From 5194a6c9868b1153522a5117b027c27d9af6d736 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] [ARP] Fixes, old codes remnances removed, SMA VN300 sample
checking feedback
General fixes: Actuators removed led GPIO, removed emergency button related things, changed timers comments.
SMA VN300 sampled and update antennas coordinates in case of feedback states.
Pin files authors linter.
---
.../Automated/Actuators/Actuators.cpp | 55 ++-----------------
.../Automated/Actuators/Actuators.h | 18 ++----
.../Automated/PinHandler/PinData.h | 2 +-
.../Automated/PinHandler/PinHandler.cpp | 2 +-
.../Automated/PinHandler/PinHandler.h | 2 +-
.../Groundstation/Automated/SMA/SMA.cpp | 39 +++++++------
6 files changed, 36 insertions(+), 82 deletions(-)
diff --git a/src/boards/Groundstation/Automated/Actuators/Actuators.cpp b/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
index 79ce0fc55..b9463c541 100644
--- a/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
+++ b/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2023-2024 Skyward Experimental Rocketry
- * Author: Emilio Corigliano, Nicolò Caruso
+ * Authors: Emilio Corigliano, Nicolò Caruso
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -34,15 +34,13 @@ namespace Antennas
using namespace Config;
-// TIM1_CH4 PA11 AF1
+// TIM1_CH1 PA8 AF1 Stepper H step
// |
-// TIM3_CH2 PC7 AF2
+// TIM3_CH2 PC7 AF2 Stepper H count
-// TIM4_CH1 PD12 AF2
+// TIM4_CH1 PD12 AF2 Stepper V step
// |
-// TIM8_CH4 PC9 AF3
-
-GpioPin ledRGB = GpioPin(GPIOG_BASE, 14);
+// TIM8_CH1 PC6 AF3 Stepper V count
CountedPWM countedPwmX(StepperSettings::SERVO1_PULSE_TIM,
StepperSettings::SERVO1_PULSE_CH,
@@ -72,10 +70,6 @@ Actuators::Actuators()
{
}
-/**
- * @brief Dummy start for actuators
- * @note The real enable is done by the `arm()` method
- */
void Actuators::start() {}
void Actuators::arm()
@@ -145,12 +139,6 @@ ActuationStatus Actuators::move(StepperList axis, int16_t steps)
{
auto *stepper = getStepper(axis);
- if (emergencyStop)
- {
- logStepperData(axis, stepper->getState(0));
- return ActuationStatus::EMERGENCY_STOP;
- }
-
ActuationStatus actuationState =
ActuationStatus::OK; //< In case the move command is not limited
@@ -186,12 +174,6 @@ ActuationStatus Actuators::moveDeg(StepperList axis, float degrees)
{
auto *stepper = getStepper(axis);
- if (emergencyStop)
- {
- logStepperData(axis, stepper->getState(0));
- return ActuationStatus::EMERGENCY_STOP;
- }
-
ActuationStatus actuationState =
ActuationStatus::OK; //< In case the move command is not limited
@@ -236,31 +218,4 @@ void Actuators::setMultipliers(StepperList axis, float multiplier)
break;
}
}
-
-void Actuators::IRQemergencyStop()
-{
- // Do not preempt during this method
- emergencyStop = true;
- countedPwmX.stop(); // Terminate current stepper actuation
- countedPwmY.stop(); // Terminate current stepper actuation
- stepperX.disable(); // Disable the horizontal movement
- stepperY.enable(); // Don't make the antenna fall
-
- ledOn();
-
- // Set LED to RED
-}
-
-void Actuators::IRQemergencyStopRecovery()
-{
- // Do not preempt during this method
- emergencyStop = false;
- stepperX.enable(); // Re-enable horizontal movement
- stepperY.enable(); // Re-enable vertical movement
-
- ledOff();
-
- // Set LED to GREEN
-}
-
} // namespace Antennas
diff --git a/src/boards/Groundstation/Automated/Actuators/Actuators.h b/src/boards/Groundstation/Automated/Actuators/Actuators.h
index 317bd33ca..b388f3155 100644
--- a/src/boards/Groundstation/Automated/Actuators/Actuators.h
+++ b/src/boards/Groundstation/Automated/Actuators/Actuators.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2023-2024 Skyward Experimental Rocketry
- * Author: Emilio Corigliano, Nicolò Caruso
+ * Authors: Emilio Corigliano, Nicolò Caruso
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -29,13 +29,13 @@
#include "ActuatorsData.h"
#include "actuators/stepper/StepperPWM.h"
-// TIM1_CH4 PA11 AF1
+// TIM1_CH1 PA8 AF1 Stepper H step
// |
-// TIM3_CH2 PC7 AF2
+// TIM3_CH2 PC7 AF2 Stepper H count
-// TIM4_CH1 PD12 AF2
+// TIM4_CH1 PD12 AF2 Stepper V step
// |
-// TIM8_CH4 PC9 AF3
+// TIM8_CH1 PC6 AF3 Stepper V count
namespace Antennas
{
@@ -75,9 +75,6 @@ public:
*/
void disarm();
- void IRQemergencyStop();
- void IRQemergencyStopRecovery();
-
ActuationStatus setSpeed(StepperList axis, float speed);
ActuationStatus move(StepperList axis, int16_t steps);
ActuationStatus moveDeg(StepperList axis, float degrees);
@@ -92,8 +89,6 @@ public:
int16_t getCurrentPosition(StepperList axis);
float getCurrentDegPosition(StepperList axis);
- bool isEmergencyStopped() const { return emergencyStop; }
-
/**
* @brief Getter for the last actuation of the wanted stepper.
