From 2273e83c3ce43a4c9b69ec9231a4cd1a9e598c18 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federico.mandelli@skywarder.eu>
Date: Thu, 18 Jul 2024 13:34:15 +0200
Subject: [PATCH] [Sensors] changed bmx to not use fifo
---
src/boards/Parafoil/Configs/SensorsConfig.h | 8 ++++----
src/boards/Parafoil/Sensors/Sensors.cpp | 14 +++++++-------
2 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/src/boards/Parafoil/Configs/SensorsConfig.h b/src/boards/Parafoil/Configs/SensorsConfig.h
index fbc26d236..105e3aef6 100644
--- a/src/boards/Parafoil/Configs/SensorsConfig.h
+++ b/src/boards/Parafoil/Configs/SensorsConfig.h
@@ -45,10 +45,10 @@ constexpr Boardcore::BMX160Config::GyroscopeRange BMX160_GYRO_FSR_ENUM =
Boardcore::BMX160Config::GyroscopeRange::DEG_1000;
constexpr unsigned int BMX160_ACC_GYRO_ODR = 400;
constexpr Boardcore::BMX160Config::OutputDataRate BMX160_ACC_GYRO_ODR_ENUM =
- Boardcore::BMX160Config::OutputDataRate::HZ_400;
+ Boardcore::BMX160Config::OutputDataRate::HZ_200;
constexpr unsigned int BMX160_MAG_ODR = 100;
constexpr Boardcore::BMX160Config::OutputDataRate BMX160_MAG_ODR_ENUM =
- Boardcore::BMX160Config::OutputDataRate::HZ_100;
+ Boardcore::BMX160Config::OutputDataRate::HZ_200;
constexpr unsigned int BMX160_TEMP_DIVIDER = 1000;
@@ -117,8 +117,8 @@ constexpr float BATTERY_VOLTAGE_COEFF = (150 + 40.2) / 40.2;
// BMX160_SAMPLE_PERIOD: Sample before the fifo is full, but slightly after the
// watermark level (watermark + 30) ---> high slack due to scheduler
// imprecision, avoid clearing the fifo before the interrupt
-constexpr unsigned int BMX160_SAMPLE_PERIOD =
- BMX160_FIFO_FILL_TIME * (BMX160_FIFO_WATERMARK + 30) * 4 / 1024; // [ms]
+constexpr unsigned int BMX160_SAMPLE_PERIOD = 10;
+// BMX160_FIFO_FILL_TIME * (BMX160_FIFO_WATERMARK + 30) * 4 / 1024; // [ms]
// BMX160_WITH_CORRECTION_SAMPLE_PERIOD should be lower than the
// BMX160_SAMPLE_PERIOD and faster then the NAS update period.
constexpr unsigned int BMX160_WITH_CORRECTION_SAMPLE_PERIOD = 10; // [ms] 100Hz
diff --git a/src/boards/Parafoil/Sensors/Sensors.cpp b/src/boards/Parafoil/Sensors/Sensors.cpp
index a6a3b393b..a9d3e9b7c 100644
--- a/src/boards/Parafoil/Sensors/Sensors.cpp
+++ b/src/boards/Parafoil/Sensors/Sensors.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Author: Matteo Pignataro, Angelo Prete
+ * Authors: Matteo Pignataro, Angelo Prete
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -166,10 +166,10 @@ bool Sensors::start()
MAG_CALIBRATION_PERIOD);
// Create sensor manager with populated map and configured scheduler
- manager = new SensorManager(sensorMap, scheduler);
- miosix::GpioPin interruptPin = miosix::sensors::bmx160::intr::getPin();
- enableExternalInterrupt(interruptPin.getPort(), interruptPin.getNumber(),
- InterruptTrigger::FALLING_EDGE, 0);
+ manager = new SensorManager(sensorMap, scheduler);
+ // miosix::GpioPin interruptPin = miosix::sensors::bmx160::intr::getPin();
+ // enableExternalInterrupt(interruptPin.getPort(), interruptPin.getNumber(),
+ // InterruptTrigger::FALLING_EDGE, 0);
return manager->start() && result != 0;
}
@@ -207,10 +207,10 @@ void Sensors::bmx160Init()
ModuleManager& modules = ModuleManager::getInstance();
SPIBusConfig spiConfig;
- spiConfig.clockDivider = SPI::ClockDivider::DIV_8;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_4;
BMX160Config config;
- config.fifoMode = BMX160Config::FifoMode::HEADER;
+ config.fifoMode = BMX160Config::FifoMode::DISABLED;
config.fifoWatermark = BMX160_FIFO_WATERMARK;
config.fifoInterrupt = BMX160Config::FifoInterruptPin::PIN_INT1;
--
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