diff --git a/src/boards/MockupMain/Configs/SensorsConfig.h b/src/boards/MockupMain/Configs/SensorsConfig.h index e0c97b26331336dd2d843ca8b0e62a16e213655e..1cefdd267f91b6bbe3999698092e7c6abfb0798b 100644 --- a/src/boards/MockupMain/Configs/SensorsConfig.h +++ b/src/boards/MockupMain/Configs/SensorsConfig.h @@ -44,7 +44,7 @@ namespace SensorsConfig using namespace std::chrono_literals; // clang-format on -constexpr unsigned int NUMBER_OF_SENSORS = 6; +constexpr unsigned int NUMBER_OF_SENSORS = 8; constexpr uint32_t MAG_CALIBRATION_PERIOD = 100; // [ms] // BMX160 @@ -55,8 +55,8 @@ constexpr Boardcore::BMX160Config::GyroscopeRange BMX160_GYRO_FSR_ENUM = Boardcore::BMX160Config::GyroscopeRange::DEG_1000; constexpr unsigned int BMX160_ACC_GYRO_ODR = 50; constexpr Boardcore::BMX160Config::OutputDataRate BMX160_ACC_GYRO_ODR_ENUM = - Boardcore::BMX160Config::OutputDataRate::HZ_50; -constexpr unsigned int BMX160_MAG_ODR = 100; + Boardcore::BMX160Config::OutputDataRate::HZ_100; +constexpr unsigned int BMX160_MAG_ODR = 50; constexpr Boardcore::BMX160Config::OutputDataRate BMX160_MAG_ODR_ENUM = Boardcore::BMX160Config::OutputDataRate::HZ_100; @@ -125,8 +125,10 @@ constexpr float BATTERY_VOLTAGE_COEFF = (150 + 40.2) / 40.2; // BMX160_SAMPLE_PERIOD: Sample before the fifo is full, but slightly after the // watermark level (watermark + 30) ---> high slack due to scheduler // imprecision, avoid clearing the fifo before the interrupt -constexpr auto BMX160_SAMPLE_PERIOD = std::chrono::milliseconds( - BMX160_FIFO_FILL_TIME * (BMX160_FIFO_WATERMARK + 30) * 4 / 1024); // [ms] +constexpr auto BMX160_SAMPLE_PERIOD = 50_hz; +/*std::chrono::milliseconds( + BMX160_FIFO_FILL_TIME * (BMX160_FIFO_WATERMARK + 30) * 4 / 1024); // + [ms]*/ constexpr auto LIS3MDL_SAMPLE_PERIOD = 100_hz; constexpr auto INTERNAL_ADC_SAMPLE_PERIOD = 1_hz; constexpr auto INTERNAL_TEMP_SAMPLE_PERIOD = 1_hz;