* @param axis The stepper from which we want this information.
@@ -206,8 +201,5 @@ private:
Config::stepperXConfig.MAX_SPEED; // Speed of the stepper [rps]
float speedY =
Config::stepperYConfig.MAX_SPEED; // Speed of the stepper [rps]
-
- bool emergencyStop =
- false; // Whether the system performed an emergency stop
};
} // namespace Antennas
diff --git a/src/boards/Groundstation/Automated/PinHandler/PinData.h b/src/boards/Groundstation/Automated/PinHandler/PinData.h
index 10be191d6..b22b80f75 100644
--- a/src/boards/Groundstation/Automated/PinHandler/PinData.h
+++ b/src/boards/Groundstation/Automated/PinHandler/PinData.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2019-2024 Skyward Experimental Rocketry
- * Author: Matteo Pignataro, Nicolò Caruso
+ * Authors: Matteo Pignataro, Nicolò Caruso
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
diff --git a/src/boards/Groundstation/Automated/PinHandler/PinHandler.cpp b/src/boards/Groundstation/Automated/PinHandler/PinHandler.cpp
index 71ea2be21..d27517762 100644
--- a/src/boards/Groundstation/Automated/PinHandler/PinHandler.cpp
+++ b/src/boards/Groundstation/Automated/PinHandler/PinHandler.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Nicolò Caruso
+ * Author: Nicolò Caruso
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
diff --git a/src/boards/Groundstation/Automated/PinHandler/PinHandler.h b/src/boards/Groundstation/Automated/PinHandler/PinHandler.h
index 3bb5ef27d..07448cdd1 100644
--- a/src/boards/Groundstation/Automated/PinHandler/PinHandler.h
+++ b/src/boards/Groundstation/Automated/PinHandler/PinHandler.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Nicolò Caruso
+ * Author: Nicolò Caruso
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
diff --git a/src/boards/Groundstation/Automated/SMA/SMA.cpp b/src/boards/Groundstation/Automated/SMA/SMA.cpp
index 31d0b1bab..9afec5cf2 100644
--- a/src/boards/Groundstation/Automated/SMA/SMA.cpp
+++ b/src/boards/Groundstation/Automated/SMA/SMA.cpp
@@ -144,23 +144,31 @@ void SMA::update()
auto* sensors = getModule<Sensors>();
rocketCoordinates = hub->getRocketOrigin();
- // update antenna coordinates
- vn300Data = sensors->getVN300LastSample();
- if (vn300Data.fix_gps == 3)
+ // Update the antenna position except in case of no feedback
+ if (status.state != SMAState::FIX_ROCKET_NF &&
+ status.state != SMAState::INIT_ERROR &&
+ status.state != SMAState::ACTIVE_NF &&
+ status.state != SMAState::ARM_READY &&
+ status.state != SMAState::ACTIVE_NF)
{
- // build the GPSData struct with the VN300 data
- antennaCoordinates.gpsTimestamp = vn300Data.insTimestamp;
- antennaCoordinates.latitude = vn300Data.latitude;
- antennaCoordinates.longitude = vn300Data.longitude;
- antennaCoordinates.height = vn300Data.altitude;
- antennaCoordinates.velocityNorth = vn300Data.nedVelX;
- antennaCoordinates.velocityEast = vn300Data.nedVelY;
- antennaCoordinates.velocityDown = vn300Data.nedVelZ;
- antennaCoordinates.satellites = vn300Data.fix_gps;
- antennaCoordinates.fix = vn300Data.fix_gps;
+ // update antenna coordinates
+ vn300Data = sensors->getVN300LastSample();
+ if (vn300Data.fix_gps == 3)
+ {
+ // build the GPSData struct with the VN300 data
+ antennaCoordinates.gpsTimestamp = vn300Data.insTimestamp;
+ antennaCoordinates.latitude = vn300Data.latitude;
+ antennaCoordinates.longitude = vn300Data.longitude;
+ antennaCoordinates.height = vn300Data.altitude;
+ antennaCoordinates.velocityNorth = vn300Data.nedVelX;
+ antennaCoordinates.velocityEast = vn300Data.nedVelY;
+ antennaCoordinates.velocityDown = vn300Data.nedVelZ;
+ antennaCoordinates.satellites = vn300Data.fix_gps;
+ antennaCoordinates.fix = vn300Data.fix_gps;
- // update follower with coordinates
- follower.setAntennaCoordinates(antennaCoordinates);
+ // update follower with coordinates
+ follower.setAntennaCoordinates(antennaCoordinates);
+ }
}
// update follower with the rocket GPS data
@@ -222,7 +230,6 @@ void SMA::update()
// update the follower with the propagated state
follower.setLastRocketNasState(predicted.getNasState());
- VN300Data vn300Data = getModule<Sensors>()->getVN300LastSample();
follower.setLastAntennaAttitude(vn300Data);
follower.update(); // step the follower
FollowerState follow = follower.getState();
--
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