From 5b89edc7204535e3fe47e570aac0879ec61a6c05 Mon Sep 17 00:00:00 2001
From: Ettore Pane <ettore.pane@skywarder.eu>
Date: Sat, 7 Dec 2024 01:03:28 +0000
Subject: [PATCH] [CONRIG] Added new buttons and updated mavlink to orion
---
src/ConRIG/Buttons/Buttons.cpp | 89 +++++++++++++++++++++++++++-----
src/ConRIG/Buttons/Buttons.h | 2 +-
src/ConRIG/Configs/RadioConfig.h | 2 +-
src/ConRIG/Radio/Radio.cpp | 60 +++++++++++++--------
src/ConRIG/Radio/Radio.h | 2 +-
src/ConRIG/Serial/Serial.h | 2 +-
6 files changed, 118 insertions(+), 39 deletions(-)
diff --git a/src/ConRIG/Buttons/Buttons.cpp b/src/ConRIG/Buttons/Buttons.cpp
index dd7314edd..f4214f4b6 100644
--- a/src/ConRIG/Buttons/Buttons.cpp
+++ b/src/ConRIG/Buttons/Buttons.cpp
@@ -50,12 +50,18 @@ mavlink_conrig_state_tc_t Buttons::getState() { return state; }
void Buttons::resetState()
{
- state.ignition_btn = false;
- state.filling_valve_btn = false;
- state.venting_valve_btn = false;
- state.release_pressure_btn = false;
- state.quick_connector_btn = false;
- state.start_tars_btn = false;
+ state.n2o_filling_btn = false;
+ state.n2o_release_btn = false;
+ state.n2_filling_btn = false;
+ state.n2_release_btn = false;
+ state.n2_detach_btn = false;
+ state.n2o_venting_btn = false;
+ state.nitrogen_btn = false;
+ state.n2o_detach_btn = false;
+ state.n2_quenching_btn = false;
+ state.n2_3way_btn = false;
+ state.tars_btn = false;
+ state.ignition_btn = false;
}
void Buttons::periodicStatusCheck()
@@ -68,6 +74,7 @@ void Buttons::periodicStatusCheck()
{
guard = 0;
state.ignition_btn = true;
+ LOG_DEBUG(logger, "Ignition button pressed");
}
else
{
@@ -78,8 +85,35 @@ void Buttons::periodicStatusCheck()
{
if (guard > Config::Buttons::GUARD_THRESHOLD)
{
- guard = 0;
- state.filling_valve_btn = true;
+ guard = 0;
+ state.n2o_filling_btn = true;
+ LOG_DEBUG(logger, "n2o filling button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2o_release::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.n2o_release_btn = true;
+ LOG_DEBUG(logger, "n2o release button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2_release::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.n2_release_btn = true;
+ LOG_DEBUG(logger, "n2 release button pressed");
}
else
{
@@ -90,27 +124,54 @@ void Buttons::periodicStatusCheck()
{
if (guard > Config::Buttons::GUARD_THRESHOLD)
{
- guard = 0;
- state.venting_valve_btn = true;
+ guard = 0;
+ state.n2o_venting_btn = true;
+ LOG_DEBUG(logger, "n2o venting button pressed");
}
else
{
guard++;
}
}
- else if (btns::n2o_release::value())
+ else if (btns::n2_detach::value())
{
if (guard > Config::Buttons::GUARD_THRESHOLD)
{
- guard = 0;
- state.release_pressure_btn = true;
+ guard = 0;
+ state.n2_detach_btn = true;
+ LOG_DEBUG(logger, "n2 detach button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2_filling::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.n2_filling_btn = true;
+ LOG_DEBUG(logger, "n2 filling button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::nitrogen::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.nitrogen_btn = true;
+ LOG_DEBUG(logger, "nitrogen button pressed");
}
else
{
guard++;
}
}
- // TODO: implement missing buttons
else
{
// Reset all the states and guard
diff --git a/src/ConRIG/Buttons/Buttons.h b/src/ConRIG/Buttons/Buttons.h
index 362207778..efe691daa 100644
--- a/src/ConRIG/Buttons/Buttons.h
+++ b/src/ConRIG/Buttons/Buttons.h
@@ -23,7 +23,7 @@
#pragma once
#include <ConRIG/BoardScheduler.h>
-#include <common/MavlinkLyra.h>
+#include <common/MavlinkOrion.h>
#include <diagnostic/PrintLogger.h>
#include <scheduler/TaskScheduler.h>
#include <utils/DependencyManager/DependencyManager.h>
diff --git a/src/ConRIG/Configs/RadioConfig.h b/src/ConRIG/Configs/RadioConfig.h
index 712e4466c..735ae3f51 100644
--- a/src/ConRIG/Configs/RadioConfig.h
+++ b/src/ConRIG/Configs/RadioConfig.h
@@ -22,7 +22,7 @@
#pragma once
-#include <common/MavlinkLyra.h>
+#include <common/MavlinkOrion.h>
#include <units/Frequency.h>
namespace ConRIG
diff --git a/src/ConRIG/Radio/Radio.cpp b/src/ConRIG/Radio/Radio.cpp
index a1092628f..b43337517 100644
--- a/src/ConRIG/Radio/Radio.cpp
+++ b/src/ConRIG/Radio/Radio.cpp
@@ -22,7 +22,7 @@
