From 278e161237e73cd1dbe9e05841d6f6435377769e Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federico.mandelli@skywarder.eu>
Date: Wed, 17 Jul 2024 18:06:24 +0200
Subject: [PATCH] [SensorConfig] Changed bmx to not use a fifo
---
src/boards/MockupMain/Configs/SensorsConfig.h | 12 +++++++-----
1 file changed, 7 insertions(+), 5 deletions(-)
diff --git a/src/boards/MockupMain/Configs/SensorsConfig.h b/src/boards/MockupMain/Configs/SensorsConfig.h
index e0c97b263..1cefdd267 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;
--
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