diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index cc03a6a3723751eece23335258b06e0ce40f3b31..1f060357684301e42a9b8b4e39ce8b81e66f4b77 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,24 +1,93 @@
-# This file is a template, and might need editing before it works on your project.
-# see https://docs.gitlab.com/ce/ci/yaml/README.html for all available options
-
-# you can delete this line if you're not using Docker
-#image: busybox:latest
+# Copyright (c) 2021 Skyward Experimental Rocketry
+# Authors: Luca Erbetta, Luca Conterio, Alberto Nidasio, Damiano Amatruda
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
variables:
GIT_SUBMODULE_STRATEGY: recursive
-
-build1:
- stage: build
+stages:
+ - build-release
+ - build-debug
+ - test
+ - lint
+ - documentation
+
+# Stage build-release
+
+build-release:
+ stage: build-release
+ tags:
+ - miosix
+ script:
+ - ./sbs --jobs 2
+
+# Stage build-debug
+
+build-debug:
+ stage: build-debug
+ tags:
+ - miosix
+ script:
+ - ./sbs --jobs 2 --debug
+
+# Stage test
+
+test:
+ stage: test
+ script:
+ - ./sbs --jobs 2 --test catch-tests-entry
+
+# Stage lint
+
+cppcheck:
+ stage: lint
+ script:
+ - ./skyward-boardcore/scripts/linter.py --cppcheck src
+
+format:
+ stage: lint
+ script:
+ - ./skyward-boardcore/scripts/linter.py --format src
+
+copyright:
+ stage: lint
+ script:
+ - ./skyward-boardcore/scripts/linter.py --copyright src
+
+find:
+ stage: lint
+ script:
+ - ./skyward-boardcore/scripts/linter.py --find src
+
+# Stage documentation
+
+documentation:
+ stage: documentation
only:
- master
- - testing
+ tags:
+ - copyright
script:
- - echo "Building r2a-hermes-obsw..."
- - ./skyward-boardcore/sbs
-
-test1:
- stage: test
- script:
- - echo "Running Linter"
- - skyward-boardcore/scripts/linter.sh
+ - echo "Generate documentation to https://documentation.skywarder.eu/${CI_PROJECT_NAME}/${CI_COMMIT_REF_NAME}"
+ - rm -rf doc/output
+ - doxygen doc/Doxyfile
+ - rm -rf /srv/code_documentation/${CI_PROJECT_NAME}/${CI_COMMIT_REF_NAME}
+ - mkdir -p /srv/code_documentation/${CI_PROJECT_NAME}/
+ - mv doc/output/html /srv/code_documentation/${CI_PROJECT_NAME}/${CI_COMMIT_REF_NAME}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..391a4509bb169dec8cfbd79da591c6545773110d
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,51 @@
+repos:
+ - repo: https://github.com/pre-commit/pre-commit-hooks
+ rev: v2.3.0
+ hooks:
+ - id: check-yaml
+ - id: end-of-file-fixer
+ - id: trailing-whitespace
+ - repo: https://gitlab.com/daverona/pre-commit/cpp
+ rev: 0.8.0
+ hooks:
+ - id: cppcheck
+ args: [
+ --quiet,
+ --language=c++,
+ --enable=all,
+ --inline-suppr,
+ --suppress=unmatchedSuppression,
+ --suppress=unusedFunction,
+ --suppress=missingInclude
+ ]
+ - repo: https://github.com/pre-commit/mirrors-clang-format
+ rev: v13.0.0
+ hooks:
+ - id: clang-format
+ args: [
+ -style=file,
+ --dry-run,
+ --Werror
+ ]
+ - repo: local
+ hooks:
+ - id: copyright
+ name: Copyright
+ entry: skyward-boardcore/scripts/linter.py
+ args: [
+ --copyright,
+ src
+ ]
+ pass_filenames: false
+ language: python
+ - repo: local
+ hooks:
+ - id: find
+ name: Find
+ entry: skyward-boardcore/scripts/linter.py
+ args: [
+ --find,
+ src
+ ]
+ pass_filenames: false
+ language: python
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 08432c7137fe420f4c839037059e2a8d41cdd5ce..9855cc51f52f63950acaf85427db223822deea29 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -74,6 +74,23 @@
"dense": "cpp",
"unordered_set": "cpp",
"hash_map": "cpp",
- "valarray": "cpp"
+ "valarray": "cpp",
+ "core": "cpp",
+ "superlusupport": "cpp",
+ "*.evaluator": "cpp",
+ "*.traits": "cpp",
+ "adolcforward": "cpp",
+ "alignedvector3": "cpp",
+ "autodiff": "cpp",
+ "bvh": "cpp",
+ "eulerangles": "cpp",
+ "fft": "cpp",
+ "kroneckerproduct": "cpp",
+ "mprealsupport": "cpp",
+ "numericaldiff": "cpp",
+ "openglsupport": "cpp",
+ "specialfunctions": "cpp",
+ "splines": "cpp",
+ "matrixfunctions": "cpp"
}
}
diff --git a/skyward-boardcore b/skyward-boardcore
index 5fc8d0141d1881cf7dd690a5308c336166c3118c..715cf492bb0239f53444ca6475dccbb9f4ac8ec7 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 5fc8d0141d1881cf7dd690a5308c336166c3118c
+Subproject commit 715cf492bb0239f53444ca6475dccbb9f4ac8ec7
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h b/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
index 8f85fdfaa57098d660652568848c83b40ff83936..87ce3e208636bc7ac578bc5513ce5f9489964db1 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
@@ -54,8 +54,6 @@
* Total computation time: | 25.557320 ms | 181.001143 ms
*/
-using namespace DeathStackBoard::AirBrakesConfigs;
-
namespace DeathStackBoard
{
@@ -64,7 +62,8 @@ class AirBrakesControlAlgorithm : public Algorithm
{
public:
- AirBrakesControlAlgorithm(Sensor<T>& sensor, ServoInterface* actuator);
+ AirBrakesControlAlgorithm(Boardcore::Sensor<T>& sensor,
+ ServoInterface* actuator);
float getEstimatedCd() { return ab_data.estimated_cd; }
@@ -152,8 +151,8 @@ public:
/**
* @brief Compute the necessary airbrakes surface to match the
* given the drag force from the Pid. The possible surface values are
- * discretized in (S_MIN, S_MAX) with a
- * step of S_STEP. For every possible deltaS the
+ * discretized in (AirBrakesConfigs::S_MIN, AirBrakesConfigs::S_MAX) with a
+ * step of AirBrakesConfigs::S_STEP. For every possible deltaS the
* correspondig drag force is computed with @see getDrag method and the one
* that gives lowest error with respect to Pid output is returned.
*
@@ -220,7 +219,7 @@ private:
Trajectory chosenTrajectory;
ServoInterface* actuator;
- Sensor<T>& sensor;
+ Boardcore::Sensor<T>& sensor;
PIController pid;
AirBrakesAlgorithmData algo_data;
@@ -237,8 +236,9 @@ private:
template <class T>
AirBrakesControlAlgorithm<T>::AirBrakesControlAlgorithm(
- Sensor<T>& sensor, ServoInterface* actuator)
- : actuator(actuator), sensor(sensor), pid(Kp, Ki),
+ Boardcore::Sensor<T>& sensor, ServoInterface* actuator)
+ : actuator(actuator), sensor(sensor),
+ pid(AirBrakesConfigs::Kp, AirBrakesConfigs::Ki),
logger(LoggerService::getInstance())
{
}
@@ -253,7 +253,7 @@ void AirBrakesControlAlgorithm<T>::begin()
running = true;
- begin_ts = TimestampTimer::getInstance().getTimestamp();
+ begin_ts = Boardcore::TimestampTimer::getInstance().getTimestamp();
last_input_ts = (sensor.getLastSample()).timestamp;
@@ -275,14 +275,15 @@ void AirBrakesControlAlgorithm<T>::step()
alpha = computeAlpha(input, false);
}
- uint64_t curr_ts = TimestampTimer::getInstance().getTimestamp();
+ uint64_t curr_ts = Boardcore::TimestampTimer::getInstance().getTimestamp();
#ifdef EUROC
- if (curr_ts - begin_ts < AIRBRAKES_ACTIVATION_AFTER_SHADOW_MODE * 1000)
+ if (curr_ts - begin_ts <
+ AirBrakesConfigs::AIRBRAKES_ACTIVATION_AFTER_SHADOW_MODE * 1000)
{
// limit control to half of the airbrakes surface
// this should correspond to a maximum of 17.18° angle on the servo
- actuator->set(AB_SERVO_HALF_AREA_POS, true);
+ actuator->set(AirBrakesConfigs::AB_SERVO_HALF_AREA_POS, true);
}
else
{
@@ -352,7 +353,7 @@ TrajectoryPoint AirBrakesControlAlgorithm<T>::chooseTrajectory(float z,
for (uint8_t trajectoryIndex = 0; trajectoryIndex < TOT_TRAJECTORIES;
trajectoryIndex++)
{
- Trajectory trajectory(trajectoryIndex, S_MAX);
+ Trajectory trajectory(trajectoryIndex, AirBrakesConfigs::S_MAX);
for (uint32_t pointIndex = 0; pointIndex < trajectory.length();
pointIndex++)
@@ -373,7 +374,8 @@ TrajectoryPoint AirBrakesControlAlgorithm<T>::chooseTrajectory(float z,
logger.log(
AirBrakesChosenTrajectory{chosenTrajectory.getTrajectoryIndex()});
- PrintLogger log = Logging::getLogger("deathstack.fsm.abk");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fsm.abk");
LOG_INFO(log, "Chosen trajectory : {:d} \n",
chosenTrajectory.getTrajectoryIndex());
@@ -388,8 +390,9 @@ TrajectoryPoint AirBrakesControlAlgorithm<T>::getSetpoint(float z, float vz)
TrajectoryPoint currentPoint(z, vz);
float minDistance = INFINITY;
- uint32_t start = std::max(indexMinVal + START_INDEX_OFFSET, 0);
- uint32_t end = chosenTrajectory.length();
+ uint32_t start =
+ std::max(indexMinVal + AirBrakesConfigs::START_INDEX_OFFSET, 0);
+ uint32_t end = chosenTrajectory.length();
for (uint32_t pointIndex = start; pointIndex < end; pointIndex++)
{
@@ -419,14 +422,14 @@ float AirBrakesControlAlgorithm<T>::pidStep(float z, float vz, float vMod,
// cd minimum if abk surface is 0
float cd_min = getDrag(vMod, z, 0);
// cd maximum if abk surface is maximum
- float cd_max = getDrag(vMod, z, S_MAX);
+ float cd_max = getDrag(vMod, z, AirBrakesConfigs::S_MAX);
- float u_min = 0.5 * rho * cd_min * S0 * vz * vMod;
- float u_max = 0.5 * rho * cd_max * S0 * vz * vMod;
+ float u_min = 0.5 * rho * cd_min * AirBrakesConfigs::S0 * vz * vMod;
+ float u_max = 0.5 * rho * cd_max * AirBrakesConfigs::S0 * vz * vMod;
// get reference CD and control action, according to the chosen trajectory
float cd_ref = getDrag(vMod, z, chosenTrajectory.getRefSurface());
- float u_ref = 0.5 * rho * cd_ref * S0 * vz * vMod;
+ float u_ref = 0.5 * rho * cd_ref * AirBrakesConfigs::S0 * vz * vMod;
float error = vz - setpoint.getVz();
ab_data.pid_error = error; // for logging
@@ -447,10 +450,12 @@ float AirBrakesControlAlgorithm<T>::getSurface(float z, float vz, float vMod,
float selected_s = 0;
float best_du = INFINITY;
- for (float s = S_MIN; s < S_MAX + S_STEP; s += S_STEP)
+ for (float s = AirBrakesConfigs::S_MIN;
+ s < AirBrakesConfigs::S_MAX + AirBrakesConfigs::S_STEP;
+ s += AirBrakesConfigs::S_STEP)
{
float cd = getDrag(vMod, z, s);
- float du = abs(u - (0.5 * rho * S0 * cd * vz * vMod));
+ float du = abs(u - (0.5 * rho * AirBrakesConfigs::S0 * cd * vz * vMod));
if (du < best_du)
{
@@ -468,10 +473,12 @@ float AirBrakesControlAlgorithm<T>::getSurface(float z, float vz, float vMod,
template <class T>
float AirBrakesControlAlgorithm<T>::getAlpha(float s)
{
- float alpha_rad = (-B_DELTAS + sqrt(powf(B_DELTAS, 2) + 4 * A_DELTAS * s)) /
- (2 * A_DELTAS);
+ float alpha_rad = (-AirBrakesConfigs::B_DELTAS +
+ sqrt(powf(AirBrakesConfigs::B_DELTAS, 2) +
+ 4 * AirBrakesConfigs::A_DELTAS * s)) /
+ (2 * AirBrakesConfigs::A_DELTAS);
- float alpha_deg = alpha_rad * 180.0f / PI;
+ float alpha_deg = alpha_rad * 180.0f / Boardcore::PI;
return alpha_deg;
}
@@ -479,20 +486,22 @@ float AirBrakesControlAlgorithm<T>::getAlpha(float s)
template <class T>
float AirBrakesControlAlgorithm<T>::getRho(float h)
{
- return RHO * expf(-h / Hn);
+ return AirBrakesConfigs::RHO * expf(-h / AirBrakesConfigs::Hn);
}
template <class T>
float AirBrakesControlAlgorithm<T>::getMach(float vMod, float z)
{
- float c = Co + ALPHA * z;
+ float c = AirBrakesConfigs::Co + AirBrakesConfigs::ALPHA * z;
return vMod / c;
}
template <class T>
float AirBrakesControlAlgorithm<T>::getExtension(float s)
{
- return (-B + sqrtf(powf(B, 2) + 4 * A * s)) / (2 * A);
+ return (-AirBrakesConfigs::B +
+ sqrtf(powf(AirBrakesConfigs::B, 2) + 4 * AirBrakesConfigs::A * s)) /
+ (2 * AirBrakesConfigs::A);
}
template <class T>
@@ -510,6 +519,7 @@ float AirBrakesControlAlgorithm<T>::getDrag(float v, float h, float s)
powf(mach, 5),
powf(mach, 6)};
+ using AirBrakesConfigs::coeffs;
return coeffs.n000 + coeffs.n100 * pow_mach[1] + coeffs.n200 * pow_mach[2] +
coeffs.n300 * pow_mach[3] + coeffs.n400 * pow_mach[4] +
coeffs.n500 * pow_mach[5] + coeffs.n600 * pow_mach[6] +
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesController.h b/src/boards/DeathStack/AirBrakes/AirBrakesController.h
index 3ddb7aa7343df25dba6862b5bc26c0f0c8498fdb..9e359e9cc395bc033edb56891c0aaf0af601ff9d 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesController.h
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesController.h
@@ -41,21 +41,21 @@ namespace DeathStackBoard
* @brief AirBrakes state machine
*/
template <class T>
-class AirBrakesController : public FSM<AirBrakesController<T>>
+class AirBrakesController : public Boardcore::FSM<AirBrakesController<T>>
{
public:
- AirBrakesController(Sensor<T>& sensor,
+ AirBrakesController(Boardcore::Sensor<T>& sensor,
ServoInterface* servo = new AirBrakesServo());
~AirBrakesController();
// Airbrakes FSM states
- void state_initialization(const Event& ev);
- void state_idle(const Event& ev);
- void state_shadowMode(const Event& ev);
- void state_enabled(const Event& ev);
- void state_end(const Event& ev);
- void state_disabled(const Event& ev);
- void state_testAirbrakes(const Event& ev);
+ void state_initialization(const Boardcore::Event& ev);
+ void state_idle(const Boardcore::Event& ev);
+ void state_shadowMode(const Boardcore::Event& ev);
+ void state_enabled(const Boardcore::Event& ev);
+ void state_end(const Boardcore::Event& ev);
+ void state_disabled(const Boardcore::Event& ev);
+ void state_testAirbrakes(const Boardcore::Event& ev);
/**
* @brief Update the airbrakes control algorithm
@@ -84,13 +84,14 @@ private:
AirBrakesControlAlgorithm<T> algorithm;
uint16_t ev_shadow_mode_timeout_id;
- PrintLogger log = Logging::getLogger("deathstack.fsm.arb");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fsm.arb");
};
template <class T>
-AirBrakesController<T>::AirBrakesController(Sensor<T>& sensor,
+AirBrakesController<T>::AirBrakesController(Boardcore::Sensor<T>& sensor,
ServoInterface* servo)
- : FSM<AirBrakesController<T>>(
+ : Boardcore::FSM<AirBrakesController<T>>(
&AirBrakesController<T>::state_initialization),
servo(servo), algorithm(sensor, servo)
{
@@ -112,11 +113,11 @@ void AirBrakesController<T>::update()
}
template <class T>
-void AirBrakesController<T>::state_initialization(const Event& ev)
+void AirBrakesController<T>::state_initialization(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
logStatus(AirBrakesControllerState::INITIALIZATION);
@@ -126,7 +127,7 @@ void AirBrakesController<T>::state_initialization(const Event& ev)
this->transition(&AirBrakesController<T>::state_idle);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
break;
}
@@ -139,18 +140,18 @@ void AirBrakesController<T>::state_initialization(const Event& ev)
}
template <class T>
-void AirBrakesController<T>::state_idle(const Event& ev)
+void AirBrakesController<T>::state_idle(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
logStatus(AirBrakesControllerState::IDLE);
LOG_DEBUG(log, "Eentering state idle");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state idle");
break;
@@ -183,22 +184,23 @@ void AirBrakesController<T>::state_idle(const Event& ev)
}
template <class T>
-void AirBrakesController<T>::state_shadowMode(const Event& ev)
+void AirBrakesController<T>::state_shadowMode(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
ev_shadow_mode_timeout_id =
- sEventBroker.postDelayed<SHADOW_MODE_DURATION>(
- Event{EV_SHADOW_MODE_TIMEOUT}, TOPIC_ABK);
+ sEventBroker
+ .postDelayed<AirBrakesConfigs::SHADOW_MODE_DURATION>(
+ Boardcore::Event{EV_SHADOW_MODE_TIMEOUT}, TOPIC_ABK);
logStatus(AirBrakesControllerState::SHADOW_MODE);
LOG_DEBUG(log, "Entering state shadow_mode");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state shadow_mode");
break;
@@ -221,11 +223,11 @@ void AirBrakesController<T>::state_shadowMode(const Event& ev)
}
template <class T>
-void AirBrakesController<T>::state_enabled(const Event& ev)
+void AirBrakesController<T>::state_enabled(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
algorithm.begin();
@@ -234,7 +236,7 @@ void AirBrakesController<T>::state_enabled(const Event& ev)
LOG_DEBUG(log, "Entering state enabled");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state enabled");
break;
@@ -257,11 +259,11 @@ void AirBrakesController<T>::state_enabled(const Event& ev)
}
template <class T>
-void AirBrakesController<T>::state_end(const Event& ev)
+void AirBrakesController<T>::state_end(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
algorithm.end();
servo->reset();
@@ -271,7 +273,7 @@ void AirBrakesController<T>::state_end(const Event& ev)
LOG_DEBUG(log, "Entering state end");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state end");
break;
@@ -285,11 +287,11 @@ void AirBrakesController<T>::state_end(const Event& ev)
}
template <class T>
-void AirBrakesController<T>::state_disabled(const Event& ev)
+void AirBrakesController<T>::state_disabled(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
algorithm.end();
servo->reset();
@@ -299,7 +301,7 @@ void AirBrakesController<T>::state_disabled(const Event& ev)
LOG_DEBUG(log, "Entering state disabled");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state disabled");
break;
@@ -313,11 +315,11 @@ void AirBrakesController<T>::state_disabled(const Event& ev)
}
template <class T>
-void AirBrakesController<T>::state_testAirbrakes(const Event& ev)
+void AirBrakesController<T>::state_testAirbrakes(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state test_airbrakes");
@@ -329,10 +331,10 @@ void AirBrakesController<T>::state_testAirbrakes(const Event& ev)
logStatus(AirBrakesControllerState::TEST_AEROBRAKES);
- sEventBroker.post(Event{EV_TEST_TIMEOUT}, TOPIC_ABK);
+ sEventBroker.post(Boardcore::Event{EV_TEST_TIMEOUT}, TOPIC_ABK);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state test_airbrakes");
break;
@@ -392,12 +394,12 @@ void AirBrakesController<T>::incrementallyClose()
template <class T>
void AirBrakesController<T>::logStatus(AirBrakesControllerState state)
{
- status.timestamp = TimestampTimer::getInstance().getTimestamp();
+ status.timestamp = Boardcore::TimestampTimer::getInstance().getTimestamp();
status.state = state;
LoggerService::getInstance().log(status);
- StackLogger::getInstance().updateStack(THID_ABK_FSM);
+ Boardcore::StackLogger::getInstance().updateStack(THID_ABK_FSM);
}
template <class T>
@@ -406,4 +408,4 @@ void AirBrakesController<T>::setAirBrakesPosition(float pos)
servo->set(pos);
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp b/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp
index b6a2c35cc9a8baf818c0fadf0f806bd69d44c247..2a6a6c071e6dafd414ad13b029d8682c225551c0 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesServo.cpp
@@ -13,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -22,22 +22,16 @@
#include <AirBrakes/AirBrakesServo.h>
-namespace DeathStackBoard
-{
+using namespace DeathStackBoard::AirBrakesConfigs;
-AirBrakesServo::AirBrakesServo()
- : ServoInterface(AB_SERVO_MIN_POS, AB_SERVO_MAX_POS)
-{
-}
-
-AirBrakesServo::AirBrakesServo(float minPosition, float maxPosition)
- : ServoInterface(minPosition, maxPosition)
+namespace DeathStackBoard
{
-}
AirBrakesServo::AirBrakesServo(float minPosition, float maxPosition,
float resetPosition)
- : ServoInterface(minPosition, maxPosition, resetPosition)
+ : ServoInterface(minPosition, maxPosition, resetPosition),
+ servo(AB_SERVO_TIMER, Boardcore::TimerUtils::Channel::CHANNEL_2, 500,
+ 2500, 50)
{
}
@@ -97,4 +91,4 @@ float AirBrakesServo::preprocessPosition(float angle)
return angle;
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesServo.h b/src/boards/DeathStack/AirBrakes/AirBrakesServo.h
index 8551324c37d579deda1e08c5e417a8bcda1ef3db..a33cc8022606ef3a6392a2d3cefc049a0d108736 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesServo.h
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesServo.h
@@ -36,16 +36,12 @@
namespace DeathStackBoard
{
-using namespace AirBrakesConfigs;
-
class AirBrakesServo : public ServoInterface
{
public:
- AirBrakesServo();
-
- AirBrakesServo(float minPosition, float maxPosition);
-
- AirBrakesServo(float minPosition, float maxPosition, float resetPosition);
+ AirBrakesServo(float minPosition = AirBrakesConfigs::AB_SERVO_MIN_POS,
+ float maxPosition = AirBrakesConfigs::AB_SERVO_MAX_POS,
+ float resetPosition = AirBrakesConfigs::AB_SERVO_MIN_POS);
virtual ~AirBrakesServo();
@@ -59,8 +55,7 @@ public:
void selfTest() override;
private:
- Servo servo{AirBrakesConfigs::AB_SERVO_TIMER, AB_SERVO_PWM_CH, 50, 500,
- 2500};
+ Boardcore::Servo servo;
#ifdef HARDWARE_IN_THE_LOOP
HIL *simulator = HIL::getInstance();
@@ -77,4 +72,4 @@ protected:
float preprocessPosition(float angle) override;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
index e5f7decd4db8c89c2d732cf76d9f3f72d8ef287f..237e6636b7f0758917a4c12c2e92f3f04634edfa 100644
--- a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
+++ b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
@@ -1,6 +1,5 @@
-/*
- * Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Vincenzo Santomarco
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -14,13 +13,12 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
-
#pragma once
namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesRoccaraso.h b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesRoccaraso.h
index 519bf952a929e8d2e64544f09a2d25bc81321aec..84c372e32a1cd8ffb2518419355571e02c0bfad6 100644
--- a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesRoccaraso.h
+++ b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesRoccaraso.h
@@ -1,6 +1,5 @@
-/*
- * Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Vincenzo Santomarco
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -14,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp
index 126834ac6ac7c6f4f0a2c61f38e78293327a533e..d6f52bb09c8efcb1aa9a9cbac3e858fe4cc8653f 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp
@@ -28,6 +28,8 @@
#include <events/Events.h>
#include <utils/aero/AeroUtils.h>
+using namespace Boardcore;
+
namespace DeathStackBoard
{
@@ -55,8 +57,8 @@ void ADAAlgorithm::updateBaro(float pressure)
ada_data.msl_altitude = pressureToAltitude(filter.getState()(0, 0));
ada_data.agl_altitude = altitudeMSLtoAGL(ada_data.msl_altitude);
ada_data.vert_speed = aeroutils::verticalSpeed(
- filter.getState()(0, 0), filter.getState()(1, 0),
- ref_values.msl_pressure, ref_values.msl_temperature);
+ filter.getState()(0, 0), filter.getState()(1, 0),
+ ref_values.msl_pressure, ref_values.msl_temperature);
#ifdef DEBUG
if (counter == 50)
@@ -136,4 +138,4 @@ ADAAlgorithm::getKalmanConfig(const float init_pressure)
return config;
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.h b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.h
index 329129db0c2e166937febb9910978de9fadec03d..3736c93ab4a5a0693c9caaf294194c0e3ea744da 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.h
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.h
@@ -95,14 +95,16 @@ private:
/**
* @brief Method to initialize the kalman configuration structure
*/
- const KalmanEigen<float, KALMAN_STATES_NUM,
- KALMAN_OUTPUTS_NUM>::KalmanConfig
+ const Boardcore::KalmanEigen<float, ADAConfigs::KALMAN_STATES_NUM,
+ ADAConfigs::KALMAN_OUTPUTS_NUM>::KalmanConfig
getKalmanConfig(const float ref_pressure);
// References for pressure to altitude conversion
ADAReferenceValues ref_values;
- KalmanEigen<float, KALMAN_STATES_NUM, KALMAN_OUTPUTS_NUM> filter;
+ Boardcore::KalmanEigen<float, ADAConfigs::KALMAN_STATES_NUM,
+ ADAConfigs::KALMAN_OUTPUTS_NUM>
+ filter;
ADAData ada_data;
@@ -115,4 +117,4 @@ private:
#endif
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.cpp b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.cpp
index 4ea7e103136a0b5f4fcf71317d31af146f9cff29..2925542cd7c8acbad9967890484c4c2c21bae4aa 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.cpp
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.cpp
@@ -23,6 +23,8 @@
#include <ApogeeDetectionAlgorithm/ADACalibrator.h>
#include <utils/aero/AeroUtils.h>
+using namespace Boardcore;
+
namespace DeathStackBoard
{
@@ -83,4 +85,4 @@ ADAReferenceValues ADACalibrator::getReferenceValues()
return ref_values;
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h
index a963aaeaa4d3d75937954acefc88d923f255ec27..5149a9290f93ae80aafd0eb8479b24800b50a775 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADACalibrator.h
@@ -69,13 +69,14 @@ private:
/**
* @brief Computes mean std dev etc for calibration of pressure conversion.
*/
- Stats pressure_stats;
+ Boardcore::Stats pressure_stats;
// Refernece flags
bool ref_alt_set = false;
bool ref_temp_set = false;
- PrintLogger log = Logging::getLogger("deathstack.fsm.ada");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fsm.ada");
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h
index d1f7aa65593ea25dfb117e64721da71be2c3caa0..2c3b2fd1400f6f6244414b4099b1ed95ccd84379 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAController.h
@@ -39,27 +39,26 @@
using miosix::FastMutex;
using miosix::Lock;
-using namespace Boardcore;
-
namespace DeathStackBoard
{
-using namespace ADAConfigs;
-
template <typename Press, typename GPS>
-class ADAController : public FSM<ADAController<Press, GPS>>
+class ADAController : public Boardcore::FSM<ADAController<Press, GPS>>
{
using ADACtrl = ADAController<Press, GPS>;
- using ADAFsm = FSM<ADAController<Press, GPS>>;
+ using ADAFsm = Boardcore::FSM<ADAController<Press, GPS>>;
static_assert(
- checkIfProduces<Sensor<Press>, PressureData>::value,
+ Boardcore::checkIfProduces<Boardcore::Sensor<Press>,
+ Boardcore::PressureData>::value,
"Template argument must be a sensor that produces pressure data.");
- static_assert(checkIfProduces<Sensor<GPS>, GPSData>::value,
+ static_assert(Boardcore::checkIfProduces<Boardcore::Sensor<GPS>,
+ Boardcore::GPSData>::value,
"Template argument must be a sensor that produces GPS data.");
public:
- ADAController(Sensor<Press>& barometer, Sensor<GPS>& gps);
+ ADAController(Boardcore::Sensor<Press>& barometer,
+ Boardcore::Sensor<GPS>& gps);
~ADAController();
@@ -106,13 +105,13 @@ public:
ADAReferenceValues getReferenceValues() { return ada.getReferenceValues(); }
private:
- void state_init(const Event& ev);
+ void state_init(const Boardcore::Event& ev);
/**
* @brief Idle state: the ADA waits for a command to start calibration. This
* is the initial state.
*/
- void state_idle(const Event& ev);
+ void state_idle(const Boardcore::Event& ev);
/**
* @brief Calibrating state: the ADA calibrates the initial Kalman state.
@@ -122,7 +121,7 @@ private:
* triggered at the first sample update after having set the deployment
* altitude and having reached the minimum number of calibration samples.
*/
- void state_calibrating(const Event& ev);
+ void state_calibrating(const Boardcore::Event& ev);
/**
* @brief Ready state: ADA is ready and waiting for liftoff
@@ -131,7 +130,7 @@ private:
* The exiting transition to the shadow mode state is triggered by the
* liftoff event.
*/
- void state_ready(const Event& ev);
+ void state_ready(const Boardcore::Event& ev);
/**
* @brief Shadow mode state: ADA is running and logging apogees detected,
@@ -141,7 +140,7 @@ private:
* kalman filter followed by a check of vertical speed sign. The exiting
* transition to the active state is triggered by a timeout event.
*/
- void state_shadowMode(const Event& ev);
+ void state_shadowMode(const Boardcore::Event& ev);
/**
* @brief Active state: ADA is running and it generates an event whe apogee
@@ -152,7 +151,7 @@ private:
* transition to the descent state is triggered by the apogee reached event
* (NOT self generated!)
*/
- void state_active(const Event& ev);
+ void state_active(const Boardcore::Event& ev);
/**
* @brief Pressure stabilization state: ADA is running and does not trigger
@@ -162,7 +161,7 @@ private:
* kalman filter. The exiting transition to the drogue descent state is
* triggered by a timeout event.
*/
- void state_pressureStabilization(const Event& ev);
+ void state_pressureStabilization(const Boardcore::Event& ev);
/**
* @brief First descent phase state: ADA is running and it generates an
@@ -173,7 +172,7 @@ private:
* to the stop state is triggered by the parachute deployment altitude
* reached event (NOT self generated!)
*/
- void state_drogueDescent(const Event& ev);
+ void state_drogueDescent(const Boardcore::Event& ev);
/**
* @brief End state: ADA is stopped
@@ -181,7 +180,7 @@ private:
* In this state a call to update() will have no effect.
