diff --git a/src/boards/Parafoil/Configs/MavlinkConfig.h b/src/boards/Parafoil/Configs/MavlinkConfig.h
index e502577174def3bdf58537a3f30fea993c1ef2d9..9c702ae66c5d51f1717b06b158972d0967e0be97 100644
--- a/src/boards/Parafoil/Configs/MavlinkConfig.h
+++ b/src/boards/Parafoil/Configs/MavlinkConfig.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+ * Author: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -19,20 +19,26 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
-namespace ParafoilTestDev
+#include <stdint.h>
+
+#include <cstdio>
+
+namespace Parafoil
{
- /* Mavlink Driver queue settings */
- static constexpr unsigned int MAV_OUT_QUEUE_LEN = 10;
- static constexpr unsigned int MAV_PKT_SIZE = 255;
- static constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 200;
+// Mavlink Driver queue settings
+static constexpr unsigned int MAV_OUT_QUEUE_LEN = 10;
+static constexpr unsigned int MAV_PKT_SIZE = 255;
+static constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 200;
+
+// These two values are taken as is
+static const unsigned int TMTC_MAV_SYSID = 171;
+static const unsigned int TMTC_MAV_COMPID = 96;
- //These two values are taken as is
- static const unsigned int TMTC_MAV_SYSID = 171;
- static const unsigned int TMTC_MAV_COMPID = 96;
+// Min guaranteed sleep time after each packet sent
+static const uint16_t SLEEP_AFTER_SEND = 0; // [ms]
- /* Min guaranteed sleep time after each packet sent (milliseconds) */
- static const uint16_t SLEEP_AFTER_SEND = 0;
-}
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/RadioConfig.h b/src/boards/Parafoil/Configs/RadioConfig.h
index ca9beaf91a5f632216fb3fe8a8948071968a6a62..5248aedd1d91f4129a8267bc29f10196c04b60ef 100644
--- a/src/boards/Parafoil/Configs/RadioConfig.h
+++ b/src/boards/Parafoil/Configs/RadioConfig.h
@@ -24,16 +24,16 @@
#include <stdint.h>
-namespace ParafoilTestDev
+namespace Parafoil
{
-// TODO update with the correct values
-static const uint32_t HR_GROUND_UPDATE_PERIOD = 62; // Milliseconds
+// TODO: update with the correct values
+static const uint32_t HR_GROUND_UPDATE_PERIOD = 62; // [ms]
static const uint32_t HR_FLIGHT_UPDATE_PERIOD = 10;
-static const uint32_t LR_UPDATE_PERIOD = 100; // Milliseconds
+static const uint32_t LR_UPDATE_PERIOD = 100; // [ms]
-// TODO define the correct ids for task scheduler
+// TODO: define the correct ids for task scheduler
static const uint8_t RADIO_HR_ID = 200;
static const uint8_t RADIO_LR_ID = 201;
-} // namespace ParafoilTestDev
\ No newline at end of file
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/SensorsConfig.h b/src/boards/Parafoil/Configs/SensorsConfig.h
index ce12d431d18dd930dde72264259d13d2a157be43..a2629c6eaefd3319f4c46266383d2867ccf736ee 100644
--- a/src/boards/Parafoil/Configs/SensorsConfig.h
+++ b/src/boards/Parafoil/Configs/SensorsConfig.h
@@ -29,36 +29,38 @@
#pragma once
-#include <sensors/UbloxGPS/UbloxGPS.h>
-#include <sensors/MPU9250/MPU9250.h>
#include <sensors/BME280/BME280.h>
+#include <sensors/MPU9250/MPU9250.h>
+#include <sensors/UbloxGPS/UbloxGPS.h>
-using namespace Boardcore;
-
-namespace ParafoilTestDev
+namespace Parafoil
{
- //SPI pinouts
- static miosix::GpioPin SCK(GPIOA_BASE, 5);
- static miosix::GpioPin MISO(GPIOB_BASE, 4);
- static miosix::GpioPin MOSI(GPIOA_BASE, 7);
- //GPS settings
- //static miosix::GpioPin GPS_CS(GPIOG_BASE, 3);
- static miosix::GpioPin GPS_TX(GPIOA_BASE, 2);
- static miosix::GpioPin GPS_RX(GPIOA_BASE, 3);
