diff --git a/CMakeLists.txt b/CMakeLists.txt index b0b744d32a39b6b2408ee6b5cd478b74d7459a9a..52512357eb592a7e51976e2a2f9067a24957f51d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -69,7 +69,7 @@ sbs_target(main-entry-hil-milano stm32f429zi_stm32f4discovery) add_executable(main-entry-hil-maker-faire src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER} ${HIL}) target_include_directories(main-entry-hil-maker-faire PRIVATE ${OBSW_INCLUDE_DIRS}) -target_compile_definitions(main-entry-hil-maker-faire PRIVATE HILSimulation EUROC BUZZER_LOW USE_SERIAL_TRANSCEIVER INTERP) +target_compile_definitions(main-entry-hil-maker-faire PRIVATE HILSimulation EUROC BUZZER_LOW USE_SERIAL_TRANSCEIVER INTERP DEATHSTACK_V2) sbs_target(main-entry-hil-maker-faire stm32f429zi_skyward_death_stack_x_maker_faire) # sbs_target(main-entry-hil-maker-faire stm32f429zi_stm32f4discovery) diff --git a/src/boards/Main/Configs/ActuatorsConfigs.h b/src/boards/Main/Configs/ActuatorsConfigs.h index 1cb694624456fcd2fca370b38cf8adf0365cd973..f3c90c58ee1e397f57b57b2c7a0a0ed2eeff6c69 100644 --- a/src/boards/Main/Configs/ActuatorsConfigs.h +++ b/src/boards/Main/Configs/ActuatorsConfigs.h @@ -32,9 +32,15 @@ namespace ActuatorsConfigs { // Airbrakes servo +#ifdef DEATHSTACK_V2 +static TIM_TypeDef* const ABK_SERVO_TIMER = TIM8; +constexpr Boardcore::TimerUtils::Channel ABK_SERVO_PWM_CH = + Boardcore::TimerUtils::Channel::CHANNEL_2; +#else static TIM_TypeDef* const ABK_SERVO_TIMER = TIM10; constexpr Boardcore::TimerUtils::Channel ABK_SERVO_PWM_CH = Boardcore::TimerUtils::Channel::CHANNEL_1; +#endif // TODO: Fix rotation value constexpr float ABK_SERVO_ROTATION = 66.4; // [deg] AirBrakes without end stop diff --git a/src/boards/Main/Radio/Radio.cpp b/src/boards/Main/Radio/Radio.cpp index e1a542bf49b0eaa10b6804bcee1164527bec8e21..9ca0139e9f45f6a46e00c97d08e08c858f5a91ee 100644 --- a/src/boards/Main/Radio/Radio.cpp +++ b/src/boards/Main/Radio/Radio.cpp @@ -98,7 +98,7 @@ Radio::Radio() { #if defined(USE_SERIAL_TRANSCEIVER) Boardcore::SerialTransceiver* transceiver; - transceiver = new SerialTransceiver(Buses::getInstance().usart1); + transceiver = new SerialTransceiver(Buses::getInstance().usart2); #elif defined(USE_XBEE_TRANSCEIVER) SPIBusConfig config; config.clockDivider = SPI::ClockDivider::DIV_16;