* This is the final state
*/
- void state_end(const Event& ev);
+ void state_end(const Boardcore::Event& ev);
void updateBaroAccordingToState(float pressure);
@@ -205,8 +204,8 @@ private:
ADAAlgorithm ada;
- Sensor<Press>& barometer;
- Sensor<GPS>& gps;
+ Boardcore::Sensor<Press>& barometer;
+ Boardcore::Sensor<GPS>& gps;
uint64_t last_press_timestamp = 0;
uint64_t last_gps_timestamp = 0;
@@ -223,13 +222,15 @@ private:
0; // Number of consecutive samples for abk disable
LoggerService& logger = LoggerService::getInstance(); // Logger
- PrintLogger log = Logging::getLogger("deathstack.fms.ada");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fms.ada");
};
template <typename Press, typename GPS>
-ADAController<Press, GPS>::ADAController(Sensor<Press>& barometer,
- Sensor<GPS>& gps)
- : ADAFsm(&ADACtrl::state_idle, STACK_MIN_FOR_SKYWARD, ADA_PRIORITY),
+ADAController<Press, GPS>::ADAController(Boardcore::Sensor<Press>& barometer,
+ Boardcore::Sensor<GPS>& gps)
+ : ADAFsm(&ADACtrl::state_idle, Boardcore::STACK_MIN_FOR_SKYWARD,
+ ADAConfigs::ADA_PRIORITY),
ada(ADAReferenceValues{}), barometer(barometer), gps(gps)
{
// Subscribe to topics
@@ -304,7 +305,8 @@ 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::getInstance().getTimestamp();
+ d.timestamp =
+ Boardcore::TimestampTimer::getInstance().getTimestamp();
d.msl_altitude = ada.pressureToAltitude(pressure);
d.agl_altitude = ada.altitudeMSLtoAGL(d.msl_altitude);
d.vert_speed = 0;
@@ -319,11 +321,13 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
ada.updateBaro(pressure);
// Check if the vertical speed smaller than the target apogee speed
- if (ada.getVerticalSpeed() < APOGEE_VERTICAL_SPEED_TARGET)
+ if (ada.getVerticalSpeed() <
+ ADAConfigs::APOGEE_VERTICAL_SPEED_TARGET)
{
// Log
ApogeeDetected apogee{
- TimestampTimer::getInstance().getTimestamp(), status.state};
+ Boardcore::TimestampTimer::getInstance().getTimestamp(),
+ status.state};
logger.log(apogee);
}
@@ -337,9 +341,10 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
ada.updateBaro(pressure);
// Check if we reached apogee
- if (ada.getVerticalSpeed() < APOGEE_VERTICAL_SPEED_TARGET)
+ if (ada.getVerticalSpeed() <
+ ADAConfigs::APOGEE_VERTICAL_SPEED_TARGET)
{
- if (++n_samples_apogee_detected >= APOGEE_N_SAMPLES)
+ if (++n_samples_apogee_detected >= ADAConfigs::APOGEE_N_SAMPLES)
{
// Active state send notifications for apogee
sEventBroker.post({EV_ADA_APOGEE_DETECTED}, TOPIC_ADA);
@@ -348,7 +353,8 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
// Log
ApogeeDetected apogee{
- TimestampTimer::getInstance().getTimestamp(), status.state};
+ Boardcore::TimestampTimer::getInstance().getTimestamp(),
+ status.state};
logger.log(apogee);
}
else if (n_samples_apogee_detected != 0)
@@ -357,9 +363,11 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
}
// Check if we have to disable airbrakes
- if (ada.getVerticalSpeed() < ABK_DISABLE_VERTICAL_SPEED_TARGET)
+ if (ada.getVerticalSpeed() <
+ ADAConfigs::ABK_DISABLE_VERTICAL_SPEED_TARGET)
{
- if (++n_samples_abk_disable_detected >= ABK_DISABLE_N_SAMPLES)
+ if (++n_samples_abk_disable_detected >=
+ ADAConfigs::ABK_DISABLE_N_SAMPLES)
{
// Active state send notifications for disabling airbrakes
sEventBroker.post({EV_ADA_DISABLE_ABK},
@@ -384,10 +392,12 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
if (ada.getAltitudeForDeployment() <= deployment_altitude)
{
- if (++n_samples_deployment_detected >= DEPLOYMENT_N_SAMPLES)
+ if (++n_samples_deployment_detected >=
+ ADAConfigs::DEPLOYMENT_N_SAMPLES)
{
logger.log(DplAltitudeReached{
- TimestampTimer::getInstance().getTimestamp()});
+ Boardcore::TimestampTimer::getInstance()
+ .getTimestamp()});
}
}
else if (n_samples_deployment_detected != 0)
@@ -406,10 +416,12 @@ void ADAController<Press, GPS>::updateBaroAccordingToState(float pressure)
if (ada.getAltitudeForDeployment() <= deployment_altitude)
{
- if (++n_samples_deployment_detected >= DEPLOYMENT_N_SAMPLES)
+ if (++n_samples_deployment_detected >=
+ ADAConfigs::DEPLOYMENT_N_SAMPLES)
{
logger.log(DplAltitudeReached{
- TimestampTimer::getInstance().getTimestamp()});
+ Boardcore::TimestampTimer::getInstance()
+ .getTimestamp()});
sEventBroker.post({EV_ADA_DPL_ALT_DETECTED}, TOPIC_ADA);
}
@@ -512,17 +524,17 @@ void ADAController<Press, GPS>::finalizeCalibration()
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_idle(const Event& ev)
+void ADAController<Press, GPS>::state_idle(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state idle");
logStatus(ADAState::IDLE);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state idle");
break;
@@ -540,11 +552,11 @@ void ADAController<Press, GPS>::state_idle(const Event& ev)
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_calibrating(const Event& ev)
+void ADAController<Press, GPS>::state_calibrating(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
{
Lock<FastMutex> l(calibrator_mutex);
@@ -555,7 +567,7 @@ void ADAController<Press, GPS>::state_calibrating(const Event& ev)
LOG_DEBUG(log, "Entering state calibrating");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state calibrating");
break;
@@ -578,17 +590,17 @@ void ADAController<Press, GPS>::state_calibrating(const Event& ev)
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_ready(const Event& ev)
+void ADAController<Press, GPS>::state_ready(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
logStatus(ADAState::READY);
LOG_DEBUG(log, "Entering state ready");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state ready");
break;
@@ -611,20 +623,20 @@ void ADAController<Press, GPS>::state_ready(const Event& ev)
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_shadowMode(const Event& ev)
+void ADAController<Press, GPS>::state_shadowMode(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
shadow_delayed_event_id =
- sEventBroker.postDelayed<TIMEOUT_ADA_SHADOW_MODE>(
+ sEventBroker.postDelayed<ADAConfigs::TIMEOUT_ADA_SHADOW_MODE>(
{EV_SHADOW_MODE_TIMEOUT}, TOPIC_ADA);
logStatus(ADAState::SHADOW_MODE);
LOG_DEBUG(log, "Entering state shadowMode");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
sEventBroker.removeDelayed(shadow_delayed_event_id);
LOG_DEBUG(log, "Exiting state shadowMode");
@@ -643,17 +655,17 @@ void ADAController<Press, GPS>::state_shadowMode(const Event& ev)
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_active(const Event& ev)
+void ADAController<Press, GPS>::state_active(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
logStatus(ADAState::ACTIVE);
LOG_DEBUG(log, "Entering state active");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state active");
break;
@@ -671,20 +683,22 @@ void ADAController<Press, GPS>::state_active(const Event& ev)
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_pressureStabilization(const Event& ev)
+void ADAController<Press, GPS>::state_pressureStabilization(
+ const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
pressure_delayed_event_id =
- sEventBroker.postDelayed<TIMEOUT_ADA_P_STABILIZATION>(
- {EV_TIMEOUT_PRESS_STABILIZATION}, TOPIC_ADA);
+ sEventBroker
+ .postDelayed<ADAConfigs::TIMEOUT_ADA_P_STABILIZATION>(
+ {EV_TIMEOUT_PRESS_STABILIZATION}, TOPIC_ADA);
logStatus(ADAState::PRESSURE_STABILIZATION);
LOG_DEBUG(log, "Entering state pressureStabilization");
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
sEventBroker.removeDelayed(pressure_delayed_event_id);
LOG_DEBUG(log, "Exiting state pressureStabilization");
@@ -703,18 +717,18 @@ void ADAController<Press, GPS>::state_pressureStabilization(const Event& ev)
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_drogueDescent(const Event& ev)
+void ADAController<Press, GPS>::state_drogueDescent(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
logStatus(ADAState::DROGUE_DESCENT);
LOG_DEBUG(log, "Entering state drogueDescent");
n_samples_deployment_detected = 0;
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state drogueDescent");
break;
@@ -735,17 +749,17 @@ void ADAController<Press, GPS>::state_drogueDescent(const Event& ev)
}
template <typename Press, typename GPS>
-void ADAController<Press, GPS>::state_end(const Event& ev)
+void ADAController<Press, GPS>::state_end(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state end");
logStatus(ADAState::END);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state end");
break;
@@ -767,10 +781,10 @@ void ADAController<Press, GPS>::logStatus(ADAState state)
template <typename Press, typename GPS>
void ADAController<Press, GPS>::logStatus()
{
- status.timestamp = TimestampTimer::getInstance().getTimestamp();
+ status.timestamp = Boardcore::TimestampTimer::getInstance().getTimestamp();
logger.log(status);
- StackLogger::getInstance().updateStack(THID_ADA_FSM);
+ Boardcore::StackLogger::getInstance().updateStack(THID_ADA_FSM);
}
template <typename Press, typename GPS>
@@ -781,4 +795,4 @@ void ADAController<Press, GPS>::logData(const ADAKalmanState& s,
logger.log(d);
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h
index 7889a867c3b836ba93115cbb020816f3ce1fd204..8da1446e981442ee8fd5f0b27302cb107a5c33d5 100644
--- a/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h
+++ b/src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h
@@ -29,13 +29,9 @@
#include <ostream>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
-using namespace ADAConfigs;
-
/**
* @brief All possible states of the ADA.
*/
@@ -159,8 +155,8 @@ struct ADAReferenceValues
// Pressure at mean sea level for altitude calculation, to be updated with
// launch-day calibration
- float msl_pressure = MSL_PRESSURE;
- float msl_temperature = MSL_TEMPERATURE;
+ float msl_pressure = Boardcore::MSL_PRESSURE;
+ float msl_temperature = Boardcore::MSL_TEMPERATURE;
static std::string header()
{
@@ -201,4 +197,4 @@ struct TargetDeploymentAltitude
void print(std::ostream& os) const { os << deployment_altitude << "\n"; }
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/DeathStack.h b/src/boards/DeathStack/DeathStack.h
index 202703941512d0f16ab9b044e51a2b0dee20ae88..640ca446e34949cedc27f2bebfb678a9df60723c 100644
--- a/src/boards/DeathStack/DeathStack.h
+++ b/src/boards/DeathStack/DeathStack.h
@@ -48,7 +48,6 @@
#endif
using std::bind;
-using namespace Boardcore;
namespace DeathStackBoard
{
@@ -61,7 +60,7 @@ static const std::vector<uint8_t> TRACE_EVENT_BLACKLIST{
* This file provides a simplified way to initialize and monitor all
* the components of the DeathStack.
*/
-class DeathStack : public Singleton<DeathStack>
+class DeathStack : public Boardcore::Singleton<DeathStack>
{
friend class Singleton<DeathStack>;
@@ -69,7 +68,7 @@ public:
// Shared Components
LoggerService* logger;
- EventSniffer* sniffer;
+ Boardcore::EventSniffer* sniffer;
StateMachines* state_machines;
Bus* bus;
@@ -79,7 +78,7 @@ public:
PinHandler* pin_handler;
- TaskScheduler* scheduler;
+ Boardcore::TaskScheduler* scheduler;
#ifdef HARDWARE_IN_THE_LOOP
HIL* hil;
@@ -131,12 +130,14 @@ public:
if (status.death_stack != COMP_OK)
{
LOG_ERR(log, "Initalization failed\n");
- sEventBroker.post(Event{EV_INIT_ERROR}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Boardcore::Event{EV_INIT_ERROR},
+ TOPIC_FLIGHT_EVENTS);
}
else
{
LOG_INFO(log, "Initalization ok");
- sEventBroker.post(Event{EV_INIT_OK}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Boardcore::Event{EV_INIT_OK},
+ TOPIC_FLIGHT_EVENTS);
}
}
@@ -170,16 +171,16 @@ private:
// event
{
using namespace std::placeholders;
- sniffer =
- new EventSniffer(sEventBroker, TOPIC_LIST,
- bind(&DeathStack::logEvent, this, _1, _2));
+ sniffer = new Boardcore::EventSniffer(
+ sEventBroker, TOPIC_LIST,
+ bind(&DeathStack::logEvent, this, _1, _2));
}
#ifdef HARDWARE_IN_THE_LOOP
hil = HIL::getInstance();
#endif
- scheduler = new TaskScheduler();
+ scheduler = new Boardcore::TaskScheduler();
addSchedulerStatsTask();
bus = new Bus();
@@ -204,7 +205,7 @@ private:
pin_handler = new PinHandler();
#ifdef DEBUG
- injector = new EventInjector();
+ injector = new Boardcore::EventInjector();
#endif
LOG_INFO(log, "Init finished");
@@ -215,8 +216,9 @@ private:
*/
void logEvent(uint8_t event, uint8_t topic)
{
- EventData ev{(long long)TimestampTimer::getInstance().getTimestamp(),
- event, topic};
+ Boardcore::EventData ev{
+ (long long)Boardcore::TimestampTimer::getInstance().getTimestamp(),
+ event, topic};
logger->log(ev);
#ifdef DEBUG
@@ -234,7 +236,7 @@ private:
#endif
}
- inline void postEvent(Event ev, uint8_t topic)
+ inline void postEvent(Boardcore::Event ev, uint8_t topic)
{
sEventBroker.post(ev, topic);
}
@@ -245,21 +247,22 @@ private:
scheduler->addTask(
[&]()
{
- std::vector<TaskStatResult> scheduler_stats =
+ std::vector<Boardcore::TaskStatsResult> scheduler_stats =
scheduler->getTaskStats();
- for (TaskStatResult stat : scheduler_stats)
+ for (Boardcore::TaskStatsResult stat : scheduler_stats)
logger->log(stat);
- StackLogger::getInstance().updateStack(THID_TASK_SCHEDULER);
+ Boardcore::StackLogger::getInstance().updateStack(
+ THID_TASK_SCHEDULER);
},
1000, TASK_SCHEDULER_STATS_ID);
}
- EventInjector* injector;
+ Boardcore::EventInjector* injector;
DeathStackStatus status{};
- PrintLogger log = Logging::getLogger("deathstack");
+ Boardcore::PrintLogger log = Boardcore::Logging::getLogger("deathstack");
};
} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Deployment/DeploymentController.cpp b/src/boards/DeathStack/Deployment/DeploymentController.cpp
index b3cfc11f27a3edbba7bdeb90d33bad13eb217389..e403dc45e316133446168e143ae2e92fbca37f46 100644
--- a/src/boards/DeathStack/Deployment/DeploymentController.cpp
+++ b/src/boards/DeathStack/Deployment/DeploymentController.cpp
@@ -29,6 +29,8 @@
#include <events/Events.h>
using namespace Boardcore;
+using namespace DeathStackBoard::DeploymentConfigs;
+using namespace DeathStackBoard::CutterConfig;
namespace DeathStackBoard
{
@@ -150,7 +152,7 @@ void DeploymentController::state_noseconeEjection(const Event& ev)
ejectNosecone();
ev_nc_open_timeout_id = sEventBroker.postDelayed<NC_OPEN_TIMEOUT>(
- Event{EV_NC_OPEN_TIMEOUT}, TOPIC_DPL);
+ Boardcore::Event{EV_NC_OPEN_TIMEOUT}, TOPIC_DPL);
logStatus(DeploymentControllerState::NOSECONE_EJECTION);
break;
@@ -191,7 +193,7 @@ void DeploymentController::state_cutting(const Event& ev)
startCutting();
ev_nc_cutting_timeout_id = sEventBroker.postDelayed<CUT_DURATION>(
- Event{EV_CUTTING_TIMEOUT}, TOPIC_DPL);
+ Boardcore::Event{EV_CUTTING_TIMEOUT}, TOPIC_DPL);
logStatus(DeploymentControllerState::CUTTING);
@@ -237,4 +239,4 @@ void DeploymentController::stopCutting()
CuttersInput::getPin().low();
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Deployment/DeploymentController.h b/src/boards/DeathStack/Deployment/DeploymentController.h
index c1f3363ae8a6c93c534c8c285d108ca6eeb5034b..7fade46a39211fdfef619d0402e19ec3e6df6753 100644
--- a/src/boards/DeathStack/Deployment/DeploymentController.h
+++ b/src/boards/DeathStack/Deployment/DeploymentController.h
@@ -31,27 +31,23 @@
#include <events/Events.h>
#include <events/FSM.h>
-using namespace Boardcore;
-using namespace DeathStackBoard::DeploymentConfigs;
-using namespace DeathStackBoard::CutterConfig;
-
namespace DeathStackBoard
{
/**
* @brief Deployment state machine.
*/
-class DeploymentController : public FSM<DeploymentController>
+class DeploymentController : public Boardcore::FSM<DeploymentController>
{
public:
DeploymentController(
ServoInterface* ejection_servo = new DeploymentServo());
~DeploymentController();
- void state_initialization(const Event& ev);
- void state_idle(const Event& ev);
- void state_noseconeEjection(const Event& ev);
- void state_cutting(const Event& ev);
+ void state_initialization(const Boardcore::Event& ev);
+ void state_idle(const Boardcore::Event& ev);
+ void state_noseconeEjection(const Boardcore::Event& ev);
+ void state_cutting(const Boardcore::Event& ev);
void ejectNosecone();
void startCutting();
@@ -65,7 +61,8 @@ private:
uint16_t ev_nc_open_timeout_id = 0;
uint16_t ev_nc_cutting_timeout_id = 0;
- PrintLogger log = Logging::getLogger("deathstack.fsm.dpl");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fsm.dpl");
void logStatus(DeploymentControllerState current_state);
};
diff --git a/src/boards/DeathStack/Deployment/DeploymentServo.h b/src/boards/DeathStack/Deployment/DeploymentServo.h
index 29632f1b84cb2aaa87d396c34cd429a94a20f6c6..d2008e4a995ccbf6c3b2295f76eb0ecdb710068c 100644
--- a/src/boards/DeathStack/Deployment/DeploymentServo.h
+++ b/src/boards/DeathStack/Deployment/DeploymentServo.h
@@ -27,21 +27,19 @@
#include <drivers/servo/Servo.h>
#include <miosix.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
-using namespace DeathStackBoard::DeploymentConfigs;
-
class DeploymentServo : public ServoInterface
{
public:
- Servo servo{DPL_SERVO_TIMER, DPL_SERVO_PWM_CH, 50, 500, 2500};
+ Boardcore::Servo servo{DeploymentConfigs::DPL_SERVO_TIMER,
+ DeploymentConfigs::DPL_SERVO_PWM_CH, 50, 500, 2500};
DeploymentServo()
- : ServoInterface(DPL_SERVO_MIN_POS, DPL_SERVO_MAX_POS,
- DPL_SERVO_RESET_POS)
+ : ServoInterface(DeploymentConfigs::DPL_SERVO_MIN_POS,
+ DeploymentConfigs::DPL_SERVO_MAX_POS,
+ DeploymentConfigs::DPL_SERVO_RESET_POS)
{
}
@@ -61,7 +59,7 @@ public:
{
for (int i = 0; i < 3; i++)
{
- set(RESET_POS - DPL_SERVO_WIGGLE_AMPLITUDE);
+ set(RESET_POS - DeploymentConfigs::DPL_SERVO_WIGGLE_AMPLITUDE);
miosix::Thread::sleep(500);
reset();
miosix::Thread::sleep(500);
@@ -76,7 +74,7 @@ protected:
}
private:
- float anglePrec = DPL_SERVO_RESET_POS;
+ float anglePrec = DeploymentConfigs::DPL_SERVO_RESET_POS;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/FlightModeManager/FMMController.cpp b/src/boards/DeathStack/FlightModeManager/FMMController.cpp
index 4b2dac76f92022569c21415d01f44b9c6f7e6412..b7db74a1601d5341121827bad354cff1f093b8f9 100644
--- a/src/boards/DeathStack/FlightModeManager/FMMController.cpp
+++ b/src/boards/DeathStack/FlightModeManager/FMMController.cpp
@@ -28,6 +28,8 @@
#include <events/Topics.h>
#include <miosix.h>
+using namespace Boardcore;
+
namespace DeathStackBoard
{
@@ -74,13 +76,13 @@ State FMMController::state_onGround(const Event& ev)
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::ON_GROUND);
- LOG_DEBUG(log, "Entering state_onGround");
+ LOG_DEBUG(printLogger, "Entering state_onGround");
break;
}
case EV_INIT: /* This is a super-state, so move to the first sub-state
*/
{
- LOG_DEBUG(log, "Init state_onGround");
+ LOG_DEBUG(printLogger, "Init state_onGround");
retState = transition(&FMMController::state_init);
@@ -88,7 +90,7 @@ State FMMController::state_onGround(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exiting state_onGround");
+ LOG_DEBUG(printLogger, "Exiting state_onGround");
break;
}
@@ -121,7 +123,7 @@ State FMMController::state_init(const Event& ev)
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::INIT);
- LOG_DEBUG(log, "Entering state_init");
+ LOG_DEBUG(printLogger, "Entering state_init");
break;
}
case EV_INIT: /* No sub-states */
@@ -130,7 +132,7 @@ State FMMController::state_init(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exit state_init");
+ LOG_DEBUG(printLogger, "Exit state_init");
break;
}
@@ -161,7 +163,7 @@ State FMMController::state_initError(const Event& ev)
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::INIT_ERROR);
- LOG_DEBUG(log, "Entering state_initError");
+ LOG_DEBUG(printLogger, "Entering state_initError");
break;
}
case EV_INIT: /* No sub-states */
@@ -170,7 +172,7 @@ State FMMController::state_initError(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exit state_initError");
+ LOG_DEBUG(printLogger, "Exit state_initError");
break;
}
@@ -196,7 +198,7 @@ State FMMController::state_initDone(const Event& ev)
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::INIT_DONE);
- LOG_DEBUG(log, "Entering state_initDone");
+ LOG_DEBUG(printLogger, "Entering state_initDone");
break;
}
case EV_INIT: /* No sub-states */
@@ -205,7 +207,7 @@ State FMMController::state_initDone(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exit state_initDone");
+ LOG_DEBUG(printLogger, "Exit state_initDone");
break;
}
@@ -237,7 +239,7 @@ State FMMController::state_sensorsCalibration(const Event& ev)
{
logState(FMMState::SENSORS_CALIBRATION);
- LOG_DEBUG(log, "Entering sensors_calibration");
+ LOG_DEBUG(printLogger, "Entering sensors_calibration");
DeathStack::getInstance().sensors->calibrate();
sEventBroker.post({EV_SENSORS_READY}, TOPIC_FLIGHT_EVENTS);
@@ -250,7 +252,7 @@ State FMMController::state_sensorsCalibration(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exit sensors_calibration");
+ LOG_DEBUG(printLogger, "Exit sensors_calibration");
break;
}
@@ -285,7 +287,7 @@ State FMMController::state_algosCalibration(const Event& ev)
sEventBroker.post({EV_CALIBRATE_ADA}, TOPIC_ADA);
sEventBroker.post({EV_CALIBRATE_NAS}, TOPIC_NAS);
- LOG_DEBUG(log, "Entering algos_calibration");
+ LOG_DEBUG(printLogger, "Entering algos_calibration");
break;
}
case EV_INIT: /* No sub-state */
@@ -294,7 +296,7 @@ State FMMController::state_algosCalibration(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exit algos_calibration");
+ LOG_DEBUG(printLogger, "Exit algos_calibration");
break;
}
@@ -346,7 +348,7 @@ State FMMController::state_disarmed(const Event& ev)
{
sEventBroker.post({EV_DISARMED}, TOPIC_FLIGHT_EVENTS);
logState(FMMState::DISARMED);
- LOG_DEBUG(log, "Entering disarmed");
+ LOG_DEBUG(printLogger, "Entering disarmed");
break;
}
@@ -356,7 +358,7 @@ State FMMController::state_disarmed(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exiting disarmed");
+ LOG_DEBUG(printLogger, "Exiting disarmed");
break;
}
@@ -397,7 +399,7 @@ State FMMController::state_armed(const Event& ev)
sEventBroker.post({EV_ARMED}, TOPIC_FLIGHT_EVENTS);
logState(FMMState::ARMED);
- LOG_DEBUG(log, "Entering armed");
+ LOG_DEBUG(printLogger, "Entering armed");
break;
}
case EV_INIT: /* No sub-state */
@@ -406,7 +408,7 @@ State FMMController::state_armed(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exiting armed");
+ LOG_DEBUG(printLogger, "Exiting armed");
break;
}
@@ -439,7 +441,7 @@ State FMMController::state_testMode(const Event& ev)
{
logState(FMMState::TESTING);
- LOG_DEBUG(log, "Entering testing");
+ LOG_DEBUG(printLogger, "Entering testing");
break;
}
@@ -449,7 +451,7 @@ State FMMController::state_testMode(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exiting testing");
+ LOG_DEBUG(printLogger, "Exiting testing");
break;
}
@@ -526,19 +528,19 @@ State FMMController::state_flying(const Event& ev)
DeathStack::getInstance().ensors->signalLiftoff();
#endif
- LOG_DEBUG(log, "Entering flying");
+ LOG_DEBUG(printLogger, "Entering flying");
break;
}
case EV_INIT:
{
- LOG_DEBUG(log, "Init flying");
+ LOG_DEBUG(printLogger, "Init flying");
retState = transition(&FMMController::state_ascending);
break;
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exiting flying");
+ LOG_DEBUG(printLogger, "Exiting flying");
sEventBroker.removeDelayed(end_mission_d_event_id);
break;
@@ -580,7 +582,7 @@ State FMMController::state_ascending(const Event& ev)
case EV_ENTRY: /* Executed everytime state is entered */
{
logState(FMMState::ASCENDING);
- LOG_DEBUG(log, "Entering ascending");
+ LOG_DEBUG(printLogger, "Entering ascending");
break;
}
case EV_INIT: /* No sub-state */
@@ -589,7 +591,7 @@ State FMMController::state_ascending(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exit ascending");
+ LOG_DEBUG(printLogger, "Exit ascending");
break;
}
@@ -630,7 +632,7 @@ State FMMController::state_drogueDescent(const Event& ev)
sEventBroker.post(Event{EV_NC_OPEN}, TOPIC_DPL);
logState(FMMState::DROGUE_DESCENT);
- LOG_DEBUG(log, "Entering drogueDescent");
+ LOG_DEBUG(printLogger, "Entering drogueDescent");
break;
}
case EV_INIT: /* No sub-state */
@@ -639,7 +641,7 @@ State FMMController::state_drogueDescent(const Event& ev)
}
case EV_EXIT: /* Executed everytime state is exited */
{
- LOG_DEBUG(log, "Exiting drogueDescent");
+ LOG_DEBUG(printLogger, "Exiting drogueDescent");
break;
}
@@ -671,7 +673,7 @@ State FMMController::state_terminalDescent(const Event& ev)
logState(FMMState::TERMINAL_DESCENT);
- LOG_DEBUG(log, "Entering terminalDescent");
+ LOG_DEBUG(printLogger, "Entering terminalDescent");
break;
}
case EV_INIT:
@@ -709,7 +711,7 @@ State FMMController::state_landed(const Event& ev)
sEventBroker.post(Event{EV_LANDED}, TOPIC_FLIGHT_EVENTS);
logger.stop();
- LOG_DEBUG(log, "Entering landed");
+ LOG_DEBUG(printLogger, "Entering landed");
break;
}
case EV_INIT:
diff --git a/src/boards/DeathStack/FlightModeManager/FMMController.h b/src/boards/DeathStack/FlightModeManager/FMMController.h
index 072f459eaf3d87e88c25f54c636d567e3a9579d7..77b73311aaeb58c78fd61d1a741787b3934c382d 100644
--- a/src/boards/DeathStack/FlightModeManager/FMMController.h
+++ b/src/boards/DeathStack/FlightModeManager/FMMController.h
@@ -33,92 +33,90 @@
using miosix::FastMutex;
using miosix::Lock;
-using namespace Boardcore;
-
namespace DeathStackBoard
{
/**
* @brief Implementation of the Flight Mode Manager Finite State Machine.
*/
-class FMMController : public HSM<FMMController>
+class FMMController : public Boardcore::HSM<FMMController>
{
public:
FMMController();
~FMMController();
- State state_initialization(const Event& ev);
+ Boardcore::State state_initialization(const Boardcore::Event& ev);
/**
* @brief Handle TC_BOARD_RESET and TC_FORCE_LIFTOFF (super-state).
*/
- State state_onGround(const Event& ev);
+ Boardcore::State state_onGround(const Boardcore::Event& ev);
/**
* @brief First state, wait for sensors and objects initialization.
*/
- State state_init(const Event& ev);
+ Boardcore::State state_init(const Boardcore::Event& ev);
/**
* @brief "Low power" state, log only if requested by TC.
*/
- State state_initDone(const Event& ev);
+ Boardcore::State state_initDone(const Boardcore::Event& ev);
/**
* @brief Init error, get stuck.
*/
- State state_initError(const Event& ev);
+ Boardcore::State state_initError(const Boardcore::Event& ev);
/**
* @brief Test mode, listen to serial and print stuff on serial.
*/
- State state_testMode(const Event& ev);
+ Boardcore::State state_testMode(const Boardcore::Event& ev);
/**
* @brief Calibrating sensors.
*/
- State state_sensorsCalibration(const Event& ev);
+ Boardcore::State state_sensorsCalibration(const Boardcore::Event& ev);
/**
* @brief Calibrating ADA and NAS.
*/
- State state_algosCalibration(const Event& ev);
+ Boardcore::State state_algosCalibration(const Boardcore::Event& ev);
/**
* @brief All good, waiting for arm.
*/
- State state_disarmed(const Event& ev);
+ Boardcore::State state_disarmed(const Boardcore::Event& ev);
/**
* @brief Ready to launch, listening detachment pin (or command).
*/
- State state_armed(const Event& ev);
+ Boardcore::State state_armed(const Boardcore::Event& ev);
/**
* @brief Handle TC_OPEN and END_MISSION (super-state).
*/
- State state_flying(const Event& ev);
+ Boardcore::State state_flying(const Boardcore::Event& ev);
/**
* @brief Liftoff.
*/
- State state_ascending(const Event& ev);
+ Boardcore::State state_ascending(const Boardcore::Event& ev);
/**
* @brief Apogee reached, deploy drogue and wait half altitude (or manual
* mode).
*/
- State state_drogueDescent(const Event& ev);
+ Boardcore::State state_drogueDescent(const Boardcore::Event& ev);
/**
* @brief Descent super-state.
*/
- State state_terminalDescent(const Event& ev);
+ Boardcore::State state_terminalDescent(const Boardcore::Event& ev);
/**
* @brief Close file descriptors.
*/
- State state_landed(const Event& ev);
+ Boardcore::State state_landed(const Boardcore::Event& ev);
FMMStatus getStatus() { return status; }
@@ -134,7 +132,8 @@ private:
bool ada_ready = false;
bool nas_ready = false;
- PrintLogger log = Logging::getLogger("deathstack.fsm.fmm");
+ Boardcore::PrintLogger printLogger =
+ Boardcore::Logging::getLogger("deathstack.fsm.fmm");
};
} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp b/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp
index 1205db39d3dca1b31208b2d8e2fb81c0407a25fc..830443cfd5f6863cb9940e68c9a649c349acdaf5 100644
--- a/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp
+++ b/src/boards/DeathStack/FlightStatsRecorder/FSRController.cpp
@@ -29,6 +29,8 @@
#include <cmath>
+using namespace Boardcore;
+
namespace DeathStackBoard
{
@@ -527,4 +529,4 @@ void FlightStatsRecorder::state_testingCutters(const Event& ev)
}
*/
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/FlightStatsRecorder/FSRController.h b/src/boards/DeathStack/FlightStatsRecorder/FSRController.h
index f008991381e0b2e054d0f51a199d8b5eefd4d30a..7244d61702efe2c94545915bd1067c59543809f5 100644
--- a/src/boards/DeathStack/FlightStatsRecorder/FSRController.h
+++ b/src/boards/DeathStack/FlightStatsRecorder/FSRController.h
@@ -13,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -38,8 +38,6 @@
#include <hardware_in_the_loop/HIL_sensors/HILSensors.h>
#endif
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -51,7 +49,7 @@ namespace DeathStackBoard
* flight we are in, and we do so using a state machine and receiving events
* from the topic FLIGHT_EVENTS.
*/
-class FlightStatsRecorder : public FSM<FlightStatsRecorder>
+class FlightStatsRecorder : public Boardcore::FSM<FlightStatsRecorder>
{
public:
FlightStatsRecorder();
@@ -59,12 +57,12 @@ public:
void update(const ADAKalmanState& t);
void update(const ADAData& t);
- void update(const GPSData& t);
- void update(const BMX160WithCorrectionData& t);
+ void update(const Boardcore::GPSData& t);
+ void update(const Boardcore::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 SSCDANN030PAAData& t); // DPL vane baro
+ void update(const Boardcore::MS5803Data& t); // digitl baro
+ void update(const Boardcore::MPXHZ6130AData& t); // static ports baro
+ void update(const Boardcore::SSCDANN030PAAData& t); // DPL vane baro
void update(const AirSpeedPitot& t);
#ifdef HARDWARE_IN_THE_LOOP
@@ -76,27 +74,27 @@ public:
/**
* @brief Wait for liftoff or deployment.
*/
- void state_idle(const Event& ev);
+ void state_idle(const Boardcore::Event& ev);
/**
* @brief Record stats of the first few seconds of flight.
*/
- void state_liftOff(const Event& ev);
+ void state_liftOff(const Boardcore::Event& ev);
/**
* @brief Record stats for the apogee part of the flight.
*/
- void state_ascending(const Event& ev);
+ void state_ascending(const Boardcore::Event& ev);
/**
* @brief Record stats during drogue deployment.
*/
- void state_drogueDeployment(const Event& ev);
+ void state_drogueDeployment(const Boardcore::Event& ev);
/**
* @brief Stats during main deployment.
*/
- void state_mainDeployment(const Event& ev);
+ void state_mainDeployment(const Boardcore::Event& ev);
private:
LiftOffStats liftoff_stats{};
@@ -109,7 +107,8 @@ private:
uint16_t ev_timeout_id = 0;
- PrintLogger log = Logging::getLogger("deathstack.fsm.flightstatsrecorder");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fsm.flightstatsrecorder");
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/LoggerService/LoggerService.h b/src/boards/DeathStack/LoggerService/LoggerService.h
index c4593aa70fcabb65b26f72fdf09874e6e39cdf1d..f9d8fb8bd51e101689fc967590f01b500f4e7af2 100644
--- a/src/boards/DeathStack/LoggerService/LoggerService.h
+++ b/src/boards/DeathStack/LoggerService/LoggerService.h
@@ -26,8 +26,6 @@
#include <TelemetriesTelecommands/TmRepository.h>
#include <logger/Logger.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -37,16 +35,16 @@ namespace DeathStackBoard
* struct is called. In this way, the Logger updates the Tm Repository before
* logging on SD card.
*/
-class LoggerService : public Singleton<LoggerService>
+class LoggerService : public Boardcore::Singleton<LoggerService>
{
- friend class Singleton<LoggerService>;
+ friend class Boardcore::Singleton<LoggerService>;
public:
/**
* @brief Generic log function, to be implemented for each loggable struct.