- static constexpr unsigned int GPS_SAMPLE_RATE = 25;
- static constexpr unsigned int GPS_SAMPLE_PERIOD = 1000 / GPS_SAMPLE_RATE;
-
+// SPI pinouts
+static miosix::GpioPin SCK(GPIOA_BASE, 5);
+static miosix::GpioPin MISO(GPIOB_BASE, 4);
+static miosix::GpioPin MOSI(GPIOA_BASE, 7);
+
+// GPS settings
+// static miosix::GpioPin GPS_CS(GPIOG_BASE, 3);
+static miosix::GpioPin GPS_TX(GPIOA_BASE, 2);
+static miosix::GpioPin GPS_RX(GPIOA_BASE, 3);
+static constexpr unsigned int GPS_SAMPLE_RATE = 25;
+static constexpr unsigned int GPS_SAMPLE_PERIOD = 1000 / GPS_SAMPLE_RATE;
+
+// IMU MPU9250 settings
+static miosix::GpioPin IMU_CS(GPIOB_BASE, 2);
+static const Boardcore::MPU9250::MPU9250GyroFSR IMU_GYRO_SCALE =
+ Boardcore::MPU9250::GYRO_FSR_500DPS;
+static const Boardcore::MPU9250::MPU9250AccelFSR IMU_ACCEL_SCALE =
+ Boardcore::MPU9250::ACCEL_FSR_16G;
+static constexpr unsigned short IMU_SAMPLE_RATE = 500;
+static constexpr unsigned int IMU_SAMPLE_PERIOD = 1000 / IMU_SAMPLE_RATE;
- //IMU MPU9250 settings
- static miosix::GpioPin IMU_CS(GPIOB_BASE, 2);
- static const MPU9250::MPU9250GyroFSR IMU_GYRO_SCALE = MPU9250::GYRO_FSR_500DPS;
- static const MPU9250::MPU9250AccelFSR IMU_ACCEL_SCALE = MPU9250::ACCEL_FSR_16G;
- static constexpr unsigned short IMU_SAMPLE_RATE = 500;
- static constexpr unsigned int IMU_SAMPLE_PERIOD = 1000 / IMU_SAMPLE_RATE;
+// Barometer BME280 settings
+static miosix::GpioPin PRESS_CS(GPIOC_BASE, 11);
+static const Boardcore::BME280::StandbyTime PRESS_SAMPLE_RATE =
+ Boardcore::BME280::STB_TIME_0_5;
+static constexpr unsigned int PRESS_SAMPLE_PERIOD = 20;
- //Barometer BME280 settings
- static miosix::GpioPin PRESS_CS(GPIOC_BASE, 11);
- static const BME280::StandbyTime PRESS_SAMPLE_RATE = BME280::STB_TIME_0_5;
- static constexpr unsigned int PRESS_SAMPLE_PERIOD = 20;
-}
\ No newline at end of file
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/XbeeConfig.h b/src/boards/Parafoil/Configs/XbeeConfig.h
index a5bb0275441c98c0432d0b393a2e502ac356437d..e254ea5a0fa0c41ec70ea2160ab79f4700e9e896 100644
--- a/src/boards/Parafoil/Configs/XbeeConfig.h
+++ b/src/boards/Parafoil/Configs/XbeeConfig.h
@@ -19,24 +19,25 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
#include <radio/Xbee/Xbee.h>
-using namespace Boardcore;
-
-namespace ParafoilTestDev
+namespace Parafoil
{
- //TODO change the pins to something correct
- static miosix::GpioPin XBEE_CS(GPIOC_BASE, 1);
- static miosix::GpioPin XBEE_ATTN(GPIOF_BASE, 10); //Interrupt pin (THE SAME AS THE RADIO.CPP)
- static miosix::GpioPin XBEE_RESET(GPIOC_BASE, 5);
- static miosix::GpioPin XBEE_SCK(GPIOE_BASE, 2);
- static miosix::GpioPin XBEE_MISO(GPIOE_BASE, 5);
- static miosix::GpioPin XBEE_MOSI(GPIOE_BASE, 6);
+// TODO change the pins to something correct
+static miosix::GpioPin XBEE_CS(GPIOC_BASE, 1);
+static miosix::GpioPin XBEE_ATTN(GPIOF_BASE, 10); // Interrupt pin
+static miosix::GpioPin XBEE_RESET(GPIOC_BASE, 5);
+
+static miosix::GpioPin XBEE_SCK(GPIOE_BASE, 2);
+static miosix::GpioPin XBEE_MISO(GPIOE_BASE, 5);
+static miosix::GpioPin XBEE_MOSI(GPIOE_BASE, 6);
+
+// Data rate
+static const bool XBEE_80KBPS_DATA_RATE = true;
+static const int XBEE_TIMEOUT = 5000; // [ms]
- //Data rate
- static const bool XBEE_80KBPS_DATA_RATE = true;
- static const int XBEE_TIMEOUT = 5000; //5 seconds
-}
\ No newline at end of file
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/FlightModeManager/FMMController.cpp b/src/boards/Parafoil/FlightModeManager/FMMController.cpp
