From 7a649c37e1229fcb9283ff15eb0024776b7ec87e Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Wed, 2 Oct 2024 15:17:04 +0200
Subject: [PATCH] [AutomatedAntennas] Fixed sensors, buses and actuators to use
new target for automated gs
---
CMakeLists.txt | 3 +-
cmake/dependencies.cmake | 1 +
src/boards/AutomatedAntennas/Actuators.cpp | 64 ++++++-------------
.../AutomatedAntennas/ActuatorsConfig.h | 26 ++++----
src/boards/AutomatedAntennas/Buses.h | 18 +-----
src/boards/AutomatedAntennas/Sensors.cpp | 16 +----
src/boards/AutomatedAntennas/Sensors.h | 4 +-
.../AutomatedAntennas/test-steps.cpp | 56 ++++++++--------
8 files changed, 73 insertions(+), 115 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b447dd861..d1f5796f2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -111,4 +111,5 @@ sbs_target(automated-antennas-entry stm32f407vg_stm32f4discovery)
add_executable(test-steps src/entrypoints/Groundstation/AutomatedAntennas/test-steps.cpp ${ANTENNAS})
target_include_directories(test-steps PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(test-steps stm32f767zi_nucleo)
+# target_compile_definitions(test-steps PRIVATE NO_SD_LOGGING)
+sbs_target(test-steps stm32f767zi_automated_antennas)
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index bd8e4077e..cab11e955 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -141,4 +141,5 @@ set(GROUNDSTATION_BASE
set(ANTENNAS
src/boards/AutomatedAntennas/Actuators.cpp
+ src/boards/AutomatedAntennas/Sensors.cpp
)
\ No newline at end of file
diff --git a/src/boards/AutomatedAntennas/Actuators.cpp b/src/boards/AutomatedAntennas/Actuators.cpp
index b80ea34ad..46572347d 100644
--- a/src/boards/AutomatedAntennas/Actuators.cpp
+++ b/src/boards/AutomatedAntennas/Actuators.cpp
@@ -22,6 +22,8 @@
#include "Actuators.h"
+#include <interfaces-impl/hwmapping.h>
+
#include <utils/ModuleManager/ModuleManager.hpp>
#include "ActuatorsConfig.h"
@@ -40,58 +42,32 @@ namespace Antennas
// |
// TIM8_CH4 PC9 AF3
-GpioPin stepPinX = GpioPin(GPIOD_BASE, 12); // tim4_ch1
-GpioPin countPinX = GpioPin(GPIOC_BASE, 9); // tim8_ch4
-GpioPin directionPinX = GpioPin(GPIOD_BASE, 13);
-GpioPin enablePinX = GpioPin(GPIOD_BASE, 3);
-
-GpioPin stepPinY = GpioPin(GPIOA_BASE, 11); // tim1_ch4
-GpioPin countPinY = GpioPin(GPIOC_BASE, 7); // tim3_ch2
-GpioPin directionPinY = GpioPin(GPIOA_BASE, 12);
-GpioPin enablePinY = GpioPin(GPIOA_BASE, 8);
-
GpioPin ledRGB = GpioPin(GPIOG_BASE, 14);
-CountedPWM countedPwmX(Config::StepperConfig::SERVO2_PULSE_TIM,
- Config::StepperConfig::SERVO2_PULSE_CH,
- Config::StepperConfig::SERVO2_PULSE_ITR,
- Config::StepperConfig::SERVO2_COUNT_TIM,
- Config::StepperConfig::SERVO2_COUNT_CH,
- Config::StepperConfig::SERVO2_COUNT_ITR);
-
-CountedPWM countedPwmY(Config::StepperConfig::SERVO1_PULSE_TIM,
+CountedPWM countedPwmX(Config::StepperConfig::SERVO1_PULSE_TIM,
Config::StepperConfig::SERVO1_PULSE_CH,
Config::StepperConfig::SERVO1_PULSE_ITR,
Config::StepperConfig::SERVO1_COUNT_TIM,
Config::StepperConfig::SERVO1_COUNT_CH,
Config::StepperConfig::SERVO1_COUNT_ITR);
+CountedPWM countedPwmY(Config::StepperConfig::SERVO2_PULSE_TIM,
+ Config::StepperConfig::SERVO2_PULSE_CH,
+ Config::StepperConfig::SERVO2_PULSE_ITR,