*/
template <typename T>
- inline LoggerResult log(const T& t)
+ inline Boardcore::LoggerResult log(const T& t)
{
{
miosix::PauseKernelLock kLock;
@@ -79,22 +77,23 @@ public:
*/
void stop() { logger.stop(); }
- Logger& getLogger() { return logger; }
+ Boardcore::Logger& getLogger() { return logger; }
private:
/**
* @brief Private constructor to enforce the singleton
*/
LoggerService()
- : logger(Logger::getInstance()), tmRepo(TmRepository::getInstance())
+ : logger(Boardcore::Logger::getInstance()),
+ tmRepo(TmRepository::getInstance())
{
}
~LoggerService() {}
- Logger& logger; // SD loggers
+ Boardcore::Logger& logger; // SD loggers
// FlightStatsRecorder flight_stats{};
TmRepository& tmRepo;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Main/Bus.h b/src/boards/DeathStack/Main/Bus.h
index a0aaed14e9424e1b434dc8970a88a45f64f83599..c1cb1e8b7a679e5f0323f8252dc7e359b7b8a7a1 100644
--- a/src/boards/DeathStack/Main/Bus.h
+++ b/src/boards/DeathStack/Main/Bus.h
@@ -25,15 +25,13 @@
#include <drivers/spi/SPIBus.h>
#include <miosix.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
struct Bus
{
- SPIBusInterface* spi1 = new SPIBus(SPI1);
- SPIBusInterface* spi2 = new SPIBus(SPI2);
+ Boardcore::SPIBusInterface* spi1 = new Boardcore::SPIBus(SPI1);
+ Boardcore::SPIBusInterface* spi2 = new Boardcore::SPIBus(SPI2);
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Main/Radio.h b/src/boards/DeathStack/Main/Radio.h
index bacf85b57dbf5fb2c53b1f3b7ed4dd75a07b9b2f..1afacc24d860896b2c72092d16018ae0cb7192bd 100644
--- a/src/boards/DeathStack/Main/Radio.h
+++ b/src/boards/DeathStack/Main/Radio.h
@@ -25,8 +25,6 @@
#include <TelemetriesTelecommands/Mavlink.h>
#include <drivers/Xbee/Xbee.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -38,10 +36,10 @@ class Radio
public:
TMTCController* tmtc_manager;
TmRepository* tm_repo;
- Xbee::Xbee* xbee;
+ Boardcore::Xbee::Xbee* xbee;
MavDriver* mav_driver;
- Radio(SPIBusInterface& xbee_bus);
+ Radio(Boardcore::SPIBusInterface& xbee_bus);
~Radio();
bool start();
@@ -49,9 +47,9 @@ public:
void logStatus();
private:
- void onXbeeFrameReceived(Xbee::APIFrame& frame);
+ void onXbeeFrameReceived(Boardcore::Xbee::APIFrame& frame);
- SPIBusInterface& xbee_bus;
+ Boardcore::SPIBusInterface& xbee_bus;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Main/Sensors.cpp b/src/boards/DeathStack/Main/Sensors.cpp
index 78721d9190c13d5ba48ff36e59ce2896de8abe06..34eace92a7aa25983a550b05d4d48abd31a61493 100644
--- a/src/boards/DeathStack/Main/Sensors.cpp
+++ b/src/boards/DeathStack/Main/Sensors.cpp
@@ -35,6 +35,7 @@
using std::bind;
using std::function;
+using namespace Boardcore;
// BMX160 Watermark interrupt
void __attribute__((used)) EXTI5_IRQHandlerImpl()
@@ -50,6 +51,7 @@ void __attribute__((used)) EXTI5_IRQHandlerImpl()
namespace DeathStackBoard
{
+
using namespace SensorConfigs;
Sensors::Sensors(SPIBusInterface& spi1_bus, TaskScheduler* scheduler)
@@ -582,7 +584,7 @@ void Sensors::mockGpsCallback()
void Sensors::updateSensorsStatus()
{
- SensorInfo info = sensor_manager->getSensorInfo(imu_bmx160);
+ Boardcore::SensorInfo info = sensor_manager->getSensorInfo(imu_bmx160);
if (!info.isInitialized)
{
status.bmx160 = SensorDriverStatus::DRIVER_ERROR;
@@ -613,4 +615,4 @@ void Sensors::updateSensorsStatus()
}
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Main/Sensors.h b/src/boards/DeathStack/Main/Sensors.h
index 1587e1a87579e391dfb7d8ac901450ccef9a3277..65f36dc47905a2266d0b39543cc0c75672c0781e 100644
--- a/src/boards/DeathStack/Main/Sensors.h
+++ b/src/boards/DeathStack/Main/Sensors.h
@@ -50,8 +50,6 @@
#include <mocksensors/MockSensors.h>
#endif
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -62,22 +60,22 @@ namespace DeathStackBoard
class Sensors
{
public:
- SensorManager* sensor_manager = nullptr;
+ Boardcore::SensorManager* sensor_manager = nullptr;
- InternalADC* internal_adc = nullptr;
- BatteryVoltageSensor* battery_voltage = nullptr;
+ Boardcore::InternalADC* internal_adc = nullptr;
+ Boardcore::BatteryVoltageSensor* battery_voltage = nullptr;
- MS5803* press_digital = nullptr;
+ Boardcore::MS5803* press_digital = nullptr;
- ADS1118* adc_ads1118 = nullptr;
- SSCDANN030PAA* press_dpl_vane = nullptr;
- MPXHZ6130A* press_static_port = nullptr;
- SSCDRRN015PDA* press_pitot = nullptr;
+ Boardcore::ADS1118* adc_ads1118 = nullptr;
+ Boardcore::SSCDANN030PAA* press_dpl_vane = nullptr;
+ Boardcore::MPXHZ6130A* press_static_port = nullptr;
+ Boardcore::SSCDRRN015PDA* press_pitot = nullptr;
- BMX160* imu_bmx160 = nullptr;
- BMX160WithCorrection* imu_bmx160_with_correction = nullptr;
- LIS3MDL* mag_lis3mdl = nullptr;
- UbloxGPS* gps_ublox = nullptr;
+ Boardcore::BMX160* imu_bmx160 = nullptr;
+ Boardcore::BMX160WithCorrection* imu_bmx160_with_correction = nullptr;
+ Boardcore::LIS3MDL* mag_lis3mdl = nullptr;
+ Boardcore::UbloxGPS* gps_ublox = nullptr;
#ifdef HARDWARE_IN_THE_LOOP
HILImu* hil_imu = nullptr;
@@ -89,7 +87,8 @@ public:
MockGPS* mock_gps = nullptr;
#endif
- Sensors(SPIBusInterface& spi1_bus, TaskScheduler* scheduler);
+ Sensors(Boardcore::SPIBusInterface& spi1_bus,
+ Boardcore::TaskScheduler* scheduler);
~Sensors();
@@ -151,15 +150,15 @@ private:
void updateSensorsStatus();
- SPIBusInterface& spi1_bus;
+ Boardcore::SPIBusInterface& spi1_bus;
- SensorManager::SensorMap_t sensors_map;
+ Boardcore::SensorManager::SensorMap_t sensors_map;
SensorsStatus status;
- PrintLogger log = Logging::getLogger("sensors");
+ Boardcore::PrintLogger log = Boardcore::Logging::getLogger("sensors");
unsigned int battery_critical_counter = 0;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Main/SensorsData.h b/src/boards/DeathStack/Main/SensorsData.h
index 7ff9615e975deabea4899b6c8ccfb7b4ba7c285c..ffdb1f03dcd3a73cfc0f3b7ab193a3899a53d6c9 100644
--- a/src/boards/DeathStack/Main/SensorsData.h
+++ b/src/boards/DeathStack/Main/SensorsData.h
@@ -1,6 +1,5 @@
-/**
- * Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -14,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -67,4 +66,4 @@ struct SensorsStatus
}
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Main/StateMachines.cpp b/src/boards/DeathStack/Main/StateMachines.cpp
index 021e82d27965befce70735e719090d0881dd1457..990aaafdaca30c15e835e1781c652bb1946a2d78 100644
--- a/src/boards/DeathStack/Main/StateMachines.cpp
+++ b/src/boards/DeathStack/Main/StateMachines.cpp
@@ -73,17 +73,17 @@ void StateMachines::addAlgorithmsToScheduler(TaskScheduler* scheduler)
uint64_t start_time = miosix::getTick() + 10;
scheduler->addTask(std::bind(&ADAControllerType::update, ada_controller),
- ADA_UPDATE_PERIOD, TASK_ADA_ID,
+ ADAConfigs::ADA_UPDATE_PERIOD, TASK_ADA_ID,
TaskScheduler::Policy::RECOVER, start_time);
scheduler->addTask(std::bind(&NASControllerType::update, nas_controller),
- NAS_UPDATE_PERIOD, TASK_NAS_ID,
+ NASConfigs::NAS_UPDATE_PERIOD, TASK_NAS_ID,
TaskScheduler::Policy::RECOVER, start_time);
scheduler->addTask(
std::bind(&AirBrakesControllerType::update, arb_controller),
- ABK_UPDATE_PERIOD, TASK_ABK_ID, TaskScheduler::Policy::RECOVER,
- start_time);
+ AirBrakesConfigs::ABK_UPDATE_PERIOD, TASK_ABK_ID,
+ TaskScheduler::Policy::RECOVER, start_time);
}
void StateMachines::setReferenceTemperature(float t)
@@ -108,4 +108,4 @@ void StateMachines::setInitialCoordinates(float latitude, float longitude)
nas_controller->setInitialCoordinates(latitude, longitude);
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/Main/StateMachines.h b/src/boards/DeathStack/Main/StateMachines.h
index d109922f1524d49f558a7393a7d237e3a2b05d5f..828f918100d0bc2400d207b945659577366a9d44 100644
--- a/src/boards/DeathStack/Main/StateMachines.h
+++ b/src/boards/DeathStack/Main/StateMachines.h
@@ -35,8 +35,6 @@
#include <mocksensors/MockSensors.h>
#endif
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -74,14 +72,14 @@ public:
using GPSType = MockGPS;
using GPSDataType = MockGPSData;
#else
- using IMUType = BMX160WithCorrection;
- using IMUDataType = BMX160WithCorrectionData;
+ using IMUType = Boardcore::BMX160WithCorrection;
+ using IMUDataType = Boardcore::BMX160WithCorrectionData;
- using PressType = MPXHZ6130A;
- using PressDataType = MPXHZ6130AData;
+ using PressType = Boardcore::MPXHZ6130A;
+ using PressDataType = Boardcore::MPXHZ6130AData;
- using GPSType = UbloxGPS;
- using GPSDataType = UbloxGPSData;
+ using GPSType = Boardcore::UbloxGPS;
+ using GPSDataType = Boardcore::UbloxGPSData;
#endif
using ADAControllerType = ADAController<PressDataType, GPSDataType>;
@@ -96,7 +94,7 @@ public:
AirBrakesControllerType* arb_controller;
StateMachines(IMUType& imu, PressType& press, GPSType& gps,
- TaskScheduler* scheduler);
+ Boardcore::TaskScheduler* scheduler);
~StateMachines();
@@ -111,7 +109,7 @@ public:
void setReferenceAltitude(float altitude);
private:
- void addAlgorithmsToScheduler(TaskScheduler* scheduler);
+ void addAlgorithmsToScheduler(Boardcore::TaskScheduler* scheduler);
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanConfig.h b/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanConfig.h
index bfdf5e9274f9a605c0be48fccf8854ea182f4c56..65242fc3082bb372fe4e8cc3b966ae901a5204b4 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanConfig.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanConfig.h
@@ -27,8 +27,6 @@
namespace DeathStackBoard
{
-using namespace Eigen;
-
// function with 2 vectors as parameters
typedef std::function<MatrixXf(VectorXf, VectorXf)> function_2v;
// function with 1 vector as parameter
@@ -40,8 +38,8 @@ struct ExtendedKalmanConfig
uint8_t m;
uint8_t p;
- Matrix<float, 12, 12> P;
- Matrix<float, 6, 6> Q;
+ Eigen::Matrix<float, 12, 12> P;
+ Eigen::Matrix<float, 6, 6> Q;
Vector<float, 13> x;
function_v h;
@@ -50,4 +48,4 @@ struct ExtendedKalmanConfig
function_v dhdx;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.cpp b/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.cpp
index 6ac88983bd7a77d23550b8f189a82badfd4fa517..c3fe8804bd3368b1171befeaf24d688df91f7c39 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.cpp
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.cpp
@@ -23,6 +23,7 @@
#include <NavigationAttitudeSystem/ExtendedKalmanEigen.h>
using namespace Boardcore;
+using namespace Eigen;
namespace DeathStackBoard
{
@@ -45,6 +46,7 @@ ExtendedKalmanEigen::ExtendedKalmanEigen()
(1.0F / 3.0F) * SIGMA_BETA * SIGMA_BETA * T * T * T) *
eye3,
(0.5F * SIGMA_BETA * SIGMA_BETA * T * T) * eye3,
+ // cppcheck-suppress constStatement
(0.5F * SIGMA_BETA * SIGMA_BETA * T * T) * eye3,
(SIGMA_BETA * SIGMA_BETA * T) * eye3;
@@ -56,32 +58,33 @@ ExtendedKalmanEigen::ExtendedKalmanEigen()
0, 0, P_VEL_VERTICAL;
P_att = eye3 * P_ATT;
P_bias = eye3 * P_BIAS;
- P << P_pos, MatrixXf::Zero(3, N - 4), MatrixXf::Zero(3, 3), P_vel,
- MatrixXf::Zero(3, N - 7), MatrixXf::Zero(3, 6), P_att,
- MatrixXf::Zero(3, N - 10), MatrixXf::Zero(3, 9), P_bias;
+ P << P_pos, Eigen::MatrixXf::Zero(3, N - 4), Eigen::MatrixXf::Zero(3, 3), P_vel,
+ Eigen::MatrixXf::Zero(3, N - 7), Eigen::MatrixXf::Zero(3, 6), P_att,
+ Eigen::MatrixXf::Zero(3, N - 10), Eigen::MatrixXf::Zero(3, 9), P_bias;
Q_pos = eye3 * SIGMA_POS;
Q_vel = eye3 * SIGMA_VEL;
- Q_lin << Q_pos, MatrixXf::Zero(3, NL - 3), MatrixXf::Zero(3, 3), Q_vel;
+ Q_lin << Q_pos, Eigen::MatrixXf::Zero(3, NL - 3), Eigen::MatrixXf::Zero(3, 3), Q_vel;
- F << 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F,
+ F << 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F,
0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F,
- MatrixXf::Zero(3, NL);
+ 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F,
+ Eigen::MatrixXf::Zero(3, NL);
F = eye6 + T * F;
Ftr = F.transpose();
- H_gps << 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F,
+ H_gps << 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
+ 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F,
+ 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F,
+ // cppcheck-suppress constStatement
0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F;
H_gpstr = H_gps.transpose();
- Fatt << -eye3, -eye3 * T, Matrix3f::Zero(3, 3), eye3;
+ Fatt << -eye3, -eye3 * T, Eigen::Matrix3f::Zero(3, 3), eye3;
Fatttr = Fatt.transpose();
- Gatt << -eye3, Matrix3f::Zero(3, 3),
- Matrix3f::Zero(3, 3), eye3;
+ Gatt << -eye3, Eigen::Matrix3f::Zero(3, 3),
+ Eigen::Matrix3f::Zero(3, 3), eye3;
Gatttr = Gatt.transpose();
g << 0.0F, 0.0F, aeroutils::constants::g; // [m/s^2]
@@ -89,10 +92,10 @@ ExtendedKalmanEigen::ExtendedKalmanEigen()
// clang-format on
}
-void ExtendedKalmanEigen::predict(const Vector3f& u)
+void ExtendedKalmanEigen::predict(const Eigen::Vector3f& u)
{
- Matrix3f A;
- Vector3f a;
+ Eigen::Matrix3f A;
+ Eigen::Vector3f a;
VectorNf x_dot;
Plin = P.block<NL, NL>(0, 0);
@@ -110,6 +113,7 @@ void ExtendedKalmanEigen::predict(const Vector3f& u)
2.0F * q1 * q2 - 2.0F * q3 * q4,
-powf(q1, 2) + powf(q2, 2) - powf(q3, 2) + powf(q4, 2),
2.0F * q2 * q3 + 2.0F * q1 * q4, 2.0F * q1 * q3 + 2.0F * q2 * q4,
+ // cppcheck-suppress constStatement
2.0F * q2 * q3 - 2.0F * q1 * q4,
-powf(q1, 2) - powf(q2, 2) + powf(q3, 2) + powf(q4, 2);
@@ -117,7 +121,7 @@ void ExtendedKalmanEigen::predict(const Vector3f& u)
g; // Real accelerometers don't measure g during the flight
x_dot << x(3), x(4), x(5), a,
- MatrixXf::Zero(
+ Eigen::MatrixXf::Zero(
NATT,
1); // The quaternions and the biases don't need to be updated
@@ -146,7 +150,7 @@ void ExtendedKalmanEigen::correctBaro(const float y, const float msl_press,
temp;
H_bar << 0.0F, 0.0F, dp_dx,
- MatrixXf::Zero(1, N - 3 - NATT); // Gradient of h_bar
+ Eigen::MatrixXf::Zero(1, N - 3 - NATT); // Gradient of h_bar
S_bar = H_bar * Plin * H_bar.transpose() + R_bar;
@@ -189,6 +193,7 @@ void ExtendedKalmanEigen::correctGPS(const Vector4f& y, const uint8_t sats_num)
x.head(NL) = x.head(NL) + K_gps * (yned - h_gps);
+ // cppcheck-suppress unreadVariable
res_gps = y - h_gps;
}
@@ -199,12 +204,12 @@ void ExtendedKalmanEigen::setX(const VectorNf& x) { this->x = x; }
/*
MULTIPLICATIVE EXTENDED KALMAN FILTER
*/
-void ExtendedKalmanEigen::predictMEKF(const Vector3f& u)
+void ExtendedKalmanEigen::predictMEKF(const Eigen::Vector3f& u)
{
- Vector3f omega;
- Vector3f prev_bias;
+ Eigen::Vector3f omega;
+ Eigen::Vector3f prev_bias;
Matrix4f omega_mat;
- Matrix3f omega_submat;
+ Eigen::Matrix3f omega_submat;
q << x(NL), x(NL + 1), x(NL + 2), x(NL + 3);
prev_bias << x(NL + 4), x(NL + 5), x(NL + 6);
@@ -212,13 +217,16 @@ void ExtendedKalmanEigen::predictMEKF(const Vector3f& u)
omega = u - prev_bias;
omega_submat << 0.0F, -omega(2), omega(1), omega(2), 0.0F, -omega(0),
+ // cppcheck-suppress constStatement
-omega(1), omega(0), 0.0F;
+ // cppcheck-suppress constStatement
omega_mat << -omega_submat, omega, -omega.transpose(), 0.0F;
q = (eye4 + 0.5F * omega_mat * T) * q;
q.normalize();
+ // cppcheck-suppress constStatement
x.tail(NATT) << q, prev_bias;
Patt = P.block<NMEKF, NMEKF>(
@@ -230,14 +238,14 @@ void ExtendedKalmanEigen::predictMEKF(const Vector3f& u)
Gatt * Q_mag * Gatttr; // Update only the attitude related part of P
}
-void ExtendedKalmanEigen::correctMEKF(const Vector3f& y)
+void ExtendedKalmanEigen::correctMEKF(const Eigen::Vector3f& y)
{
- Matrix3f A;
- Vector3f z;
+ Eigen::Matrix3f A;
+ Eigen::Vector3f z;
Vector4f r;
- Matrix3f z_mat;
+ Eigen::Matrix3f z_mat;
Vector4f u_att;
- Vector3f r_sub;
+ Eigen::Vector3f r_sub;
Matrix<float, NMAG, NMAG> Satt;
Matrix<float, NMAG, NMEKF> Hatt;
Matrix<float, NMEKF, NMAG> Katt;
@@ -253,14 +261,16 @@ void ExtendedKalmanEigen::correctMEKF(const Vector3f& y)
2.0F * q1 * q2 - 2.0F * q3 * q4,
-powf(q1, 2) + powf(q2, 2) - powf(q3, 2) + powf(q4, 2),
2.0F * q2 * q3 + 2.0F * q1 * q4, 2.0F * q1 * q3 + 2.0F * q2 * q4,
+ // cppcheck-suppress constStatement
2.0F * q2 * q3 - 2.0F * q1 * q4,
-powf(q1, 2) - powf(q2, 2) + powf(q3, 2) + powf(q4, 2);
z = A * NED_MAG;
+ // cppcheck-suppress constStatement
z_mat << 0.0F, -z(2), z(1), z(2), 0.0F, -z(0), -z(1), z(0), 0.0F;
- Hatt << z_mat, Matrix3f::Zero(3, 3);
+ Hatt << z_mat, Eigen::Matrix3f::Zero(3, 3);
Patt = P.block<NMEKF, NMEKF>(NL, NL);
Satt = Hatt * Patt * Hatt.transpose() + R_mag;
@@ -273,6 +283,7 @@ void ExtendedKalmanEigen::correctMEKF(const Vector3f& y)
r << 0.5F * r_sub, sqrtf(1.0F - 0.25F * r_sub.transpose() * r_sub);
+ // cppcheck-suppress constStatement
q << q1, q2, q3, q4;
u_att = quater.quatProd(r, q);
float u_norm = u_att.norm();
@@ -290,4 +301,4 @@ void ExtendedKalmanEigen::correctMEKF(const Vector3f& y)
Katt * R_mag * Katt.transpose();
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.h b/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.h
index fda534bb644f5bec7bfabd750aeadf260d58e186..4b1f5ca73bbd29ddbae0a5f310eda04da63c8aba 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/ExtendedKalmanEigen.h
@@ -28,15 +28,10 @@
#include <Eigen/Dense>
-using namespace Eigen;
-using namespace Boardcore;
-
namespace DeathStackBoard
{
-using namespace NASConfigs;
-
-using VectorNf = Matrix<float, N, 1>;
+using VectorNf = Eigen::Matrix<float, NASConfigs::N, 1>;
class ExtendedKalmanEigen
{
@@ -49,7 +44,7 @@ public:
*
* @param u 3x1 Vector of the accelerometer readings [ax ay az].
*/
- void predict(const Vector3f& u);
+ void predict(const Eigen::Vector3f& u);
/**
* @brief EKF correction of the barometer data.
@@ -68,21 +63,21 @@ public:
* gps_nord_vel, gps_east_vel].
* @param sats_num Number of satellites available
*/
- void correctGPS(const Vector4f& y, const uint8_t sats_num);
+ void correctGPS(const Eigen::Vector4f& y, const uint8_t sats_num);
/**
* @brief Prediction step of the Multiplicative EKF.
*
* @param u 3x1 Vector of the gyroscope readings [wx wy wz].
*/
- void predictMEKF(const Vector3f& u);
+ void predictMEKF(const Eigen::Vector3f& u);
/**
* @brief MEKF correction of the magnetometer readings.
*
* @param y 3x1 Vector of the magnetometer readings [mx my mz].
*/
- void correctMEKF(const Vector3f& y);
+ void correctMEKF(const Eigen::Vector3f& y);
/**
* @return 13x1 State vector [px py pz vx vy vz qx qy qz qw bx by bz].
@@ -96,42 +91,42 @@ public:
private:
VectorNf x;
- Matrix<float, NP, NP> P;
- Matrix<float, NL, NL> F;
- Matrix<float, NL, NL> Ftr;
-
- Matrix3f P_pos;
- Matrix3f P_vel;
- Matrix3f P_att;
- Matrix3f P_bias;
- Matrix<float, NL, NL> Plin;
-
- Matrix3f Q_pos;
- Matrix3f Q_vel;
- Matrix<float, NL, NL> Q_lin;
-
- Vector3f g;
- Matrix2f eye2;
- Matrix3f eye3;
- Matrix4f eye4;
- Matrix<float, 6, 6> eye6;
-
- Matrix<float, NBAR, NBAR> R_bar;
-
- Matrix<float, NGPS, NGPS> R_gps;
- Matrix<float, NGPS, NL> H_gps;
- Matrix<float, NL, NGPS> H_gpstr;
-
- Vector4f q;
- Matrix<float, NMAG, NMAG> R_mag;
- Matrix<float, NMEKF, NMEKF> Q_mag;
- Matrix<float, NMEKF, NMEKF> Fatt;
- Matrix<float, NMEKF, NMEKF> Fatttr;
- Matrix<float, NMEKF, NMEKF> Gatt;
- Matrix<float, NMEKF, NMEKF> Gatttr;
- Matrix<float, NMEKF, NMEKF> Patt;
-
- SkyQuaternion quater;
+ Eigen::Matrix<float, NASConfigs::NP, NASConfigs::NP> P;
+ Eigen::Matrix<float, NASConfigs::NL, NASConfigs::NL> F;
+ Eigen::Matrix<float, NASConfigs::NL, NASConfigs::NL> Ftr;
+
+ Eigen::Matrix3f P_pos;
+ Eigen::Matrix3f P_vel;
+ Eigen::Matrix3f P_att;
+ Eigen::Matrix3f P_bias;
+ Eigen::Matrix<float, NASConfigs::NL, NASConfigs::NL> Plin;
+
+ Eigen::Matrix3f Q_pos;
+ Eigen::Matrix3f Q_vel;
+ Eigen::Matrix<float, NASConfigs::NL, NASConfigs::NL> Q_lin;
+
+ Eigen::Vector3f g;
+ Eigen::Matrix2f eye2;
+ Eigen::Matrix3f eye3;
+ Eigen::Matrix4f eye4;
+ Eigen::Matrix<float, 6, 6> eye6;
+
+ Eigen::Matrix<float, NASConfigs::NBAR, NASConfigs::NBAR> R_bar;
+
+ Eigen::Matrix<float, NASConfigs::NGPS, NASConfigs::NGPS> R_gps;
+ Eigen::Matrix<float, NASConfigs::NGPS, NASConfigs::NL> H_gps;
+ Eigen::Matrix<float, NASConfigs::NL, NASConfigs::NGPS> H_gpstr;
+
+ Eigen::Vector4f q;
+ Eigen::Matrix<float, NASConfigs::NMAG, NASConfigs::NMAG> R_mag;
+ Eigen::Matrix<float, NASConfigs::NMEKF, NASConfigs::NMEKF> Q_mag;
+ Eigen::Matrix<float, NASConfigs::NMEKF, NASConfigs::NMEKF> Fatt;
+ Eigen::Matrix<float, NASConfigs::NMEKF, NASConfigs::NMEKF> Fatttr;
+ Eigen::Matrix<float, NASConfigs::NMEKF, NASConfigs::NMEKF> Gatt;
+ Eigen::Matrix<float, NASConfigs::NMEKF, NASConfigs::NMEKF> Gatttr;
+ Eigen::Matrix<float, NASConfigs::NMEKF, NASConfigs::NMEKF> Patt;
+
+ Boardcore::SkyQuaternion quater;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h b/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h
index 6a4dd11bdda8e8e1dc55b104b7178139f58d4bc7..9082ad1e62cf59da28b02bd41370f3d81d86b3c1 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/InitStates.h
@@ -32,17 +32,14 @@
#include <configs/NASConfig.h>
#include <diagnostic/PrintLogger.h>
#include <math/SkyQuaternion.h>
+#include <utils/Debug.h>
#include <utils/aero/AeroUtils.h>
#include <Eigen/Dense>
-using namespace Eigen;
-
namespace DeathStackBoard
{
-using namespace NASConfigs;
-
class InitStates
{
@@ -56,7 +53,7 @@ public:
* @param mag 3x1 magnetometer readings [mx my mz].
*
*/
- void eCompass(const Vector3f acc, const Vector3f mag);
+ void eCompass(const Eigen::Vector3f acc, const Eigen::Vector3f mag);
/**
* @brief triad algorithm to estimate the attitude before the liftoff.
@@ -64,7 +61,7 @@ public:
* @param acc 3x1 accelerometer readings [ax ay az].
* @param mag 3x1 magnetometer readings [mx my mz].
*/
- const Vector3f& triad(Vector3f& acc, Vector3f& mag);
+ const Eigen::Vector3f& triad(Eigen::Vector3f& acc, Eigen::Vector3f& mag);
/**
* @brief Initialization of the positions before the liftoff.
@@ -84,27 +81,28 @@ public:
*/
void biasInit();
- Matrix<float, N, 1> getInitX();
+ Eigen::Matrix<float, NASConfigs::N, 1> getInitX();
private:
- Matrix<float, N, 1> x_init;
- Matrix3f R, Rb, Ri;
- SkyQuaternion quat;
- Vector4f x_quat;
- Vector3f eul;
-
- PrintLogger log = Logging::getLogger("deathstack.nas.initstates");
+ Eigen::Matrix<float, NASConfigs::N, 1> x_init;
+ Eigen::Matrix3f R, Rb, Ri;
+ Boardcore::SkyQuaternion quat;
+ Eigen::Vector4f x_quat;
+ Eigen::Vector3f eul;
+
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.nas.initstates");
};
-InitStates::InitStates() { x_init << MatrixXf::Zero(N, 1); }
+InitStates::InitStates() { x_init << Eigen::MatrixXf::Zero(NASConfigs::N, 1); }
-void InitStates::eCompass(const Vector3f acc, const Vector3f mag)
+void InitStates::eCompass(const Eigen::Vector3f acc, const Eigen::Vector3f mag)
{
// ndr: since this method runs only when the rocket is stationary, there's
// no need to add the gravity vector because the accelerometers already
// measure it. This is not true if we consider the flying rocket.
- Vector3f am(acc.cross(mag));
+ Eigen::Vector3f am(acc.cross(mag));
R << am.cross(acc), am, acc;
R.col(0).normalize();
@@ -114,46 +112,47 @@ void InitStates::eCompass(const Vector3f acc, const Vector3f mag)
x_quat = quat.rotm2quat(R);
eul = quat.quat2eul(x_quat);
- x_init(NL) = x_quat(0);
- x_init(NL + 1) = x_quat(1);
- x_init(NL + 2) = x_quat(2);
- x_init(NL + 3) = x_quat(3);
+ x_init(NASConfigs::NL) = x_quat(0);
+ x_init(NASConfigs::NL + 1) = x_quat(1);
+ x_init(NASConfigs::NL + 2) = x_quat(2);
+ x_init(NASConfigs::NL + 3) = x_quat(3);
}
-const Vector3f& InitStates::triad(Vector3f& acc, Vector3f& mag)
+const Eigen::Vector3f& InitStates::triad(Eigen::Vector3f& acc,
+ Eigen::Vector3f& mag)
{
LOG_DEBUG(log, "Executing TRIAD");
// The coulmns of the the triad matrices. b:body, i:inertial
- Vector3f t1b, t2b, t3b, t1i, t2i, t3i;
+ Eigen::Vector3f t1b, t2b, t3b, t1i, t2i, t3i;
// vettore gravità "vero" in NED, normalizzato :
// -1 su asse "down", perché da fermo l'accelerometro
// misura la reazione vincolare (rivolta verso l'alto)
- Vector3f g_norm(0.0F, 0.0F, -1.0F);
+ Eigen::Vector3f g_norm(0.0F, 0.0F, -1.0F);
acc.normalize();
- Vector3f w1 = acc;
+ Eigen::Vector3f w1 = acc;
mag.normalize();
- Vector3f w2 = mag;
+ Eigen::Vector3f w2 = mag;
- Vector3f v1 = g_norm;
- Vector3f v2 = NED_MAG;
+ Eigen::Vector3f v1 = g_norm;
+ Eigen::Vector3f v2 = NASConfigs::NED_MAG;
- Vector3f Ou1 = w1;
- Vector3f Ou2 = w1.cross(w2);
+ Eigen::Vector3f Ou1 = w1;
+ Eigen::Vector3f Ou2 = w1.cross(w2);
Ou2.normalize();
- Vector3f Ou3 = Ou2.cross(Ou1);
+ Eigen::Vector3f Ou3 = Ou2.cross(Ou1);
- Vector3f R1 = v1;
- Vector3f R2 = v1.cross(v2);
+ Eigen::Vector3f R1 = v1;
+ Eigen::Vector3f R2 = v1.cross(v2);
R2.normalize();
- Vector3f R3 = R2.cross(R1);
+ Eigen::Vector3f R3 = R2.cross(R1);
- Matrix3f Mou;
+ Eigen::Matrix3f Mou;
Mou << Ou1, Ou2, Ou3;
- Matrix3f Mr;
+ Eigen::Matrix3f Mr;
Mr << R1, R2, R3;
R = Mr * Mou.transpose();
@@ -162,10 +161,10 @@ const Vector3f& InitStates::triad(Vector3f& acc, Vector3f& mag)
eul = quat.quat2eul(x_quat);
- x_init(NL) = x_quat(0);
- x_init(NL + 1) = x_quat(1);
- x_init(NL + 2) = x_quat(2);
- x_init(NL + 3) = x_quat(3);
+ x_init(NASConfigs::NL) = x_quat(0);
+ x_init(NASConfigs::NL + 1) = x_quat(1);
+ x_init(NASConfigs::NL + 2) = x_quat(2);
+ x_init(NASConfigs::NL + 3) = x_quat(3);
return eul;
}
@@ -175,7 +174,7 @@ void InitStates::positionInit(const float press, const float ref_press,
{
x_init(0) = 0.0;
x_init(1) = 0.0;
- x_init(2) = -aeroutils::relAltitude(
+ x_init(2) = -Boardcore::aeroutils::relAltitude(
press, ref_press, ref_temp); // msl altitude (in NED, so negative)
TRACE("\n[NAS] press : %f - z_init : %f\n\n", press, x_init(2));
@@ -192,11 +191,11 @@ void InitStates::biasInit()
{
// gyro biases set to zero since the sensor performs
// self-calibration and the measurements are already compensated
- x_init(NL + 4) = 0.0F;
- x_init(NL + 5) = 0.0F;
- x_init(NL + 6) = 0.0F;
+ x_init(NASConfigs::NL + 4) = 0.0F;
+ x_init(NASConfigs::NL + 5) = 0.0F;
+ x_init(NASConfigs::NL + 6) = 0.0F;
}
-Matrix<float, N, 1> InitStates::getInitX() { return x_init; }
+Eigen::Matrix<float, NASConfigs::N, 1> InitStates::getInitX() { return x_init; }
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h b/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h
index 9310e21f7cf118498381516e65661f974e29de1d..2f920b025a7679b2e3ed803551027816a0b8c69b 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/NAS.h
@@ -48,14 +48,13 @@
namespace DeathStackBoard
{
-using namespace NASConfigs;
-
template <typename IMU, typename Press, typename GPS>
-class NAS : public Sensor<NASData>
+class NAS : public Boardcore::Sensor<NASData>
{
public:
- NAS(Sensor<IMU>& imu, Sensor<Press>& baro, Sensor<GPS>& gps);
+ NAS(Boardcore::Sensor<IMU>& imu, Boardcore::Sensor<Press>& baro,
+ Boardcore::Sensor<GPS>& gps);
/**
* @brief Initialization of the state vector before the liftoff
@@ -108,11 +107,11 @@ private:
/**
* @brief Convert GPS coordinates to NED frame.