index b40951fdbcf5d7f563d662d6693aa2b6e2b25b79..5c43d55d860285d3c120ea3456e75aab6c21c777 100644
--- a/src/boards/Parafoil/FlightModeManager/FMMController.cpp
+++ b/src/boards/Parafoil/FlightModeManager/FMMController.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
+ * Author: Matteo Pignataro
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -22,136 +22,132 @@
#include "FMMController.h"
+#include <common/events/Events.h>
+#include <events/EventBroker.h>
#include <miosix.h>
-#include <events/EventBroker.h>
-#include <common/events/Events.h>
+using namespace Boardcore;
-namespace ParafoilTestDev
+namespace Parafoil
{
- FMMController::FMMController() : FSM(&FMMController::state_on_ground)
- {
- memset(&status, 0, sizeof(FMMControllerStatus));
- sEventBroker.subscribe(this, TOPIC_FMM);
- sEventBroker.subscribe(this, TOPIC_TMTC);
- }
+FMMController::FMMController() : FSM(&FMMController::state_on_ground)
+{
+ memset(&status, 0, sizeof(FMMControllerStatus));
+ sEventBroker.subscribe(this, TOPIC_FMM);
+ sEventBroker.subscribe(this, TOPIC_TMTC);
+}
+
+FMMController::~FMMController() { sEventBroker.unsubscribe(this); }
- FMMController::~FMMController()
+void FMMController::state_on_ground(const Event& ev)
+{
+ switch (ev.code)
{
- sEventBroker.unsubscribe(this);
+ case EV_ENTRY:
+ {
+ // ...
+
+ logStatus(ON_GROUND);
+
+ LOG_DEBUG(logger, "[FMM] entering state on_ground\n");
+ break;
+ }
+ case EV_EXIT:
+ {
+ // ...
+
+ LOG_DEBUG(logger, "[FMM] exiting state on_ground\n");
+ break;
+ }
+ case EV_LIFTOFF:
+ {
+ transition(&FMMController::state_flying);
+ break;
+ }
+ case EV_TC_TEST_MODE:
+ {
+ transition(&FMMController::state_debug);
+ break;
+ }
+ default:
+ {
+ break;
+ }
}
+}
- void FMMController::state_on_ground(const Event& ev)
+void FMMController::state_flying(const Event& ev)
+{
+ switch (ev.code)
{
- switch (ev.code)
+ case EV_ENTRY:
{
- case EV_ENTRY:
- {
- // ...
-
- logStatus(ON_GROUND);
-
- LOG_DEBUG(logger, "[FMM] entering state on_ground\n");
- break;
- }
- case EV_EXIT:
- {
- // ...
-
- LOG_DEBUG(logger, "[FMM] exiting state on_ground\n");
- break;
- }
- case EV_LIFTOFF:
- {
- transition(&FMMController::state_flying);
- break;
- }
- case EV_TC_TEST_MODE:
- {
- transition(&FMMController::state_debug);
- break;
- }
- default:
- {
- break;
- }
+ // ...
+
+ logStatus(FLYING_STATE);
+
+ LOG_DEBUG(logger, "[FMM] entering state flying\n");
+ break;
}
- }
+ case EV_EXIT:
+ {
+ // ...
+ LOG_DEBUG(logger, "[FMM] exiting state flying\n");
+ break;
+ }
- void FMMController::state_flying(const Event& ev)
- {
- switch (ev.code)
+ default:
{
- case EV_ENTRY:
- {
- // ...
-
- logStatus(FLYING_STATE);
-
- LOG_DEBUG(logger, "[FMM] entering state flying\n");
- break;
- }
- case EV_EXIT:
- {
- // ...
-
- LOG_DEBUG(logger, "[FMM] exiting state flying\n");
- break;
- }
-
- default:
- {
- break;
- }
+ break;
}
}
+}
-
- void FMMController::state_debug(const Event& ev)
+void FMMController::state_debug(const Event& ev)
+{
+ switch (ev.code)
{
- switch (ev.code)
+ case EV_ENTRY:
{
- case EV_ENTRY:
- {
- // ...
-
- logStatus(DEBUG_STATE);
-
- LOG_DEBUG(logger, "[FMM] entering state debug\n");
- break;
- }
- case EV_EXIT:
- {
- // ...
-
- LOG_DEBUG(logger, "[FMM] exiting state debug\n");
- break;
- }
- case EV_TC_EXIT_TEST_MODE:
- {
- transition(&FMMController::state_on_ground);
- break;
- }
- default:
- {
- break;
- }
+ // ...
+
+ logStatus(DEBUG_STATE);
+
+ LOG_DEBUG(logger, "[FMM] entering state debug\n");
+ break;
+ }
+ case EV_EXIT:
+ {
+ // ...