+ Config::StepperConfig::SERVO2_COUNT_TIM,
+ Config::StepperConfig::SERVO2_COUNT_CH,
+ Config::StepperConfig::SERVO2_COUNT_ITR);
+
Actuators::Actuators()
- : stepperX(countedPwmX, stepPinX, directionPinX, 1, 1.8, false, 4,
- Stepper::PinConfiguration::COMMON_CATHODE, enablePinX),
- stepperY(countedPwmY, stepPinY, directionPinY, 1, 1.8, false, 4,
- Stepper::PinConfiguration::COMMON_CATHODE, enablePinY)
+ : stepperX(countedPwmX, stepper1::pulseTimer::getPin(),
+ stepper1::direction::getPin(), 1, 1.8, false, 4,
+ Stepper::PinConfiguration::COMMON_CATHODE,
+ stepper1::enable::getPin()),
+ stepperY(countedPwmY, stepper2::pulseTimer::getPin(),
+ stepper2::direction::getPin(), 1, 1.8, false, 4,
+ Stepper::PinConfiguration::COMMON_CATHODE,
+ stepper2::enable::getPin())
{
- // set LED to Yellow
-
- stepPinX.mode(Mode::ALTERNATE);
- stepPinX.alternateFunction(2);
- stepPinY.mode(Mode::ALTERNATE);
- stepPinY.alternateFunction(1);
-
- directionPinX.mode(Mode::OUTPUT);
- enablePinX.mode(Mode::OUTPUT);
- directionPinY.mode(Mode::OUTPUT);
- enablePinY.mode(Mode::OUTPUT);
-
-#ifdef NO_SD_LOGGING
- countPinX.mode(Mode::ALTERNATE);
- countPinX.alternateFunction(3);
- countPinY.mode(Mode::ALTERNATE);
- countPinY.alternateFunction(2);
-#endif
-
- // Set LED to GREEN
}
/**
@@ -187,7 +163,7 @@ void Actuators::moveDeg(StepperList axis, float degrees)
stepperX.getCurrentDegPosition();
}
- stepperX.moveDeg(degrees);
+ stepperX.moveDeg(degrees / Config::HORIZONTAL_MULTIPLIER);
Logger::getInstance().log(stepperX.getState(degrees));
break;
case StepperList::VERTICAL:
@@ -204,7 +180,7 @@ void Actuators::moveDeg(StepperList axis, float degrees)
stepperY.getCurrentDegPosition();
}
- stepperY.moveDeg(degrees);
+ stepperY.moveDeg(degrees / Config::VERTICAL_MULTIPLIER);
Logger::getInstance().log(stepperY.getState(degrees));
break;
default:
diff --git a/src/boards/AutomatedAntennas/ActuatorsConfig.h b/src/boards/AutomatedAntennas/ActuatorsConfig.h
index 81b38d68c..44a844843 100644
--- a/src/boards/AutomatedAntennas/ActuatorsConfig.h
+++ b/src/boards/AutomatedAntennas/ActuatorsConfig.h
@@ -28,13 +28,15 @@ namespace Antennas
{
namespace Config
{
-constexpr float MIN_ANGLE_HORIZONTAL = -45.0;
-constexpr float MAX_ANGLE_HORIZONTAL = 1000000.0;
-constexpr float MAX_SPEED_HORIZONTAL = 1.3;
+constexpr float HORIZONTAL_MULTIPLIER = 2;
+constexpr float MIN_ANGLE_HORIZONTAL = -90.0;
+constexpr float MAX_ANGLE_HORIZONTAL = 90.0;
+constexpr float MAX_SPEED_HORIZONTAL = 1.3;
-constexpr float MIN_ANGLE_VERTICAL = 0;
-constexpr float MAX_ANGLE_VERTICAL = 45.0;
-constexpr float MAX_SPEED_VERTICAL = 1.3;
+constexpr float VERTICAL_MULTIPLIER = 2;
+constexpr float MIN_ANGLE_VERTICAL = 0;
+constexpr float MAX_ANGLE_VERTICAL = 90.0;
+constexpr float MAX_SPEED_VERTICAL = 1.3;
namespace StepperConfig
{
@@ -45,24 +47,24 @@ namespace StepperConfig
// TIM4_CH1 PD12 AF2
// |
// TIM8_CH4 PC9 AF3
-static TIM_TypeDef* const SERVO1_PULSE_TIM = TIM1;
-static TIM_TypeDef* const SERVO1_COUNT_TIM = TIM3;
+static TIM_TypeDef* const SERVO1_PULSE_TIM = TIM3;
+static TIM_TypeDef* const SERVO1_COUNT_TIM = TIM1;
static TIM_TypeDef* const SERVO2_PULSE_TIM = TIM4;
static TIM_TypeDef* const SERVO2_COUNT_TIM = TIM8;