*/
- Vector3f geodetic2NED(const Vector3f& gps_data);
+ Eigen::Vector3f geodetic2NED(const Eigen::Vector3f& gps_data);
- SkyQuaternion quat; /**< Auxiliary functions for quaternions */
+ Boardcore::SkyQuaternion quat; /**< Auxiliary functions for quaternions */
- Matrix<float, N, 1> x; /**< Kalman state vector */
+ Eigen::Matrix<float, NASConfigs::N, 1> x; /**< Kalman state vector */
NASData nas_data;
@@ -123,7 +122,7 @@ private:
ExtendedKalmanEigen filter;
InitStates states_init;
NASReferenceValues ref_values;
- Vector3f triad_result_eul;
+ Eigen::Vector3f triad_result_eul;
uint64_t last_gps_timestamp = 0;
uint64_t last_accel_timestamp = 0;
@@ -133,7 +132,8 @@ private:
bool initialized = false;
- PrintLogger log = Logging::getLogger("deathstack.fsm.nas");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fsm.nas");
#ifdef DEBUG
unsigned int counter = 0;
@@ -145,7 +145,7 @@ NAS<IMU, Press, GPS>::NAS(Sensor<IMU>& imu, Sensor<Press>& baro,
Sensor<GPS>& gps)
: imu(imu), barometer(baro), gps(gps)
{
- x = Matrix<float, N, 1>::Zero();
+ x = Eigen::Matrix<float, NASConfigs::N, 1>::Zero();
}
template <typename IMU, typename Press, typename GPS>
@@ -156,10 +156,10 @@ bool NAS<IMU, Press, GPS>::init()
states_init.velocityInit();
- Vector3f acc_init(ref_values.ref_accel_x, ref_values.ref_accel_y,
- ref_values.ref_accel_z);
- Vector3f mag_init(ref_values.ref_mag_x, ref_values.ref_mag_y,
- ref_values.ref_mag_z);
+ Eigen::Vector3f acc_init(ref_values.ref_accel_x, ref_values.ref_accel_y,
+ ref_values.ref_accel_z);
+ Eigen::Vector3f mag_init(ref_values.ref_mag_x, ref_values.ref_mag_y,
+ ref_values.ref_mag_z);
triad_result_eul = states_init.triad(acc_init, mag_init);
@@ -172,8 +172,8 @@ bool NAS<IMU, Press, GPS>::init()
updateNASData();
#ifdef DEBUG
- Vector4f qua(x(6), x(7), x(8), x(9));
- Vector3f e = quat.quat2eul(qua);
+ Eigen::Vector4f qua(x(6), x(7), x(8), x(9));
+ Eigen::Vector3f e = quat.quat2eul(qua);
LOG_DEBUG(
log,
@@ -217,13 +217,14 @@ NASData NAS<IMU, Press, GPS>::sampleImpl()
last_accel_timestamp = imu_data.accelerationTimestamp;
last_gyro_timestamp = imu_data.angularVelocityTimestamp;
- Vector3f accel_readings(imu_data.accelerationX, imu_data.accelerationY,
- imu_data.accelerationZ);
+ Eigen::Vector3f accel_readings(imu_data.accelerationX,
+ imu_data.accelerationY,
+ imu_data.accelerationZ);
filter.predict(accel_readings);
- Vector3f gyro_readings(imu_data.angularVelocityX,
- imu_data.angularVelocityY,
- imu_data.angularVelocityZ);
+ Eigen::Vector3f gyro_readings(imu_data.angularVelocityX,
+ imu_data.angularVelocityY,
+ imu_data.angularVelocityZ);
filter.predictMEKF(gyro_readings);
}
@@ -241,22 +242,23 @@ NASData NAS<IMU, Press, GPS>::sampleImpl()
{
last_gps_timestamp = gps_data.gpsTimestamp;
- Vector3f gps_readings(gps_data.latitude, gps_data.longitude,
- gps_data.height);
- Vector3f gps_ned = geodetic2NED(gps_readings);
+ Eigen::Vector3f gps_readings(gps_data.latitude, gps_data.longitude,
+ gps_data.height);
+ Eigen::Vector3f gps_ned = geodetic2NED(gps_readings);
- Vector4f pos_vel(gps_ned(0), gps_ned(1), gps_data.velocityNorth,
- gps_data.velocityEast);
+ Eigen::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.magneticFieldTimestamp != last_mag_timestamp)
{
- Vector3f mag_readings(imu_data.magneticFieldX, imu_data.magneticFieldY,
- imu_data.magneticFieldZ);
+ Eigen::Vector3f mag_readings(imu_data.magneticFieldX,
+ imu_data.magneticFieldY,
+ imu_data.magneticFieldZ);
- if (mag_readings.norm() < EMF * JAMMING_FACTOR)
+ if (mag_readings.norm() < NASConfigs::EMF * NASConfigs::JAMMING_FACTOR)
{
last_mag_timestamp = imu_data.magneticFieldTimestamp;
@@ -291,8 +293,9 @@ NASData NAS<IMU, Press, GPS>::sampleImpl()
template <typename IMU, typename Press, typename GPS>
NASTriadResult NAS<IMU, Press, GPS>::getTriadResult()
{
- Matrix<float, N, 1> state = states_init.getInitX();
- // Vector3f e = quat.quat2eul({state(6), state(7), state(8), state(9)});
+ Eigen::Matrix<float, NASConfigs::N, 1> state = states_init.getInitX();
+ // Eigen::Vector3f e = quat.quat2eul({state(6), state(7), state(8),
+ // state(9)});
NASTriadResult result;
result.x = state(0);
@@ -333,11 +336,11 @@ template <typename IMU, typename Press, typename GPS>
void NAS<IMU, Press, GPS>::setInitialOrientation(float roll, float pitch,
float yaw)
{
- Vector4f q = quat.eul2quat({yaw, pitch, roll});
- x(NL) = q(0);
- x(NL + 1) = q(1);
- x(NL + 2) = q(2);
- x(NL + 3) = q(3);
+ Eigen::Vector4f q = quat.eul2quat({yaw, pitch, roll});
+ x(NASConfigs::NL) = q(0);
+ x(NASConfigs::NL + 1) = q(1);
+ x(NASConfigs::NL + 2) = q(2);
+ x(NASConfigs::NL + 3) = q(3);
LOG_INFO(log, "Initial orientation set to : ({:.2f}, {:.2f}, {:.2f})", roll,
pitch, yaw);
LOG_DEBUG(log,
@@ -353,7 +356,8 @@ 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::getInstance().getTimestamp();
+ nas_data.timestamp =
+ Boardcore::TimestampTimer::getInstance().getTimestamp();
nas_data.x = x(0);
nas_data.y = x(1);
@@ -371,29 +375,30 @@ void NAS<IMU, Press, GPS>::updateNASData()
}
template <typename IMU, typename Press, typename GPS>
-Vector3f NAS<IMU, Press, GPS>::geodetic2NED(const Vector3f& gps_data)
+Eigen::Vector3f NAS<IMU, Press, GPS>::geodetic2NED(
+ const Eigen::Vector3f& gps_data)
{
- float lat0 = ref_values.ref_latitude * DEGREES_TO_RADIANS;
- float lon0 = ref_values.ref_longitude * DEGREES_TO_RADIANS;
- float lat = gps_data(0) * DEGREES_TO_RADIANS;
- float lon = gps_data(1) * DEGREES_TO_RADIANS;
+ float lat0 = ref_values.ref_latitude * Boardcore::DEGREES_TO_RADIANS;
+ float lon0 = ref_values.ref_longitude * Boardcore::DEGREES_TO_RADIANS;
+ float lat = gps_data(0) * Boardcore::DEGREES_TO_RADIANS;
+ float lon = gps_data(1) * Boardcore::DEGREES_TO_RADIANS;
float h = gps_data(2);
- float s1 = sin(lat0);
- float c1 = cos(lat0);
- float s2 = sin(lat);
- float c2 = cos(lat);
- float p1 = c1 * cos(lon0);
- float p2 = c2 * cos(lon);
- float q1 = c1 * sin(lon0);
- float q2 = c2 * sin(lon);
- float w1 = 1 / sqrt(1 - e2 * pow(s1, 2));
- float w2 = 1 / sqrt(1 - e2 * pow(s2, 2));
- float delta_x =
- a * (p2 * w2 - p1 * w1) + (h * p2 - ref_values.ref_altitude * p1);
- float delta_y =
- a * (q2 * w2 - q1 * w1) + (h * q2 - ref_values.ref_altitude * q1);
- float delta_z = (1 - e2) * a * (s2 * w2 - s1 * w1) +
+ float s1 = sin(lat0);
+ float c1 = cos(lat0);
+ float s2 = sin(lat);
+ float c2 = cos(lat);
+ float p1 = c1 * cos(lon0);
+ float p2 = c2 * cos(lon);
+ float q1 = c1 * sin(lon0);
+ float q2 = c2 * sin(lon);
+ float w1 = 1 / sqrt(1 - NASConfigs::e2 * pow(s1, 2));
+ float w2 = 1 / sqrt(1 - NASConfigs::e2 * pow(s2, 2));
+ float delta_x = NASConfigs::a * (p2 * w2 - p1 * w1) +
+ (h * p2 - ref_values.ref_altitude * p1);
+ float delta_y = NASConfigs::a * (q2 * w2 - q1 * w1) +
+ (h * q2 - ref_values.ref_altitude * q1);
+ float delta_z = (1 - NASConfigs::e2) * NASConfigs::a * (s2 * w2 - s1 * w1) +
(h * s2 - ref_values.ref_altitude * s1);
// positions in ENU (east, north, up) frame
@@ -404,9 +409,9 @@ Vector3f NAS<IMU, Press, GPS>::geodetic2NED(const Vector3f& gps_data)
cos(lat0) * sin(lon0) * delta_y + sin(lat0) * delta_z;
// positions in NED frame
- Vector3f p_ned(p_north, p_east, -p_up);
+ Eigen::Vector3f p_ned(p_north, p_east, -p_up);
return p_ned;
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h b/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h
index c8d12a06c6d9688aea591ebbd7374efacb234258..a00fe2ed7f3de937bb07a4d69a5f944e022da935 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/NASCalibrator.h
@@ -83,18 +83,19 @@ private:
NASReferenceValues ref_values{};
- Stats pressure_stats; // Computes mean std dev etc for calibration
+ Boardcore::Stats
+ pressure_stats; // Computes mean std dev etc for calibration
- Stats gps_lat_stats;
- Stats gps_lon_stats;
+ Boardcore::Stats gps_lat_stats;
+ Boardcore::Stats gps_lon_stats;
- Stats accel_x_stats;
- Stats accel_y_stats;
- Stats accel_z_stats;
+ Boardcore::Stats accel_x_stats;
+ Boardcore::Stats accel_y_stats;
+ Boardcore::Stats accel_z_stats;
- Stats mag_x_stats;
- Stats mag_y_stats;
- Stats mag_z_stats;
+ Boardcore::Stats mag_x_stats;
+ Boardcore::Stats mag_y_stats;
+ Boardcore::Stats mag_z_stats;
// Refernece flags
bool ref_coordinates_set = false;
@@ -102,4 +103,4 @@ private:
bool ref_temperature_set = false;
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h b/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h
index 30711632415f5c1171b82352083e0a3b998f8bae..e629c165e6a26be88a5579e2c9b4c4be166701b4 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/NASController.h
@@ -36,46 +36,48 @@
using miosix::FastMutex;
using miosix::Lock;
-using namespace Boardcore;
-
namespace DeathStackBoard
{
-using namespace NASConfigs;
-
/**
* @brief Navigatioin system state machine
*/
template <typename IMU, typename Press, typename GPS>
-class NASController : public FSM<NASController<IMU, Press, GPS>>
+class NASController : public Boardcore::FSM<NASController<IMU, Press, GPS>>
{
using NASCtrl = NASController<IMU, Press, GPS>;
- using NASFsm = FSM<NASCtrl>;
+ using NASFsm = Boardcore::FSM<NASCtrl>;
static_assert(
- checkIfProduces<Sensor<IMU>, AccelerometerData>::value,
+ Boardcore::checkIfProduces<Boardcore::Sensor<IMU>,
+ Boardcore::AccelerometerData>::value,
"Template argument must be a sensor that produces accelerometer data.");
static_assert(
- checkIfProduces<Sensor<IMU>, GyroscopeData>::value,
+ Boardcore::checkIfProduces<Boardcore::Sensor<IMU>,
+ Boardcore::GyroscopeData>::value,
"Template argument must be a sensor that produces gyroscope data.");
static_assert(
- checkIfProduces<Sensor<IMU>, MagnetometerData>::value,
+ Boardcore::checkIfProduces<Boardcore::Sensor<IMU>,
+ Boardcore::MagnetometerData>::value,
"Template argument must be a sensor that produces magnetometer data.");
static_assert(
- checkIfProduces<Sensor<Press>, PressureData>::value,
+ Boardcore::checkIfProduces<Boardcore::Sensor<Press>,
+ Boardcore::PressureData>::value,
"Template argument must be a sensor that produces pressure data.");
- static_assert(checkIfProduces<Sensor<GPS>, GPSData>::value,
+ static_assert(Boardcore::checkIfProduces<Boardcore::Sensor<GPS>,
+ Boardcore::GPSData>::value,
"Template argument must be a sensor that produces GPS data.");
public:
- NASController(Sensor<IMU>& imu, Sensor<Press>& baro, Sensor<GPS>& gps);
+ NASController(Boardcore::Sensor<IMU>& imu, Boardcore::Sensor<Press>& baro,
+ Boardcore::Sensor<GPS>& gps);
~NASController();
- void state_idle(const Event& ev);
- void state_calibrating(const Event& ev);
- void state_ready(const Event& ev);
- void state_active(const Event& ev);
- void state_end(const Event& ev);
+ void state_idle(const Boardcore::Event& ev);
+ void state_calibrating(const Boardcore::Event& ev);
+ void state_ready(const Boardcore::Event& ev);
+ void state_active(const Boardcore::Event& ev);
+ void state_end(const Boardcore::Event& ev);
void setReferenceTemperature(float t);
void setInitialOrientation(float roll, float pitch, float yaw);
@@ -84,7 +86,7 @@ public:
void update();
- Sensor<NASData>& getNAS() { return nas; }
+ Boardcore::Sensor<NASData>& getNAS() { return nas; }
private:
void finalizeCalibration();
@@ -100,14 +102,15 @@ private:
FastMutex mutex;
NASCalibrator calibrator;
- Sensor<IMU>& imu;
- Sensor<Press>& barometer;
- Sensor<GPS>& gps;
+ Boardcore::Sensor<IMU>& imu;
+ Boardcore::Sensor<Press>& barometer;
+ Boardcore::Sensor<GPS>& gps;
NAS<IMU, Press, GPS> nas;
LoggerService& logger;
- PrintLogger log = Logging::getLogger("deathstack.fsm.nas");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.fsm.nas");
uint64_t last_gps_timestamp = 0;
uint64_t last_accel_timestamp = 0;
@@ -116,12 +119,12 @@ private:
};
template <typename IMU, typename Press, typename GPS>
-NASController<IMU, Press, GPS>::NASController(Sensor<IMU>& imu,
- Sensor<Press>& baro,
- Sensor<GPS>& gps)
- : NASFsm(&NASCtrl::state_idle), calibrator(CALIBRATION_N_SAMPLES), imu(imu),
- barometer(baro), gps(gps), nas(imu, baro, gps),
- logger(LoggerService::getInstance())
+NASController<IMU, Press, GPS>::NASController(Boardcore::Sensor<IMU>& imu,
+ Boardcore::Sensor<Press>& baro,
+ Boardcore::Sensor<GPS>& gps)
+ : NASFsm(&NASCtrl::state_idle),
+ calibrator(NASConfigs::CALIBRATION_N_SAMPLES), imu(imu), barometer(baro),
+ gps(gps), nas(imu, baro, gps), logger(LoggerService::getInstance())
{
memset(&status, 0, sizeof(NASStatus));
sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
@@ -247,17 +250,17 @@ void NASController<IMU, Press, GPS>::finalizeCalibration()
}
template <typename IMU, typename Press, typename GPS>
-void NASController<IMU, Press, GPS>::state_idle(const Event& ev)
+void NASController<IMU, Press, GPS>::state_idle(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state idle");
logStatus(NASState::IDLE);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state idle");
break;
@@ -275,11 +278,12 @@ 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)
+void NASController<IMU, Press, GPS>::state_calibrating(
+ const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state calibrating");
logStatus(NASState::CALIBRATING);
@@ -292,7 +296,7 @@ void NASController<IMU, Press, GPS>::state_calibrating(const Event& ev)
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state calibrating");
break;
@@ -315,17 +319,17 @@ 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)
+void NASController<IMU, Press, GPS>::state_ready(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state ready");
logStatus(NASState::READY);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state ready");
break;
@@ -348,17 +352,17 @@ 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)
+void NASController<IMU, Press, GPS>::state_active(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state active");
logStatus(NASState::ACTIVE);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state active");
break;
@@ -376,17 +380,17 @@ 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)
+void NASController<IMU, Press, GPS>::state_end(const Boardcore::Event& ev)
{
switch (ev.code)
{
- case EV_ENTRY:
+ case Boardcore::EV_ENTRY:
{
LOG_DEBUG(log, "Entering state end");
logStatus(NASState::END);
break;
}
- case EV_EXIT:
+ case Boardcore::EV_EXIT:
{
LOG_DEBUG(log, "Exiting state end");
break;
@@ -459,20 +463,21 @@ 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::getInstance().getTimestamp();
+ status.timestamp = Boardcore::TimestampTimer::getInstance().getTimestamp();
status.state = state;
logger.log(status);
- StackLogger::getInstance().updateStack(THID_NAS_FSM);
+ Boardcore::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::getInstance().getTimestamp();
+ kalman_state.timestamp =
+ Boardcore::TimestampTimer::getInstance().getTimestamp();
logger.log(kalman_state);
logger.log(nas.getLastSample());
}
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/NavigationAttitudeSystem/NASData.h b/src/boards/DeathStack/NavigationAttitudeSystem/NASData.h
index 0a755dbbe41c2f7a9e8699148f0c8ac342d770a4..b3bacdc4bf2fedc0b9acd3227c0883461e296e13 100644
--- a/src/boards/DeathStack/NavigationAttitudeSystem/NASData.h
+++ b/src/boards/DeathStack/NavigationAttitudeSystem/NASData.h
@@ -30,8 +30,6 @@
#include <iostream>
#include <string>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -109,7 +107,8 @@ struct NASKalmanState
NASKalmanState() {}
- NASKalmanState(uint64_t t, const Matrix<float, NASConfigs::N, 1>& state)
+ NASKalmanState(uint64_t t,
+ const Eigen::Matrix<float, NASConfigs::N, 1>& state)
{
timestamp = t;
x0 = state(0);
@@ -139,9 +138,9 @@ struct NASKalmanState
<< "," << x9 << "," << x10 << "," << x11 << "," << x12 << "\n";
}
- Vector3f toEul() const
+ Eigen::Vector3f toEul() const
{
- SkyQuaternion q;
+ Boardcore::SkyQuaternion q;
return q.quat2eul({x6, x7, x8, x9});
}
};
@@ -156,8 +155,8 @@ struct NASReferenceValues
float ref_pressure = DEFAULT_REFERENCE_PRESSURE;
float ref_temperature = DEFAULT_REFERENCE_TEMPERATURE;
- float msl_pressure = MSL_PRESSURE;
- float msl_temperature = MSL_TEMPERATURE;
+ float msl_pressure = Boardcore::MSL_PRESSURE;
+ float msl_temperature = Boardcore::MSL_TEMPERATURE;
float ref_altitude = DEFAULT_REFERENCE_ALTITUDE;
float ref_latitude = 0.0f;
diff --git a/src/boards/DeathStack/PinHandler/PinHandler.h b/src/boards/DeathStack/PinHandler/PinHandler.h
index a42a8d1677c27cee815c496cd1281016345d4c26..a0921ec59aa30357707c676428e71de323f427b4 100644
--- a/src/boards/DeathStack/PinHandler/PinHandler.h
+++ b/src/boards/DeathStack/PinHandler/PinHandler.h
@@ -27,8 +27,6 @@
#include <diagnostic/PrintLogger.h>
#include <utils/PinObserver.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -97,10 +95,11 @@ private:
PinStatus status_pin_nosecone{ObservedPin::NOSECONE};
PinStatus status_pin_dpl_servo{ObservedPin::DPL_SERVO};
- PinObserver pin_obs;
+ Boardcore::PinObserver pin_obs;
LoggerService* logger;
- PrintLogger log = Logging::getLogger("deathstack.pinhandler");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.pinhandler");
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/System/StackLogger.h b/src/boards/DeathStack/System/StackLogger.h
index 9af6f2150648629ea94e0531ca1e7ed442745eb5..3b298b1c895bae8d583b1c10ce45886d7d12ef5c 100644
--- a/src/boards/DeathStack/System/StackLogger.h
+++ b/src/boards/DeathStack/System/StackLogger.h
@@ -33,7 +33,7 @@ namespace DeathStackBoard
*/
enum LynxThreadIds : uint8_t
{
- THID_ENTRYPOINT = THID_FIRST_AVAILABLE_ID,
+ THID_ENTRYPOINT = Boardcore::THID_FIRST_AVAILABLE_ID,
THID_DPL_FSM,
THID_FMM_FSM,
THID_TMTC_FSM,
@@ -44,4 +44,4 @@ enum LynxThreadIds : uint8_t
THID_TASK_SCHEDULER
};
-}
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/System/TaskID.h b/src/boards/DeathStack/System/TaskID.h
index 037f42766d2a18d189c88a702d473a49cbddaf59..0b7247101d53c9403451e1f1f8563790a842ab74 100644
--- a/src/boards/DeathStack/System/TaskID.h
+++ b/src/boards/DeathStack/System/TaskID.h
@@ -1,6 +1,5 @@
-/**
- * Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -43,4 +42,4 @@ enum TaskIDs : uint8_t
TASK_NAS_ID = 9
};
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/Mavlink.h b/src/boards/DeathStack/TelemetriesTelecommands/Mavlink.h
index ca8be01c8a60b07dc337c5ab101a872ab0439541..e2b37042a46b6647aaba3d4c7f6bb90a59c44977 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/Mavlink.h
+++ b/src/boards/DeathStack/TelemetriesTelecommands/Mavlink.h
@@ -30,12 +30,12 @@
#include <mavlink_lib/lynx/mavlink.h>
#pragma GCC diagnostic pop
-#include <drivers/mavlink/MavlinkDriver.h>
#include <configs/MavlinkConfig.h>
+#include <drivers/mavlink/MavlinkDriver.h>
namespace DeathStackBoard
{
-using MavDriver = MavlinkDriver<MAV_PKT_SIZE, MAV_OUT_QUEUE_LEN>;
+using MavDriver = Boardcore::MavlinkDriver<MAV_PKT_SIZE, MAV_OUT_QUEUE_LEN>;
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h b/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h
index 5921a37ded4ab488cf6150964164e5c74123aa84..a160b08f3e19750646f091b538982e969c535d7f 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TCHandler.h
@@ -39,7 +39,7 @@ void logMavlinkStatus(MavDriver* mav_driver);
static LoggerService* logger = &LoggerService::getInstance();
-static PrintLogger print_logger =
- Logging::getLogger("deathstack.tmtc.tchandler");
+static Boardcore::PrintLogger print_logger =
+ Boardcore::Logging::getLogger("deathstack.tmtc.tchandler");
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp b/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp
index 9d564a18d1fa40da06bed4f9b4920806fcad63f4..ea055cc5136b3e6948051fb4bb16d3146565717a 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.cpp
@@ -27,6 +27,8 @@
#include <cassert>
+using namespace Boardcore;
+
namespace DeathStackBoard
{
@@ -37,7 +39,7 @@ TMTCController::TMTCController()
sEventBroker.subscribe(this, TOPIC_FLIGHT_EVENTS);
sEventBroker.subscribe(this, TOPIC_TMTC);
- LOG_DEBUG(log, "Created TMTCController");
+ LOG_DEBUG(printLogger, "Created TMTCController");
}
TMTCController::~TMTCController() { sEventBroker.unsubscribe(this); }
@@ -78,12 +80,12 @@ void TMTCController::stateGroundTM(const Event& ev)
{
// add periodic events
periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
- Event{EV_SEND_HR_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_HR_TM}, TOPIC_TMTC);
// periodicSensEvId =
// sEventBroker.postDelayed<GROUND_SENS_TM_TIMEOUT>(
- // Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
+ // Boardcore::Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
- LOG_DEBUG(log, "Entering stateGroundTM");
+ LOG_DEBUG(printLogger, "Entering stateGroundTM");
// log stack usage
StackLogger::getInstance().updateStack(THID_TMTC_FSM);
@@ -95,14 +97,14 @@ void TMTCController::stateGroundTM(const Event& ev)
sEventBroker.removeDelayed(periodicHrEvId);
sEventBroker.removeDelayed(periodicSensEvId);
- LOG_DEBUG(log, "Exiting stateGroundTM");
+ LOG_DEBUG(printLogger, "Exiting stateGroundTM");
break;
}
case EV_SEND_HR_TM:
{
// repost periodic event
periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
- Event{EV_SEND_HR_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_HR_TM}, TOPIC_TMTC);
send(MAV_HR_TM_ID);
@@ -110,10 +112,10 @@ void TMTCController::stateGroundTM(const Event& ev)
}
case EV_SEND_SENS_TM:
{
- // LOG_DEBUG(log, "Sending SENS_TM");
+ // LOG_DEBUG(printLogger, "Sending SENS_TM");
// periodicSensEvId =
// sEventBroker.postDelayed<GROUND_SENS_TM_TIMEOUT>(
- // Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
+ // Boardcore::Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
// send tm
send(MAV_SENSORS_TM_ID);
@@ -148,11 +150,11 @@ void TMTCController::stateFlightTM(const Event& ev)
{
// add periodic events
periodicLrEvId = sEventBroker.postDelayed<LR_TM_TIMEOUT>(
- Event{EV_SEND_LR_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_LR_TM}, TOPIC_TMTC);
periodicHrEvId = sEventBroker.postDelayed<HR_TM_TIMEOUT>(
- Event{EV_SEND_HR_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_HR_TM}, TOPIC_TMTC);
- LOG_DEBUG(log, "Entering stateFlightTM");
+ LOG_DEBUG(printLogger, "Entering stateFlightTM");
// log stack usage
StackLogger::getInstance().updateStack(THID_TMTC_FSM);
@@ -165,14 +167,14 @@ void TMTCController::stateFlightTM(const Event& ev)
sEventBroker.removeDelayed(periodicLrEvId);
sEventBroker.removeDelayed(periodicHrEvId);
- LOG_DEBUG(log, "Exiting stateFlightTM");
+ LOG_DEBUG(printLogger, "Exiting stateFlightTM");
break;
}
case EV_SEND_HR_TM:
{
// repost periodic event
periodicHrEvId = sEventBroker.postDelayed<HR_TM_TIMEOUT>(
- Event{EV_SEND_HR_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_HR_TM}, TOPIC_TMTC);
// send tm once 4 packets are filled
send(MAV_HR_TM_ID);
@@ -187,7 +189,7 @@ void TMTCController::stateFlightTM(const Event& ev)
{
// repost periodic event
periodicLrEvId = sEventBroker.postDelayed<LR_TM_TIMEOUT>(
- Event{EV_SEND_LR_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_LR_TM}, TOPIC_TMTC);
// send low rate tm
send(MAV_LR_TM_ID);
@@ -214,9 +216,9 @@ void TMTCController::stateSensorTM(const Event& ev)
{
// add periodic events
periodicSensEvId = sEventBroker.postDelayed<SENS_TM_TIMEOUT>(
- Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
- LOG_DEBUG(log, "Entering stateSensorTM");
+ LOG_DEBUG(printLogger, "Entering stateSensorTM");
// log stack usage
StackLogger::getInstance().updateStack(THID_TMTC_FSM);
@@ -227,14 +229,14 @@ void TMTCController::stateSensorTM(const Event& ev)
// remove periodic events
sEventBroker.removeDelayed(periodicSensEvId);
- LOG_DEBUG(log, "Exiting stateSensorTM");
+ LOG_DEBUG(printLogger, "Exiting stateSensorTM");
break;
}
case EV_SEND_SENS_TM:
{
// repost periodic event
periodicSensEvId = sEventBroker.postDelayed<SENS_TM_TIMEOUT>(
- Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_SENS_TM}, TOPIC_TMTC);
send(MAV_SENSORS_TM_ID);
@@ -265,9 +267,9 @@ void TMTCController::stateSerialDebugTM(const Event& ev)
{
// add periodic events
periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
- Event{EV_SEND_HR_TM_OVER_SERIAL}, TOPIC_TMTC);
+ Boardcore::Event{EV_SEND_HR_TM_OVER_SERIAL}, TOPIC_TMTC);
- LOG_DEBUG(log, "Entering stateSerialDebugTM");
+ LOG_DEBUG(printLogger, "Entering stateSerialDebugTM");
// log stack usage
StackLogger::getInstance().updateStack(THID_TMTC_FSM);
@@ -278,14 +280,14 @@ void TMTCController::stateSerialDebugTM(const Event& ev)
// remove periodic events
sEventBroker.removeDelayed(periodicHrEvId);
- LOG_DEBUG(log, "Exiting stateSerialDebugTM");
+ LOG_DEBUG(printLogger, "Exiting stateSerialDebugTM");
break;
}
case EV_SEND_HR_TM_OVER_SERIAL:
{
// repost periodic event
periodicHrEvId = sEventBroker.postDelayed<HR_TM_GROUND_TIMEOUT>(
- Event{EV_SEND_HR_TM_OVER_SERIAL}, TOPIC_TMTC);
+ Boardcore::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 a1fd9d3cd30d62c47dd122993d6fb6b881708e5d..c7bcf00a720c47558cdb44d8a808624e0cfaaf36 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.h
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TMTCController.h
@@ -28,8 +28,6 @@
#include <events/Events.h>
#include <events/FSM.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -42,7 +40,7 @@ namespace DeathStackBoard
* - receiving and handling commands coming from GS
* - fetching the last logged values when sending telemetries
*/
-class TMTCController : public FSM<TMTCController>
+class TMTCController : public Boardcore::FSM<TMTCController>
{
public:
/**
@@ -72,10 +70,10 @@ private:
void sendSerialTelemetry();
// State handlers
- void stateGroundTM(const Event& ev);
- void stateSensorTM(const Event& ev);
- void stateFlightTM(const Event& ev);
- void stateSerialDebugTM(const Event& ev);
+ void stateGroundTM(const Boardcore::Event& ev);
+ void stateSensorTM(const Boardcore::Event& ev);
+ void stateFlightTM(const Boardcore::Event& ev);
+ void stateSerialDebugTM(const Boardcore::Event& ev);
LoggerService& logger = LoggerService::getInstance();
@@ -86,7 +84,8 @@ private:
uint8_t hrPktCounter = 0;
- PrintLogger log = Logging::getLogger("deathstack.fsm.tmtc");
+ Boardcore::PrintLogger printLogger =
+ Boardcore::Logging::getLogger("deathstack.fsm.tmtc");
};
} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
index 3028f80378a76fee15276eb882799862da22f7e0..018552592d961483542a06e213e653184ba3e68e 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
@@ -1,6 +1,5 @@
-/**
- * Copyright (c) 2020 Skyward Experimental Rocketry
- * Authors: Alvise de' Faveri Tron
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Author: Alvise de' Faveri Tron
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -14,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -436,7 +435,7 @@ void TmRepository::update<NASStatus>(const NASStatus& t)
template <>
void TmRepository::update<NASKalmanState>(const NASKalmanState& t)
{
- Vector3f orientation = t.toEul();
+ Eigen::Vector3f orientation = t.toEul();
tm_repository.nas_tm.x0 = t.x0;
tm_repository.nas_tm.x1 = t.x1;
@@ -679,7 +678,7 @@ void TmRepository::update<ADAReferenceValues>(const ADAReferenceValues& t)
}
template <>
-void TmRepository::update<TaskStatResult>(const TaskStatResult& t)
+void TmRepository::update<TaskStatsResult>(const TaskStatsResult& t)
{
switch (t.id)
{
@@ -963,4 +962,4 @@ void TmRepository::update<MockGPSData>(const MockGPSData& t)
}
#endif
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h
index c8141b2acd26fc33dff78356a65801cc34cdc1f7..9719107487964f4b51f079e7fb54d53da4b4d474 100644
--- a/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h
+++ b/src/boards/DeathStack/TelemetriesTelecommands/TmRepository.h
@@ -65,9 +65,9 @@ namespace DeathStackBoard
* WARNING: These packets are updated by the LoggerService. If the
* LoggerService is not active, the values inside packets WILL NOT BE UPDATED.
*/
-class TmRepository : public Singleton<TmRepository>
+class TmRepository : public Boardcore::Singleton<TmRepository>
{
- friend class Singleton<TmRepository>;
+ friend class Boardcore::Singleton<TmRepository>;
public:
/**
@@ -137,7 +137,8 @@ private:
FlightStatsRecorder stats_rec;
- PrintLogger log = Logging::getLogger("deathstack.tmrepo");
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.tmrepo");
};
template <>
@@ -156,41 +157,49 @@ void TmRepository::update<AirBrakesAlgorithmData>(
const AirBrakesAlgorithmData& t);
template <>
-void TmRepository::update<ADS1118Data>(const ADS1118Data& t);
+void TmRepository::update<Boardcore::ADS1118Data>(
+ const Boardcore::ADS1118Data& t);
template <>
-void TmRepository::update<MS5803Data>(const MS5803Data& t);
+void TmRepository::update<Boardcore::MS5803Data>(
+ const Boardcore::MS5803Data& t);
template <>
-void TmRepository::update<MPXHZ6130AData>(const MPXHZ6130AData& t);
+void TmRepository::update<Boardcore::MPXHZ6130AData>(
+ const Boardcore::MPXHZ6130AData& t);
template <>
-void TmRepository::update<SSCDRRN015PDAData>(const SSCDRRN015PDAData& t);
+void TmRepository::update<Boardcore::SSCDRRN015PDAData>(
+ const Boardcore::SSCDRRN015PDAData& t);
template <>
void TmRepository::update<AirSpeedPitot>(const AirSpeedPitot& t);
template <>
-void TmRepository::update<SSCDANN030PAAData>(const SSCDANN030PAAData& t);
+void TmRepository::update<Boardcore::SSCDANN030PAAData>(
+ const Boardcore::SSCDANN030PAAData& t);
#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
template <>
-void TmRepository::update<BMX160Data>(const BMX160Data& t);
+void TmRepository::update<Boardcore::BMX160Data>(
+ const Boardcore::BMX160Data& t);
template <>
-void TmRepository::update<BMX160WithCorrectionData>(
- const BMX160WithCorrectionData& t);
+void TmRepository::update<Boardcore::BMX160WithCorrectionData>(
+ const Boardcore::BMX160WithCorrectionData& t);
#endif
template <>
-void TmRepository::update<BMX160Temperature>(const BMX160Temperature& t);
+void TmRepository::update<Boardcore::BMX160Temperature>(
+ const Boardcore::BMX160Temperature& t);
template <>
-void TmRepository::update<LIS3MDLData>(const LIS3MDLData& t);
+void TmRepository::update<Boardcore::LIS3MDLData>(
+ const Boardcore::LIS3MDLData& t);
#if !defined(HARDWARE_IN_THE_LOOP) && !defined(USE_MOCK_SENSORS)
template <>
-void TmRepository::update<GPSData>(const GPSData& t);
+void TmRepository::update<Boardcore::GPSData>(const Boardcore::GPSData& t);
#endif
template <>
@@ -200,18 +209,19 @@ void TmRepository::update<SensorsStatus>(const SensorsStatus& t);
* @brief Battery status, sampled by internal ADC.
*/
template <>
-void TmRepository::update<BatteryVoltageSensorData>(
- const BatteryVoltageSensorData& t);
+void TmRepository::update<Boardcore::BatteryVoltageSensorData>(
+ const Boardcore::BatteryVoltageSensorData& t);
template <>
-void TmRepository::update<Xbee::ATCommandResponseFrameLog>(
- const Xbee::ATCommandResponseFrameLog& t);
+void TmRepository::update<Boardcore::Xbee::ATCommandResponseFrameLog>(
+ const Boardcore::Xbee::ATCommandResponseFrameLog& t);
/**
* @brief Logger.
*/
template <>
-void TmRepository::update<LoggerStats>(const LoggerStats& t);
+void TmRepository::update<Boardcore::LoggerStats>(
+ const Boardcore::LoggerStats& t);
/**
* @brief Initialization status of the board.
@@ -250,7 +260,8 @@ void TmRepository::update<PinStatus>(const PinStatus& t);
* @brief TMTCController (Mavlink).
*/
template <>
-void TmRepository::update<MavlinkStatus>(const MavlinkStatus& t);
+void TmRepository::update<Boardcore::MavlinkStatus>(
+ const Boardcore::MavlinkStatus& t);
/**
* @brief Deployment Controller.
@@ -297,7 +308,8 @@ void TmRepository::update<SystemData>(const SystemData& t);
* @brief Sensor Manager scheduler.
*/
template <>
-void TmRepository::update<TaskStatResult>(const TaskStatResult& t);
+void TmRepository::update<Boardcore::TaskStatsResult>(
+ const Boardcore::TaskStatsResult& t);
/**
* @brief FlightStatsRecorder liftoff stats.
@@ -343,4 +355,4 @@ template <>
void TmRepository::update<MockGPSData>(const MockGPSData& t);
#endif
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/configs/AirBrakesConfig.h b/src/boards/DeathStack/configs/AirBrakesConfig.h
index e01b39474cf8f12c9752d1c685e6ce49bfc4dcbc..0e6715818542806dfd341ecd9f670c143b6603b2 100644
--- a/src/boards/DeathStack/configs/AirBrakesConfig.h
+++ b/src/boards/DeathStack/configs/AirBrakesConfig.h
@@ -13,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -31,9 +31,9 @@ namespace DeathStackBoard
namespace AirBrakesConfigs
{
-static TIM_TypeDef* const AB_SERVO_TIMER = TIM8;
-static constexpr TimerUtils::Channel AB_SERVO_PWM_CH =
- TimerUtils::Channel::CHANNEL_2;
+TIM_TypeDef* const AB_SERVO_TIMER = TIM8;
+constexpr Boardcore::TimerUtils::Channel AB_SERVO_PWM_CH =
+ Boardcore::TimerUtils::Channel::CHANNEL_2;
// Rocket's parameters
#ifdef EUROC
@@ -43,7 +43,7 @@ static constexpr float M = 18.362; /**< rocket's mass */
#endif
static constexpr float D = 0.15; /**< rocket's diameter */
-static constexpr float S0 = (PI * D * D) / 4.0;
+static constexpr float S0 = (Boardcore::PI * D * D) / 4.0;
static constexpr float RHO = 1.225;
static constexpr float Hn = 10400.0;
static constexpr float Co = 340.3;
@@ -151,4 +151,4 @@ const Coefficients coeffs;
} // namespace AirBrakesConfigs
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/configs/DeploymentConfig.h b/src/boards/DeathStack/configs/DeploymentConfig.h
index b2fdaace3450ee992c453613f0fa511a72d7dde4..d8674b67380680eab4ef55c16064b813c027fff1 100644
--- a/src/boards/DeathStack/configs/DeploymentConfig.h
+++ b/src/boards/DeathStack/configs/DeploymentConfig.h
@@ -25,8 +25,6 @@
#include <drivers/timer/PWM.h>
#include <drivers/timer/TimerUtils.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
@@ -34,8 +32,8 @@ namespace DeploymentConfigs
{
static TIM_TypeDef* const DPL_SERVO_TIMER = TIM4;
-static constexpr TimerUtils::Channel DPL_SERVO_PWM_CH =
- TimerUtils::Channel::CHANNEL_1;
+static constexpr Boardcore::TimerUtils::Channel DPL_SERVO_PWM_CH =
+ Boardcore::TimerUtils::Channel::CHANNEL_1;
static constexpr int NC_OPEN_TIMEOUT = 5000;
diff --git a/src/boards/DeathStack/configs/FlightStatsConfig.h b/src/boards/DeathStack/configs/FlightStatsConfig.h
index 5ad3133d7429ad44aa19f26a6cfa789435a50837..760f70eb68ed627d3456d919073c9e1d263fc26d 100644
--- a/src/boards/DeathStack/configs/FlightStatsConfig.h
+++ b/src/boards/DeathStack/configs/FlightStatsConfig.h
@@ -31,8 +31,8 @@ namespace FlightStatsConfig
{
static constexpr long long TIMEOUT_LIFTOFF_STATS = 7500; // [ms]
static constexpr long long TIMEOUT_APOGEE_STATS = 1000; // [ms]
-static constexpr long long TIMEOUT_DROGUE_DPL_STATS = 5000; // [ms]
+static constexpr long long TIMEOUT_DROGUE_DPL_STATS = 5000; // [ms]
static constexpr long long TIMEOUT_MAIN_DPL_STATS = 10000; // [ms]
} // namespace FlightStatsConfig
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/configs/MavlinkConfig.h b/src/boards/DeathStack/configs/MavlinkConfig.h
index 946497910bc89c738e4b512c5b1e714576e99780..c359de84c84a0f9a9cfcbc1547ec9a03d2f1a86d 100644
--- a/src/boards/DeathStack/configs/MavlinkConfig.h
+++ b/src/boards/DeathStack/configs/MavlinkConfig.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
diff --git a/src/boards/DeathStack/configs/NASConfig.h b/src/boards/DeathStack/configs/NASConfig.h
index 5c8d00f1cb5638f26e86db3ee852053e67c13e13..1421402f5f6b5ad53be4e43487be29d161feee93 100644
--- a/src/boards/DeathStack/configs/NASConfig.h
+++ b/src/boards/DeathStack/configs/NASConfig.h
@@ -26,8 +26,6 @@
#include "Eigen/Dense"
-using namespace Eigen;
-
namespace DeathStackBoard
{
@@ -117,7 +115,7 @@ static const float EMF = 44.24F; // [uT] micro Tesla
// Earth magnetic field, used to
// check if there's magnetic jamming
-static const Vector3f NED_MAG(
+static const Eigen::Vector3f NED_MAG(
0.5923F, -0.0175F,
0.8055F); // Normalized magnetic field vector at Ponte de Sor
// Measurement units are not important since it's normalized
@@ -133,13 +131,13 @@ static const float EMF = 46.77F; // [uT] micro Tesla
// Earth magnetic field, used to
// check if there's magnetic jamming
-static const Vector3f NED_MAG(
+static const Eigen::Vector3f NED_MAG(
0.524848, 0.035602,
0.850451); // Normalized magnetic field vector at Roccaraso
#endif
// normalized magentic field at Milano
-// static const Vector3f NED_MAG(0.4742, 0.025, 0.8801);
+// static const Eigen::Vector3f NED_MAG(0.4742, 0.025, 0.8801);
// DIMENSIONS OF MATRICES AND VECTORS
@@ -167,4 +165,4 @@ static const uint16_t NMEKF = 6; // Dimension used in the MEKF.
