From 476dc8879cc3ef7a8fd12ec9e78c7caa1240f7b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Wed, 2 Oct 2024 15:17:14 +0200
Subject: [PATCH] [submodule, ARP fix] skyward-boardcore, fix for chrono, logs
constructors, logdecoder
skyward-boardcore: now using for Propagator and Follower std::chrono for the interface.
SMA: Log constructors avoided, using now AntennaAnglesLog instead of AntennaAngles directly.
SMAConfig: Using chrono for the configuration constexpr
lyra-gs-entry: dipswitch redundant 0 for or operation
logdecoder: Now using AntennaAnglesLog
---
src/boards/Groundstation/Automated/Config/SMAConfig.h | 5 ++++-
src/boards/Groundstation/Automated/SMA/SMA.cpp | 10 ++++------
src/entrypoints/Groundstation/lyra-gs-entry.cpp | 4 ++--
.../logdecoder/AutomatedAntennas/logdecoder.cpp | 3 ++-
4 files changed, 12 insertions(+), 10 deletions(-)
diff --git a/src/boards/Groundstation/Automated/Config/SMAConfig.h b/src/boards/Groundstation/Automated/Config/SMAConfig.h
index bf6ad7cf2..e22f0d193 100644
--- a/src/boards/Groundstation/Automated/Config/SMAConfig.h
+++ b/src/boards/Groundstation/Automated/Config/SMAConfig.h
@@ -21,6 +21,9 @@
*/
#pragma once
+#include <chrono>
+
+/* linter off */ using namespace std::chrono;
namespace Antennas
{
@@ -29,7 +32,7 @@ namespace SMAConfig
{
/// @brief Period of the propagator algorithm [ms].
-constexpr uint32_t UPDATE_PERIOD = 100; // 10 Hz
+constexpr milliseconds UPDATE_PERIOD = 100ms; // 10 Hz
} // namespace SMAConfig
} // namespace Antennas
diff --git a/src/boards/Groundstation/Automated/SMA/SMA.cpp b/src/boards/Groundstation/Automated/SMA/SMA.cpp
index 52bced99a..c14fbf723 100644
--- a/src/boards/Groundstation/Automated/SMA/SMA.cpp
+++ b/src/boards/Groundstation/Automated/SMA/SMA.cpp
@@ -235,10 +235,9 @@ void SMA::update()
FollowerState follow = follower.getState();
// Log the target angles and propagations info
- AntennaAngles target = follower.getTargetAngles();
- target.nrPropagations = predicted.nPropagations;
+ AntennaAngles target = follower.getTargetAngles();
Boardcore::Logger::getInstance().log(
- static_cast<Boardcore::AntennaAngles>(target));
+ Boardcore::AntennaAnglesLog(target, predicted.nPropagations));
// actuate the steppers
auto steppers = getModule<Actuators>();
@@ -301,10 +300,9 @@ void SMA::update()
FollowerState follow = follower.getState();
// Log the target angles and propagations info
- AntennaAngles target = follower.getTargetAngles();
- target.nrPropagations = predicted.nPropagations;
+ AntennaAngles target = follower.getTargetAngles();
Boardcore::Logger::getInstance().log(
- static_cast<Boardcore::AntennaAngles>(target));
+ Boardcore::AntennaAnglesLog(target, predicted.nPropagations));
// actuate the steppers
steppers->setSpeed(StepperList::STEPPER_X, follow.horizontalSpeed);
diff --git a/src/entrypoints/Groundstation/lyra-gs-entry.cpp b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
index 6e5b61715..67afc5177 100644
--- a/src/entrypoints/Groundstation/lyra-gs-entry.cpp
+++ b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
@@ -69,7 +69,7 @@ DipStatusLyraGS getDipStatus(uint8_t read)
dipRead.payloadHasBackup = 1 & (read >> 2);
dipRead.mainTXenable = 1 & (read >> 3);
dipRead.payloadTXenable = 1 & (read >> 4);
- dipRead.ipConfig = 0 | (read >> 5);
+ dipRead.ipConfig = read >> 5;
return dipRead;
}
@@ -128,7 +128,7 @@ int main()
GpioPin clk = dipSwitch::clk::getPin();
GpioPin qh = dipSwitch::qh::getPin();
- DipSwitch dip(sh, clk, qh, microSecClk);
+ DipSwitch dip(sh, clk, qh, std::chrono::microseconds(microSecClk));
DipStatusLyraGS dipRead = getDipStatus(dip.read());
DependencyManager manager;
diff --git a/src/scripts/logdecoder/AutomatedAntennas/logdecoder.cpp b/src/scripts/logdecoder/AutomatedAntennas/logdecoder.cpp
index d23475aee..2495a7aff 100644
--- a/src/scripts/logdecoder/AutomatedAntennas/logdecoder.cpp
+++ b/src/scripts/logdecoder/AutomatedAntennas/logdecoder.cpp
@@ -31,6 +31,7 @@
#include <sensors/Vectornav/VN300/VN300Data.h>
#include <tscpp/stream.h>
+#include <cstdint>
#include <fstream>
#include <iostream>
#include <stdexcept>
@@ -60,7 +61,7 @@ void registerTypes(Deserializer& ds)
ds.registerType<StepperYData>();
ds.registerType<VN300Data>();
ds.registerType<NASState>();
- ds.registerType<AntennaAngles>();
+ ds.registerType<AntennaAnglesLog>();
ds.registerType<GPSData>();
ds.registerType<SMAStatus>();
ds.registerType<PinChangeData>();
--
GitLab