914046 100644
--- a/src/tests/hardware_in_the_loop/test-HIL+ADA+AerobrakeController+nas/test-HIL+ADA+AerobrakeController+nas.cpp
+++ b/src/tests/hardware_in_the_loop/test-HIL+ADA+AerobrakeController+nas/test-HIL+ADA+AerobrakeController+nas.cpp
@@ -22,7 +22,6 @@
#define EIGEN_RUNTIME_NO_MALLOC // enable eigen malloc usage assert
-#include <Common.h>
#include <events/EventBroker.h>
#include <events/Events.h>
#include <events/utils/EventCounter.h>
@@ -80,8 +79,6 @@ int main()
// crash if eigen dynamically allocates memory
Eigen::internal::set_is_malloc_allowed(false);
- TimestampTimer::enableTimestampTimer();
-
// Definition of the flight phases manager
HILFlightPhasesManager *flightPhasesManager =
HILFlightPhasesManager::getInstance();
@@ -170,7 +167,7 @@ int main()
/*-------------- Events --------------*/
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_FLIGHT_EVENTS);
counter.subscribe(TOPIC_ADA);
counter.subscribe(TOPIC_NAS);
@@ -214,7 +211,7 @@ int main()
ada_controller->start();
nas_controller.start();
airbrakeController.start();
- sEventBroker->start();
+ sEventBroker.start();
scheduler.start(); // started only the scheduler instead of the SM
/*---------- Normal execution --------*/
diff --git a/src/tests/hardware_in_the_loop/test-HIL+ADA/test-HIL+ADA.cpp b/src/tests/hardware_in_the_loop/test-HIL+ADA/test-HIL+ADA.cpp
index 276a1ccd5..26f8a4381 100644
--- a/src/tests/hardware_in_the_loop/test-HIL+ADA/test-HIL+ADA.cpp
+++ b/src/tests/hardware_in_the_loop/test-HIL+ADA/test-HIL+ADA.cpp
@@ -22,16 +22,15 @@
#define EIGEN_RUNTIME_NO_MALLOC // enable eigen malloc usage assert
-#include <Common.h>
#include <events/EventBroker.h>
#include <events/Events.h>
#include <algorithm>
+#include <catch2/catch.hpp>
#include <cmath>
#include <iostream>
#include <random>
#include <sstream>
-#include <catch2/catch.hpp>
#include "TimestampTimer.h"
#include "miosix.h"
@@ -91,8 +90,6 @@ int main()
// crash if eigen dynamically allocates memory
Eigen::internal::set_is_malloc_allowed(false);
- TimestampTimer::enableTimestampTimer();
-
// Definition of the flight phases manager
HILFlightPhasesManager *flightPhasesManager =
HILFlightPhasesManager::getInstance();
@@ -208,7 +205,7 @@ int main()
/*-------------- Events --------------*/
- EventCounter counter{*sEventBroker};
+ EventCounter counter{sEventBroker};
counter.subscribe({TOPIC_FLIGHT_EVENTS});
counter.subscribe({TOPIC_ADA});
@@ -248,7 +245,7 @@ int main()
matlab->start();
ada_controller->start();
- sEventBroker->start();
+ sEventBroker.start();
scheduler.start(); // started only the scheduler instead of the SM
/*---------- Normal execution --------*/
diff --git a/src/tests/hardware_in_the_loop/test-HIL+Aerobrake/test-HIL+Aerobrake.cpp b/src/tests/hardware_in_the_loop/test-HIL+Aerobrake/test-HIL+Aerobrake.cpp
index 8f250978b..cf757034e 100644
--- a/src/tests/hardware_in_the_loop/test-HIL+Aerobrake/test-HIL+Aerobrake.cpp
+++ b/src/tests/hardware_in_the_loop/test-HIL+Aerobrake/test-HIL+Aerobrake.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <events/EventBroker.h>
#include "TimestampTimer.h"
@@ -73,8 +72,6 @@ int main()
{
isSimulationRunning = true;
- TimestampTimer::enableTimestampTimer();
-
// Definition of the flight phases manager
HILFlightPhasesManager *flightPhasesManager =
HILFlightPhasesManager::getInstance();
diff --git a/src/tests/hardware_in_the_loop/test-HIL/test-HIL.cpp b/src/tests/hardware_in_the_loop/test-HIL/test-HIL.cpp
index 0658ee791..65825262c 100644
--- a/src/tests/hardware_in_the_loop/test-HIL/test-HIL.cpp
+++ b/src/tests/hardware_in_the_loop/test-HIL/test-HIL.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <events/EventBroker.h>
#include "TimestampTimer.h"
@@ -61,8 +60,6 @@ int main()
{
isSimulationRunning = true;
- TimestampTimer::enableTimestampTimer();
-
// Definition of the flight phases manager
HILFlightPhasesManager *flightPhasesManager =
HILFlightPhasesManager::getInstance();
diff --git a/src/tests/hardware_in_the_loop/test-SerialInterface/test-SerialInterface.cpp b/src/tests/hardware_in_the_loop/test-SerialInterface/test-SerialInterface.cpp
index 62cf5a6e3..80f8dace6 100644
--- a/src/tests/hardware_in_the_loop/test-SerialInterface/test-SerialInterface.cpp
+++ b/src/tests/hardware_in_the_loop/test-SerialInterface/test-SerialInterface.cpp
@@ -20,8 +20,6 @@
* THE SOFTWARE.