} // namespace NASConfigs
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/configs/PinObserverConfig.h b/src/boards/DeathStack/configs/PinObserverConfig.h
index 69918d762bea340e70336eb079513cdcfb5684e1..8e8f7cf38191139aa12b19547679edfbf8483596 100644
--- a/src/boards/DeathStack/configs/PinObserverConfig.h
+++ b/src/boards/DeathStack/configs/PinObserverConfig.h
@@ -26,35 +26,34 @@
#include <miosix.h>
#include <utils/PinObserver.h>
-using namespace Boardcore;
-
namespace DeathStackBoard
{
static const unsigned int PIN_POLL_INTERVAL = 10; // ms
// Launch pin config
-static const GpioPin launch_pin(miosix::inputs::lp_dtch::getPin());
-static const PinObserver::Transition TRIGGER_LAUNCH_PIN =
- PinObserver::Transition::FALLING_EDGE;
+static const miosix::GpioPin launch_pin(miosix::inputs::lp_dtch::getPin());
+static const Boardcore::PinObserver::Transition TRIGGER_LAUNCH_PIN =
+ Boardcore::PinObserver::Transition::FALLING_EDGE;
// How many consecutive times the launch pin should be detected as detached
// before triggering a launch event.
static const unsigned int THRESHOLD_LAUNCH_PIN = 10;
// Nosecone detach pin config
-static const GpioPin nosecone_pin(miosix::inputs::nc_dtch::getPin());
-static const PinObserver::Transition TRIGGER_NC_DETACH_PIN =
- PinObserver::Transition::FALLING_EDGE;
+static const miosix::GpioPin nosecone_pin(miosix::inputs::nc_dtch::getPin());
+static const Boardcore::PinObserver::Transition TRIGGER_NC_DETACH_PIN =
+ Boardcore::PinObserver::Transition::FALLING_EDGE;
// How many consecutive times the nosecone pin should be detected as detached
// before triggering a nosecone detach event.
static const unsigned int THRESHOLD_NC_DETACH_PIN = 10;
// Dpl servo actuation pin config
-static const GpioPin dpl_servo_pin(miosix::inputs::expulsion_in::getPin());
-static const PinObserver::Transition TRIGGER_DPL_SERVO_PIN =
- PinObserver::Transition::RISING_EDGE;
+static const miosix::GpioPin dpl_servo_pin(
+ miosix::inputs::expulsion_in::getPin());
+static const Boardcore::PinObserver::Transition TRIGGER_DPL_SERVO_PIN =
+ Boardcore::PinObserver::Transition::RISING_EDGE;
// How many consecutive times the deployment servo pin should be detected as
// detached before triggering a nosecone detach event.
static const unsigned int THRESHOLD_DPL_SERVO_PIN = 10;
-} // namespace DeathStackBoard
\ No newline at end of file
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/configs/SensorsConfig.h b/src/boards/DeathStack/configs/SensorsConfig.h
index d0cfd9573051f5b67c2c39e014dbd2ea303d2b71..cb21c92a8a2b72ca6682c6d49b12e16cac072e6a 100644
--- a/src/boards/DeathStack/configs/SensorsConfig.h
+++ b/src/boards/DeathStack/configs/SensorsConfig.h
@@ -37,26 +37,38 @@ namespace DeathStackBoard
namespace SensorConfigs
{
static constexpr float INTERNAL_ADC_VREF = 3.3;
-static constexpr InternalADC::Channel ADC_BATTERY_VOLTAGE =
- InternalADC::Channel::CH5;
+static constexpr Boardcore::InternalADC::Channel ADC_BATTERY_VOLTAGE =
+ Boardcore::InternalADC::Channel::CH5;
static constexpr float BATTERY_VOLTAGE_COEFF = 5.98;
static constexpr float BATTERY_MIN_SAFE_VOLTAGE = 10.5; // [V]
-static constexpr ADS1118::ADS1118Mux ADC_CH_STATIC_PORT = ADS1118::MUX_AIN0_GND;
-static constexpr ADS1118::ADS1118Mux ADC_CH_PITOT_PORT = ADS1118::MUX_AIN1_GND;
-static constexpr ADS1118::ADS1118Mux ADC_CH_DPL_PORT = ADS1118::MUX_AIN2_GND;
-static constexpr ADS1118::ADS1118Mux ADC_CH_VREF = ADS1118::MUX_AIN3_GND;
-
-static constexpr ADS1118::ADS1118DataRate ADC_DR_STATIC_PORT = ADS1118::DR_860;
-static constexpr ADS1118::ADS1118DataRate ADC_DR_PITOT_PORT = ADS1118::DR_860;
-static constexpr ADS1118::ADS1118DataRate ADC_DR_DPL_PORT = ADS1118::DR_860;
-static constexpr ADS1118::ADS1118DataRate ADC_DR_VREF = ADS1118::DR_860;
-
-static constexpr ADS1118::ADS1118Pga ADC_PGA_STATIC_PORT = ADS1118::FSR_6_144;
-static constexpr ADS1118::ADS1118Pga ADC_PGA_PITOT_PORT = ADS1118::FSR_6_144;
-static constexpr ADS1118::ADS1118Pga ADC_PGA_DPL_PORT = ADS1118::FSR_6_144;
-static constexpr ADS1118::ADS1118Pga ADC_PGA_VREF = ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_STATIC_PORT =
+ Boardcore::ADS1118::MUX_AIN0_GND;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_PITOT_PORT =
+ Boardcore::ADS1118::MUX_AIN1_GND;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_DPL_PORT =
+ Boardcore::ADS1118::MUX_AIN2_GND;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_VREF =
+ Boardcore::ADS1118::MUX_AIN3_GND;
+
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_STATIC_PORT =
+ Boardcore::ADS1118::DR_860;
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_PITOT_PORT =
+ Boardcore::ADS1118::DR_860;
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_DPL_PORT =
+ Boardcore::ADS1118::DR_860;
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_VREF =
+ Boardcore::ADS1118::DR_860;
+
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_STATIC_PORT =
+ Boardcore::ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_PITOT_PORT =
+ Boardcore::ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_DPL_PORT =
+ Boardcore::ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_VREF =
+ Boardcore::ADS1118::FSR_6_144;
// Sampling periods in milliseconds
static constexpr unsigned int SAMPLE_PERIOD_INTERNAL_ADC =
@@ -77,17 +89,20 @@ static constexpr unsigned int PRESS_PITOT_CALIB_SAMPLES_NUM = 500;
static constexpr unsigned int PRESS_STATIC_CALIB_SAMPLES_NUM = 500;
static constexpr float PRESS_STATIC_MOVING_AVG_COEFF = 0.95;
-static constexpr BMX160Config::AccelerometerRange IMU_BMX_ACC_FULLSCALE_ENUM =
- BMX160Config::AccelerometerRange::G_16;
-static constexpr BMX160Config::GyroscopeRange IMU_BMX_GYRO_FULLSCALE_ENUM =
- BMX160Config::GyroscopeRange::DEG_1000;
+static constexpr Boardcore::BMX160Config::AccelerometerRange
+ IMU_BMX_ACC_FULLSCALE_ENUM =
+ Boardcore::BMX160Config::AccelerometerRange::G_16;
+static constexpr Boardcore::BMX160Config::GyroscopeRange
+ IMU_BMX_GYRO_FULLSCALE_ENUM =
+ Boardcore::BMX160Config::GyroscopeRange::DEG_1000;
static constexpr unsigned int IMU_BMX_ACC_GYRO_ODR = 1600;
-static constexpr BMX160Config::OutputDataRate IMU_BMX_ACC_GYRO_ODR_ENUM =
- BMX160Config::OutputDataRate::HZ_1600;
+static constexpr Boardcore::BMX160Config::OutputDataRate
+ IMU_BMX_ACC_GYRO_ODR_ENUM =
+ Boardcore::BMX160Config::OutputDataRate::HZ_1600;
static constexpr unsigned int IMU_BMX_MAG_ODR = 100;
-static constexpr BMX160Config::OutputDataRate IMU_BMX_MAG_ODR_ENUM =
- BMX160Config::OutputDataRate::HZ_100;
+static constexpr Boardcore::BMX160Config::OutputDataRate IMU_BMX_MAG_ODR_ENUM =
+ Boardcore::BMX160Config::OutputDataRate::HZ_100;
static constexpr unsigned int IMU_BMX_FIFO_HEADER_SIZE = 1;
static constexpr unsigned int IMU_BMX_ACC_DATA_SIZE = 6;
@@ -115,15 +130,17 @@ static constexpr unsigned int SAMPLE_PERIOD_IMU_BMX =
static constexpr unsigned int IMU_BMX_TEMP_DIVIDER = 1;
// IMU axis rotation
-static const AxisOrthoOrientation BMX160_AXIS_ROTATION = {
- Direction::NEGATIVE_Z, Direction::POSITIVE_Y};
+static const Boardcore::AxisOrthoOrientation BMX160_AXIS_ROTATION = {
+ Boardcore::Direction::NEGATIVE_Z, Boardcore::Direction::POSITIVE_Y};
static constexpr char BMX160_CORRECTION_PARAMETERS_FILE[30] =
"/sd/bmx160_params.csv";
-static constexpr unsigned int SAMPLE_PERIOD_MAG_LIS = 15;
-static constexpr LIS3MDL::ODR MAG_LIS_ODR_ENUM = LIS3MDL::ODR_80_HZ;
-static constexpr LIS3MDL::FullScale MAG_LIS_FULLSCALE = LIS3MDL::FS_4_GAUSS;
+static constexpr unsigned int SAMPLE_PERIOD_MAG_LIS = 15;
+static constexpr Boardcore::LIS3MDL::ODR MAG_LIS_ODR_ENUM =
+ Boardcore::LIS3MDL::ODR_80_HZ;
+static constexpr Boardcore::LIS3MDL::FullScale MAG_LIS_FULLSCALE =
+ Boardcore::LIS3MDL::FS_4_GAUSS;
static constexpr unsigned int GPS_SAMPLE_RATE = 25;
static constexpr unsigned int GPS_SAMPLE_PERIOD = 1000 / GPS_SAMPLE_RATE;
diff --git a/src/boards/DeathStack/configs/config.h b/src/boards/DeathStack/configs/config.h
index 5f6e46777c631b64c14642d60e015234b54ae159..a420d483fe10b87288ab305caba1695a1f6627bd 100644
--- a/src/boards/DeathStack/configs/config.h
+++ b/src/boards/DeathStack/configs/config.h
@@ -1,6 +1,5 @@
-/**
- * Copyright (c) 2019 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/* Copyright (c) 2019 Skyward Experimental Rocketry
+ * Author: Luca Erbetta
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -30,8 +29,8 @@ static constexpr unsigned int DEFERRED_EVENTS_QUEUE_SIZE = 100;
static const float DEFAULT_REFERENCE_ALTITUDE = 160.0f;
static const float DEFAULT_REFERENCE_PRESSURE = 100022.4f;
#else
-static const float DEFAULT_REFERENCE_ALTITUDE = 1420.0f;
-static const float DEFAULT_REFERENCE_PRESSURE = 85389.4f;
+static const float DEFAULT_REFERENCE_ALTITUDE = 1420.0f;
+static const float DEFAULT_REFERENCE_PRESSURE = 85389.4f;
#endif
static const float DEFAULT_REFERENCE_TEMPERATURE = 288.15f;
diff --git a/src/boards/Payload/Main/Bus.h b/src/boards/Payload/Main/Bus.h
index dc9bfdbe9ad4fd423ce47327b7bf7e0f4000db08..7a865c15058949465ad35a2441e6c90986dae777 100644
--- a/src/boards/Payload/Main/Bus.h
+++ b/src/boards/Payload/Main/Bus.h
@@ -25,15 +25,13 @@
#include <drivers/spi/SPIBus.h>
#include <miosix.h>
-using namespace Boardcore;
-
namespace PayloadBoard
{
struct Bus
{
- SPIBusInterface* spi1 = new SPIBus(SPI1);
- SPIBusInterface* spi2 = new SPIBus(SPI2);
+ Boardcore::SPIBusInterface* spi1 = new Boardcore::SPIBus(SPI1);
+ Boardcore::SPIBusInterface* spi2 = new Boardcore::SPIBus(SPI2);
};
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/Main/Radio.h b/src/boards/Payload/Main/Radio.h
index db349d628a378b1f087b8b9ae5c36fd7cfb68af9..ae67a56c66e4802cee4947d27e5ba89237592502 100644
--- a/src/boards/Payload/Main/Radio.h
+++ b/src/boards/Payload/Main/Radio.h
@@ -25,20 +25,18 @@
//#include <TelemetriesTelecommands/Mavlink.h>
#include <drivers/Xbee/Xbee.h>
-using namespace Boardcore;
-
namespace PayloadBoard
{
class Radio
{
public:
- //TMTCController* tmtc_manager;
- //TmRepository* tm_repo;
- Xbee::Xbee* xbee;
- //MavDriver* mav_driver;
+ // TMTCController* tmtc_manager;
+ // TmRepository* tm_repo;
+ Boardcore::Xbee::Xbee* xbee;
+ // MavDriver* mav_driver;
- Radio(SPIBusInterface& xbee_bus_);
+ Radio(Boardcore::SPIBusInterface& xbee_bus_);
~Radio();
bool start();
@@ -46,9 +44,9 @@ public:
void logStatus();
private:
- void onXbeeFrameReceived(Xbee::APIFrame& frame);
+ void onXbeeFrameReceived(Boardcore::Xbee::APIFrame& frame);
- SPIBusInterface& xbee_bus;
+ Boardcore::SPIBusInterface& xbee_bus;
};
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/Main/Sensors.cpp b/src/boards/Payload/Main/Sensors.cpp
index 695403d7258fdb5181d45df553005157c3a421a1..6460aefdda2ee0402f043790d5feee10052cd553 100644
--- a/src/boards/Payload/Main/Sensors.cpp
+++ b/src/boards/Payload/Main/Sensors.cpp
@@ -37,6 +37,7 @@ using std::bind;
using std::function;
using namespace Boardcore;
+using namespace PayloadBoard::SensorConfigs;
// BMX160 Watermark interrupt
void __attribute__((used)) EXTI5_IRQHandlerImpl()
@@ -402,7 +403,7 @@ void Sensors::ADS1118Callback()
void Sensors::pressPitotCallback()
{
- SSCDRRN015PDAData d = press_pitot->getLastSample();
+ // SSCDRRN015PDAData d = press_pitot->getLastSample();
// LoggerService::getInstance().log(d);
/*ADAReferenceValues rv =
@@ -433,15 +434,15 @@ void Sensors::pressStaticCallback()
void Sensors::imuBMXCallback()
{
- uint8_t fifo_size = imu_bmx160->getLastFifoSize();
- auto& fifo = imu_bmx160->getLastFifo();
+ // uint8_t fifo_size = imu_bmx160->getLastFifoSize();
+ // auto& fifo = imu_bmx160->getLastFifo();
// LoggerService::getInstance().log(imu_bmx160->getTemperature());
- for (uint8_t i = 0; i < fifo_size; ++i)
- {
- // LoggerService::getInstance().log(fifo.at(i));
- }
+ // for (uint8_t i = 0; i < fifo_size; ++i)
+ // {
+ // LoggerService::getInstance().log(fifo.at(i));
+ // }
// LoggerService::getInstance().log(imu_bmx160->getFifoStats());
}
@@ -495,4 +496,4 @@ void Sensors::updateSensorsStatus()
}
}
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/Main/Sensors.h b/src/boards/Payload/Main/Sensors.h
index 0263065e3cecade7b9ebf49ad1b686fbaa5ceb28..98118dfa7f374401461dd1b7633be3ec1c6bb356 100644
--- a/src/boards/Payload/Main/Sensors.h
+++ b/src/boards/Payload/Main/Sensors.h
@@ -42,8 +42,6 @@
#include <map>
-using namespace Boardcore;
-
namespace PayloadBoard
{
@@ -54,24 +52,25 @@ namespace PayloadBoard
class Sensors
{
public:
- SensorManager* sensor_manager = nullptr;
+ Boardcore::SensorManager* sensor_manager = nullptr;
- InternalADC* internal_adc = nullptr;
- BatteryVoltageSensor* battery_voltage = nullptr;
+ Boardcore::InternalADC* internal_adc = nullptr;
+ Boardcore::BatteryVoltageSensor* battery_voltage = nullptr;
- MS5803* press_digital = nullptr;
+ Boardcore::MS5803* press_digital = nullptr;
- ADS1118* adc_ads1118 = nullptr;
- SSCDANN030PAA* press_dpl_vane = nullptr;
- MPXHZ6130A* press_static_port = nullptr;
- SSCDRRN015PDA* press_pitot = nullptr;
+ Boardcore::ADS1118* adc_ads1118 = nullptr;
+ Boardcore::SSCDANN030PAA* press_dpl_vane = nullptr;
+ Boardcore::MPXHZ6130A* press_static_port = nullptr;
+ Boardcore::SSCDRRN015PDA* press_pitot = nullptr;
- BMX160* imu_bmx160 = nullptr;
- BMX160WithCorrection* imu_bmx160_with_correction = nullptr;
- LIS3MDL* mag_lis3mdl = nullptr;
- UbloxGPS* gps_ublox = nullptr;
+ Boardcore::BMX160* imu_bmx160 = nullptr;
+ Boardcore::BMX160WithCorrection* imu_bmx160_with_correction = nullptr;
+ Boardcore::LIS3MDL* mag_lis3mdl = nullptr;
+ Boardcore::UbloxGPS* gps_ublox = nullptr;
- Sensors(SPIBusInterface& spi1_bus_, TaskScheduler* scheduler);
+ Sensors(Boardcore::SPIBusInterface& spi1_bus_,
+ Boardcore::TaskScheduler* scheduler);
~Sensors();
@@ -115,15 +114,15 @@ private:
void updateSensorsStatus();
- SPIBusInterface& spi1_bus;
+ Boardcore::SPIBusInterface& spi1_bus;
- SensorManager::SensorMap_t sensors_map;
+ Boardcore::SensorManager::SensorMap_t sensors_map;
SensorsStatus status;
- PrintLogger log = Logging::getLogger("sensors");
+ Boardcore::PrintLogger log = Boardcore::Logging::getLogger("sensors");
unsigned int battery_critical_counter = 0;
};
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/Main/SensorsData.h b/src/boards/Payload/Main/SensorsData.h
index c9751d386889878f07e3a94c1063da822fe93df1..c86847fda874d5694e2ada2eb47aa338624f10f4 100644
--- a/src/boards/Payload/Main/SensorsData.h
+++ b/src/boards/Payload/Main/SensorsData.h
@@ -1,6 +1,5 @@
-/**
- * Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -14,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -67,4 +66,4 @@ struct SensorsStatus
}
};
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/PayloadBoard.h b/src/boards/Payload/PayloadBoard.h
index dc591cf3bfcd9c44484d5b50c3853e9803a5bc6e..a8e87f1cf9abf58306e8b6950b57e4e25ac6d427 100644
--- a/src/boards/Payload/PayloadBoard.h
+++ b/src/boards/Payload/PayloadBoard.h
@@ -44,7 +44,6 @@
#include <vector>
using std::bind;
-using namespace Boardcore;
namespace PayloadBoard
{
@@ -57,16 +56,16 @@ static const std::vector<uint8_t> TRACE_EVENT_BLACKLIST{
* This file provides a simplified way to initialize and monitor all
* the components of the Payload.
*/
-class Payload : public Singleton<Payload>
+class Payload : public Boardcore::Singleton<Payload>
{
- friend class Singleton<Payload>;
+ friend class Boardcore::Singleton<Payload>;
public:
// Shared Components
- EventBroker* broker;
+ Boardcore::EventBroker* broker;
// LoggerService* logger;
- EventSniffer* sniffer;
+ Boardcore::EventSniffer* sniffer;
// StateMachines* state_machines;
Bus* bus;
@@ -76,7 +75,7 @@ public:
PinHandler* pin_handler;
- TaskScheduler* scheduler;
+ Boardcore::TaskScheduler* scheduler;
void start()
{
@@ -120,12 +119,14 @@ public:
if (status.payload_board != COMP_OK)
{
LOG_ERR(log, "Initalization failed\n");
- sEventBroker.post(Event{EV_INIT_ERROR}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Boardcore::Event{EV_INIT_ERROR},
+ TOPIC_FLIGHT_EVENTS);
}
else
{
LOG_INFO(log, "Initalization ok");
- sEventBroker.post(Event{EV_INIT_OK}, TOPIC_FLIGHT_EVENTS);
+ sEventBroker.post(Boardcore::Event{EV_INIT_OK},
+ TOPIC_FLIGHT_EVENTS);
}
}
@@ -165,7 +166,7 @@ private:
*broker, TOPIC_LIST, bind(&Payload::logEvent, this, _1, _2));
}*/
- scheduler = new TaskScheduler();
+ scheduler = new Boardcore::TaskScheduler();
bus = new Bus();
radio = new Radio(*bus->spi2);
@@ -175,7 +176,7 @@ private:
pin_handler = new PinHandler();
#ifdef DEBUG
- injector = new EventInjector();
+ injector = new Boardcore::EventInjector();
#endif
LOG_INFO(log, "Init finished");
@@ -199,22 +200,24 @@ event, topic}; logger->log(ev);
return;
}
}
- LOG_DEBUG(log, "{:s} on {:s}", getEventString(event),
- getTopicString(topic));
-#endif
+ LOG_DEBUG(log, "{:s} on {:s}",
+getEventString(event), getTopicString(topic)); #endif
}*/
- inline void postEvent(Event ev, uint8_t topic) { broker->post(ev, topic); }
+ inline void postEvent(Boardcore::Event ev, uint8_t topic)
+ {
+ broker->post(ev, topic);
+ }
/*void addSchedulerStatsTask()
{
// add lambda to log scheduler tasks statistics
scheduler.add(
[&]() {
- std::vector<TaskStatResult> scheduler_stats =
+ std::vector<TaskStatsResult> scheduler_stats =
scheduler.getTaskStats();
- for (TaskStatResult stat : scheduler_stats)
+ for (TaskStatsResult stat : scheduler_stats)
{
logger->log(stat);
}
@@ -225,10 +228,10 @@ event, topic}; logger->log(ev);
TASK_SCHEDULER_STATS_ID, miosix::getTick());
}*/
- EventInjector* injector;
+ Boardcore::EventInjector* injector;
PayloadStatus status{};
- PrintLogger log = Logging::getLogger("Payload");
+ Boardcore::PrintLogger log = Boardcore::Logging::getLogger("Payload");
};
} // namespace PayloadBoard
diff --git a/src/boards/Payload/PayloadStatus.h b/src/boards/Payload/PayloadStatus.h
index 057b8ddee564abf31821aa9f5a98136dc3d14af6..c8e6e516f0f142a7daa4e45106591e0700e9c3f9 100644
--- a/src/boards/Payload/PayloadStatus.h
+++ b/src/boards/Payload/PayloadStatus.h
@@ -38,7 +38,7 @@ enum PayloadComponentStatus
struct PayloadStatus
{
// Logic OR of all components errors.
- uint8_t payload_board = COMP_OK;
+ uint8_t payload_board = COMP_OK;
uint8_t logger = COMP_OK;
uint8_t ev_broker = COMP_OK;
@@ -72,4 +72,4 @@ struct PayloadStatus
}
};
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/PinHandler/PinHandler.h b/src/boards/Payload/PinHandler/PinHandler.h
index fdc081e0be057ab2a27d8d709917970429296b24..c7abde008c3b48a9eb6da9507a880debe4efbdf9 100644
--- a/src/boards/Payload/PinHandler/PinHandler.h
+++ b/src/boards/Payload/PinHandler/PinHandler.h
@@ -27,15 +27,13 @@
#include <diagnostic/PrintLogger.h>
#include <utils/PinObserver.h>
-using namespace Boardcore;
-
namespace PayloadBoard
{
/**
* @brief Forward dec.
*/
-//class LoggerService;
+// class LoggerService;
/**
* @brief This class contains the handlers for both the launch pin (umbilical)
@@ -69,16 +67,17 @@ public:
* @param n
*/
void onNCPinTransition(unsigned int p, unsigned char n);
-
+
void onNCPinStateChange(unsigned int p, unsigned char n, int state);
private:
PinStatus status_pin_nosecone{ObservedPin::NOSECONE};
- PinObserver pin_obs;
+ Boardcore::PinObserver pin_obs;
- //LoggerService* logger;
- PrintLogger log = Logging::getLogger("deathstack.pinhandler");
+ // LoggerService* logger;
+ Boardcore::PrintLogger log =
+ Boardcore::Logging::getLogger("deathstack.pinhandler");
};
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/PinHandler/PinHandlerData.h b/src/boards/Payload/PinHandler/PinHandlerData.h
index e3c0328dfff3e3d54eaf862ec3038df93c46f45a..b794ba55d007e9244b0a6f2e628a8f34c2bdb1a2 100644
--- a/src/boards/Payload/PinHandler/PinHandlerData.h
+++ b/src/boards/Payload/PinHandler/PinHandlerData.h
@@ -30,7 +30,7 @@ namespace PayloadBoard
enum class ObservedPin : uint8_t
{
- NOSECONE = 0
+ NOSECONE = 0
};
/**
diff --git a/src/boards/Payload/WingControl/WingServo.cpp b/src/boards/Payload/WingControl/WingServo.cpp
index 16f534eaba98755b00bb8115e64fcc656d4d2283..7146eafa4b3ff85579fe69c884381aa3a1347300 100644
--- a/src/boards/Payload/WingControl/WingServo.cpp
+++ b/src/boards/Payload/WingControl/WingServo.cpp
@@ -13,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -22,11 +22,12 @@
#include <Payload/WingControl/WingServo.h>
+using namespace Boardcore;
+using namespace PayloadBoard::WingConfigs;
+
namespace PayloadBoard
{
-using namespace WingConfigs;
-
WingServo::WingServo(TIM_TypeDef* const timer, TimerUtils::Channel channel,
float minPosition, float maxPosition)
: ServoInterface(minPosition, maxPosition),
@@ -67,4 +68,4 @@ void WingServo::setPosition(float angle)
servo.setPosition180Deg(angle);
}
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/WingControl/WingServo.h b/src/boards/Payload/WingControl/WingServo.h
index 4c42ddd280bde2b805bc100fd01d753ff9b6e393..19edecee750b8de098e7b359e46426e1fbe2ac19 100644
--- a/src/boards/Payload/WingControl/WingServo.h
+++ b/src/boards/Payload/WingControl/WingServo.h
@@ -27,8 +27,6 @@
#include <drivers/servo/Servo.h>
#include <miosix.h>
-using namespace Boardcore;
-
namespace PayloadBoard
{
@@ -36,7 +34,7 @@ class WingServo : public ServoInterface
{
public:
- WingServo(TIM_TypeDef* const timer, TimerUtils::Channel channel,
+ WingServo(TIM_TypeDef* const timer, Boardcore::TimerUtils::Channel channel,
float minPosition = WingConfigs::WING_SERVO_MIN_POS,
float maxPosition = WingConfigs::WING_SERVO_MAX_POS);
@@ -52,7 +50,7 @@ public:
void selfTest() override;
private:
- Servo servo;
+ Boardcore::Servo servo;
protected:
/**
@@ -63,4 +61,4 @@ protected:
void setPosition(float angle) override;
};
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/configs/PinHandlerConfig.h b/src/boards/Payload/configs/PinHandlerConfig.h
index 76588cbbb8bd09834cfcb72c82541a58131e63ae..1f00ffe75b791cd231ec71e955270169096ecd7a 100644
--- a/src/boards/Payload/configs/PinHandlerConfig.h
+++ b/src/boards/Payload/configs/PinHandlerConfig.h
@@ -26,8 +26,6 @@
#include <miosix.h>
#include <utils/PinObserver.h>
-using namespace Boardcore;
-
namespace PayloadBoard
{
@@ -43,8 +41,8 @@ static const unsigned int PIN_POLL_INTERVAL = 10; // ms
// Nosecone detach pin config
static const GpioPin nosecone_pin(miosix::inputs::nc_dtch::getPin());
-static const PinObserver::Transition TRIGGER_NC_DETACH_PIN =
- PinObserver::Transition::FALLING_EDGE;
+static const Boardcore::PinObserver::Transition TRIGGER_NC_DETACH_PIN =
+ Boardcore::PinObserver::Transition::FALLING_EDGE;
// How many consecutive times the nosecone pin should be detected as detached
// before triggering a nosecone detach event.
static const unsigned int THRESHOLD_NC_DETACH_PIN = 10;
@@ -57,4 +55,4 @@ static const unsigned int THRESHOLD_NC_DETACH_PIN = 10;
// // detached before triggering a nosecone detach event.
// static const unsigned int THRESHOLD_DPL_SERVO_PIN = 10;
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/boards/Payload/configs/SensorsConfig.h b/src/boards/Payload/configs/SensorsConfig.h
index 14e657ad6cbefacc9b5ef6e287d342d89fb18ce2..e00655539ff0127eb6dc5926212a3d582c47382b 100644
--- a/src/boards/Payload/configs/SensorsConfig.h
+++ b/src/boards/Payload/configs/SensorsConfig.h
@@ -38,26 +38,38 @@ namespace SensorConfigs
{
static constexpr float INTERNAL_ADC_VREF = 3.3;
-static constexpr InternalADC::Channel ADC_BATTERY_VOLTAGE =
- InternalADC::Channel::CH5;
+static constexpr Boardcore::InternalADC::Channel ADC_BATTERY_VOLTAGE =
+ Boardcore::InternalADC::Channel::CH5;
static constexpr float BATTERY_VOLTAGE_COEFF = 5.98;
static constexpr float BATTERY_MIN_SAFE_VOLTAGE = 10.5; // [V]
-static constexpr ADS1118::ADS1118Mux ADC_CH_STATIC_PORT = ADS1118::MUX_AIN0_GND;
-static constexpr ADS1118::ADS1118Mux ADC_CH_PITOT_PORT = ADS1118::MUX_AIN1_GND;
-static constexpr ADS1118::ADS1118Mux ADC_CH_DPL_PORT = ADS1118::MUX_AIN2_GND;
-static constexpr ADS1118::ADS1118Mux ADC_CH_VREF = ADS1118::MUX_AIN3_GND;
-
-static constexpr ADS1118::ADS1118DataRate ADC_DR_STATIC_PORT = ADS1118::DR_860;
-static constexpr ADS1118::ADS1118DataRate ADC_DR_PITOT_PORT = ADS1118::DR_860;
-static constexpr ADS1118::ADS1118DataRate ADC_DR_DPL_PORT = ADS1118::DR_860;
-static constexpr ADS1118::ADS1118DataRate ADC_DR_VREF = ADS1118::DR_860;
-
-static constexpr ADS1118::ADS1118Pga ADC_PGA_STATIC_PORT = ADS1118::FSR_6_144;
-static constexpr ADS1118::ADS1118Pga ADC_PGA_PITOT_PORT = ADS1118::FSR_6_144;
-static constexpr ADS1118::ADS1118Pga ADC_PGA_DPL_PORT = ADS1118::FSR_6_144;
-static constexpr ADS1118::ADS1118Pga ADC_PGA_VREF = ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_STATIC_PORT =
+ Boardcore::ADS1118::MUX_AIN0_GND;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_PITOT_PORT =
+ Boardcore::ADS1118::MUX_AIN1_GND;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_DPL_PORT =
+ Boardcore::ADS1118::MUX_AIN2_GND;
+static constexpr Boardcore::ADS1118::ADS1118Mux ADC_CH_VREF =
+ Boardcore::ADS1118::MUX_AIN3_GND;
+
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_STATIC_PORT =
+ Boardcore::ADS1118::DR_860;
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_PITOT_PORT =
+ Boardcore::ADS1118::DR_860;
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_DPL_PORT =
+ Boardcore::ADS1118::DR_860;
+static constexpr Boardcore::ADS1118::ADS1118DataRate ADC_DR_VREF =
+ Boardcore::ADS1118::DR_860;
+
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_STATIC_PORT =
+ Boardcore::ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_PITOT_PORT =
+ Boardcore::ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_DPL_PORT =
+ Boardcore::ADS1118::FSR_6_144;
+static constexpr Boardcore::ADS1118::ADS1118Pga ADC_PGA_VREF =
+ Boardcore::ADS1118::FSR_6_144;
// Sampling periods in milliseconds
static constexpr unsigned int SAMPLE_PERIOD_INTERNAL_ADC =
@@ -78,17 +90,20 @@ static constexpr unsigned int PRESS_PITOT_CALIB_SAMPLES_NUM = 500;
static constexpr unsigned int PRESS_STATIC_CALIB_SAMPLES_NUM = 500;
static constexpr float PRESS_STATIC_MOVING_AVG_COEFF = 0.95;
-static constexpr BMX160Config::AccelerometerRange IMU_BMX_ACC_FULLSCALE_ENUM =
- BMX160Config::AccelerometerRange::G_16;
-static constexpr BMX160Config::GyroscopeRange IMU_BMX_GYRO_FULLSCALE_ENUM =
- BMX160Config::GyroscopeRange::DEG_1000;
+static constexpr Boardcore::BMX160Config::AccelerometerRange
+ IMU_BMX_ACC_FULLSCALE_ENUM =
+ Boardcore::BMX160Config::AccelerometerRange::G_16;
+static constexpr Boardcore::BMX160Config::GyroscopeRange
+ IMU_BMX_GYRO_FULLSCALE_ENUM =
+ Boardcore::BMX160Config::GyroscopeRange::DEG_1000;
static constexpr unsigned int IMU_BMX_ACC_GYRO_ODR = 1600;
-static constexpr BMX160Config::OutputDataRate IMU_BMX_ACC_GYRO_ODR_ENUM =
- BMX160Config::OutputDataRate::HZ_1600;
+static constexpr Boardcore::BMX160Config::OutputDataRate
+ IMU_BMX_ACC_GYRO_ODR_ENUM =
+ Boardcore::BMX160Config::OutputDataRate::HZ_1600;
static constexpr unsigned int IMU_BMX_MAG_ODR = 100;
-static constexpr BMX160Config::OutputDataRate IMU_BMX_MAG_ODR_ENUM =
- BMX160Config::OutputDataRate::HZ_100;
+static constexpr Boardcore::BMX160Config::OutputDataRate IMU_BMX_MAG_ODR_ENUM =
+ Boardcore::BMX160Config::OutputDataRate::HZ_100;
static constexpr unsigned int IMU_BMX_FIFO_HEADER_SIZE = 1;
static constexpr unsigned int IMU_BMX_ACC_DATA_SIZE = 6;
@@ -116,15 +131,17 @@ static constexpr unsigned int SAMPLE_PERIOD_IMU_BMX =
static constexpr unsigned int IMU_BMX_TEMP_DIVIDER = 1;
// IMU axis rotation
-static const AxisOrthoOrientation BMX160_AXIS_ROTATION = {
- Direction::NEGATIVE_Z, Direction::POSITIVE_Y};
+static const Boardcore::AxisOrthoOrientation BMX160_AXIS_ROTATION = {
+ Boardcore::Direction::NEGATIVE_Z, Boardcore::Direction::POSITIVE_Y};
static constexpr char BMX160_CORRECTION_PARAMETERS_FILE[30] =
"/sd/bmx160_params.csv";
-static constexpr unsigned int SAMPLE_PERIOD_MAG_LIS = 15;
-static constexpr LIS3MDL::ODR MAG_LIS_ODR_ENUM = LIS3MDL::ODR_80_HZ;
-static constexpr LIS3MDL::FullScale MAG_LIS_FULLSCALE = LIS3MDL::FS_4_GAUSS;
+static constexpr unsigned int SAMPLE_PERIOD_MAG_LIS = 15;
+static constexpr Boardcore::LIS3MDL::ODR MAG_LIS_ODR_ENUM =
+ Boardcore::LIS3MDL::ODR_80_HZ;
+static constexpr Boardcore::LIS3MDL::FullScale MAG_LIS_FULLSCALE =
+ Boardcore::LIS3MDL::FS_4_GAUSS;
static constexpr unsigned int GPS_SAMPLE_RATE = 25;
static constexpr unsigned int GPS_SAMPLE_PERIOD = 1000 / GPS_SAMPLE_RATE;
diff --git a/src/boards/Payload/configs/WingConfig.h b/src/boards/Payload/configs/WingConfig.h
index 1665891f9c65c9f5993620c47114e8cc9feb6adf..18e2f1361573f29fa2b4cba0af4fd5fc5a50a1b8 100644
--- a/src/boards/Payload/configs/WingConfig.h
+++ b/src/boards/Payload/configs/WingConfig.h
@@ -13,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -26,8 +26,6 @@
#include <drivers/timer/TimestampTimer.h>
#include <utils/Constants.h>
-using namespace Boardcore;
-
namespace PayloadBoard
{
@@ -35,12 +33,12 @@ namespace WingConfigs
{
static TIM_TypeDef* const WING_SERVO_1_TIMER = TIM8;
-static constexpr TimerUtils::Channel WING_SERVO_1_PWM_CH =
- TimerUtils::Channel::CHANNEL_2;
+static constexpr Boardcore::TimerUtils::Channel WING_SERVO_1_PWM_CH =
+ Boardcore::TimerUtils::Channel::CHANNEL_2;
static const TIM_TypeDef* WING_SERVO_2_TIMER = TIM4;
-static constexpr TimerUtils::Channel WING_SERVO_2_PWM_CH =
- TimerUtils::Channel::CHANNEL_1;
+static constexpr Boardcore::TimerUtils::Channel WING_SERVO_2_PWM_CH =
+ Boardcore::TimerUtils::Channel::CHANNEL_1;
// Wing servo configs
static constexpr float WING_SERVO_MAX_POS = 180.0; // deg
@@ -50,4 +48,4 @@ static constexpr float WING_SERVO_WIGGLE_AMPLITUDE = 20.0; // deg
} // namespace WingConfigs
-} // namespace PayloadBoard
\ No newline at end of file
+} // namespace PayloadBoard
diff --git a/src/common/CanInterfaces.h b/src/common/CanInterfaces.h
index b994b38e62afdea325e083b32846baa945eaa4a9..7e19b9ff5c0579bc1cb6efd55c65c60842390f69 100644
--- a/src/common/CanInterfaces.h
+++ b/src/common/CanInterfaces.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
- * Authors: Alvise de' Faveri Tron
+ * Author: Alvise de' Faveri Tron
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -13,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
diff --git a/src/common/events/Events.h b/src/common/events/Events.h
index 67abf6b09d7918788c44e4fc62cf698fce197a29..6a1b48996f54941cd274e533e5add533f0602736 100644
--- a/src/common/events/Events.h
+++ b/src/common/events/Events.h
@@ -38,16 +38,13 @@
#include "events/Event.h"
#include "events/EventBroker.h"
-using std::string;
-using namespace Boardcore;
-
/**
* Definition of all events in the Board software.