+
+ LOG_DEBUG(logger, "[FMM] exiting state debug\n");
+ break;
+ }
+ case EV_TC_EXIT_TEST_MODE:
+ {
+ transition(&FMMController::state_on_ground);
+ break;
+ }
+ default:
+ {
+ break;
}
}
+}
- /* --- LOGGER --- */
+/* --- LOGGER --- */
- void FMMController::logStatus(FMMControllerState state)
- {
- status.state = state;
- logStatus();
- }
+void FMMController::logStatus(FMMControllerState state)
+{
+ status.state = state;
+ logStatus();
+}
- void FMMController::logStatus()
- {
- status.timestamp = miosix::getTick();
- SDlogger -> log(status);
- }
+void FMMController::logStatus()
+{
+ status.timestamp = miosix::getTick();
+ SDlogger->log(status);
+}
-} // namespace ParafoilTestDev
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/FlightModeManager/FMMController.h b/src/boards/Parafoil/FlightModeManager/FMMController.h
index f185f945251284cdb491b78ef9220d77d64ade34..1f03ed297ef809e90597593576ace6f6102c1057 100644
--- a/src/boards/Parafoil/FlightModeManager/FMMController.h
+++ b/src/boards/Parafoil/FlightModeManager/FMMController.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
+ * Author: Matteo Pignataro
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -22,35 +22,34 @@
#pragma once
-#include "FMMData.h"
-#include <events/FSM.h>
#include <diagnostic/PrintLogger.h>
+#include <events/FSM.h>
-using namespace Boardcore;
+#include "FMMData.h"
-namespace ParafoilTestDev
+namespace Parafoil
+{
+/**
+ * @brief FMM state machine
+ */
+class FMMController : public Boardcore::FSM<FMMController>
{
- /**
- * @brief FMM state machine
- */
- class FMMController : public FSM<FMMController>
- {
- public:
- FMMController();
- ~FMMController();
-
- void state_on_ground(const Event& ev);
- void state_flying(const Event& ev);
- void state_debug(const Event& ev);
-
- private:
- FMMControllerStatus status;
- PrintLogger logger = Logging::getLogger("FMM");
- Logger* SDlogger = &Logger::getInstance();
-
- /* --- LOGGER --- */
-
- void logStatus(FMMControllerState state);
- void logStatus();
- };
-} // namespace ParafoilTestDev
+public:
+ FMMController();
+ ~FMMController();
+
+ void state_on_ground(const Boardcore::Event& ev);
+ void state_flying(const Boardcore::Event& ev);
+ void state_debug(const Boardcore::Event& ev);
+
+private:
+ FMMControllerStatus status;
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("FMM");
+ Boardcore::Logger* SDlogger = &Boardcore::Logger::getInstance();
+
+ /* --- LOGGER --- */
+
+ void logStatus(FMMControllerState state);
+ void logStatus();
+};
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/FlightModeManager/FMMData.h b/src/boards/Parafoil/FlightModeManager/FMMData.h
index a57776517897806ccd734d693a9a8472e9e1b4f5..09a17d6014edfac8f032f4e1cbee876733ddc2ca 100644
--- a/src/boards/Parafoil/FlightModeManager/FMMData.h
+++ b/src/boards/Parafoil/FlightModeManager/FMMData.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
+ * Author: Matteo Pignataro
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -27,7 +27,7 @@
#include <iostream>
#include <string>
-namespace ParafoilTestDev
+namespace Parafoil
{
/**
@@ -48,10 +48,7 @@ struct FMMControllerStatus
long long timestamp;
FMMControllerState state;
- static std::string header()
- {
- return "timestamp,state\n";
- }
+ static std::string header() { return "timestamp,state\n"; }
void print(std::ostream& os) const
{
@@ -59,4 +56,4 @@ struct FMMControllerStatus
}
};
-} // namespace ParafoilTestDev
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Main/Radio.cpp b/src/boards/Parafoil/Main/Radio.cpp
index dcee160220bb15a941cb617a306d64e6fdaf9b7e..20158cf3a4404b1b73fc5ab91441fe751f73a8d6 100644
--- a/src/boards/Parafoil/Main/Radio.cpp
+++ b/src/boards/Parafoil/Main/Radio.cpp
@@ -41,7 +41,7 @@ using namespace Boardcore;
*/
void __attribute__((used)) EXTI10_IRQHandlerImpl()
{
- using namespace ParafoilTestDev;
+ using namespace Parafoil;
/*if (ParafoilTest::getInstance().radio->xbee != nullptr)
{
@@ -53,11 +53,9 @@ void __attribute__((used)) EXTI10_IRQHandlerImpl()
}
}
-namespace ParafoilTestDev
+namespace Parafoil
{
-/**
- * PUBLIC METHODS
- */
+
Radio::Radio(SPIBusInterface& xbee_bus, TaskScheduler* scheduler)
: xbee_bus(xbee_bus)
{
@@ -260,9 +258,6 @@ void Radio::logStatus()