*/
-#include <Common.h>
-
#include "hardware_in_the_loop/HILConfig.h"
#include "hardware_in_the_loop/simulator_communication/SerialInterface.h"
#include "math/Vec3.h"
diff --git a/src/tests/mock_sensors/test-mock-sensors.cpp b/src/tests/mock_sensors/test-mock-sensors.cpp
index d21fa7b4e..2181291ea 100644
--- a/src/tests/mock_sensors/test-mock-sensors.cpp
+++ b/src/tests/mock_sensors/test-mock-sensors.cpp
@@ -20,15 +20,12 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <mocksensors/MockSensors.h>
using namespace DeathStackBoard;
int main()
{
- TimestampTimer::enableTimestampTimer();
-
MockGPS gps;
MockPressureSensor p_sensor;
MockIMU imu;
@@ -55,7 +52,7 @@ int main()
p_sensor.sample();
PressureData pressure = p_sensor.getLastSample();
TRACE("PRESSURE SAMPLE: \n");
- TRACE("pressure = %f \n\n", pressure.press);
+ TRACE("pressure = %f \n\n", pressure.pressure);
imu.sample();
MockIMUData imu_data = imu.getLastSample();
diff --git a/src/tests/ram_test/ramtest.cpp b/src/tests/ram_test/ramtest.cpp
index d8e0e9862..312252ed9 100644
--- a/src/tests/ram_test/ramtest.cpp
+++ b/src/tests/ram_test/ramtest.cpp
@@ -1,19 +1,19 @@
- /***************************************************************************
- * Copyright (C) 2012 by Terraneo Federico *
- * *
- * 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 2 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 <http://www.gnu.org/licenses/> *
- ***************************************************************************/
+/***************************************************************************
+ * Copyright (C) 2012 by Terraneo Federico *
+ * *
+ * 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 2 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 <http://www.gnu.org/licenses/> *
+ ***************************************************************************/
// RAM testing code
// Useful to test the external RAM of a board.
