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