From 3beb083d31c4803789f1154c32613ba079f9a5b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu> Date: Wed, 2 Oct 2024 15:17:11 +0200 Subject: [PATCH] [GS] Actuators config and test updated for Lyra Updated the defines for the Lyra actuators configuration. Also updated the test-actuators include and reintroduced the entry to Cmake. --- CMakeLists.txt | 7 +++++++ .../Automated/Actuators/ActuatorsConfig.h | 12 ++++++------ .../Groundstation/Automated/test-actuators.cpp | 18 +++++------------- 3 files changed, 18 insertions(+), 19 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e3908bd85..11fdaf4b5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -86,6 +86,13 @@ add_executable(nokia-groundstation-entry target_include_directories(nokia-groundstation-entry PRIVATE ${OBSW_INCLUDE_DIRS}) sbs_target(nokia-groundstation-entry stm32f429zi_nokia) +add_executable(test-actuators + src/entrypoints/Groundstation/Automated/test-actuators.cpp + ${LYRA_GS} ${GROUNDSTATION_COMMON} +) +target_include_directories(test-actuators PRIVATE ${OBSW_INCLUDE_DIRS}) +sbs_target(test-actuators stm32f767zi_lyra_gs) + add_executable(lyra-gs-entry src/entrypoints/Groundstation/lyra-gs-entry.cpp ${LYRA_GS} ${GROUNDSTATION_COMMON} diff --git a/src/boards/Groundstation/Automated/Actuators/ActuatorsConfig.h b/src/boards/Groundstation/Automated/Actuators/ActuatorsConfig.h index 53438444a..0748ada07 100644 --- a/src/boards/Groundstation/Automated/Actuators/ActuatorsConfig.h +++ b/src/boards/Groundstation/Automated/Actuators/ActuatorsConfig.h @@ -56,24 +56,24 @@ namespace StepperSettings // TIM4_CH1 PD12 AF2 // | // TIM8_CH4 PC9 AF3 -static TIM_TypeDef* const SERVO1_PULSE_TIM = TIM3; -static TIM_TypeDef* const SERVO1_COUNT_TIM = TIM1; +static TIM_TypeDef* const SERVO1_PULSE_TIM = TIM1; +static TIM_TypeDef* const SERVO1_COUNT_TIM = TIM3; static TIM_TypeDef* const SERVO2_PULSE_TIM = TIM4; static TIM_TypeDef* const SERVO2_COUNT_TIM = TIM8; constexpr Boardcore::TimerUtils::Channel SERVO1_PULSE_CH = - Boardcore::TimerUtils::Channel::CHANNEL_2; + Boardcore::TimerUtils::Channel::CHANNEL_1; constexpr Boardcore::TimerUtils::Channel SERVO1_COUNT_CH = - Boardcore::TimerUtils::Channel::CHANNEL_4; + Boardcore::TimerUtils::Channel::CHANNEL_2; constexpr Boardcore::TimerUtils::Channel SERVO2_PULSE_CH = Boardcore::TimerUtils::Channel::CHANNEL_1; constexpr Boardcore::TimerUtils::Channel SERVO2_COUNT_CH = Boardcore::TimerUtils::Channel::CHANNEL_4; constexpr Boardcore::TimerUtils::TriggerSource SERVO1_PULSE_ITR = - Boardcore::TimerUtils::TriggerSource::ITR0; -constexpr Boardcore::TimerUtils::TriggerSource SERVO1_COUNT_ITR = Boardcore::TimerUtils::TriggerSource::ITR2; +constexpr Boardcore::TimerUtils::TriggerSource SERVO1_COUNT_ITR = + Boardcore::TimerUtils::TriggerSource::ITR0; constexpr Boardcore::TimerUtils::TriggerSource SERVO2_PULSE_ITR = Boardcore::TimerUtils::TriggerSource::ITR3; constexpr Boardcore::TimerUtils::TriggerSource SERVO2_COUNT_ITR = diff --git a/src/entrypoints/Groundstation/Automated/test-actuators.cpp b/src/entrypoints/Groundstation/Automated/test-actuators.cpp index 27ee9302b..b013b9410 100644 --- a/src/entrypoints/Groundstation/Automated/test-actuators.cpp +++ b/src/entrypoints/Groundstation/Automated/test-actuators.cpp @@ -21,11 +21,10 @@ */ #include <Groundstation/Automated/Actuators/Actuators.h> -#include <Groundstation/Automated/Buses.h> #include <Groundstation/Automated/Hub.h> -#include <Groundstation/Automated/Radio/Radio.h> #include <Groundstation/Automated/Sensors/Sensors.h> #include <Groundstation/Common/Ports/Serial.h> +#include <Groundstation/LyraGS/Buses.h> #include <diagnostic/PrintLogger.h> #include <drivers/interrupt/external_interrupts.h> #include <miosix.h> @@ -34,6 +33,7 @@ #define STEPPER_SPEED 0.25 #define TEST_WAIT 5000 +#define NO_SD_LOGGING #define START_MODULE(name, lambda) \ do \ @@ -55,13 +55,6 @@ using namespace Antennas; using namespace Boardcore; using namespace miosix; -GpioPin button = GpioPin(GPIOG_BASE, 10); ///< Emergency stop button - -void __attribute__((used)) EXTI10_IRQHandlerImpl() -{ - ModuleManager::getInstance().get<Actuators>()->IRQemergencyStop(); -} - void ledWaitLoop(int ms) { int waited = 0; @@ -199,12 +192,9 @@ void test6(Actuators *actuators) int main() { ledOff(); - button.mode(Mode::INPUT); - enableExternalInterrupt(button.getPort(), button.getNumber(), - InterruptTrigger::RISING_EDGE); Hub *hub = new Hub(); - Buses *buses = new Buses(); + LyraGS::Buses *buses = new LyraGS::Buses(); Serial *serial = new Serial(); Actuators *actuators = new Actuators(); Sensors *sensors = new Sensors(); @@ -253,6 +243,8 @@ int main() LOG_INFO(logger, "Starting tests\n"); + actuators->arm(); + test1(actuators); test2(actuators); test3(actuators); -- GitLab