// TODO log
}
-/**
- * PRIVATE METHODS
- */
void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
{
// Log the thing
@@ -291,4 +286,4 @@ void Radio::init()
// Enable external interrupt on F10 pin
enableExternalInterrupt(GPIOF_BASE, 10, InterruptTrigger::FALLING_EDGE);
}
-} // namespace ParafoilTestDev
\ No newline at end of file
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Main/Radio.h b/src/boards/Parafoil/Main/Radio.h
index 2bb6dc05369bfb25f1c8d1f2d851844a325f388a..9ce2c53277bbec733eb87b6c45efda21d4443969 100644
--- a/src/boards/Parafoil/Main/Radio.h
+++ b/src/boards/Parafoil/Main/Radio.h
@@ -19,96 +19,98 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
#include <Parafoil/TelemetriesTelecommands/Mavlink.h>
-#include <radio/Xbee/Xbee.h>
+#include <common/events/Events.h>
#include <radio/SX1278/SX1278.h>
+#include <radio/Xbee/Xbee.h>
#include <scheduler/TaskScheduler.h>
-#include <common/events/Events.h>
/**
* @brief This class represents the radio module. It allows the communications
- * between the xbee radio module and the on board software. The main tasks are about
- * sending automatic updates to ground based on the current state (High rate telemetry
- * or Low rate telemetry) and handle the messages from the ground station.
- * To handle the various messages there is an apposit callback method and,
- * to pack the optional reply data we use the TMRepository singleton.
+ * between the xbee radio module and the on board software. The main tasks are
+ * about sending automatic updates to ground based on the current state (High
+ * rate telemetry or Low rate telemetry) and handle the messages from the ground
+ * station. To handle the various messages there is an apposit callback method
+ * and, to pack the optional reply data we use the TMRepository singleton.
*/
-namespace ParafoilTestDev
+namespace Parafoil
+{
+
+class Radio
{
- class Radio
- {
- public:
- /**
- * @brief The xbee module driver
- */
- //Xbee::Xbee* xbee;
- SX1278* module;
-
- /**
- * @brief Construct a new Radio object
- *
- * @param xbee_bus The Xbee SPI bus
- */
- Radio(SPIBusInterface& xbee_bus, TaskScheduler* scheduler);
-
- /**
- * @brief Destroy the Radio object
- */
- ~Radio();
-
- /**
- * @brief Method called when a mavlink message is received
- *
- * @param msg The parsed message
- */
- void handleMavlinkMessage(MavDriver* driver, const mavlink_message_t& msg);
-
- /**
- * @brief This method is used to add in send queue
- * the requested message. It is necessary to call the
- * TMrepository to process the actual packet.
- *
- * @param tm_id The requested message id
- * @return boolean that indicates the operation's result
- */
- bool sendTelemetry(const uint8_t tm_id);
-
- /**
- * @brief Method automatically called by the task
- * scheduler that sends the high rate telemetry
- */
- void sendHRTelemetry();
-
- /**
- * @brief Method automatically called by the task
- * scheduler that sends the high rate telemetry
- */
- void sendLRTelemetry();
-
- /**
- * @brief Every time a message is received we send
- * an ack message to tell the ground station that we
- * received the message
- *
- * @param msg The message received that we need to ack
- */
- void sendAck(const mavlink_message_t& msg);
-
- /**
- * @brief Method to change the telemetry rate
- */
- void toggleHRTelemetry();
-
- bool start();
-
- void logStatus();
-
- private:
-
- //1 to 1 corrispondence of every message to its event
- const std::map<uint8_t, uint8_t> tcMap = {
+public:
+ /**
+ * @brief The xbee module driver
+ */
+ // Xbee::Xbee* xbee;
+ Boardcore::SX1278* module;
+
+ /**
+ * @brief Construct a new Radio object
+ *
+ * @param xbee_bus The Xbee SPI bus
+ */
+ Radio(Boardcore::SPIBusInterface& xbee_bus,
+ Boardcore::TaskScheduler* scheduler);
+
+ /**
+ * @brief Destroy the Radio object
+ */
+ ~Radio();
+
+ /**
+ * @brief Method called when a mavlink message is received
+ *
+ * @param msg The parsed message
+ */
+ void handleMavlinkMessage(MavDriver* driver, const mavlink_message_t& msg);
+
+ /**
+ * @brief This method is used to add in send queue
+ * the requested message. It is necessary to call the
+ * TMrepository to process the actual packet.