* Refer to the Software Design Document.
*/
enum Events : uint8_t
{
- EV_ADA_APOGEE_DETECTED = EV_FIRST_SIGNAL,
+ EV_ADA_APOGEE_DETECTED = Boardcore::EV_FIRST_SIGNAL,
EV_ADA_DISABLE_ABK,
EV_ADA_DPL_ALT_DETECTED,
EV_ADA_READY,
@@ -182,4 +179,4 @@ const std::vector<uint8_t> EVENT_LIST{
* @param event
* @return string
*/
-string getEventString(uint8_t event);
\ No newline at end of file
+std::string getEventString(uint8_t event);
diff --git a/src/entrypoints/death-stack-x-decoder/LogTypes.h b/src/entrypoints/death-stack-x-decoder/LogTypes.h
index facc537a7823ce0ea4b14d5b0ee0484915cb9e18..6f2a8c28a7bc22ed90c2fac62ae7e1c04215c04a 100644
--- a/src/entrypoints/death-stack-x-decoder/LogTypes.h
+++ b/src/entrypoints/death-stack-x-decoder/LogTypes.h
@@ -62,8 +62,6 @@
// Serialized classes
using std::ofstream;
-using namespace DeathStackBoard;
-
template <typename T>
void print(T& t, ostream& os)
{
@@ -79,7 +77,7 @@ void registerType(Deserializer& ds)
void registerTypes(Deserializer& ds)
{
// Disagnostic
- registerType<TaskStatResult>(ds);
+ registerType<TaskStatsResult>(ds);
registerType<StackData>(ds);
registerType<LoggingString>(ds);
registerType<SystemData>(ds);
diff --git a/src/entrypoints/death-stack-x-entry.cpp b/src/entrypoints/death-stack-x-entry.cpp
index 428b7d8f3b680bd187d95bf39accc70c89ce65da..e368fe1fcdec2014880a1c977720262dd4b87e84 100644
--- a/src/entrypoints/death-stack-x-entry.cpp
+++ b/src/entrypoints/death-stack-x-entry.cpp
@@ -27,6 +27,7 @@
#include <miosix.h>
using namespace miosix;
+using namespace Boardcore;
using namespace DeathStackBoard;
// using namespace GlobalBuffers;
@@ -56,7 +57,7 @@ int main()
StackLogger::getInstance().updateStack(THID_ENTRYPOINT);
- system_data.timestamp = miosix::getTick();
+ system_data.timestamp = getTick();
system_data.cpu_usage = averageCpuUtilization();
cpu_stat.add(system_data.cpu_usage);
@@ -72,4 +73,4 @@ int main()
StackLogger::getInstance().log();
}
-}
\ No newline at end of file
+}
diff --git a/src/entrypoints/deserializer/logdecoder.cpp b/src/entrypoints/deserializer/logdecoder.cpp
index cf6d35e2f36b57aab26fcdccebe29d4907f36959..5ce4f3554848fb097f9e2d5d468356c3a5f00b2f 100644
--- a/src/entrypoints/deserializer/logdecoder.cpp
+++ b/src/entrypoints/deserializer/logdecoder.cpp
@@ -41,7 +41,7 @@
using namespace std;
using namespace tscpp;
-void showUsage(string cmdName)
+void showUsage(string& const cmdName)
{
std::cerr << "Usage: " << cmdName << " {-a | <log_file_name> | -h}"
<< "Options:\n"
diff --git a/src/entrypoints/hardware_in_the_loop/hil-entry.cpp b/src/entrypoints/hardware_in_the_loop/hil-entry.cpp
index 0ca4f829f4b810adfd7d0fdf505c7e66dbdb430b..6f2170f9ce81659030e46b4ebd94e50fe7c0a34e 100644
--- a/src/entrypoints/hardware_in_the_loop/hil-entry.cpp
+++ b/src/entrypoints/hardware_in_the_loop/hil-entry.cpp
@@ -216,6 +216,10 @@ void threadFunc(void* arg)
sEventBroker.post({EV_LANDED}, TOPIC_FLIGHT_EVENTS);
Thread::sleep(1000);
+
+ delete sensors.imu;
+ delete sensors.barometer;
+ delete sensors.gps;
}
int main()
@@ -239,4 +243,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/entrypoints/lynx-mock-telemetry.cpp b/src/entrypoints/lynx-mock-telemetry.cpp
index ed988227afe865be8bb59c8f9eb03ffa13386b99..aa844fb17ce6c5adf8eb6ef2268a9b7654a4122c 100644
--- a/src/entrypoints/lynx-mock-telemetry.cpp
+++ b/src/entrypoints/lynx-mock-telemetry.cpp
@@ -105,7 +105,7 @@ void writeMessage(mavlink_message_t& msg)
}
}
-void handleMessage(mavlink_message_t& msg)
+void handleMessage(mavlink_message_t& const msg)
{
mavlink_message_t ack_msg;
mavlink_ack_tm_t ack;
@@ -153,4 +153,4 @@ int main()
writeMessage(buf);
Thread::sleepUntil(t + 100);
}
-}
\ No newline at end of file
+}
diff --git a/src/entrypoints/payload-entry.cpp b/src/entrypoints/payload-entry.cpp
index 583f1612a0a0a3c9b9e6646fc92c3d750aca617f..6afbc4ef6c8447e9ea3011682921455b99add98b 100644
--- a/src/entrypoints/payload-entry.cpp
+++ b/src/entrypoints/payload-entry.cpp
@@ -27,6 +27,7 @@
#include <miosix.h>
using namespace miosix;
+using namespace Boardcore;
using namespace PayloadBoard;
int main()
@@ -71,4 +72,4 @@ int main()
// StackLogger::getInstance().log();
}
-}
\ No newline at end of file
+}
diff --git a/src/entrypoints/windtunnel-test-decoder/LogTypes.h b/src/entrypoints/windtunnel-test-decoder/LogTypes.h
index 5b370ad577f09f642bc9a41626567fec205ef39a..8c6fe459b41b65298be331df2558dfcbfe3db81e 100644
--- a/src/entrypoints/windtunnel-test-decoder/LogTypes.h
+++ b/src/entrypoints/windtunnel-test-decoder/LogTypes.h
@@ -43,8 +43,6 @@
// Serialized classes
using std::ofstream;
-using namespace DeathStackBoard;
-
template <typename T>
void print(T& t, ostream& os)
{
diff --git a/src/hardware_in_the_loop/HIL.h b/src/hardware_in_the_loop/HIL.h
index c60df35204d298d8bf907672a009abb9e71105d3..317dd127eebd636eea1dda9ddf99cbb4023f676c 100644
--- a/src/hardware_in_the_loop/HIL.h
+++ b/src/hardware_in_the_loop/HIL.h
@@ -22,11 +22,11 @@
#pragma once
-#include "hardware_in_the_loop/HIL_sensors/HILSensors.h"
+#include "NavigationAttitudeSystem/NASData.h"
+#include "hardware_in_the_loop/HILConfig.h"
#include "hardware_in_the_loop/HILFlightPhasesManager.h"
+#include "hardware_in_the_loop/HIL_sensors/HILSensors.h"
#include "hardware_in_the_loop/simulator_communication/HILTransceiver.h"
-#include "hardware_in_the_loop/HILConfig.h"
-#include "NavigationAttitudeSystem/NASData.h"
/**
* @brief Single interface to the hardware-in-the-loop framework.
@@ -46,10 +46,7 @@ public:
void stop() { simulator->stop(); }
- void send(ActuatorData d)
- {
- simulator->setActuatorData(d);
- }
+ void send(ActuatorData d) { simulator->setActuatorData(d); }
/**
* @brief method that signals to the simulator that the liftoff pin has
@@ -87,4 +84,4 @@ private:
flightPhasesManager = new HILFlightPhasesManager();
simulator = new HILTransceiver(flightPhasesManager);
}
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HILFlightPhasesManager.h b/src/hardware_in_the_loop/HILFlightPhasesManager.h
index d60c9d5db899b70154266eb904def8ca8ed5d22e..e3416842f6731673326047d431eff8073528e72b 100644
--- a/src/hardware_in_the_loop/HILFlightPhasesManager.h
+++ b/src/hardware_in_the_loop/HILFlightPhasesManager.h
@@ -22,8 +22,10 @@
#pragma once
+#include <drivers/timer/TimestampTimer.h>
#include <events/Events.h>
#include <events/utils/EventCounter.h>
+#include <utils/Debug.h>
#include <iostream>
#include <map>
@@ -33,14 +35,10 @@
#include "HIL_sensors/HILSensors.h"
#include "NavigationAttitudeSystem/NASData.h"
#include "Singleton.h"
-#include "TimestampTimer.h"
#include "hardware_in_the_loop/HILConfig.h"
#include "miosix.h"
#include "sensors/Sensor.h"
-using namespace miosix;
-using namespace std;
-
typedef function<void()> TCallback;
enum FlightPhases
@@ -135,7 +133,7 @@ public:
// set true when the first packet from the simulator arrives
if (isSetTrue(SIMULATION_STARTED))
{
- t_start = TimestampTimer::getInstance().getTimestamp();
+ t_start = Boardcore::TimestampTimer::getInstance().getTimestamp();
TRACE("[HIL] ------- SIMULATION STARTED ! ------- \n");
changed_flags.push_back(SIMULATION_STARTED);
@@ -162,7 +160,8 @@ public:
{
if (isSetTrue(FLYING))
{
- t_liftoff = TimestampTimer::getInstance().getTimestamp();
+ t_liftoff =
+ Boardcore::TimestampTimer::getInstance().getTimestamp();
sEventBroker.post({EV_UMBILICAL_DETACHED}, TOPIC_FLIGHT_EVENTS);
TRACE("[HIL] ------- LIFTOFF ! ------- \n");
@@ -210,7 +209,7 @@ public:
else if (isSetTrue(SIMULATION_STOPPED))
{
changed_flags.push_back(SIMULATION_STOPPED);
- t_stop = TimestampTimer::getInstance().getTimestamp();
+ t_stop = Boardcore::TimestampTimer::getInstance().getTimestamp();
TRACE("[HIL] ------- SIMULATION STOPPED ! -------: %f \n\n\n",
(double)t_stop / 1000000.0f);
printOutcomes();
@@ -353,4 +352,4 @@ private:
EventCounter* counter_airbrakes;
EventCounter* counter_ada;
EventCounter* counter_dpl;
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HIL_algorithms/HILMockAerobrakeAlgorithm.h b/src/hardware_in_the_loop/HIL_algorithms/HILMockAerobrakeAlgorithm.h
index f9269dfeff5712c83a1cf5626222684b9cb0b0ca..fc79e10f8039f2b80238138607d2c9a5876cb710 100644
--- a/src/hardware_in_the_loop/HIL_algorithms/HILMockAerobrakeAlgorithm.h
+++ b/src/hardware_in_the_loop/HIL_algorithms/HILMockAerobrakeAlgorithm.h
@@ -28,9 +28,6 @@
#include "miosix.h"
#include "sensors/Sensor.h"
-using namespace DeathStackBoard;
-using namespace miosix;
-
/**
* @brief Example of how a control algorithm should be created.
*
@@ -90,4 +87,4 @@ private:
TimestampData lastSample; /**< keeps track of the last timestamp */
Sensor<KD>* kalman; /**< reference to the kalman object */
ServoInterface* servo; /**< reference to the actuator object */
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HIL_algorithms/HILMockNAS.h b/src/hardware_in_the_loop/HIL_algorithms/HILMockNAS.h
index 07d212a5a0ce9fca59500120abeb360cfd49dd25..3057ea203b14593d45dd29702cb070ac73a13744 100644
--- a/src/hardware_in_the_loop/HIL_algorithms/HILMockNAS.h
+++ b/src/hardware_in_the_loop/HIL_algorithms/HILMockNAS.h
@@ -30,8 +30,6 @@
#include "hardware_in_the_loop/HIL_sensors/HILMagnetometer.h"
#include "hardware_in_the_loop/HIL_sensors/HILSensor.h"
-using namespace DeathStackBoard;
-
struct HILNasData : public TimestampData
{
HILNasData() : TimestampData{0} {}
@@ -74,4 +72,4 @@ protected:
}
NAS<HILImuData, HILBaroData, HILGpsData> *nas;
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILGps.h b/src/hardware_in_the_loop/HIL_sensors/HILGps.h
index 093e547799c1a999ddaa898f5cc89dd89e7a1504..8f3a9b8a7b010f69291313c83ba8cc81cd78fa13 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILGps.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILGps.h
@@ -47,9 +47,8 @@ protected:
/* I make a copy of the vector i have to memorize in the sensor
* struct */
- Vec3 matlabData = sensorData->gps.positionMeasures[sampleCounter];
- tempData.latitude =
- matlabData.getX(); // divide by earth radius
+ Vec3 matlabData = sensorData->gps.positionMeasures[sampleCounter];
+ tempData.latitude = matlabData.getX(); // divide by earth radius
tempData.longitude = matlabData.getY();
tempData.height = matlabData.getZ();
@@ -65,4 +64,4 @@ protected:
return tempData;
}
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILImu.h b/src/hardware_in_the_loop/HIL_sensors/HILImu.h
index 8a68c9c7ae39a79444f42bfdb5a277876a463dc0..9d72b1e0bc3c64644c62a4285d1b058890f4e07d 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILImu.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILImu.h
@@ -64,7 +64,8 @@ protected:
matlabData = sensorData->magnetometer.measures[sampleCounter];
tempData.mag_x = matlabData.getX();
tempData.mag_y = matlabData.getY();
- tempData.mag_z = matlabData.getZ() / 1000.0f; // from nanotesla to microtesla
+ tempData.mag_z =
+ matlabData.getZ() / 1000.0f; // from nanotesla to microtesla
// only update the timestamp once and use it for all the 3 sensors
// (this sensor assumes the same frequency for accel, gyro and mag)
@@ -74,4 +75,4 @@ protected:
return tempData;
}
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILMagnetometer.h b/src/hardware_in_the_loop/HIL_sensors/HILMagnetometer.h
index 91d4beff5836f61c7a352c5639970ac7f8f9d945..973b67ebd0efafa10e0d94bf8dfce975a16efb65 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILMagnetometer.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILMagnetometer.h
@@ -49,11 +49,12 @@ protected:
* struct */
Vec3 matlabData = sensorData->magnetometer.measures[sampleCounter];
- tempData.mag_x = matlabData.getX();
- tempData.mag_y = matlabData.getY();
- tempData.mag_z = matlabData.getZ() / 1000.0f; // from nanotesla to microtesla
+ tempData.mag_x = matlabData.getX();
+ tempData.mag_y = matlabData.getY();
+ tempData.mag_z =
+ matlabData.getZ() / 1000.0f; // from nanotesla to microtesla
tempData.mag_timestamp = updateTimestamp();
return tempData;
}
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILSensor.h b/src/hardware_in_the_loop/HIL_sensors/HILSensor.h
index 253e8e1359b9dfbae4a5a894dae7a35363897f89..299b9a126a3117a61e9f9873def14cb2d93c542a 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILSensor.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILSensor.h
@@ -140,7 +140,7 @@ protected:
uint64_t updateTimestamp()
{
sampleCounter++;
- return TimestampTimer::getInstance().getTimestamp();
+ return Boardcore::TimestampTimer::getInstance().getTimestamp();
}
/**
@@ -156,4 +156,4 @@ protected:
int sampleCounter = 0; /**< counter of the next sample to take */
int n_data_sensor; /**< number of samples in every period */
SimulatorData *sensorData; /**< reference to the SensorData structure */
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h b/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
index 9acedad4f9115691231fe6356f0e8286031c7953..9e0655c79c35c40927b41ee004d2c84aa0ece0a9 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
@@ -1,3 +1,24 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Luca Conterio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
#include <sensors/SensorData.h>
@@ -67,9 +88,10 @@ struct HILImuData : public HILAccelData,
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 << 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";
}
};
diff --git a/src/hardware_in_the_loop/simulator_communication/HILTransceiver.h b/src/hardware_in_the_loop/simulator_communication/HILTransceiver.h
index 22fd5855f5194fc2df84b19bb9d05ef95490df37..f695137748826cf117143f984fd38fadd9f6cfa4 100644
--- a/src/hardware_in_the_loop/simulator_communication/HILTransceiver.h
+++ b/src/hardware_in_the_loop/simulator_communication/HILTransceiver.h
@@ -22,6 +22,8 @@
#pragma once
+#include <utils/Debug.h>
+
#include "ActiveObject.h"
#include "Algorithm.h"
#include "SerialInterface.h"
@@ -30,8 +32,6 @@
#include "hardware_in_the_loop/HIL_sensors/HILTimestampManagement.h"
#include "math/Vec3.h"
-using namespace miosix;
-
/**
* @brief HILTranceiver is a Singleton and provides an easy interface for the
* control algorithms to send and receive data during a simulation
@@ -175,4 +175,4 @@ private:
std::vector<HILTimestampManagement *> sensorsTimestamp;
FastMutex mutex;
ConditionVariable condVar;
-};
\ No newline at end of file
+};
diff --git a/src/hardware_in_the_loop/simulator_communication/SerialInterface.h b/src/hardware_in_the_loop/simulator_communication/SerialInterface.h
index e8ba4476ba27b5a272093bc5fcbe33f9b0ba0ab1..81dce8975ec94cfd7fd3a1342ce2eea686958fe5 100644
--- a/src/hardware_in_the_loop/simulator_communication/SerialInterface.h
+++ b/src/hardware_in_the_loop/simulator_communication/SerialInterface.h
@@ -24,6 +24,7 @@
#include <fcntl.h>
#include <stdio.h>
+#include <utils/Debug.h>
#include <string>
@@ -31,9 +32,6 @@
#include "filesystem/file_access.h"
#include "miosix.h"
-using namespace std;
-using namespace miosix;
-
/**
* @brief Creates and opens a serial port on the board and provides templated
* "sendData" and "recvData" functions in order to send and receive any data
@@ -142,4 +140,4 @@ private:
int baudrate; /**< Baudrate of the serial port */
bool is_init; /**< True if init() already called successfully, false
otherwise */
-};
\ No newline at end of file
+};
diff --git a/src/mocksensors/MockGPS.h b/src/mocksensors/MockGPS.h
index 17b04b9a842f097067542b40bac0a8ed23b8cd06..aa28aaa33049751908d9d60041789a4368881098 100644
--- a/src/mocksensors/MockGPS.h
+++ b/src/mocksensors/MockGPS.h
@@ -30,7 +30,7 @@
namespace DeathStackBoard
{
-class MockGPS : public Sensor<MockGPSData>
+class MockGPS : public Boardcore::Sensor<MockGPSData>
{
public:
MockGPS() {}
@@ -54,8 +54,9 @@ public:
MockGPSData data;
- data.gpsTimestamp = TimestampTimer::getInstance().getTimestamp();
- data.fix = true;
+ data.gpsTimestamp =
+ Boardcore::TimestampTimer::getInstance().getTimestamp();
+ data.fix = true;
if (before_liftoff)
{
diff --git a/src/mocksensors/MockIMU.h b/src/mocksensors/MockIMU.h
index acd1bf1e349e4277c85feb5fe872174b4cf599a1..4f79bebf033700ba81d22f0691a4566f053005d5 100644
--- a/src/mocksensors/MockIMU.h
+++ b/src/mocksensors/MockIMU.h
@@ -30,7 +30,7 @@
namespace DeathStackBoard
{
-class MockIMU : public Sensor<MockIMUData>
+class MockIMU : public Boardcore::Sensor<MockIMUData>
{
public:
MockIMU() {}
@@ -47,7 +47,7 @@ public:
}
MockIMUData data;
- uint64_t t = TimestampTimer::getInstance().getTimestamp();
+ uint64_t t = Boardcore::TimestampTimer::getInstance().getTimestamp();
data.accelerationTimestamp = t;
data.accelerationX = ACCEL_DATA[index][0];
diff --git a/src/mocksensors/MockPressureSensor.h b/src/mocksensors/MockPressureSensor.h
index 1a6b7ccc72a6d9624b43384c1a7ab800d49f3093..2d62684b1af3306a40248e18c8d72bcb36261520 100644
--- a/src/mocksensors/MockPressureSensor.h
+++ b/src/mocksensors/MockPressureSensor.h
@@ -32,7 +32,7 @@
namespace DeathStackBoard
{
-class MockPressureSensor : public Sensor<MockPressureData>
+class MockPressureSensor : public Boardcore::Sensor<MockPressureData>
{
public:
MockPressureSensor(bool with_noise_ = false) : with_noise(with_noise_) {}
@@ -45,7 +45,8 @@ public:
{
MockPressureData data;
- data.pressureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.pressureTimestamp =
+ Boardcore::TimestampTimer::getInstance().getTimestamp();
if (before_liftoff)
{
diff --git a/src/mocksensors/MockSensorsData.h b/src/mocksensors/MockSensorsData.h
index d9edc2220e9d7c44f1c83457eb4975e1d79419e4..de12014dca80e3095f7323e7683518d4b31247e7 100644
--- a/src/mocksensors/MockSensorsData.h
+++ b/src/mocksensors/MockSensorsData.h
@@ -24,9 +24,9 @@
#include <sensors/SensorData.h>
-struct MockIMUData : public AccelerometerData,
- public GyroscopeData,
- public MagnetometerData
+struct MockIMUData : public Boardcore::AccelerometerData,
+ public Boardcore::GyroscopeData,
+ public Boardcore::MagnetometerData
{
static std::string header()
{
@@ -46,7 +46,7 @@ struct MockIMUData : public AccelerometerData,
}
};
-struct MockPressureData : public PressureData
+struct MockPressureData : public Boardcore::PressureData
{
static std::string header()
{
@@ -59,7 +59,7 @@ struct MockPressureData : public PressureData
}
};
-struct MockGPSData : public GPSData
+struct MockGPSData : public Boardcore::GPSData
{
static std::string header()
{
@@ -87,4 +87,4 @@ struct MockSpeedData
{
os << timestamp << "," << speed << "\n";
}
-};
\ No newline at end of file
+};
diff --git a/src/mocksensors/MockSpeedSensor.h b/src/mocksensors/MockSpeedSensor.h
index c7c01cae07cbedd8329e79397417fec3088dab99..9e2a1458c25e58be403d274eba6292b8af1c49d5 100644
--- a/src/mocksensors/MockSpeedSensor.h
+++ b/src/mocksensors/MockSpeedSensor.h
@@ -31,7 +31,7 @@
namespace DeathStackBoard
{
-class MockSpeedSensor : public Sensor<MockSpeedData>
+class MockSpeedSensor : public Boardcore::Sensor<MockSpeedData>
{
public:
MockSpeedSensor() {}
@@ -44,7 +44,8 @@ public:
{
MockSpeedData data;
- data.timestamp = TimestampTimer::getInstance().getTimestamp();
+ data.timestamp =
+ Boardcore::TimestampTimer::getInstance().getTimestamp();
if (before_liftoff)
{
diff --git a/src/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp b/src/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
index 7af10f441adff2c7389974cbad157da6f4aee321..bd3dbd2cfcc4fcc21b79120a7d82473898f765cc 100644
--- a/src/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
+++ b/src/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
@@ -23,902 +23,901 @@
#include "lynx_airspeed_data.h"
const float AIRSPEED_DATA[AIRSPEED_DATA_SIZE] = {
- 12.4113951, 10.6396132, 17.169529, 22.8292465, 10.5444088,
- 8.39081669, 10.641614, 11.4718409, 20.4783287, 15.3504314, 15.3513031,
- 9.63413239, 25.3731174, 18.9253101, 16.0033855, 24.1376781, 28.4115391,
- 27.6845875, 29.4730015, 33.6768837, 34.5762138, 35.450737, 36.8664055,
- 36.8693237, 38.7607841, 41.314991, 41.3147278, 42.0521317, 45.778492,
- 46.6648064, 47.7517242, 49.6425095, 52.0558586, 52.4533348, 53.8047791,
- 55.6794052, 58.0183525, 60.6116638, 60.7854004, 63.1039772, 65.9648132,
- 66.4317398, 68.2648849, 70.625473, 71.7813721, 73.9020615, 75.5481796,
- 77.4300003, 78.3614883, 80.6872864, 82.9510956, 82.7034836, 86.2424927,
- 86.9628677, 88.2577972, 90.9050903, 92.1436462, 94.1384506, 95.7668915,
- 97.7961044, 99.5847855, 102.038879, 103.549995, 105.355217, 107.584,
- 109.401268, 112.003922, 112.947815, 114.310066, 116.204742, 117.900772,
- 119.379234, 121.453636, 123.484711, 124.659866, 126.166412, 127.724335,
- 129.257675, 130.638611, 132.462296, 133.884125, 135.494843, 137.123718,
- 138.941895, 140.886703, 143.3172, 143.985199, 146.436874, 147.651245,
- 149.980957, 151.795288, 152.972382, 155.550827, 157.63028, 158.979904,
- 159.744888, 162.516342, 163.158035, 164.464325, 165.421356, 167.523666,
- 169.456955, 170.805832, 172.415237, 173.797318, 175.7146, 177.344955,
- 179.430923, 181.203964, 182.604797, 184.202942, 183.232407, 183.828201,
- 185.775909, 187.161652, 188.274979, 190.970871, 193.048584, 193.552383,
- 193.903107, 195.170502, 196.671463, 197.220306, 197.083771, 197.749985,
- 198.354935, 199.889923, 200.472031, 201.510834, 201.720306, 201.343964,
- 201.127594, 201.470779, 200.658096, 200.537796, 200.431641, 199.389252,
- 199.213486, 198.424728, 197.32753, 196.845001, 195.506439, 194.997894,
- 194.371918, 193.090515, 193.750916, 192.536942, 192.263809, 191.898621,
- 191.349625, 191.828659, 191.363953, 190.446213, 189.351685, 185.858109,
- 180.658096, 180.828461, 183.347458, 184.327713, 186.507248, 187.238586,
- 187.274399, 188.080185, 187.780655, 186.073151, 186.473251, 184.401474,
- 185.514282, 184.814407, 182.69313, 182.772842, 182.772842, 181.386536,
- 180.426163, 179.513199, 179.017822, 179.074036, 179.045639, 178.686157,
- 177.242355, 177.189133, 176.377136, 176.152817, 175.485916, 174.898453,
- 174.489395, 173.92334, 173.084961, 172.043137, 171.424362, 171.075867,
- 170.613815, 169.925919, 169.062241, 168.137009, 167.604156, 167.320312,
- 166.214432, 166.065033, 166.495438, 165.243683, 164.243286, 163.642975,
- 163.649567, 162.826721, 163.247635, 162.502182, 160.487228, 160.60936,
- 160.999207, 159.284119, 158.065231, 157.567429, 156.423874, 157.117569,
- 154.945602, 156.644455, 156.413177, 155.87352, 155.647827, 154.769485,
- 153.900177, 153.991287, 152.611343, 152.811279, 151.95636, 151.686584,
- 151.216324, 150.376831, 150.142502, 149.453705, 148.636536, 148.431534,
- 147.900177, 147.052231, 146.009003, 145.9505, 145.679123, 144.611954,
- 144.45787, 143.784164, 143.393646, 143.088669, 142.234741, 141.963608,
- 141.214371, 141.056747, 140.908966, 140.156128, 140.33905, 139.678894,
- 138.870056, 138.330856, 137.469437, 135.973679, 135.708847, 135.49617,
- 134.939362, 134.409241, 133.690781, 133.235306, 133.319, 132.43364,
- 132.332947, 131.808243, 132.145615, 131.843628, 131.656967, 131.189651,
- 130.84111, 130.822113, 129.194061, 129.159836, 128.43576, 127.813522,
- 127.921944, 126.603584, 125.869659, 126.404015, 125.184059, 124.586815,
- 124.220787, 124.580544, 124.249268, 124.175308, 123.479156, 123.30941,
- 122.77816, 122.195129, 121.41465, 121.199074, 120.922768, 120.377502,
- 120.308357, 119.179604, 119.280205, 119.204651, 118.655434, 117.689667,
- 117.722618, 117.010521, 116.232468, 116.834404, 116.555901, 115.722458,
- 115.18029, 115.082939, 114.965645, 115.294937, 114.62886, 113.85054,
- 113.45314, 113.286819, 112.595406, 112.576797, 111.637688, 111.34462,
- 110.939369, 110.725937, 111.067787, 111.307861, 110.192368, 109.503044,
- 109.619461, 109.293739, 108.835175, 108.321236, 107.688713, 108.302734,
- 107.286201, 107.089714, 106.759506, 106.905746, 106.503944, 105.741417,
- 106.211449, 104.930573, 104.959724, 104.948799, 104.656197, 104.231476,
- 104.327293, 104.25589, 103.044258, 103.076309, 103.095726, 103.103935,
- 103.013115, 102.692505, 102.904404, 102.244812, 102.244812, 100.50853,
- 101.400246, 99.6098175, 99.6516418, 99.0769882, 99.6706009, 98.7544479,
- 98.1889343, 98.0998154, 97.5229416, 97.294548, 97.5436935, 96.7283325,
- 96.6032104, 96.0145493, 95.925087, 95.3586502, 96.0646896, 95.3726273,
- 94.9047775, 95.2724152, 94.6777878, 93.9669113, 93.8663254, 93.5023575,
- 92.8998337, 92.1656876, 92.1644287, 92.0681839, 91.6967316, 90.8415756,
- 90.6017685, 90.6057816, 90.6103745, 89.8713226, 90.7580795, 89.7719803,
- 90.0259781, 89.1295776, 89.1429672, 89.0196991, 88.9238129, 88.4012299,
- 88.1494522, 87.8901901, 87.9061508, 87.256691, 86.4787445, 86.7329102,
- 86.0919266, 86.1069946, 85.7037277, 84.5901794, 85.6158752, 84.9309998,
- 82.9900208, 82.935997, 82.1810913, 81.3405228, 81.0612259, 82.0060654,
- 82.1019135, 81.2657013, 80.8491669, 80.4293671, 80.7200241, 80.585083,
- 80.5918961, 79.8911362, 79.6070709, 79.7559662, 78.9017639, 78.7602005,
- 78.9147797, 78.6235962, 78.0473709, 77.4674454, 77.0251999, 77.3284149,
- 76.8851242, 76.1434631, 75.9982681, 76.1545715, 76.0106964, 75.5613708,
- 74.8006821, 74.9684753, 74.8190384, 74.9822693, 75.1356201, 74.8413315,
- 75.1525192, 73.9239197, 74.0867538, 73.1514816, 73.3152008, 72.3738251,
- 72.0599976, 70.9409103, 70.9441223, 70.2937088, 70.140213, 69.9797897,
- 70.3167725, 69.9882202, 68.8350296, 69.0057449, 68.8466949, 69.1870804,
- 68.5203094, 68.0226212, 68.1939926, 68.3654556, 68.2077789, 67.8697815,
- 68.0446091, 67.0231018, 66.8602066, 66.6925735, 65.9965057, 65.8304214,
- 65.8362885, 65.8388062, 65.8448029, 65.6725159, 64.6115875, 64.6147308,
- 64.4388885, 64.0865479, 63.7265358, 63.5475883, 63.1892509, 63.0096741,
- 63.7465324, 62.4627075, 62.8401031, 62.6645813, 62.2936783, 62.1134071,
- 62.3037453, 61.9358864, 61.1863976, 61.5671234, 61.3853912, 60.0524178,
- 60.0564346, 60.0612564, 59.2879105, 59.2919846, 58.899395, 58.7092056,
- 58.9122047, 58.321167, 57.9245033, 57.5246315, 57.729763, 57.5287971,
- 57.5352554, 57.5404243, 57.7434425, 56.5259209, 56.3256836, 56.3274956,
- 55.5005493, 54.8687096, 54.8751602, 55.092392, 55.0932121, 55.0972252,
- 55.1003227, 54.8914223, 54.89645, 54.6863785, 55.1166954, 53.6196175,
- 53.4029846, 51.8619728, 53.6315536, 52.7581978, 52.5371323, 52.3209801,
- 52.323204, 52.3257484, 51.8822556, 50.7485352, 50.0599213, 50.5264931,
- 49.3616409, 49.3656807, 49.3667259, 49.3687859, 49.3724022, 49.3762398,
- 49.3780861, 48.6644897, 47.9443398, 47.9471207, 47.9490433, 47.7080727,
- 47.9534836, 47.9575996, 47.958744, 47.7178268, 46.2292938, 46.2304153,
- 46.4842529, 46.234417, 44.9570503, 46.4934654, 45.47789, 44.9655609,
- 45.2264938, 44.7079926, 44.7103996, 44.7117538, 44.4523392, 43.1193924,
- 43.1209602, 43.1238022, 42.854023, 42.8559265, 42.8587952, 42.85952,
- 42.8622475, 41.475563, 41.7597542, 41.4811821, 40.9140892, 41.2012596,
- 41.202652, 41.2042427, 41.2053795, 41.4914932, 40.349575, 40.6394196,
- 39.4713898, 39.4743118, 39.1792641, 39.4780922, 39.4780922, 39.4808846,
- 39.1840248, 39.185955, 39.4847832, 39.4861526, 38.8903236, 39.4900551,
- 38.8932724, 39.4927559, 37.6717682, 37.0458107, 37.6758652, 37.3641129,
- 37.6788673, 37.0512886, 37.3682556, 37.369503, 37.3701096, 37.3719177,
- 37.3730927, 37.6870918, 37.6876945, 37.3767242, 35.4465446, 35.4460869,
- 35.4472466, 35.449543, 35.4499092, 35.4511642, 35.4511642, 35.4538002,
- 35.4547119, 35.1230011, 33.410881, 33.0581741, 34.4510002, 33.0604782,
- 31.9786453, 31.2377892, 30.8595219, 30.8598766, 31.2406349, 31.2420692,
- 31.2429924, 31.2429924, 30.8647938, 30.8668213, 30.8664036, 31.6195831,
- 31.2468319, 30.869627, 31.2483406, 31.2496529, 30.4884949, 30.8720722,
- 31.2515697, 31.6262512, 31.2538109, 31.6281986, 31.6281986, 29.3145161,
- 28.5018139, 24.5097885, 24.9864769, 24.9864426, 24.987608, 24.5116386,
- 24.9877625, 24.9884148, 25.4550762, 24.9890804, 24.9899445, 25.4569378,
- 24.5155354, 24.031086, 24.5171452, 24.9924126, 24.9930611, 21.4468918,
- 22.5186787, 21.9900837, 20.8932552, 21.99086, 21.991396, 21.9915123,
- 21.9920998, 21.9926891, 21.9928856, 21.9945145, 21.9945145, 20.8961391,
- 21.9940243, 21.4522953, 21.994606, 21.4526997, 21.9957924, 21.9958515,
- 21.996254, 21.9964314, 21.9965725, 21.9964924, 21.9976387, 20.3273621,
- 21.4550629, 19.7407608, 21.4558983, 21.9986305, 21.9989548, 21.9993973,
- 21.9991398, 19.7421799, 21.4567852, 20.3296833, 20.3300762, 22.0001965,
- 18.5116444, 22.0004635, 17.8649158, 18.5126705, 17.8653278, 21.4595833,
- 18.512888, 20.9040699, 19.1385517, 17.8656101, 18.5133038, 21.4594917,
- 22.5309448, 22.5318375, 22.5320187, 22.0026321, 22.0030384, 22.0026226,
- 22.5323658, 22.003109, 21.4602718, 22.0032024, 17.1941872, 18.513855,
- 17.86726, 17.8674145, 17.8668137, 18.5143547, 17.8674564, 17.8672352,
- 18.5146198, 18.5145397, 17.8666153, 18.5147762, 18.5147762, 19.1403484,
- 18.5144711, 18.5147095, 18.5133171, 18.5145321, 18.514267, 18.5146809,
- 18.514204, 19.140276, 17.8670464, 19.1403503, 20.9043922, 19.745657,
- 19.1379051, 12.4201765, 13.3371429, 9.14465141, 14.1921349, 3.60264635,
- 6.04226494, 13.3364954, 17.1931267, 19.139143, 6.04244566, 18.5128231,
- 17.8655987, 18.5122795, 17.8650379, 17.8648739, 18.5121994, 18.5116119,