#include "Radio.h"
-#include <common/MavlinkLyra.h>
+#include <common/MavlinkOrion.h>
#include <common/Radio.h>
#include <diagnostic/SkywardStack.h>
#include <drivers/interrupt/external_interrupts.h>
@@ -88,13 +88,19 @@ void Radio::handleMessage(const mavlink_message_t& msg)
{
Lock<FastMutex> lock{buttonsMutex};
// Reset the internal button state
- buttonState.ignition_btn = false;
- buttonState.filling_valve_btn = false;
- buttonState.venting_valve_btn = false;
- buttonState.release_pressure_btn = false;
- buttonState.quick_connector_btn = false;
- buttonState.start_tars_btn = false;
- buttonState.arm_switch = false;
+ buttonState.n2o_filling_btn = false;
+ buttonState.n2o_release_btn = false;
+ buttonState.n2_filling_btn = false;
+ buttonState.n2_release_btn = false;
+ buttonState.n2_detach_btn = false;
+ buttonState.n2o_venting_btn = false;
+ buttonState.nitrogen_btn = false;
+ buttonState.n2o_detach_btn = false;
+ buttonState.n2_quenching_btn = false;
+ buttonState.n2_3way_btn = false;
+ buttonState.tars_btn = false;
+ buttonState.arm_switch = false;
+ buttonState.ignition_btn = false;
}
break;
@@ -173,13 +179,19 @@ void Radio::setButtonsState(mavlink_conrig_state_tc_t state)
Lock<FastMutex> lock{buttonsMutex};
// The OR operator is introduced to make sure that the receiver
// understood the command
- buttonState.ignition_btn |= state.ignition_btn;
- buttonState.filling_valve_btn |= state.filling_valve_btn;
- buttonState.venting_valve_btn |= state.venting_valve_btn;
- buttonState.release_pressure_btn |= state.release_pressure_btn;
- buttonState.quick_connector_btn |= state.quick_connector_btn;
- buttonState.start_tars_btn |= state.start_tars_btn;
+ buttonState.n2o_filling_btn |= state.n2o_filling_btn;
+ buttonState.n2o_release_btn |= state.n2o_release_btn;
+ buttonState.n2_filling_btn |= state.n2_filling_btn;
+ buttonState.n2_release_btn |= state.n2_release_btn;
+ buttonState.n2_detach_btn |= state.n2_detach_btn;
+ buttonState.n2o_venting_btn |= state.n2o_venting_btn;
+ buttonState.nitrogen_btn |= state.nitrogen_btn;
+ buttonState.n2o_detach_btn |= state.n2o_detach_btn;
+ buttonState.n2_quenching_btn |= state.n2_quenching_btn;
+ buttonState.n2_3way_btn |= state.n2_3way_btn;
+ buttonState.tars_btn |= state.tars_btn;
buttonState.arm_switch |= state.arm_switch;
+ buttonState.ignition_btn |= state.ignition_btn;
}
bool Radio::start()
@@ -239,11 +251,17 @@ MavlinkStatus Radio::getMavlinkStatus() { return mavDriver->getStatus(); }
Radio::Radio()
{
- buttonState.ignition_btn = false;
- buttonState.filling_valve_btn = false;
- buttonState.venting_valve_btn = false;
- buttonState.release_pressure_btn = false;
- buttonState.quick_connector_btn = false;
- buttonState.start_tars_btn = false;
- buttonState.arm_switch = false;
+ buttonState.n2o_filling_btn = false;
+ buttonState.n2o_release_btn = false;
+ buttonState.n2_filling_btn = false;
+ buttonState.n2_release_btn = false;
+ buttonState.n2_detach_btn = false;
+ buttonState.n2o_venting_btn = false;
+ buttonState.nitrogen_btn = false;
+ buttonState.n2o_detach_btn = false;
+ buttonState.n2_quenching_btn = false;
+ buttonState.n2_3way_btn = false;
+ buttonState.tars_btn = false;
+ buttonState.arm_switch = false;
+ buttonState.ignition_btn = false;
}
\ No newline at end of file
diff --git a/src/ConRIG/Radio/Radio.h b/src/ConRIG/Radio/Radio.h
index 6c0508892..f9d5edb29 100644
--- a/src/ConRIG/Radio/Radio.h
+++ b/src/ConRIG/Radio/Radio.h
@@ -27,7 +27,7 @@
#include <ConRIG/Buttons/Buttons.h>
#include <ConRIG/Configs/RadioConfig.h>
#include <ConRIG/Serial/Serial.h>
-#include <common/MavlinkLyra.h>
+#include <common/MavlinkOrion.h>
#include <diagnostic/PrintLogger.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
#include <radio/SX1278/SX1278Lora.h>
diff --git a/src/ConRIG/Serial/Serial.h b/src/ConRIG/Serial/Serial.h
index 6d53219d1..a7a52c355 100644
--- a/src/ConRIG/Serial/Serial.h
+++ b/src/ConRIG/Serial/Serial.h
@@ -22,7 +22,7 @@
#pragma once
-#include <common/MavlinkLyra.h>
+#include <common/MavlinkOrion.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
#include <utils/DependencyManager/DependencyManager.h>
--
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