+ *
+ * @param tm_id The requested message id
+ * @return boolean that indicates the operation's result
+ */
+ bool sendTelemetry(const uint8_t tm_id);
+
+ /**
+ * @brief Method automatically called by the task
+ * scheduler that sends the high rate telemetry
+ */
+ void sendHRTelemetry();
+
+ /**
+ * @brief Method automatically called by the task
+ * scheduler that sends the high rate telemetry
+ */
+ void sendLRTelemetry();
+
+ /**
+ * @brief Every time a message is received we send
+ * an ack message to tell the ground station that we
+ * received the message
+ *
+ * @param msg The message received that we need to ack
+ */
+ void sendAck(const mavlink_message_t& msg);
+
+ /**
+ * @brief Method to change the telemetry rate
+ */
+ void toggleHRTelemetry();
+
+ bool start();
+
+ void logStatus();
+
+private:
+ // 1 to 1 corrispondence of every message to its event
+ const std::map<uint8_t, uint8_t> tcMap = {
{MAV_CMD_ARM, EV_TC_ARM},
{MAV_CMD_DISARM, EV_TC_DISARM},
@@ -138,48 +140,49 @@ namespace ParafoilTestDev
{MAV_CMD_BOARD_RESET, EV_TC_RESET_BOARD},
{MAV_CMD_END_MISSION, EV_TC_END_MISSION}};
- /**
- * @brief The mavlink driver
- */
- MavDriver* mav_driver;
-
- /**
- * @brief SPI bus
- */
- SPIBusInterface& xbee_bus;
-
- /**
- * @brief Main task scheduler
- */
- TaskScheduler* scheduler;
-
- /**
- * @brief high rate telemetry status.
- * false -> LR telemetry
- * true -> HR telemetry
- */
- bool HRtelemetry;
-
- /**
- * @brief Logger
- */
- PrintLogger logger = Logging::getLogger("Radio");
-
- /**
- * @brief SD logger (pre started because of the ParafoilTest.h main class)
- */
- Logger* SDlogger = &Logger::getInstance();
-
- /**
- * @brief Radio frame received callback method.
- * It's used for logging purposes
- */
- void onXbeeFrameReceived(Xbee::APIFrame& frame);
-
- /**
- * @brief Method to initialize all the variables and objects
- * and to register the HR and LR tasks into the task scheduler
- */
- void init();
- };
-}
\ No newline at end of file
+ /**
+ * @brief The mavlink driver
+ */
+ MavDriver* mav_driver;
+
+ /**
+ * @brief SPI bus
+ */
+ Boardcore::SPIBusInterface& xbee_bus;
+
+ /**
+ * @brief Main task scheduler
+ */
+ Boardcore::TaskScheduler* scheduler;
+
+ /**
+ * @brief high rate telemetry status.
+ * false -> LR telemetry
+ * true -> HR telemetry
+ */
+ bool HRtelemetry;
+
+ /**
+ * @brief Logger
+ */
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("Radio");
+
+ /**
+ * @brief SD logger (pre started because of the ParafoilTest.h main class)
+ */
+ Boardcore::Logger* SDlogger = &Boardcore::Logger::getInstance();
+
+ /**
+ * @brief Radio frame received callback method.