- 17.8652287, 19.7448235, 6.04315424, 13.3384638, 16.4980888, 9.14543152,
- 17.1910973, 22.0007267, 25.4744186, 22.0027752, 23.0486393, 25.0114841,
- 22.5339508, 18.5152931, 27.6943932, 30.5291271, 22.5358543, 20.9087124,
- 7.59722328, 22.0097103, 12.4254007, 20.3355427, 35.5281181, 12.3314304,
- 10.3577375, 5.84748268, 15.6973457, 11.3356037, 12.4266768, 3.2577486,
- 7.5973978, 3.25779343, 3.25704408, 7.74968767, 14.1891499, 13.2464952,
- 9.01299667, 6.03971958, 6.0393858, 13.3299341, 18.5029831, 17.8552227,
- 21.9898586, 21.9898586, 18.502203, 17.8566074, 18.5038853, 18.5051804,
- 7.74701643, 6.04055595, 7.74729586, 6.04036283, 3.25602245, 7.59292507,
- 14.1051168, 6.04049158, 9.14046478, 12.3218737, 9.1409235, 14.1859617,
- 6.03975201, 5.84166813, 9.01044941, 6.03848886, 10.2303801, 7.74395752,
- 3.59899211, 3.25361276, 3.59889698, 3.59870267, 6.03561115, 10.3407993,
- 7.74237823, 13.3237381, 13.3240919, 17.8494205, 18.4972916, 18.4962921,
- 19.1214581, 17.8483868, 18.49576, 17.8477268, 18.4927731, 18.492672,
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+ 3.04494452, 3.04497337, 7.24522591, 8.54879475, 7.2453618, 8.42841053,
+ 9.57095623, 7.10093355, 5.46401739, 8.42823792, 8.54849911, 8.54875183,
+ 5.64911509, 7.24519968, 3.36812043, 7.24549627, 3.04498339, 7.10086727,
+ 8.42856026, 8.42859173, 3.04481268, 7.24532175, 3.36802101, 8.42823792,
+ 8.54860115, 3.36796093, 9.67775059, 9.67775059, 9.67768764, 8.54860115,
+ 9.67777348, 8.54845715, 8.54848385, 7.24536133, 8.54850864, 8.54850769,
+ 9.67781639, 7.24537849, 7.24520159, 8.54855919, 8.54855537, 7.24519587,
+ 8.54842854, 9.677948, 9.67787457, 8.5485487, 8.54859638, 8.54852486,
+ 8.54869843, 8.54856968, 7.24519157, 10.6890306, 8.54838657, 7.24541616,
+ 8.54855347, 9.67801189, 8.54869461, 8.54869461, 7.24515867, 8.5485239,
+ 8.54871655, 8.54845047, 8.54845428, 7.24527645, 8.54839706, 7.24514294,
+ 7.24548101, 8.54843044, 8.54857635, 8.54848385, 8.54835129, 8.5487299,
+ 8.5487299, 8.54850483, 8.54849625, 8.54861069, 7.24535179, 8.5484066,
+ 8.54865646, 7.24535894, 7.24524355, 10.6893644, 8.54849148, 8.54852676,
+ 7.24538612, 7.24532795, 9.67798424, 8.54865551, 10.6891737, 7.2452693,
+ 8.54872513, 8.54863167, 9.67783546, 8.548522, 8.5486517, 8.54854679,
+ 8.54851913, 8.54853058, 7.24531841, 8.54833317, 9.67802525, 9.67797279,
+ 8.54864502, 8.54887867, 8.54854679, 7.24550486, 8.54846764, 9.67776108,
+ 5.64895296, 10.6895771, 9.67808437, 7.24518299, 9.67793846, 8.5486908,
+ 9.67781734, 8.54827976, 9.67785645, 8.54854298, 7.2452569, 8.54874706,
+ 9.67804909, 3.04495716, 7.24530792, 3.04493141, 8.54869556, 7.24528456,
+ 3.36803365, 9.67791367, 8.54862022, 8.54866791, 7.24512434, 9.67784405,
+ 8.54853153, 7.10101318, 7.24540567, 8.54863548, 9.67797852, 8.54854393,
+ 8.42855549, 8.54858875, 9.6777401, 9.67780876, 8.54880238, 7.24542999,
+ 9.67799664, 9.67793846, 9.67816734, 9.67816734, 5.64909172, 9.67804813,
+ 9.67784214, 8.54853344, 8.54864025, 5.6489892, 8.54871655, 7.24519587,
+ 8.54860115, 8.54881001, 7.24530077, 7.24541664, 9.67792988, 5.46404219,
+ 8.54865074, 8.54857445, 8.54853439, 8.54873848, 8.54854107, 8.54854488,
+ 8.54865932, 7.24547338, 7.24516535, 8.54849148, 8.54853058, 9.67776966,
+ 8.5487051, 9.67784119, 8.54872322, 7.24544525, 9.67783737, 8.54861641,
+ 8.5487442, 8.54861069, 9.6781168, 7.24540949, 7.24533892, 3.04493976,
+ 8.54883671, 9.67795563, 9.67778397, 8.54867268, 9.6780014, 8.54862785,
+ 9.67795277, 8.54854679, 8.54880428, 8.54883575, 7.24538469, 9.67802906,
+ 8.54888344, 9.67798042, 8.54868507, 5.46399879, 10.6895142, 8.54852676,
+ 8.54869843, 8.54868317, 8.54869843, 3.04499841, 3.36809969, 7.24543095,
+ 9.67807961, 9.67805576, 9.67798233, 8.54868221, 8.54860497, 8.54870701,
+ 8.54848385, 8.5486412, 9.67798615, 8.54881287, 9.67815304, 7.24539518,
+ 5.64905691, 9.67804432, 3.3681438, 9.67823029, 8.54854393, 8.54850578,
+ 7.24552011, 9.67810535, 8.54876232, 9.67815113, 8.54876328, 9.67800903,
+ 8.54845333, 8.54876232, 9.67807293, 9.67807293, 7.24555397, 9.67800236,
+ 8.54891872, 8.54874134, 9.67811108, 8.5487175, 9.6781702, 8.54857922,
+ 9.67806149, 9.67820644, 9.67806911, 5.46411324, 8.54864311, 3.36811256,
+ 8.548769, 8.54872608, 7.24541473, 9.67819977, 8.54888153, 7.24551058,
+ 7.2453866, 8.54862022, 3.04508567, 3.36803555, 5.64911175, 5.64906168,
+ 7.24531889, 8.54879284, 7.24552441, 8.54881668, 9.67796135, 9.67796993,
+ 9.67819977, 8.54873562, 5.46410894, 8.42869854, 7.10112619, 5.46413422,
+ 5.46404457, 7.10100889, 7.10103083, 7.10087013, 8.42854595, 5.46431112,
+ 7.1013093, 8.42872524, 8.42856789, 8.42877579, 8.4286108, 7.10108471,
+ 7.10111713, 8.42870522, 7.10117722, 7.10108423, 7.10116291, 5.46417046,
+ 5.46410227, 8.42852306, 7.10091877, 7.10091877, 8.42876053, 7.1011095,
+ 8.42865086, 8.42845726, 7.10110044, 8.42866516, 5.46416044, 7.10095024,
+ 5.46399307, 5.46412134, 7.10102654, 8.42853832, 7.10112858, 8.42865181,
+ 8.42865181, 7.10094023, 7.10088062, 8.42878056, 7.10099649, 7.1011157,
+ 7.10101175, 5.46409607, 7.10099077, 7.10110712, 7.1011138, 7.10096455,
+ 8.4284668, 7.10101175, 5.46410799, 7.10104561, 8.42859745, 5.46416044,
+ 7.10087252, 5.46405506, 8.42874813, 7.10093355, 5.4641819, 5.4641881,
+ 5.46416664, 7.10129452, 7.10114193, 7.1008954, 8.42853546, 5.4641099,
+ 5.4641099, 7.10110474, 7.1011548, 8.42870617, 5.46414089, 7.10110712,
+ 8.42862034, 5.4642539, 7.10094786, 7.10091734, 7.10112095, 7.10101986,
+ 8.54879189, 8.54861546, 9.67801952, 8.54868698, 8.54884529, 8.54895592,
+ 8.54869461, 9.67792988, 9.67812061, 9.67813778, 8.54891109, 11.6121511,
+ 8.54892159, 7.24555683, 7.24559784, 8.54881954, 9.67842865, 8.54896736,
+ 7.24565172, 8.54852104, 8.54890347, 8.54875278, 9.67812347, 10.6893873,
+ 9.67832088, 8.5486536};
diff --git a/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h b/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h
index 7fa3e38da456bd3a3b9167056da268fee89e33de..972c16abe40f6b2af2334525d9538216a9e2104a 100644
--- a/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h
+++ b/src/mocksensors/lynx_flight_data/lynx_airspeed_data.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -27,4 +27,4 @@
* Sampled at 42 Hz (24 ms period).
*/
static constexpr unsigned AIRSPEED_DATA_SIZE = 5384;
-extern const float AIRSPEED_DATA[AIRSPEED_DATA_SIZE];
\ No newline at end of file
+extern const float AIRSPEED_DATA[AIRSPEED_DATA_SIZE];
diff --git a/src/mocksensors/lynx_flight_data/lynx_gps_data.cpp b/src/mocksensors/lynx_flight_data/lynx_gps_data.cpp
index 693cea75a4ca5d22ba19d7eb3f6d16c3b7054d3e..14ddef5b5b8a229792ce1376289a0bc3ccad3e5f 100644
--- a/src/mocksensors/lynx_flight_data/lynx_gps_data.cpp
+++ b/src/mocksensors/lynx_flight_data/lynx_gps_data.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
diff --git a/src/mocksensors/lynx_flight_data/lynx_gps_data.h b/src/mocksensors/lynx_flight_data/lynx_gps_data.h
index 3318c3a51b8034882531d288426ac496ec59dfe0..bac8b29fad289ac3f9146d3c5caecd2eb0f6a5ce 100644
--- a/src/mocksensors/lynx_flight_data/lynx_gps_data.h
+++ b/src/mocksensors/lynx_flight_data/lynx_gps_data.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -34,4 +34,4 @@ extern const float GPS_DATA_LON[GPS_DATA_SIZE];
extern const float GPS_DATA_VNORD[GPS_DATA_SIZE];
extern const float GPS_DATA_VEAST[GPS_DATA_SIZE];
extern const float GPS_DATA_VDOWN[GPS_DATA_SIZE];
-extern const uint8_t GPS_DATA_NSATS[GPS_DATA_SIZE];
\ No newline at end of file
+extern const uint8_t GPS_DATA_NSATS[GPS_DATA_SIZE];
diff --git a/src/mocksensors/lynx_flight_data/lynx_imu_data.cpp b/src/mocksensors/lynx_flight_data/lynx_imu_data.cpp
index 1bcd87d3c24462fe002dfe10ef21c5163b5f1f5d..93c39119b864e0f2f2fd58921b7976966e8dc00b 100644
--- a/src/mocksensors/lynx_flight_data/lynx_imu_data.cpp
+++ b/src/mocksensors/lynx_flight_data/lynx_imu_data.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -19418,4 +19418,4 @@ const float MAG_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM] = {
{-14.3207197, 20.2702618, 3.25543451},
{-14.1142645, 20.1281185, 3.46541166},
{-14.2086792, 20.2700577, 3.18543696},
-};
\ No newline at end of file
+};
diff --git a/src/mocksensors/lynx_flight_data/lynx_imu_data.h b/src/mocksensors/lynx_flight_data/lynx_imu_data.h
index 079f707f1e61e0b0856a527569573886beae0442..4addd294530b50ac702d3596d7fa0fe1926163c9 100644
--- a/src/mocksensors/lynx_flight_data/lynx_imu_data.h
+++ b/src/mocksensors/lynx_flight_data/lynx_imu_data.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -32,4 +32,4 @@ static constexpr unsigned IMU_DATA_SIZE = 6463;
static const unsigned MOTION_SENSOR_AXIS_NUM = 3;
extern const float ACCEL_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM];
extern const float GYRO_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM];
-extern const float MAG_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM];
\ No newline at end of file
+extern const float MAG_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM];
diff --git a/src/mocksensors/lynx_flight_data/lynx_press_data.cpp b/src/mocksensors/lynx_flight_data/lynx_press_data.cpp
index b54217a839bc4f056fbbc3f0c8cdebe115351f86..2f5e476789c86c8b5b5fc7270f146441e9341280 100644
--- a/src/mocksensors/lynx_flight_data/lynx_press_data.cpp
+++ b/src/mocksensors/lynx_flight_data/lynx_press_data.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -1459,4 +1459,4 @@ const float PRESSURE_DATA[PRESSURE_DATA_SIZE] = {
84713.2891, 84717.0547, 84715.2734, 84715.2734, 84722.1719, 84726.1016,
84721.5234, 84716.8203, 84720.4688, 84720.4688, 84719.8516, 84723.0156,
84719.4922, 84715.6016, 84722.8984, 84722.8984, 84719.1562,
-};
\ No newline at end of file
+};
diff --git a/src/mocksensors/lynx_flight_data/lynx_press_data.h b/src/mocksensors/lynx_flight_data/lynx_press_data.h
index 282a025892bcb2dd7c476ef8c2c33643095039f3..194b194425f653154f304654c441f249173bc00e 100644
--- a/src/mocksensors/lynx_flight_data/lynx_press_data.h
+++ b/src/mocksensors/lynx_flight_data/lynx_press_data.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -27,4 +27,4 @@
* Sampled at 66 Hz (15 ms period).
*/
static constexpr unsigned PRESSURE_DATA_SIZE = 8615;
-extern const float PRESSURE_DATA[PRESSURE_DATA_SIZE];
\ No newline at end of file
+extern const float PRESSURE_DATA[PRESSURE_DATA_SIZE];
diff --git a/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp b/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp
index 7b7641fab55968a482e365ef919c5f2187675901..59dce9ee883d331dece743750d0ddd2afba5d339 100644
--- a/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp
+++ b/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -921,4 +921,4 @@ const float PRESSURE_STATIC_DATA[PRESSURE_STATIC_DATA_SIZE] = {
87765.6719, 87765.6719, 87765.6719, 87775.625, 87770.6484, 87770.6484,
87760.6953, 87770.6484, 87775.625, 87765.6719, 87755.7109, 87760.6953,
87760.6953, 87765.6719,
-};
\ No newline at end of file
+};
diff --git a/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.h b/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.h
index f28074904272c8e901b04d481cc446ebc9b5f7d3..fd2e92fdf20caf11d3153f39207409192b2c8d69 100644
--- a/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.h
+++ b/src/mocksensors/lynx_flight_data/lynx_pressure_static_data.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -27,4 +27,4 @@
* Sampled at 42 Hz (24 ms period).
*/
static constexpr unsigned PRESSURE_STATIC_DATA_SIZE = 5384;
-extern const float PRESSURE_STATIC_DATA[PRESSURE_STATIC_DATA_SIZE];
\ No newline at end of file
+extern const float PRESSURE_STATIC_DATA[PRESSURE_STATIC_DATA_SIZE];
diff --git a/src/tests/airbrakes/test-airbrakes-algorithm.cpp b/src/tests/airbrakes/test-airbrakes-algorithm.cpp
index b72741ae3b4c0ba502928ff3e816e752f4945aed..5ab4f3997cdc1b213cbb3cfb50f0844155a5481c 100644
--- a/src/tests/airbrakes/test-airbrakes-algorithm.cpp
+++ b/src/tests/airbrakes/test-airbrakes-algorithm.cpp
@@ -104,10 +104,6 @@ int main()
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
}
- input_t input;
-
- input = DATA[0].input;
-
HardwareTimer<uint32_t> hrclock(
TIM5,
TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB1));
@@ -162,4 +158,4 @@ int main()
while (1)
{
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/airbrakes/test-airbrakes-interactive.cpp b/src/tests/airbrakes/test-airbrakes-interactive.cpp
index 36fcdf1ae3189a538ecf66a5ae318c43a1fbe3ca..6b6d8f6ebebf8dd90fe01847a0f5dc8a1c094374 100644
--- a/src/tests/airbrakes/test-airbrakes-interactive.cpp
+++ b/src/tests/airbrakes/test-airbrakes-interactive.cpp
@@ -33,6 +33,8 @@
#include "test_data.h"
#include "utils/testutils/TestHelper.h"
+using namespace miosix;
+using namespace Boardcore;
using namespace DeathStackBoard;
using namespace std;
@@ -92,8 +94,8 @@ int main()
{
sEventBroker.start();
- miosix::GpioPin pwmPin = miosix::GpioPin(GPIOC_BASE, 7);
- pwmPin.mode(miosix::Mode::ALTERNATE);
+ GpioPin pwmPin = GpioPin(GPIOC_BASE, 7);
+ pwmPin.mode(Mode::ALTERNATE);
pwmPin.alternateFunction(3);
string temp;
@@ -228,7 +230,6 @@ void testAirBrakes()
void wiggleServo()
{
- string temp;
cout << "\n\n** WIGGLE SERVO **\n\n";
waitUserInput();
@@ -246,7 +247,6 @@ void wiggleServo()
void setServoFullyOpen()
{
- string temp;
cout << "\n\n** SERVO FULLY OPEN **\n\n";
waitUserInput();
@@ -262,7 +262,6 @@ void setServoFullyOpen()
void setServoFullyClosed()
{
- string temp;
cout << "\n\n** SERVO FULLY CLOSED **\n\n";
waitUserInput();
@@ -278,7 +277,6 @@ void setServoFullyClosed()
void resetServo()
{
- string temp;
cout << "\n\n** RESET SERVO **\n\n";
waitUserInput();
@@ -371,4 +369,4 @@ void waitUserInput()
cout << "Write 'start' to begin the test:\n";
getline(cin, temp);
} while (temp != "start");
-}
\ No newline at end of file
+}
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 74070c36811c2ad702a796110e2c28a7b42010d9..2b13a04b515a2df6175f369d821ada1d33fd1d60 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
@@ -57,7 +57,7 @@ constexpr unsigned int SHADOW_MODE_END_INDEX = 30;
constexpr unsigned int APOGEE_SAMPLE = 382;
// Mock sensors for testing purposes
-class MockPressureSensor : public Sensor<PressureData>
+class MockPressureSensor : public Boardcore::Sensor<Boardcore::PressureData>
{
public:
MockPressureSensor() {}
@@ -66,7 +66,7 @@ public:
bool selfTest() override { return true; }
- PressureData sampleImpl() override
+ Boardcore::PressureData sampleImpl() override
{
float press = 0.0;
@@ -86,8 +86,8 @@ public:
}
}
- return PressureData{TimestampTimer::getInstance().getTimestamp(),
- press};
+ return Boardcore::PressureData{
+ Boardcore::TimestampTimer::getInstance().getTimestamp(), press};
}
void signalLiftoff() { before_liftoff = false; }
@@ -106,18 +106,18 @@ private:
float quantization(float sample) { return round(sample / LSB) * LSB; }
};
-class MockGPSSensor : public Sensor<GPSData>
+class MockGPSSensor : public Boardcore::Sensor<Boardcore::GPSData>
{
public:
bool init() { return true; }
bool selfTest() { return true; }
- GPSData sampleImpl() { return GPSData{}; }
+ Boardcore::GPSData sampleImpl() { return Boardcore::GPSData{}; }
};
MockPressureSensor mock_baro;
MockGPSSensor mock_gps;
-using ADACtrl = ADAController<PressureData, GPSData>;
+using ADACtrl = ADAController<Boardcore::PressureData, Boardcore::GPSData>;
ADACtrl *ada_controller;
void checkState(unsigned int i, ADAKalmanState state)
@@ -149,7 +149,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
// Start event broker and ada_controller
sEventBroker.start();
- EventCounter counter{sEventBroker};
+ Boardcore::EventCounter counter{sEventBroker};
counter.subscribe(TOPIC_ADA);
// Startup: we should be in idle
@@ -277,4 +277,4 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
REQUIRE(ada_controller->testState(&ADACtrl::state_drogueDescent));
}
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/catch-tests-entry.cpp b/src/tests/catch/catch-tests-entry.cpp
index 3167810e3edfae335c680d45ca977c1a5c54cbec..1b970e126204eba4f2976fe22ece8fa787d161f3 100644
--- a/src/tests/catch/catch-tests-entry.cpp
+++ b/src/tests/catch/catch-tests-entry.cpp
@@ -78,13 +78,13 @@ using std::vector;
*/
vector<string> splitSpaces(string str)
{
- unsigned int p = 0, p2;
+ unsigned int p = 0;
bool end = false;
vector<string> out;
do
{
- p2 = str.find(" ", p);
+ unsigned int p2 = str.find(" ", p);
if (p2 == string::npos) // No match
{
@@ -152,4 +152,4 @@ int main()
{
Thread::sleep(10000);
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/fsm/test-ada.cpp b/src/tests/catch/fsm/test-ada.cpp
index 775ae083f463133e5f39262a55d7ccab600f991e..b2cbd74a57f9b1b12dbd240d8b6c4750277177c6 100644
--- a/src/tests/catch/fsm/test-ada.cpp
+++ b/src/tests/catch/fsm/test-ada.cpp
@@ -53,6 +53,8 @@ public:
ADAControllerFixture()
{
sEventBroker.start();
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
controller = new ADACtrl(mock_baro, mock_gps);
controller->start();
}
@@ -79,7 +81,8 @@ TEST_CASE_METHOD(ADAControllerFixture, "Testing transitions from idle")
SECTION("EV_CALIBRATE_ADA -> CALIBRATING")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_CALIBRATE_ADA},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_CALIBRATE_ADA},
&ADACtrl::state_calibrating));
}
}
@@ -90,13 +93,14 @@ TEST_CASE_METHOD(ADAControllerFixture, "Testing transitions from calibrating")
SECTION("EV_CALIBRATE_ADA -> CALIBRATING")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_CALIBRATE_ADA},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_CALIBRATE_ADA},
&ADACtrl::state_calibrating));
}
SECTION("EV_ADA_READY -> READY")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_ADA_READY},
+ REQUIRE(testFSMTransition(*controller, Boardcore::Event{EV_ADA_READY},
&ADACtrl::state_ready));
}
}
@@ -107,13 +111,14 @@ TEST_CASE_METHOD(ADAControllerFixture, "Testing transitions from ready")
SECTION("EV_CALIBRATE_ADA -> CALIBRATING")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_CALIBRATE_ADA},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_CALIBRATE_ADA},
&ADACtrl::state_calibrating));
}
SECTION("EV_LIFTOFF -> SHADOW_MODE")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_LIFTOFF},
+ REQUIRE(testFSMTransition(*controller, Boardcore::Event{EV_LIFTOFF},
&ADACtrl::state_shadowMode));
}
}
@@ -124,7 +129,8 @@ TEST_CASE_METHOD(ADAControllerFixture, "Testing transitions from shadow_mode")
SECTION("EV_SHADOW_MODE_TIMEOUT -> ACTIVE")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_SHADOW_MODE_TIMEOUT},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_SHADOW_MODE_TIMEOUT},
&ADACtrl::state_active));
}
}
@@ -135,7 +141,8 @@ TEST_CASE_METHOD(ADAControllerFixture, "Testing transitions from active")
SECTION("EV_ADA_APOGEE_DETECTED -> PRESSURE_STABILIZATION")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_ADA_APOGEE_DETECTED},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_ADA_APOGEE_DETECTED},
&ADACtrl::state_pressureStabilization));
}
}
@@ -147,9 +154,9 @@ TEST_CASE_METHOD(ADAControllerFixture,
SECTION("EV_TIMEOUT_PRESS_STABILIZATION -> DROGUE_DESCENT")
{
- REQUIRE(testFSMTransition(*controller,
- Event{EV_TIMEOUT_PRESS_STABILIZATION},
- &ADACtrl::state_drogueDescent));
+ REQUIRE(testFSMTransition(
+ *controller, Boardcore::Event{EV_TIMEOUT_PRESS_STABILIZATION},
+ &ADACtrl::state_drogueDescent));
}
}
@@ -160,7 +167,8 @@ TEST_CASE_METHOD(ADAControllerFixture,
SECTION("EV_ADA_DPL_ALT_DETECTED -> END")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_ADA_DPL_ALT_DETECTED},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_ADA_DPL_ALT_DETECTED},
&ADACtrl::state_end));
}
}
@@ -168,4 +176,4 @@ TEST_CASE_METHOD(ADAControllerFixture,
TEST_CASE_METHOD(ADAControllerFixture, "Testing transitions from end")
{
controller->transition(&ADACtrl::state_end);
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/fsm/test-airbrakes.cpp b/src/tests/catch/fsm/test-airbrakes.cpp
index 51d7ec5bbe503ea1a606524ef0ec85be693b16d6..e9096fffb751eb881d43d5d560b6bc2cfd586651 100644
--- a/src/tests/catch/fsm/test-airbrakes.cpp
+++ b/src/tests/catch/fsm/test-airbrakes.cpp
@@ -40,6 +40,7 @@
using miosix::Thread;
using namespace DeathStackBoard;
+using namespace Boardcore;
class InputClass
{
@@ -59,7 +60,9 @@ private:
protected:
T sampleImpl() override
{
+ // cppcheck-suppress unassignedVariable
T data;
+ // cppcheck-suppress uninitvar
return data;
}
@@ -74,6 +77,8 @@ public:
// This is called at the beginning of each test / section
AirBrakesControllerFixture()
{
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
controller = new AirBrakesController<InputClass>(sensor);
sEventBroker.start();
controller->start();
@@ -198,4 +203,4 @@ TEST_CASE_METHOD(AirBrakesControllerFixture,
testFSMTransition(*controller, {EV_TEST_TIMEOUT},
&AirBrakesController<InputClass>::state_idle));
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/fsm/test-deployment.cpp b/src/tests/catch/fsm/test-deployment.cpp
index 137f2f925492f977d344ff57603e7f0464abbd98..699e7d9f93e28b4fa3d13631262242a7a4413955 100644
--- a/src/tests/catch/fsm/test-deployment.cpp
+++ b/src/tests/catch/fsm/test-deployment.cpp
@@ -47,6 +47,8 @@ public:
// This is called at the beginning of each test / section
DeploymentControllerFixture()
{
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
controller = new DeploymentController(&ejection_servo);
sEventBroker.start();
controller->start();
@@ -72,26 +74,27 @@ TEST_CASE_METHOD(DeploymentControllerFixture, "Testing transitions from idle")
SECTION("DPL_IDLE -> EV_RESET_SERVO")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_RESET_SERVO},
+ REQUIRE(testFSMTransition(*controller, Boardcore::Event{EV_RESET_SERVO},
&DeploymentController::state_idle));
}
SECTION("DPL_IDLE -> EV_WIGGLE_SERVO")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_WIGGLE_SERVO},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_WIGGLE_SERVO},
&DeploymentController::state_idle));
}
SECTION("DPL_IDLE -> EV_NC_OPEN")
{
REQUIRE(
- testFSMTransition(*controller, Event{EV_NC_OPEN},
+ testFSMTransition(*controller, Boardcore::Event{EV_NC_OPEN},
&DeploymentController::state_noseconeEjection));
}
SECTION("DPL_IDLE -> EV_CUT_DROGUE")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_CUT_DROGUE},
+ REQUIRE(testFSMTransition(*controller, Boardcore::Event{EV_CUT_DROGUE},
&DeploymentController::state_cutting));
}
}
@@ -103,13 +106,14 @@ TEST_CASE_METHOD(DeploymentControllerFixture,
SECTION("DPL_NOSECONE_EJECTION -> EV_NC_DETACHED")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_NC_DETACHED},
+ REQUIRE(testFSMTransition(*controller, Boardcore::Event{EV_NC_DETACHED},
&DeploymentController::state_idle));
}
SECTION("DPL_NOSECONE_EJECTION -> EV_NC_OPEN_TIMEOUT")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_NC_OPEN_TIMEOUT},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_NC_OPEN_TIMEOUT},
&DeploymentController::state_idle));
}
}
@@ -121,7 +125,8 @@ TEST_CASE_METHOD(DeploymentControllerFixture,
SECTION("DPL_CUTTING -> EV_CUTTING_TIMEOUT")
{
- REQUIRE(testFSMTransition(*controller, Event{EV_CUTTING_TIMEOUT},
+ REQUIRE(testFSMTransition(*controller,
+ Boardcore::Event{EV_CUTTING_TIMEOUT},
&DeploymentController::state_idle));
}
}
diff --git a/src/tests/catch/fsm/test-flightstatsrecorder.cpp b/src/tests/catch/fsm/test-flightstatsrecorder.cpp
index 1ca268fbe58abf5951ffd2954ed2e070a7dcd5e9..0f40aced0e1ac74331fbd24f57fa8f5708af1c89 100644
--- a/src/tests/catch/fsm/test-flightstatsrecorder.cpp
+++ b/src/tests/catch/fsm/test-flightstatsrecorder.cpp
@@ -1,6 +1,5 @@
-/*
- * Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -14,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -51,6 +50,8 @@ public:
FlightStatsFixture()
{
sEventBroker.start();
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
fsm = new FlightStatsRecorder();
fsm->start();
}
@@ -72,13 +73,13 @@ TEST_CASE_METHOD(FlightStatsFixture, "Testing transitions from idle")
{
SECTION("EV_LIFTOFF -> liftoff")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_LIFTOFF},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_LIFTOFF},
&FlightStatsRecorder::state_liftOff));
}
SECTION("EV_DPL_ALTITUDE -> mainDPL")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_DPL_ALTITUDE},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_DPL_ALTITUDE},
&FlightStatsRecorder::state_mainDeployment));
}
}
@@ -90,7 +91,7 @@ TEST_CASE_METHOD(FlightStatsFixture, "Testing transitions from liftoff")
SECTION("EV_STATS_TIMEOUT -> ascending")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_STATS_TIMEOUT},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_STATS_TIMEOUT},
&FlightStatsRecorder::state_ascending));
}
}
@@ -103,7 +104,7 @@ TEST_CASE_METHOD(FlightStatsFixture, "Testing transitions from ascending")
SECTION("EV_APOGEE -> drogueDPL")
{
REQUIRE(
- testFSMTransition(*fsm, Event{EV_STATS_TIMEOUT},
+ testFSMTransition(*fsm, Boardcore::Event{EV_STATS_TIMEOUT},
&FlightStatsRecorder::state_drogueDeployment));
}
}
@@ -115,7 +116,7 @@ TEST_CASE_METHOD(FlightStatsFixture, "Testing transitions from drogueDPL")
SECTION("EV_STATS_TIMEOUT -> idle")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_STATS_TIMEOUT},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_STATS_TIMEOUT},
&FlightStatsRecorder::state_idle));
}
}
@@ -127,7 +128,7 @@ TEST_CASE_METHOD(FlightStatsFixture, "Testing transitions from mainDPL")
SECTION("EV_STATS_TIMEOUT -> idle")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_STATS_TIMEOUT},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_STATS_TIMEOUT},
&FlightStatsRecorder::state_idle));
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/fsm/test-fmm.cpp b/src/tests/catch/fsm/test-fmm.cpp
index 0b65370bb096cc92959b4e8a058c899bf105e6cb..dd01595b70e3a2b1a06be443ea639000bee40d51 100644
--- a/src/tests/catch/fsm/test-fmm.cpp
+++ b/src/tests/catch/fsm/test-fmm.cpp
@@ -51,6 +51,8 @@ public:
FMMFixture()
{
sEventBroker.start();
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
fsm = new FMMController();
fsm->start();
}
@@ -77,7 +79,7 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_onGround")
// I needed one hour of debugging to figure it out :')
/*
REQUIRE(testHSMTransition(
- *fsm, Event{EV_TC_RESET_BOARD},
+ *fsm, Boardcore::Event{EV_TC_RESET_BOARD},
&FMMController::state_init)); // initial state of
// state_onGround
*/
@@ -86,7 +88,7 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_onGround")
SECTION("EV_TC_LAUNCH -> FLYING (ASCENDING)")
{
REQUIRE(testHSMTransition(
- *fsm, Event{EV_TC_LAUNCH},
+ *fsm, Boardcore::Event{EV_TC_LAUNCH},
&FMMController::state_ascending)); // initial state of
// state_flying
}
@@ -95,28 +97,29 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_onGround")
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_flying")
{
// move to state_flying (state_ascending)
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_CALIBRATE_SENSORS});
+ fsm->postEvent(Boardcore::Event{EV_TC_CALIBRATE_SENSORS});
Thread::sleep(50);
- fsm->postEvent(Event{EV_SENSORS_READY});
+ fsm->postEvent(Boardcore::Event{EV_SENSORS_READY});
Thread::sleep(50);
- fsm->postEvent(Event{EV_CALIBRATION_OK});
+ fsm->postEvent(Boardcore::Event{EV_CALIBRATION_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_ARM});
+ fsm->postEvent(Boardcore::Event{EV_TC_ARM});
Thread::sleep(50);
- fsm->postEvent(Event{EV_UMBILICAL_DETACHED});
+ fsm->postEvent(Boardcore::Event{EV_UMBILICAL_DETACHED});
Thread::sleep(100);
SECTION("EV_TC_END_MISSION -> LANDED")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_END_MISSION},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_END_MISSION},
&FMMController::state_landed));
}
SECTION("EV_TIMEOUT_END_MISSION -> LANDED")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TIMEOUT_END_MISSION},
+ REQUIRE(testHSMTransition(*fsm,
+ Boardcore::Event{EV_TIMEOUT_END_MISSION},
&FMMController::state_landed));
}
}
@@ -125,13 +128,13 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_init")
{
SECTION("EV_INIT_OK -> INIT_DONE")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_INIT_OK},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_INIT_OK},
&FMMController::state_initDone));
}
SECTION("EV_INIT_ERROR -> INIT_ERROR")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_INIT_ERROR},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_INIT_ERROR},
&FMMController::state_initError));
}
}
@@ -139,12 +142,12 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_init")
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_initError")
{
// move to state_initError
- fsm->postEvent(Event{EV_INIT_ERROR});
+ fsm->postEvent(Boardcore::Event{EV_INIT_ERROR});
Thread::sleep(50);
SECTION("EV_TC_FORCE_INIT -> INIT_DONE")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_FORCE_INIT},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_FORCE_INIT},
&FMMController::state_initDone));
}
}
@@ -152,18 +155,19 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_initError")
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_initDone")
{
// move to state_initDone