constexpr Boardcore::TimerUtils::Channel SERVO1_PULSE_CH =
- Boardcore::TimerUtils::Channel::CHANNEL_4;
-constexpr Boardcore::TimerUtils::Channel SERVO1_COUNT_CH =
Boardcore::TimerUtils::Channel::CHANNEL_2;
+constexpr Boardcore::TimerUtils::Channel SERVO1_COUNT_CH =
+ Boardcore::TimerUtils::Channel::CHANNEL_4;
constexpr Boardcore::TimerUtils::Channel SERVO2_PULSE_CH =
Boardcore::TimerUtils::Channel::CHANNEL_1;
constexpr Boardcore::TimerUtils::Channel SERVO2_COUNT_CH =
Boardcore::TimerUtils::Channel::CHANNEL_4;
constexpr Boardcore::TimerUtils::TriggerSource SERVO1_PULSE_ITR =
- Boardcore::TimerUtils::TriggerSource::ITR2;
-constexpr Boardcore::TimerUtils::TriggerSource SERVO1_COUNT_ITR =
Boardcore::TimerUtils::TriggerSource::ITR0;
+constexpr Boardcore::TimerUtils::TriggerSource SERVO1_COUNT_ITR =
+ Boardcore::TimerUtils::TriggerSource::ITR2;
constexpr Boardcore::TimerUtils::TriggerSource SERVO2_PULSE_ITR =
Boardcore::TimerUtils::TriggerSource::ITR3;
constexpr Boardcore::TimerUtils::TriggerSource SERVO2_COUNT_ITR =
diff --git a/src/boards/AutomatedAntennas/Buses.h b/src/boards/AutomatedAntennas/Buses.h
index 8f6d7ff2b..ea59ac3f9 100644
--- a/src/boards/AutomatedAntennas/Buses.h
+++ b/src/boards/AutomatedAntennas/Buses.h
@@ -28,28 +28,12 @@
namespace Antennas
{
-miosix::GpioPin usart2_tx = miosix::GpioPin(GPIOA_BASE, 2);
-miosix::GpioPin usart2_rx = miosix::GpioPin(GPIOA_BASE, 3);
-miosix::GpioPin uart4_tx = miosix::GpioPin(GPIOA_BASE, 0);
-miosix::GpioPin uart4_rx = miosix::GpioPin(GPIOA_BASE, 1);
-
class Buses : public Boardcore::Module
{
public:
Boardcore::USART usart2;
Boardcore::USART uart4;
- Buses() : usart2(USART2, 115200), uart4(UART4, 115200)
- {
- usart2_tx.mode(miosix::Mode::ALTERNATE);
- usart2_tx.alternateFunction(7);
- usart2_rx.mode(miosix::Mode::ALTERNATE_PULL_UP);
- usart2_rx.alternateFunction(7);
-
- uart4_tx.mode(miosix::Mode::ALTERNATE);
- uart4_tx.alternateFunction(8);
- uart4_rx.mode(miosix::Mode::ALTERNATE_PULL_UP);
- uart4_rx.alternateFunction(8);
- }
+ Buses() : usart2(USART2, 115200), uart4(UART4, 115200) {}
};
} // namespace Antennas
\ No newline at end of file
diff --git a/src/boards/AutomatedAntennas/Sensors.cpp b/src/boards/AutomatedAntennas/Sensors.cpp
index f17f52883..776b8a021 100644
--- a/src/boards/AutomatedAntennas/Sensors.cpp
+++ b/src/boards/AutomatedAntennas/Sensors.cpp
@@ -47,24 +47,14 @@ bool Sensors::start()
LOG_ERR(logger, "Sensor Manager failed to start");
return false;
}
+
+ return true;
}
bool Sensors::vn300Init()
{
vn300 = new Boardcore::VN300(
- ModuleManager::getInstance().get<Buses>()->uart4, 115200);
-
- if (!vn300->init())
- {
- LOG_ERR(logger, "VN300 not initialized");
- return false;
- }
-
- if (!vn300->selfTest())
- {
- LOG_ERR(logger, "VN300 self-test failed");
- return false;
- }
+ ModuleManager::getInstance().get<Buses>()->usart2, 115200);
SensorInfo info("VN300", SAMPLE_PERIOD_VN300,
bind(&Sensors::vn300Callback, this));
diff --git a/src/boards/AutomatedAntennas/Sensors.h b/src/boards/AutomatedAntennas/Sensors.h
index 852607ec8..281eb763a 100644
--- a/src/boards/AutomatedAntennas/Sensors.h
+++ b/src/boards/AutomatedAntennas/Sensors.h
@@ -42,7 +42,7 @@ public:
/**
* @brief Returns the last sample of the VN300.