+ * It's used for logging purposes
+ */
+ void onXbeeFrameReceived(Boardcore::Xbee::APIFrame& frame);
+
+ /**
+ * @brief Method to initialize all the variables and objects
+ * and to register the HR and LR tasks into the task scheduler
+ */
+ void init();
+};
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Main/Sensors.cpp b/src/boards/Parafoil/Main/Sensors.cpp
index 1f3f57de810b60871091532dafa2be7409007f75..36aa8ac5630f901cdc0be3dc70493501621e0004 100644
--- a/src/boards/Parafoil/Main/Sensors.cpp
+++ b/src/boards/Parafoil/Main/Sensors.cpp
@@ -29,11 +29,9 @@
using std::bind;
using namespace Boardcore;
-namespace ParafoilTestDev
+namespace Parafoil
{
-/**
- * PRIVATE METHODS
- */
+
void Sensors::MPU9250init()
{
SPIBusConfig spiConfig{};
@@ -109,7 +107,7 @@ void Sensors::BME280init()
slave.config.clockDivider = SPI::ClockDivider::DIV_16;
- auto config = BME280::BME280_CONFIG_ALL_ENABLED;
+ auto config = BME280::BME280_CONFIG_ALL_ENABLED;
config.bits.oversamplingPressure = BME280::OVERSAMPLING_4;
// Instantiate the object
@@ -140,9 +138,6 @@ void Sensors::BME280Callback()
TMRepository::getInstance().update(d);
}
-/**
- * PUBLIC METHODS
- */
Sensors::Sensors(SPIBusInterface& spi, TaskScheduler* scheduler)
: spiInterface(spi)
{
@@ -156,6 +151,8 @@ Sensors::Sensors(SPIBusInterface& spi, TaskScheduler* scheduler)
// Sensor manager instance
// At this point sensors_map contains all the initialized sensors
+ // cppcheck-suppress noCopyConstructor
+ // cppcheck-suppress noOperatorEq
manager = new SensorManager(sensors_map, scheduler);
}
@@ -175,4 +172,4 @@ bool Sensors::start() { return manager->start(); }
void Sensors::calibrate() {}
-} // namespace ParafoilTestDev
\ No newline at end of file
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Main/Sensors.h b/src/boards/Parafoil/Main/Sensors.h
index 8f6fd5b5806afde85993de692ee21eec07c31f7b..8c2604e0d2a1f600fea7b8d235edd1c64afc57a6 100644
--- a/src/boards/Parafoil/Main/Sensors.h
+++ b/src/boards/Parafoil/Main/Sensors.h
@@ -21,107 +21,105 @@
*/
#pragma once
-#include <sensors/SensorManager.h>
+#include <sensors/BME280/BME280.h>
#include <sensors/MPU9250/MPU9250.h>
+#include <sensors/SensorManager.h>
#include <sensors/UbloxGPS/UbloxGPS.h>
-#include <sensors/BME280/BME280.h>
-
-using namespace Boardcore;
/**
* This class memorizes all the sensors instances.
* Every instance is initialized by the constructor. Also every
* sensor has its own status
*/
-namespace ParafoilTestDev
+namespace Parafoil
+{
+
+class Sensors
{
- class Sensors
- {
- private:
-
- /**
- * @brief Sensor manager object
- */
- SensorManager* manager;
-
- /**
- * @brief Sensor map that contains every sensor istance
- * that needs to be sampled by the sensor manager
- */
- SensorManager::SensorMap_t sensors_map;
-
- /**
- * @brief SPI interface passed via constructor
- */
- SPIBusInterface& spiInterface;
-
- /**
- * @brief Sensors serial logger
- */
- PrintLogger log = Logging::getLogger("sensors");
-
- /**
- * @brief SD logger singleton
- */
- Logger* logger;
-
- /**
- * @brief The MPU9250 IMU init function and
- * sample callback
- */
- void MPU9250init();
- void MPU9250Callback();
-
- /**
- * @brief GPS init function and sample callback
- */
- void UbloxGPSinit();
- void UbloxGPSCallback();
-
- /**
- * @brief Barometer BME280 init function and sample callback
- */
- void BME280init();
- void BME280Callback();
-
- public:
-
- /**
- * @brief MPU9250IMU
- */
- MPU9250* imu_mpu9250;
-
- /**
- * @brief GPS
- */
- UbloxGPS* gps_ublox;
-
- /**
- * @brief Barometer
- */
- BME280* press_bme280;
-
- /**
- * @brief Constructor
- * @param The spi interface used for the sensors
- * @param The task scheduler
- */
- Sensors(SPIBusInterface& spi, TaskScheduler* scheduler);
-
- /**
- * @brief Deconstructor
- */
- ~Sensors();
-
- /**
- * @brief Starts the sensor manager to sample data
- * @return boolean that indicates operation's result
- */
- bool start();
-
- /**
- * @brief Calibrates the sensors that need to
- */
- void calibrate();
- };
-}
\ No newline at end of file
+private:
+ /**
+ * @brief Sensor manager object
+ */
+ Boardcore::SensorManager* manager;
+
+ /**
+ * @brief Sensor map that contains every sensor istance
+ * that needs to be sampled by the sensor manager
