From 550cd4689520c6d7cc84ee774b3fef18e5dad79d Mon Sep 17 00:00:00 2001 From: EmilioCorigliano <emilio.corigliano@mail.polimi.it> Date: Wed, 28 Sep 2022 00:45:13 +0200 Subject: [PATCH] [HIL] Changed airbrakes configs when using deathstack X --- CMakeLists.txt | 2 +- src/boards/Main/Configs/ActuatorsConfigs.h | 6 ++++++ src/boards/Main/Radio/Radio.cpp | 2 +- 3 files changed, 8 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b0b744d32..52512357e 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 1cb694624..f3c90c58e 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 e1a542bf4..9ca0139e9 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; -- GitLab