*/
- VN300Data getVN300LastSample();
+ Boardcore::VN300Data getVN300LastSample();
private:
bool vn300Init();
@@ -50,7 +50,7 @@ private:
Boardcore::VN300 *vn300 = nullptr;
- SensorManager *sm = nullptr;
+ Boardcore::SensorManager *sm = nullptr;
Boardcore::SensorManager::SensorMap_t sensorsMap;
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
};
diff --git a/src/entrypoints/Groundstation/AutomatedAntennas/test-steps.cpp b/src/entrypoints/Groundstation/AutomatedAntennas/test-steps.cpp
index a8c810946..3e1e9a7b7 100644
--- a/src/entrypoints/Groundstation/AutomatedAntennas/test-steps.cpp
+++ b/src/entrypoints/Groundstation/AutomatedAntennas/test-steps.cpp
@@ -33,6 +33,7 @@
#include <scheduler/TaskScheduler.h>
#include <utils/ButtonHandler/ButtonHandler.h>
+#include <iostream>
#include <utils/ModuleManager/ModuleManager.hpp>
#include "actuators/stepper/StepperPWM.h"
@@ -140,7 +141,7 @@ int main()
// Starting the Actuators
modules.get<Actuators>()->start();
- // Starting the Actuators
+ // Starting the Sensors
if (!modules.get<Sensors>()->start())
{
initResult = false;
@@ -167,6 +168,8 @@ int main()
modules.get<Actuators>()->setSpeed(Actuators::StepperList::HORIZONTAL,
speed);
+
+ modules.get<Actuators>()->setSpeed(Actuators::StepperList::VERTICAL, speed);
// scheduler->addTask(
// [&]()
// {
@@ -198,37 +201,38 @@ int main()
// }
// },
// 100);
-
- for (;;)
+ VN300Data data;
+ while (!ModuleManager::getInstance().get<Actuators>()->isEmergencyStopped())
{
- // speed = speed0;
- // for (int i = 0; i < 10; i++)
- // {
- modules.get<Actuators>()->moveDeg(Actuators::StepperList::HORIZONTAL,
- 360);
- Thread::sleep(500);
-
- speed += stepSpeed;
- modules.get<Actuators>()->setSpeed(Actuators::StepperList::HORIZONTAL,
- speed);
- // }
-
- // speed = speed0;
- // for (int i = 0; i < 10; i++)
- // {
- // modules.get<Actuators>()->moveDeg(
- // Actuators::StepperList::HORIZONTAL, -360);
- // Thread::sleep(400);
-
- // speed += stepSpeed;
- // modules.get<Actuators>()->setSpeed(
- // Actuators::StepperList::HORIZONTAL, speed);
- // }
+ {
+ data = modules.get<Sensors>()->getVN300LastSample();
+ printf("acc[%.3f,%.3f,%.3f] ypr[%.3f,%.3f,%.3f]\n",
+ data.accelerationX, data.accelerationY, data.accelerationZ,
+ data.yaw, data.pitch, data.roll);
+ modules.get<Actuators>()->moveDeg(
+ Actuators::StepperList::HORIZONTAL, 10);
+ modules.get<Actuators>()->moveDeg(Actuators::StepperList::VERTICAL,
+ 10);
+ Thread::sleep(1000);
+ }
+
+ {
+ data = modules.get<Sensors>()->getVN300LastSample();
+ printf("acc[%.3f,%.3f,%.3f] ypr[%.3f,%.3f,%.3f]\n",
+ data.accelerationX, data.accelerationY, data.accelerationZ,
+ data.yaw, data.pitch, data.roll);
+ modules.get<Actuators>()->moveDeg(
+ Actuators::StepperList::HORIZONTAL, -10);
+ modules.get<Actuators>()->moveDeg(Actuators::StepperList::VERTICAL,
+ -10);
+ Thread::sleep(1000);
+ }
}
// Stopping threads
{
Logger::getInstance().stop();
+ printf("Logger stopped! Board can be reset/shutdown9\n");
}
while (1)
--
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