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
SECTION("EV_TC_TEST_MODE -> TEST_MODE")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_TEST_MODE},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_TEST_MODE},
&FMMController::state_testMode));
}
SECTION("EV_TC_CALIBRATE_SENSORS -> SENSORS_CALIBRATION")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_CALIBRATE_SENSORS},
+ REQUIRE(testHSMTransition(*fsm,
+ Boardcore::Event{EV_TC_CALIBRATE_SENSORS},
&FMMController::state_sensorsCalibration));
}
}
@@ -179,20 +183,21 @@ TEST_CASE_METHOD(FMMFixture,
"Testing transitions from state_sensorsCalibration")
{
// move to state_calibrating
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_CALIBRATE_SENSORS});
+ fsm->postEvent(Boardcore::Event{EV_TC_CALIBRATE_SENSORS});
Thread::sleep(100);
SECTION("EV_TC_CALIBRATE_SENSORS -> SENSORS_CALIBRATION")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_CALIBRATE_SENSORS},
+ REQUIRE(testHSMTransition(*fsm,
+ Boardcore::Event{EV_TC_CALIBRATE_SENSORS},
&FMMController::state_sensorsCalibration));
}
SECTION("EV_SENSORS_READY -> ALGOS_CALIBRATION")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_SENSORS_READY},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_SENSORS_READY},
&FMMController::state_algosCalibration));
}
}
@@ -200,22 +205,22 @@ TEST_CASE_METHOD(FMMFixture,
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_algosCalibration")
{
// move to state_calibrating
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_CALIBRATE_SENSORS});
+ fsm->postEvent(Boardcore::Event{EV_TC_CALIBRATE_SENSORS});
Thread::sleep(50);
- fsm->postEvent(Event{EV_SENSORS_READY});
+ fsm->postEvent(Boardcore::Event{EV_SENSORS_READY});
Thread::sleep(100);
SECTION("EV_TC_CALIBRATE_ALGOS -> ALGOS_CALIBRATION")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_CALIBRATE_ALGOS},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_CALIBRATE_ALGOS},
&FMMController::state_algosCalibration));
}
SECTION("EV_CALIBRATION_OK -> DISARMED")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_CALIBRATION_OK},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_CALIBRATION_OK},
&FMMController::state_disarmed));
}
}
@@ -223,30 +228,31 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_algosCalibration")
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_disarmed")
{
// move to state_disarmed
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_CALIBRATE_SENSORS});
+ fsm->postEvent(Boardcore::Event{EV_TC_CALIBRATE_SENSORS});
Thread::sleep(50);
- fsm->postEvent(Event{EV_SENSORS_READY});
+ fsm->postEvent(Boardcore::Event{EV_SENSORS_READY});
Thread::sleep(50);
- fsm->postEvent(Event{EV_CALIBRATION_OK});
+ fsm->postEvent(Boardcore::Event{EV_CALIBRATION_OK});
Thread::sleep(100);
SECTION("EV_TC_CALIBRATE_ALGOS -> ALGOS_CALIBRATION")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_CALIBRATE_ALGOS},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_CALIBRATE_ALGOS},
&FMMController::state_algosCalibration));
}
SECTION("EV_TC_CALIBRATE_SENSORS -> SENSORS_CALIBRATION")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_CALIBRATE_SENSORS},
+ REQUIRE(testHSMTransition(*fsm,
+ Boardcore::Event{EV_TC_CALIBRATE_SENSORS},
&FMMController::state_sensorsCalibration));
}
SECTION("EV_TC_ARM -> ARMED")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_ARM},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_ARM},
&FMMController::state_armed));
}
}
@@ -254,32 +260,32 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_disarmed")
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_armed")
{
// move to state_armed
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_CALIBRATE_SENSORS});
+ fsm->postEvent(Boardcore::Event{EV_TC_CALIBRATE_SENSORS});
Thread::sleep(50);
- fsm->postEvent(Event{EV_SENSORS_READY});
+ fsm->postEvent(Boardcore::Event{EV_SENSORS_READY});
Thread::sleep(50);
- fsm->postEvent(Event{EV_CALIBRATION_OK});
+ fsm->postEvent(Boardcore::Event{EV_CALIBRATION_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_ARM});
+ fsm->postEvent(Boardcore::Event{EV_TC_ARM});
Thread::sleep(100);
SECTION("EV_TC_DISARM -> DISARMED")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_DISARM},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_DISARM},
&FMMController::state_disarmed));
}
SECTION("EV_TC_LAUNCH -> ASCENDING")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_LAUNCH},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_LAUNCH},
&FMMController::state_ascending));
}
SECTION("EV_UMBILICAL_DETACHED -> ASCENDING")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_UMBILICAL_DETACHED},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_UMBILICAL_DETACHED},
&FMMController::state_ascending));
}
}
@@ -287,34 +293,35 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_armed")
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_ascending")
{
// move to state_ascending
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_CALIBRATE_SENSORS});
+ fsm->postEvent(Boardcore::Event{EV_TC_CALIBRATE_SENSORS});
Thread::sleep(50);
- fsm->postEvent(Event{EV_SENSORS_READY});
+ fsm->postEvent(Boardcore::Event{EV_SENSORS_READY});
Thread::sleep(50);
- fsm->postEvent(Event{EV_CALIBRATION_OK});
+ fsm->postEvent(Boardcore::Event{EV_CALIBRATION_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_ARM});
+ fsm->postEvent(Boardcore::Event{EV_TC_ARM});
Thread::sleep(50);
- fsm->postEvent(Event{EV_UMBILICAL_DETACHED});
+ fsm->postEvent(Boardcore::Event{EV_UMBILICAL_DETACHED});
Thread::sleep(100);
SECTION("EV_ADA_APOGEE_DETECTED -> DROGUE_DESCENT")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_ADA_APOGEE_DETECTED},
+ REQUIRE(testHSMTransition(*fsm,
+ Boardcore::Event{EV_ADA_APOGEE_DETECTED},
&FMMController::state_drogueDescent));
}
SECTION("EV_ADA_DISABLE_ABK -> ASCENDING")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_ADA_DISABLE_ABK},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_ADA_DISABLE_ABK},
&FMMController::state_ascending));
}
SECTION("EV_TC_NC_OPEN -> DROGUE_DESCENT")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_NC_OPEN},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_NC_OPEN},
&FMMController::state_drogueDescent));
}
}
@@ -322,30 +329,31 @@ TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_ascending")
TEST_CASE_METHOD(FMMFixture, "Testing transitions from state_drogueDescent")
{
// move to state_drogueDescent
- fsm->postEvent(Event{EV_INIT_OK});
+ fsm->postEvent(Boardcore::Event{EV_INIT_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_CALIBRATE_SENSORS});
+ fsm->postEvent(Boardcore::Event{EV_TC_CALIBRATE_SENSORS});
Thread::sleep(50);
- fsm->postEvent(Event{EV_SENSORS_READY});
+ fsm->postEvent(Boardcore::Event{EV_SENSORS_READY});
Thread::sleep(50);
- fsm->postEvent(Event{EV_CALIBRATION_OK});
+ fsm->postEvent(Boardcore::Event{EV_CALIBRATION_OK});
Thread::sleep(50);
- fsm->postEvent(Event{EV_TC_ARM});
+ fsm->postEvent(Boardcore::Event{EV_TC_ARM});
Thread::sleep(50);
- fsm->postEvent(Event{EV_UMBILICAL_DETACHED});
+ fsm->postEvent(Boardcore::Event{EV_UMBILICAL_DETACHED});
Thread::sleep(50);
- fsm->postEvent(Event{EV_ADA_APOGEE_DETECTED});
+ fsm->postEvent(Boardcore::Event{EV_ADA_APOGEE_DETECTED});
Thread::sleep(100);
SECTION("EV_ADA_DPL_ALT_DETECTED -> TERMINAL_DESCENT")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_ADA_DPL_ALT_DETECTED},
+ REQUIRE(testHSMTransition(*fsm,
+ Boardcore::Event{EV_ADA_DPL_ALT_DETECTED},
&FMMController::state_terminalDescent));
}
SECTION("EV_TC_CUT_DROGUE -> TERMINAL_DESCENT")
{
- REQUIRE(testHSMTransition(*fsm, Event{EV_TC_CUT_DROGUE},
+ REQUIRE(testHSMTransition(*fsm, Boardcore::Event{EV_TC_CUT_DROGUE},
&FMMController::state_terminalDescent));
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/fsm/test-ignition.cpp b/src/tests/catch/fsm/test-ignition.cpp
index 19afdf1c27c0b6f5b1c460dad1f48658d0b7f343..7730724746f676287f5a370069ac266c3256ca4f 100644
--- a/src/tests/catch/fsm/test-ignition.cpp
+++ b/src/tests/catch/fsm/test-ignition.cpp
@@ -50,8 +50,10 @@ public:
IgnitionTestFixture()
{
can_mgr = new CanManager(CAN1);
- can = new CanProxy(can_mgr);
- ign = new IgnitionController(can);
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
+ can = new CanProxy(can_mgr);
+ ign = new IgnitionController(can);
}
~IgnitionTestFixture()
{
@@ -75,7 +77,7 @@ TEST_CASE_METHOD(IgnitionTestFixture, "Testing IDLE transitions")
SECTION("IDLE -> END")
{
- REQUIRE(testFSMTransition(*ign, Event{EV_LIFTOFF},
+ REQUIRE(testFSMTransition(*ign, Boardcore::Event{EV_LIFTOFF},
&IgnitionController::stateEnd));
}
@@ -163,8 +165,10 @@ public:
{
sEventBroker.start();
can_mgr = new CanManager(CAN1);
- can = new CanProxy(can_mgr);
- ign = new IgnitionController(can);
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
+ can = new CanProxy(can_mgr);
+ ign = new IgnitionController(can);
ign->start();
}
~IgnitionTestFixture2()
@@ -256,7 +260,7 @@ TEST_CASE_METHOD(IgnitionTestFixture2, "Igntiion: Testing IDLE functions")
Thread::sleep(TIMEOUT_IGN_OFFLINE / 2);
- REQUIRE(testFSMTransition(*ign, Event{EV_LIFTOFF},
+ REQUIRE(testFSMTransition(*ign, Boardcore::Event{EV_LIFTOFF},
&IgnitionController::stateEnd));
Thread::sleep(TIMEOUT_IGN_OFFLINE / 2 + 5);
diff --git a/src/tests/catch/fsm/test-nas.cpp b/src/tests/catch/fsm/test-nas.cpp
index 5aea6b14c5e639cbe5d532ee55138c83e6d15d95..6dc8de709106c0d0488982d57d89a56926b95122 100644
--- a/src/tests/catch/fsm/test-nas.cpp
+++ b/src/tests/catch/fsm/test-nas.cpp
@@ -38,6 +38,7 @@
#include "events/Events.h"
#include "utils/testutils/TestHelper.h"
+using namespace miosix;
using namespace DeathStackBoard;
using NASCtrl = NASController<MockIMUData, MockPressureData, MockGPSData>;
@@ -74,7 +75,8 @@ TEST_CASE_METHOD(NASControllerFixture, "Testing transitions from idle")
SECTION("EV_CALIBRATE_NAS -> CALIBRATING")
{
- REQUIRE(testFSMTransition(controller, Event{EV_CALIBRATE_NAS},
+ REQUIRE(testFSMTransition(controller,
+ Boardcore::Event{EV_CALIBRATE_NAS},
&NASCtrl::state_calibrating));
}
}
@@ -85,13 +87,14 @@ TEST_CASE_METHOD(NASControllerFixture, "Testing transitions from calibrating")
SECTION("EV_CALIBRATE_NAS -> CALIBRATING")
{
- REQUIRE(testFSMTransition(controller, Event{EV_CALIBRATE_NAS},
+ REQUIRE(testFSMTransition(controller,
+ Boardcore::Event{EV_CALIBRATE_NAS},
&NASCtrl::state_calibrating));
}
SECTION("EV_NAS_READY -> READY")
{
- REQUIRE(testFSMTransition(controller, Event{EV_NAS_READY},
+ REQUIRE(testFSMTransition(controller, Boardcore::Event{EV_NAS_READY},
&NASCtrl::state_ready));
}
}
@@ -102,13 +105,14 @@ TEST_CASE_METHOD(NASControllerFixture, "Testing transitions from ready")
SECTION("EV_LIFTOFF -> ACTIVE")
{
- REQUIRE(testFSMTransition(controller, Event{EV_LIFTOFF},
+ REQUIRE(testFSMTransition(controller, Boardcore::Event{EV_LIFTOFF},
&NASCtrl::state_active));
}
SECTION("EV_CALIBRATE_NAS -> CALIBRATING")
{
- REQUIRE(testFSMTransition(controller, Event{EV_CALIBRATE_NAS},
+ REQUIRE(testFSMTransition(controller,
+ Boardcore::Event{EV_CALIBRATE_NAS},
&NASCtrl::state_calibrating));
}
}
@@ -119,7 +123,7 @@ TEST_CASE_METHOD(NASControllerFixture, "Testing transitions from active")
SECTION("EV_LANDED -> END")
{
- REQUIRE(testFSMTransition(controller, Event{EV_LANDED},
+ REQUIRE(testFSMTransition(controller, Boardcore::Event{EV_LANDED},
&NASCtrl::state_end));
}
}
@@ -127,4 +131,4 @@ TEST_CASE_METHOD(NASControllerFixture, "Testing transitions from active")
TEST_CASE_METHOD(NASControllerFixture, "Testing transitions from end")
{
controller.transition(&NASCtrl::state_end);
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/fsm/test-tmtc.cpp b/src/tests/catch/fsm/test-tmtc.cpp
index 8d6943553beb4d502fe837a116878cbf0120fc81..4eb59bd8633fd9e326206470fc4c7e67f5d7db3f 100644
--- a/src/tests/catch/fsm/test-tmtc.cpp
+++ b/src/tests/catch/fsm/test-tmtc.cpp
@@ -1,6 +1,5 @@
-/*
- * Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -14,7 +13,7 @@
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
@@ -51,6 +50,8 @@ public:
TMTCFixture()
{
sEventBroker.start();
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
fsm = new TMTCController();
fsm->start();
}
@@ -72,25 +73,25 @@ TEST_CASE_METHOD(TMTCFixture, "Testing transitions from stateGroundTM")
{
SECTION("EV_TC_START_SENSOR_TM -> stateSensorTM")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_TC_START_SENSOR_TM},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_TC_START_SENSOR_TM},
&TMTCController::stateSensorTM));
}
SECTION("EV_ARMED -> stateSensorTM")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_ARMED},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_ARMED},
&TMTCController::stateFlightTM));
}
SECTION("EV_LIFTOFF -> stateFlightTM")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_LIFTOFF},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_LIFTOFF},
&TMTCController::stateFlightTM));
}
SECTION("EV_TC_SERIAL_TM -> stateSerialDebugTM")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_TC_SERIAL_TM},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_TC_SERIAL_TM},
&TMTCController::stateSerialDebugTM));
}
}
@@ -102,7 +103,7 @@ TEST_CASE_METHOD(TMTCFixture, "Testing transitions from stateSensorTM")
SECTION("EV_TC_STOP_SENSOR_TM -> stateGroundTM")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_TC_STOP_SENSOR_TM},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_TC_STOP_SENSOR_TM},
&TMTCController::stateGroundTM));
}
}
@@ -114,7 +115,7 @@ TEST_CASE_METHOD(TMTCFixture, "Testing transitions from stateFlightTM")
SECTION("EV_DISARMED -> stateGroundTM")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_DISARMED},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_DISARMED},
&TMTCController::stateGroundTM));
}
}
@@ -126,7 +127,7 @@ TEST_CASE_METHOD(TMTCFixture, "Testing transitions from stateSerialDebugTM")
SECTION("EV_TC_RADIO_TM -> stateSerialDebugTM")
{
- REQUIRE(testFSMTransition(*fsm, Event{EV_TC_RADIO_TM},
+ REQUIRE(testFSMTransition(*fsm, Boardcore::Event{EV_TC_RADIO_TM},
&TMTCController::stateGroundTM));
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/nas/test-nas-simulation.cpp b/src/tests/catch/nas/test-nas-simulation.cpp
index 75fced107cafb5240860b0d859dd9ac6d6991fb6..a4e16ce4ecd80b2320b6d547c22d51f8a2354be7 100644
--- a/src/tests/catch/nas/test-nas-simulation.cpp
+++ b/src/tests/catch/nas/test-nas-simulation.cpp
@@ -37,6 +37,7 @@
#include "events/Events.h"
#include "utils/testutils/TestHelper.h"
+using namespace Boardcore;
using namespace DeathStackBoard;
using namespace NASConfigs;
diff --git a/src/tests/deathstack-boards/test-analog-board.cpp b/src/tests/deathstack-boards/test-analog-board.cpp
index bf05c3c92991c48b90960474768bc0489d4a7b9a..93aa305962aad75cac6059fd2f3c94c5e8375987 100644
--- a/src/tests/deathstack-boards/test-analog-board.cpp
+++ b/src/tests/deathstack-boards/test-analog-board.cpp
@@ -49,6 +49,8 @@
#include "PinHandler/PinHandler.h"
+using namespace Boardcore;
+
namespace PinHandlerTest
{
#include "../test-pinhandler.cpp"
diff --git a/src/tests/deathstack-boards/test-power-board.cpp b/src/tests/deathstack-boards/test-power-board.cpp
index 72d942bbdef9704cb6a72f19107bb633d156073a..bfd28f9518b24ee97fd062aefb01de2df50326a5 100644
--- a/src/tests/deathstack-boards/test-power-board.cpp
+++ b/src/tests/deathstack-boards/test-power-board.cpp
@@ -40,6 +40,8 @@
#include <sstream>
#include <string>
+using namespace Boardcore;
+
namespace CutterTest
{
#include "../drivers/test-cutter.cpp"
diff --git a/src/tests/drivers/test-cutter.cpp b/src/tests/drivers/test-cutter.cpp
index e7eed18deac5eac78a84ef99ffe8a504d1327226..ed7baa1f22e9491949bcf275e5fcbbe20c0650ce 100644
--- a/src/tests/drivers/test-cutter.cpp
+++ b/src/tests/drivers/test-cutter.cpp
@@ -23,6 +23,7 @@
#include <configs/CutterConfig.h>
#include <drivers/adc/InternalADC.h>
#include <drivers/hbridge/HBridge.h>
+#include <drivers/timer/TimerUtils.h>
#include <sensors/analog/current/CurrentSensor.h>
#include <iostream>
@@ -40,8 +41,8 @@
using namespace std;
using namespace miosix;
-using namespace Boardcore;
using namespace DeathStackBoard::CutterConfig;
+using namespace Boardcore;
static constexpr int MAX_CUTTING_TIME = 10 * 1000; // ms
constexpr int SAMPLING_FREQUENCY = 20;
@@ -53,9 +54,9 @@ constexpr int SAMPLING_FREQUENCY = 20;
*/
static TIM_TypeDef *const CUTTER_TIM = TIM9;
-static const TimerUtils::Channel CUTTER_CHANNEL_PRIMARY =
+const TimerUtils::Channel CUTTER_CHANNEL_PRIMARY =
TimerUtils::Channel::CHANNEL_2;
-static const TimerUtils::Channel CUTTER_CHANNEL_BACKUP =
+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;
@@ -106,7 +107,6 @@ int main()
// Cutter setup
- GpioPin *ena_pin;
TimerUtils::Channel pwmChannel;
if (cutterNo == 3) // COTS cutters
@@ -122,7 +122,10 @@ int main()
CuttersInput::getPin().low();
}
else
- { // SRAD cutters
+ {
+ // SRAD cutters
+ GpioPin *ena_pin;
+
if (cutterNo == 1)
{
ena_pin = new GpioPin(PrimaryCutterEna::getPin());
@@ -145,7 +148,6 @@ int main()
cutter.enable();
// Wait for the user to press ENTER or the timer to elapse
- string temp;
while (!finished)
{
(void)getchar();
@@ -192,6 +194,7 @@ void menu(unsigned int *cutterNo, uint32_t *frequency, float *dutyCycle,
stringstream(temp) >> *dutyCycle;
} while (*dutyCycle < 1 || *dutyCycle > 100);
+ // cppcheck-suppress invalidPrintfArgType_uint
printf("\nCutting %s, frequency: %lu, duty cycle: %.1f\n\n",
(*cutterNo ? "PRIMARY" : "BACKUP"), *frequency, *dutyCycle);
}
diff --git a/src/tests/drivers/test-mavlink.cpp b/src/tests/drivers/test-mavlink.cpp
index 8f5aecab803f1329e4328758777e9b3038bbff14..2da9eaa8cb50314c9f8a89405eb932be0dafcff7 100644
--- a/src/tests/drivers/test-mavlink.cpp
+++ b/src/tests/drivers/test-mavlink.cpp
@@ -62,7 +62,7 @@ int main()
SPIBus xbee_bus(SPI2);
device = new Xbee::Xbee(xbee_bus, XbeeCS::getPin(), XbeeATTN::getPin(),
- XbeeRST::getPin());
+ XbeeRST::getPin());
channel = new MavChannel(device, &onReceive, 250);
device->start();
diff --git a/src/tests/drivers/test-servo.cpp b/src/tests/drivers/test-servo.cpp
index 7df7efba4949573d92af4f747504b11b251db500..caaaf35c5e55f6f350a409606799a2de8108e0fe 100644
--- a/src/tests/drivers/test-servo.cpp
+++ b/src/tests/drivers/test-servo.cpp
@@ -32,6 +32,8 @@
using namespace std;
using namespace Boardcore;
using namespace DeathStackBoard;
+using namespace DeploymentConfigs;
+using namespace AirBrakesConfigs;
int servoMenu();
int actionMenu();
@@ -342,4 +344,4 @@ float perlin2d(float x, float y, float freq, int depth)
}
return fin / div;
-}
\ No newline at end of file
+}
diff --git a/src/tests/eigen-test.cpp b/src/tests/eigen-test.cpp
index 52cedb086592f08e3003961165ca484cd8e64bf0..8865536006adb855a6d13f93117e04ffaaea52f5 100644
--- a/src/tests/eigen-test.cpp
+++ b/src/tests/eigen-test.cpp
@@ -34,7 +34,7 @@ using namespace Eigen;
using namespace miosix;
using miosix::Thread;
-void nProducts2Mat(int n, MatrixXd& m1, MatrixXd& m2)
+void nProducts2Mat(int n, MatrixXd& const m1, MatrixXd& const m2)
{
HardwareTimer<uint32_t, 2>& hrclock =
HardwareTimer<uint32_t, 2>::instance();
@@ -54,7 +54,8 @@ void nProducts2Mat(int n, MatrixXd& m1, MatrixXd& m2)
TRACE("\nTime for %d products using 2 matrices: %f [ms] \n\n", n, time);
}
-void nProducts3Mat(int n, MatrixXd& m1, MatrixXd& m2, MatrixXd& m3)
+void nProducts3Mat(int n, MatrixXd& const m1, MatrixXd& const m2,
+ MatrixXd& const m3)
{
HardwareTimer<uint32_t, 2>& hrclock =
HardwareTimer<uint32_t, 2>::instance();
@@ -74,30 +75,32 @@ void nProducts3Mat(int n, MatrixXd& m1, MatrixXd& m2, MatrixXd& m3)
TRACE("\nTime for %d products using 3 matrices: %f [ms] \n\n", n, time);
}
-void kalmanOperations(MatrixXd& m1, MatrixXd& m2, MatrixXd& m3, MatrixXd& m4,
- MatrixXd& m5, MatrixXd& eye, MatrixXd& v1, MatrixXd& v2)
+void kalmanOperations(MatrixXd& const m1, MatrixXd& const m2,
+ MatrixXd& const m3, MatrixXd& const m4,
+ MatrixXd& const m5, MatrixXd& const eye,
+ MatrixXd& const v1, MatrixXd& const v2)
{
HardwareTimer<uint32_t, 2>& hrclock =
HardwareTimer<uint32_t, 2>::instance();
hrclock.setPrescaler(127);
hrclock.start();
- auto x = v1;
- auto P = m2;
- auto Q = m3;
- auto R = m5;
- auto y = v2;
+ // auto x = v1;
+ // auto P = m2;
+ // auto Q = m3;
+ // auto R = m5;
+ // auto y = v2;
uint32_t t1 = hrclock.tick();
- auto F = 0.5 * m1;
- x = F * x;
- P = F * P * (F.transpose()) + Q;
- auto H = 2 * m4;
- auto K = P * H.transpose() * ((H * P * H.transpose() + R).inverse());
- auto U = K * (y.transpose() - H * x);
- auto x_new = x + U;
- auto P_new = (eye - K * H) * P;
+ // auto F = 0.5 * m1;
+ // x = F * x;
+ // P = F * P * (F.transpose()) + Q;
+ // auto H = 2 * m4;
+ // auto K = P * H.transpose() * ((H * P * H.transpose() + R).inverse());
+ // auto U = K * (y.transpose() - H * x);
+ // auto x_new = x + U;
+ // auto P_new = (eye - K * H) * P;
uint32_t t2 = hrclock.tick();
double time = hrclock.toMilliSeconds(t2 - t1);
@@ -106,9 +109,10 @@ void kalmanOperations(MatrixXd& m1, MatrixXd& m2, MatrixXd& m3, MatrixXd& m4,
TRACE("\nTime for a single kalman cycle: %f [ms] \n\n", time);
}
-void sparseKalmanOperations(MatrixXd& m1, MatrixXd& m2, MatrixXd& m3,
- MatrixXd& m4, MatrixXd& m5, MatrixXd& eye,
- MatrixXd& v1, MatrixXd& v2)
+void sparseKalmanOperations(MatrixXd& const m1, MatrixXd& const m2,
+ MatrixXd& const m3, MatrixXd& const m4,
+ MatrixXd& const m5, MatrixXd& const eye,
+ MatrixXd& const v1, MatrixXd& const v2)
{
// H, P and R can't be sparse since their product needs to be inverted.
HardwareTimer<uint32_t, 2>& hrclock =
@@ -116,23 +120,23 @@ void sparseKalmanOperations(MatrixXd& m1, MatrixXd& m2, MatrixXd& m3,
hrclock.setPrescaler(127);
hrclock.start();
- auto x = v1;
- auto P = m2;
- auto Q = m3.sparseView();
- auto R = m5;
- auto y = v2;
+ // auto x = v1;
+ // auto P = m2;
+ // auto Q = m3.sparseView();
+ // auto R = m5;
+ // auto y = v2;
uint32_t t1 = hrclock.tick();
- auto F = 0.5 * m1.sparseView();
- x = F * x;
- P = F * P * (F.transpose()) + Q;
- auto H = 2 * m4;
- auto K = (P * (H.transpose()) * ((H * P * H.transpose() + R).inverse()))
- .sparseView();
- auto U = (K * (y.transpose() - H * x)).sparseView();
- auto x_new = x + U;
- auto P_new = (eye - K * H) * P;
+ // auto F = 0.5 * m1.sparseView();
+ // x = F * x;
+ // P = F * P * (F.transpose()) + Q;
+ // auto H = 2 * m4;
+ // auto K = (P * (H.transpose()) * ((H * P * H.transpose() + R).inverse()))
+ // .sparseView();
+ // auto U = (K * (y.transpose() - H * x)).sparseView();
+ // auto x_new = x + U;
+ // auto P_new = (eye - K * H) * P;
uint32_t t2 = hrclock.tick();
double time = hrclock.toMilliSeconds(t2 - t1);
@@ -153,7 +157,7 @@ void determinant(MatrixXd& m1)
uint32_t t1 = hrclock.tick();
- float det = m1.determinant();
+ // float det = m1.determinant();
uint32_t t2 = hrclock.tick();
double time = hrclock.toMilliSeconds(t2 - t1);
@@ -185,4 +189,4 @@ int main()
sparseKalmanOperations(m1, m2, m3, m4, m5, eye, v1, v2);
return 0;
-}
\ No newline at end of file
+}
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 03f9140462301175d844b86d8897616d0a3249f3..0a5a2db3d9cf9011b2a6c0cfa4fcc261553c4824 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
@@ -220,5 +220,10 @@ int main()
Thread::sleep(1000 * ADAConfigs::SAMPLING_PERIOD);
}
+ delete state.imu;
+ delete state.barometer;
+ delete state.gps;
+ delete state.nas;
+
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/tests/ram_test/ramtest.cpp b/src/tests/ram_test/ramtest.cpp
index 312252ed9b868a23fa2ec85fbaf2f9507a741c4f..d43e3002b478aff24d48175421ac1ac6db315492 100644
--- a/src/tests/ram_test/ramtest.cpp
+++ b/src/tests/ram_test/ramtest.cpp
@@ -1,19 +1,24 @@
-/***************************************************************************
- * 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 Skyward Experimental Rocketry
+ * Author: Federico Terraneo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
// RAM testing code
// Useful to test the external RAM of a board.
@@ -96,4 +101,4 @@ int main()
return 1;
iprintf("Ok\n");
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/ram_test/sha1.h b/src/tests/ram_test/sha1.h
index 5e8280b57782b6c3c8b3497be05fbdc79524e25e..2fe8cf10ab285d77810e1cd23fd479d5c1137c8c 100644
--- a/src/tests/ram_test/sha1.h
+++ b/src/tests/ram_test/sha1.h
@@ -108,8 +108,8 @@ private:
unsigned Length_Low; // Message length in bits
unsigned Length_High; // Message length in bits
- unsigned char Message_Block[64]; // 512-bit message blocks
- int Message_Block_Index; // Index into message block array
+ unsigned char Message_Block[64] = {}; // 512-bit message blocks
+ int Message_Block_Index = 0; // Index into message block array
bool Computed; // Is the digest computed?
bool Corrupted; // Is the message digest corruped?
diff --git a/src/tests/test-ada-dpl-simulation.cpp b/src/tests/test-ada-dpl-simulation.cpp
index e3763db59cdfa8c5c81da4a784ac8c4ae6827082..5e3f8a1f233a62e05ec6875ef07803c8894ef08d 100644
--- a/src/tests/test-ada-dpl-simulation.cpp
+++ b/src/tests/test-ada-dpl-simulation.cpp
@@ -23,6 +23,7 @@
#include <ApogeeDetectionAlgorithm/ADAAlgorithm.h>
#include <ApogeeDetectionAlgorithm/ADAController.h>
#include <Deployment/DeploymentController.h>
+#include <utils/Debug.h>
#include <random>
@@ -32,6 +33,7 @@
#include "events/Events.h"
#include "events/utils/EventCounter.h"
+using namespace Boardcore;
using namespace DeathStackBoard;
constexpr float NOISE_STD_DEV = 5; // Noise varaince
@@ -132,7 +134,7 @@ int main()
Thread::sleep(100);
// Send baro calibration samples for ADA
- for (unsigned i = 0; i < CALIBRATION_BARO_N_SAMPLES + 5; i++)
+ for (unsigned i = 0; i < ADAConfigs::CALIBRATION_BARO_N_SAMPLES + 5; i++)
{
baro.sample();
Thread::sleep(50);
diff --git a/src/tests/test-airbrakes-algorithm/test-airbrakes-algorithm.cpp b/src/tests/test-airbrakes-algorithm/test-airbrakes-algorithm.cpp
index 5bc1014821bfc329a6fa5eb8bb87db82890402ff..835e6e214db1089c7555a1e915ff6d553338b396 100644
--- a/src/tests/test-airbrakes-algorithm/test-airbrakes-algorithm.cpp
+++ b/src/tests/test-airbrakes-algorithm/test-airbrakes-algorithm.cpp
@@ -46,7 +46,7 @@ public:
int error(int alphaTest) { return abs(alphaTest - lastAlpha); }
private:
- int lastAlpha;
+ int lastAlpha = 0;
};
template <typename T>
@@ -98,9 +98,8 @@ int main()
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
}
- input_t input;
-
- input = DATA[0].input;
+ // input_t input;
+ // input = DATA[0].input;
HardwareTimer<uint32_t> hrclock(
TIM5,
@@ -146,4 +145,4 @@ int main()
"Init time: %f ms\nAvg iter time: %f ms\nTotal computation time: %f "
"ms\n",
startTime, stepTime / (LEN_TEST - 1), stepTime + startTime);
-}
\ No newline at end of file
+}
diff --git a/src/tests/test-airbrakescontroller/test-airbrakescontroller.cpp b/src/tests/test-airbrakescontroller/test-airbrakescontroller.cpp
index 4a4a716d58af3b52f9cffc830dafa1168005f17e..62ca048db6931f9fecc4afc6df999d00d404411c 100644
--- a/src/tests/test-airbrakescontroller/test-airbrakescontroller.cpp
+++ b/src/tests/test-airbrakescontroller/test-airbrakescontroller.cpp
@@ -43,7 +43,7 @@ public:
int error(int alphaTest) { return abs(alphaTest - lastAlpha); }
private:
- int lastAlpha;
+ int lastAlpha = 0;
};
template <typename T>
@@ -96,10 +96,6 @@ int main()
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
}
- input_t input;
-
- input = DATA[0].input;
-
HardwareTimer<uint32_t> hrclock(
TIM5,
TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB1));
@@ -139,4 +135,4 @@ int main()
"Init time: %f ms\nAvg iter time: %f ms\nTotal computation time: %f "
"ms\n",
startTime, stepTime / (LEN_TEST - 1), stepTime + startTime);
-}
\ No newline at end of file
+}
diff --git a/src/tests/test-fmm-interactive.cpp b/src/tests/test-fmm-interactive.cpp
index 19d488fdea3390dad84437a01da0750f59f1073a..33274ebf7b041fe3db08419b3c55c14fe631d1f7 100644
--- a/src/tests/test-fmm-interactive.cpp
+++ b/src/tests/test-fmm-interactive.cpp
@@ -15,9 +15,9 @@
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISIN\G
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
*/
#include <FlightModeManager/FMMController.h>
@@ -61,4 +61,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/tests/test-pinhandler.cpp b/src/tests/test-pinhandler.cpp
index ee9b069c7de1767add26003e89106dc6a66540fd..4db092bffe89b5640955989d3896d82dbdfe52aa 100644
--- a/src/tests/test-pinhandler.cpp
+++ b/src/tests/test-pinhandler.cpp
@@ -20,7 +20,8 @@
* THE SOFTWARE.
*/
-#include "PinHandler/PinHandler.h"
+#include <PinHandler/PinHandler.h>
+#include <miosix.h>
using namespace Boardcore;
diff --git a/src/tests/test-tmtc.cpp b/src/tests/test-tmtc.cpp
index e46f383e462eaa3e550ce99c81851b98b8f5f5b1..6a7504000ae720d9e98b9683203797ef20a3427b 100644
--- a/src/tests/test-tmtc.cpp
+++ b/src/tests/test-tmtc.cpp
@@ -43,9 +43,6 @@ int main()
tmtc->start();
sEventBroker.start();
- EventSniffer* sniffer =
- new EventSniffer(sEventBroker, TOPIC_LIST, onEventReceived);
-
Thread::sleep(1000);
printf("\nOk, press open to post liftoff...\n");
@@ -61,4 +58,4 @@ int main()
;
miosix::reboot();
-}
\ No newline at end of file
+}