@@ -22,64 +22,78 @@
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
+
#include "sha1.h"
-const unsigned int ramBase=0xd0000000; //Tune this to the right value
-const unsigned int ramSize=8*1024*1024; //Tune this to the right value
+const unsigned int ramBase = 0xd0000000; // Tune this to the right value
+const unsigned int ramSize = 8 * 1024 * 1024; // Tune this to the right value
bool shaCmp(unsigned int a[5], unsigned int b[5])
{
- if(memcmp(a,b,20)==0) return false;
+ if (memcmp(a, b, 20) == 0)
+ return false;
iprintf("Mismatch\n");
- for(int i=0;i<5;i++) iprintf("%04x",a[i]); iprintf("\n");
- for(int i=0;i<5;i++) iprintf("%04x",b[i]); iprintf("\n");
+ for (int i = 0; i < 5; i++)
+ iprintf("%04x", a[i]);
+ iprintf("\n");
+ for (int i = 0; i < 5; i++)
+ iprintf("%04x", b[i]);
+ iprintf("\n");
return true;
}
-template<typename T> bool ramTest()
+template <typename T>
+bool ramTest()
{
SHA1 sha;
sha.Reset();
- srand(0x7ad3c099*sizeof(T)); //Just to shuffle initialization between tests
- for(unsigned int i=ramBase;i<ramBase+ramSize;i+=sizeof(T))
+ srand(0x7ad3c099 *
+ sizeof(T)); // Just to shuffle initialization between tests
+ for (unsigned int i = ramBase; i < ramBase + ramSize; i += sizeof(T))
{
- T *p=reinterpret_cast<T*>(i);
- T v=static_cast<T>(rand());
- *p=v;
- sha.Input(reinterpret_cast<const unsigned char*>(&v),sizeof(T));
+ T *p = reinterpret_cast<T *>(i);
+ T v = static_cast<T>(rand());
+ *p = v;
+ sha.Input(reinterpret_cast<const unsigned char *>(&v), sizeof(T));
}
unsigned int a[5];
sha.Result(a);
- sleep(10); //To check SDRAM retention ability
+ sleep(10); // To check SDRAM retention ability
sha.Reset();
- for(unsigned int i=ramBase;i<ramBase+ramSize;i+=sizeof(T))
+ for (unsigned int i = ramBase; i < ramBase + ramSize; i += sizeof(T))
{
- T *p=reinterpret_cast<T*>(i);
- T v=*p;
- sha.Input(reinterpret_cast<const unsigned char*>(&v),sizeof(T));
+ T *p = reinterpret_cast<T *>(i);
+ T v = *p;
+ sha.Input(reinterpret_cast<const unsigned char *>(&v), sizeof(T));
}
unsigned int b[5];
sha.Result(b);
- return shaCmp(a,b);
+ return shaCmp(a, b);
}
int main()
{
printf("\nBEFORE YOU START:\n");
- printf("1. Have you compiled with the right linker script (e.g. 2m+256k_rom)?\n");
- printf("2. Have you set RamBase and RamSize correctly in this entrypoint?\n");
+ printf(
+ "1. Have you compiled with the right linker script (e.g. "
+ "2m+256k_rom)?\n");
+ printf(
+ "2. Have you set RamBase and RamSize correctly in this entrypoint?\n");
printf("3. Have you enable the RAM (aka compile with -D__ENABLE_XRAM)?\n");
printf("Press enter to start...");
getchar();
- for(;;)
+ for (;;)
{
iprintf("RAM test\nTesting word size transfers\n");
- if(ramTest<unsigned int>()) return 1;
+ if (ramTest<unsigned int>())
+ return 1;
iprintf("Testing halfword size transfers\n");
- if(ramTest<unsigned short>()) return 1;
+ if (ramTest<unsigned short>())
+ return 1;
iprintf("Testing byte size transfers\n");
- if(ramTest<unsigned char>()) return 1;
+ if (ramTest<unsigned char>())
+ return 1;
iprintf("Ok\n");
}
}
\ No newline at end of file
diff --git a/src/tests/test-ada-dpl-simulation.cpp b/src/tests/test-ada-dpl-simulation.cpp
index fb0342458..e3763db59 100644
--- a/src/tests/test-ada-dpl-simulation.cpp
+++ b/src/tests/test-ada-dpl-simulation.cpp
@@ -66,7 +66,8 @@ public:
}
}
- return PressureData{TimestampTimer::getTimestamp(), press};
+ return PressureData{TimestampTimer::getInstance().getTimestamp(),
+ press};
}
void signalLiftoff() { before_liftoff = false; }
@@ -95,8 +96,6 @@ public:
int main()
{
- TimestampTimer::enableTimestampTimer();
-
MockPressureSensor baro;
MockGPSSensor gps;
@@ -111,8 +110,8 @@ int main()
DeploymentController dpl_controller;
PinHandler pin_handler;
- sEventBroker->start();
- EventCounter counter{*sEventBroker};
+ sEventBroker.start();
+ EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_ADA);
counter.subscribe(TOPIC_FLIGHT_EVENTS);
@@ -129,7 +128,7 @@ int main()
Thread::sleep(1000);
// Enter ADA calibration state
- sEventBroker->post({EV_CALIBRATE_ADA}, TOPIC_ADA);
+ sEventBroker.post({EV_CALIBRATE_ADA}, TOPIC_ADA);
Thread::sleep(100);
// Send baro calibration samples for ADA
@@ -164,7 +163,7 @@ int main()
TRACE("Sending EV_LIFTOFF ... \n");
// Send liftoff event
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
baro.signalLiftoff();
bool first_apogee_detection = true;
@@ -185,7 +184,7 @@ int main()
first_apogee_detection = false;
TRACE("Triggering nosecone ejection ... \n\n");
- sEventBroker->post({EV_NC_OPEN}, TOPIC_DPL);
+ sEventBroker.post({EV_NC_OPEN}, TOPIC_DPL);
}
if (ada_controller.getStatus().dpl_altitude_reached &&
@@ -195,7 +194,7 @@ int main()
first_dpl_altitude_detection = false;
TRACE("Triggering cutting sequence ... \n\n");
- sEventBroker->post({EV_CUT_DROGUE}, TOPIC_DPL);
+ sEventBroker.post({EV_CUT_DROGUE}, TOPIC_DPL);
}
}
diff --git a/src/tests/test-fmm-interactive.cpp b/src/tests/test-fmm-interactive.cpp
index 7ed81fb54..19d488fde 100644
--- a/src/tests/test-fmm-interactive.cpp
+++ b/src/tests/test-fmm-interactive.cpp
@@ -36,12 +36,12 @@ void printEvent(uint8_t event, uint8_t topic)
}
int main()
{
- sEventBroker->start();
+ sEventBroker.start();
FMMController* fmm = new FMMController();
fmm->start();
EventSniffer* sniffer =
- new EventSniffer(*sEventBroker, TOPIC_LIST, printEvent);
+ new EventSniffer(sEventBroker, TOPIC_LIST, printEvent);
UNUSED(sniffer); // The sniffer's handler will be called by evBroker
printf("\nOk\n");
@@ -53,11 +53,11 @@ int main()
{
printf("Choose an event\n");
printf("ID:\n");
- scanf("%hhu", &(ev.sig));
+ scanf("%hhu", &(ev.code));
printf("TOPIC:\n");
scanf("%d", &topic);
- sEventBroker->post(ev, topic);
+ sEventBroker.post(ev, topic);
}
return 0;
diff --git a/src/tests/test-kalman-hitl.cpp b/src/tests/test-kalman-hitl.cpp
index f534a48f4..c9954f919 100644
--- a/src/tests/test-kalman-hitl.cpp
+++ b/src/tests/test-kalman-hitl.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include <Common.h>
#include <EventClasses.h>
#include <events/EventBroker.h>
#include <events/Events.h>
@@ -49,7 +48,7 @@ int main()
}
// Start event broker and ada
- sEventBroker->start();
+ sEventBroker.start();
ada.start();
// Read serial
@@ -99,15 +98,15 @@ void handleCommands(std::string line)
// }
else if (command == "EV_TC_RESET_CALIBRATION")
{
- sEventBroker->post({EV_TC_RESET_CALIBRATION}, TOPIC_ADA);
+ sEventBroker.post({EV_TC_RESET_CALIBRATION}, TOPIC_ADA);
}
else if (command == "EV_LIFTOFF")
{
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
}
else if (command == "EV_APOGEE")
{
- sEventBroker->post({EV_APOGEE}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_APOGEE}, TOPIC_FLIGHT_EVENTS);
}
else if (command == "EV_SET_DPL_ALTITUDE")
{
@@ -115,11 +114,11 @@ void handleCommands(std::string line)
DeploymentAltitudeEvent ev;
ev.dplAltitude = alt;
ev.sig = EV_TC_SET_DPL_ALTITUDE;
- sEventBroker->post(ev, TOPIC_TC);
+ sEventBroker.post(ev, TOPIC_TC);
}
else if (command == "EV_DPL_ALTITUDE")
{
- sEventBroker->post({EV_DPL_ALTITUDE}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_DPL_ALTITUDE}, TOPIC_FLIGHT_EVENTS);
}
else
{
diff --git a/src/tests/test-logproxy.cpp b/src/tests/test-logproxy.cpp
index 754109d69..d19b0d029 100644
--- a/src/tests/test-logproxy.cpp
+++ b/src/tests/test-logproxy.cpp
@@ -19,7 +19,6 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
-#include <Common.h>
#include <LoggerService/LoggerService.h>
using namespace miosix;
diff --git a/src/tests/test-pinhandler.cpp b/src/tests/test-pinhandler.cpp
index 93d116ed1..ee9b069c7 100644
--- a/src/tests/test-pinhandler.cpp
+++ b/src/tests/test-pinhandler.cpp
@@ -20,7 +20,6 @@
* THE SOFTWARE.
