From 28b35058859c1dfadcade2a65d376ac43d106e27 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Thu, 8 Sep 2022 12:16:39 +0000
Subject: [PATCH] [CanHandler] Added liftoff and apogee events over CAN
---
.vscode/settings.json | 3 ++-
src/boards/Main/CanHandler/CanHandler.cpp | 18 ++++++++++++++++++
src/boards/Main/CanHandler/CanHandler.h | 6 ++----
src/boards/Main/Configs/CanHandlerConfig.h | 5 ++++-
src/boards/Payload/Configs/CanHandlerConfig.h | 6 ++++--
5 files changed, 30 insertions(+), 8 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index befe29ab7..d64d9495c 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -132,10 +132,11 @@
"Setpoint",
"stateinitializer",
"telecommands",
+ "TMTC",
"UBXGPS",
"usart",
"VREF",
"Xbee"
],
"C_Cpp.errorSquiggles": "Enabled"
-}
\ No newline at end of file
+}
diff --git a/src/boards/Main/CanHandler/CanHandler.cpp b/src/boards/Main/CanHandler/CanHandler.cpp
index 46efa01b6..4fae63374 100644
--- a/src/boards/Main/CanHandler/CanHandler.cpp
+++ b/src/boards/Main/CanHandler/CanHandler.cpp
@@ -78,6 +78,24 @@ void CanHandler::sendCamOffEvent()
static_cast<uint8_t>(EventId::CAM_OFF));
}
+void CanHandler::sendLiftoffEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::MAIN),
+ static_cast<uint8_t>(Board::BROADCAST),
+ static_cast<uint8_t>(EventId::LIFTOFF));
+}
+
+void CanHandler::sendApogeeEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::MAIN),
+ static_cast<uint8_t>(Board::BROADCAST),
+ static_cast<uint8_t>(EventId::APOGEE));
+}
+
CanHandler::CanHandler()
{
CanbusDriver::AutoBitTiming bitTiming;
diff --git a/src/boards/Main/CanHandler/CanHandler.h b/src/boards/Main/CanHandler/CanHandler.h
index 13c4892b5..9cddaf6d8 100644
--- a/src/boards/Main/CanHandler/CanHandler.h
+++ b/src/boards/Main/CanHandler/CanHandler.h
@@ -39,16 +39,14 @@ public:
bool isStarted();
// Boardcore::Canbus::CanRXStatus getCanStatus();
-
// void logStatus();
void sendArmEvent();
-
void sendDisarmEvent();
-
void sendCamOnEvent();
-
void sendCamOffEvent();
+ void sendLiftoffEvent();
+ void sendApogeeEvent();
private:
CanHandler();
diff --git a/src/boards/Main/Configs/CanHandlerConfig.h b/src/boards/Main/Configs/CanHandlerConfig.h
index eabb10165..520136a11 100644
--- a/src/boards/Main/Configs/CanHandlerConfig.h
+++ b/src/boards/Main/Configs/CanHandlerConfig.h
@@ -34,6 +34,7 @@ namespace Main
namespace CanHandlerConfig
{
+
static const std::map<Common::CanConfig::EventId, Common::Events> eventToEvent{
{Common::CanConfig::EventId::ARM, Common::TMTC_ARM},
{Common::CanConfig::EventId::DISARM, Common::TMTC_DISARM},
@@ -47,8 +48,10 @@ static const std::map<Common::Events, std::function<void(CanHandler *)>>
{Common::TMTC_DISARM, &CanHandler::sendDisarmEvent},
{Common::TMTC_START_RECORDING, &CanHandler::sendCamOnEvent},
{Common::TMTC_STOP_RECORDING, &CanHandler::sendCamOffEvent},
+ {Common::FLIGHT_LIFTOFF, &CanHandler::sendLiftoffEvent},
+ {Common::FLIGHT_APOGEE_DETECTED, &CanHandler::sendApogeeEvent},
};
} // namespace CanHandlerConfig
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/boards/Payload/Configs/CanHandlerConfig.h b/src/boards/Payload/Configs/CanHandlerConfig.h
index 37b09d2d8..00105bffa 100644
--- a/src/boards/Payload/Configs/CanHandlerConfig.h
+++ b/src/boards/Payload/Configs/CanHandlerConfig.h
@@ -34,12 +34,14 @@ namespace Payload
namespace CanHandlerConfig
{
+
static const std::map<Common::CanConfig::EventId, Common::Events> eventToEvent{
{Common::CanConfig::EventId::ARM, Common::TMTC_ARM},
{Common::CanConfig::EventId::DISARM, Common::TMTC_DISARM},
- {Common::CanConfig::EventId::LIFTOFF, Common::TMTC_FORCE_LAUNCH},
{Common::CanConfig::EventId::CAM_ON, Common::TMTC_START_RECORDING},
{Common::CanConfig::EventId::CAM_OFF, Common::TMTC_STOP_RECORDING},
+ {Common::CanConfig::EventId::LIFTOFF, Common::TMTC_FORCE_LAUNCH},
+ {Common::CanConfig::EventId::APOGEE, Common::TMTC_FORCE_APOGEE},
};
static const std::map<Common::Events, std::function<void(CanHandler *)>>
@@ -52,4 +54,4 @@ static const std::map<Common::Events, std::function<void(CanHandler *)>>
} // namespace CanHandlerConfig
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
--
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