*/
-#include "Common.h"
#include "PinHandler/PinHandler.h"
using namespace Boardcore;
@@ -29,8 +28,6 @@ using namespace DeathStackBoard;
int main()
{
- TimestampTimer::enableTimestampTimer();
-
PinHandler pin_handler;
if (!pin_handler.start())
diff --git a/src/tests/test-sensormanager.cpp b/src/tests/test-sensormanager.cpp
index e2e90c5f6..b2f9e2f20 100644
--- a/src/tests/test-sensormanager.cpp
+++ b/src/tests/test-sensormanager.cpp
@@ -21,7 +21,6 @@
*/
#include "ADA/ADAController.h"
-#include "Common.h"
#include "LoggerService/LoggerService.h"
#include "Radio/TMTCManager.h"
#include "SensorManager/SensorManager.h"
@@ -34,9 +33,7 @@ using namespace DeathStackBoard;
int main()
{
- TimestampTimer::enableTimestampTimer();
-
- sEventBroker->start();
+ sEventBroker.start();
Stats s;
SensorManager mgr;
@@ -58,7 +55,7 @@ int main()
printf("CPU: %f%%, min: %f max: %f\n", s.getStats().mean,
s.getStats().minValue, s.getStats().maxValue);
- LoggerService::getInstance()->stop();
+ LoggerService::getInstance().stop();
printf("End\n");
for (;;)
diff --git a/src/tests/test-sm+tmtc.cpp b/src/tests/test-sm+tmtc.cpp
index 9024a013b..6726bb8fb 100644
--- a/src/tests/test-sm+tmtc.cpp
+++ b/src/tests/test-sm+tmtc.cpp
@@ -27,7 +27,6 @@
#include <interfaces-impl/hwmapping.h>
#include "ADA/ADAController.h"
-#include "Common.h"
#include "LoggerService/LoggerService.h"
#include "SensorManager/SensorManager.h"
#include "diagnostic/CpuMeter.h"
@@ -50,7 +49,7 @@ int main()
// ada.start();
// try
// {
- // LoggerService::getInstance()->start();
+ // LoggerService::getInstance().start();
// }
// catch (const std::exception& e)
// {
@@ -65,10 +64,10 @@ int main()
// }
// led1::high();
- sEventBroker->start();
+ sEventBroker.start();
mgr.start();
- sEventBroker->post({EV_TC_START_SENSOR_LOGGING}, TOPIC_TC);
+ sEventBroker.post({EV_TC_START_SENSOR_LOGGING}, TOPIC_TC);
printf("Wait for calibration to complete.\n");
@@ -80,7 +79,7 @@ int main()
TMTCManager* tmtc = new TMTCManager();
tmtc->start();
- sEventBroker->start();
+ sEventBroker.start();
Thread::sleep(1000);
@@ -94,7 +93,7 @@ int main()
Thread::sleep(100);
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
for (;;)
{
diff --git a/src/tests/test-tmtc.cpp b/src/tests/test-tmtc.cpp
index b7eedc555..e46f383e4 100644
--- a/src/tests/test-tmtc.cpp
+++ b/src/tests/test-tmtc.cpp
@@ -41,10 +41,10 @@ int main()
TMTCController* tmtc = new TMTCController();
tmtc->start();
- sEventBroker->start();
+ sEventBroker.start();
EventSniffer* sniffer =
- new EventSniffer(*sEventBroker, TOPIC_LIST, onEventReceived);
+ new EventSniffer(sEventBroker, TOPIC_LIST, onEventReceived);
Thread::sleep(1000);
@@ -54,7 +54,7 @@ int main()
Thread::sleep(100);
- sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
printf("Press close to reboot...\n");
while (inputs::btn_close::value())
--
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