+ */
+ Boardcore::SensorManager::SensorMap_t sensors_map;
+
+ /**
+ * @brief SPI interface passed via constructor
+ */
+ Boardcore::SPIBusInterface& spiInterface;
+
+ /**
+ * @brief Sensors serial logger
+ */
+ Boardcore::PrintLogger log = Boardcore::Logging::getLogger("sensors");
+
+ /**
+ * @brief SD logger singleton
+ */
+ Boardcore::Logger* logger;
+
+ /**
+ * @brief The MPU9250 IMU init function and
+ * sample callback
+ */
+ void MPU9250init();
+ void MPU9250Callback();
+
+ /**
+ * @brief GPS init function and sample callback
+ */
+ void UbloxGPSinit();
+ void UbloxGPSCallback();
+
+ /**
+ * @brief Barometer BME280 init function and sample callback
+ */
+ void BME280init();
+ void BME280Callback();
+
+public:
+ /**
+ * @brief MPU9250IMU
+ */
+ Boardcore::MPU9250* imu_mpu9250;
+
+ /**
+ * @brief GPS
+ */
+ Boardcore::UbloxGPS* gps_ublox;
+
+ /**
+ * @brief Barometer
+ */
+ Boardcore::BME280* press_bme280;
+
+ /**
+ * @brief Constructor
+ * @param The spi interface used for the sensors
+ * @param The task scheduler
+ */
+ Sensors(Boardcore::SPIBusInterface& spi,
+ Boardcore::TaskScheduler* scheduler);
+
+ /**
+ * @brief Deconstructor
+ */
+ ~Sensors();
+
+ /**
+ * @brief Starts the sensor manager to sample data
+ * @return boolean that indicates operation's result
+ */
+ bool start();
+
+ /**
+ * @brief Calibrates the sensors that need to
+ */
+ void calibrate();
+};
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/ParafoilTest.h b/src/boards/Parafoil/ParafoilTest.h
index 7482ef9a566ea4f1a9643b2cdb68ec264b3ba9f6..3706d6c63579cf82a2de4f50a02138683fdbcd3c 100644
--- a/src/boards/Parafoil/ParafoilTest.h
+++ b/src/boards/Parafoil/ParafoilTest.h
@@ -31,17 +31,16 @@
#include <events/EventBroker.h>
#include <miosix.h>
-using namespace Boardcore;
-
/**
* This class is the main singleton that keeps all the project objects.
* It has all the instances and initializes all of them.
*/
-namespace ParafoilTestDev
+namespace Parafoil
{
+
enum ThreadIds : uint8_t
{
- THID_ENTRYPOINT = THID_FIRST_AVAILABLE_ID,
+ THID_ENTRYPOINT = Boardcore::THID_FIRST_AVAILABLE_ID,
THID_FMM_FSM,
THID_TMTC_FSM,
THID_STATS_FSM,
@@ -63,15 +62,15 @@ enum TaskIDs : uint8_t
TASK_NAS_ID = 9
};
-class ParafoilTest : public Singleton<ParafoilTest>
+class ParafoilTest : public Boardcore::Singleton<ParafoilTest>
{
- friend class Singleton<ParafoilTest>;
+ friend class Boardcore::Singleton<ParafoilTest>;
public:
/**
* @brief Event broker
*/
- EventBroker* broker;
+ Boardcore::EventBroker* broker;
/**
* @brief Sensors collection
@@ -97,7 +96,7 @@ public:
/**
* @brief Task scheduler
*/
- TaskScheduler* scheduler;
+ Boardcore::TaskScheduler* scheduler;
/**
* @brief Start method
@@ -172,12 +171,12 @@ private:
/**
* @brief SDlogger in debug mode
*/
- PrintLogger log = Logging::getLogger("ParafoilTest");
+ Boardcore::PrintLogger log = Boardcore::Logging::getLogger("ParafoilTest");
/**
* @brief SDlogger singleton for SD
*/
- Logger* SDlogger;
+ Boardcore::Logger* SDlogger;
/**
* @brief Status memory
@@ -190,7 +189,7 @@ private:
ParafoilTest()
{
// Take the singleton instance of SD logger
- SDlogger = &Logger::getInstance();
+ SDlogger = &Boardcore::Logger::getInstance();
// Start the logging
startSDlogger();
@@ -199,12 +198,12 @@ private:
broker = &sEventBroker;
// Create the task scheduler
- scheduler = new TaskScheduler();
+ scheduler = new Boardcore::TaskScheduler();
addSchedulerStatsTask();
// Create the sensors
- SPIBusInterface* spiInterface1 = new SPIBus(SPI1);
- sensors = new Sensors(*spiInterface1, scheduler);
+ Boardcore::SPIBusInterface* spiInterface1 = new Boardcore::SPIBus(SPI1);
+ sensors = new Sensors(*spiInterface1, scheduler);
// Create the wing controller
// wingController = new WingController(scheduler);
@@ -213,8 +212,8 @@ private:
// FMM = new FMMController();
// Create a new radio
- SPIBusInterface* spiInterface4 = new SPIBus(SPI4);
- radio = new Radio(*spiInterface4, scheduler);
+ Boardcore::SPIBusInterface* spiInterface4 = new Boardcore::SPIBus(SPI4);
+ radio = new Radio(*spiInterface4, scheduler);
}
void addSchedulerStatsTask()
@@ -226,7 +225,7 @@ private:
std::vector<Boardcore::TaskStatsResult> scheduler_stats =
scheduler->getTaskStats();
- for (TaskStatsResult stat : scheduler_stats)
+ for (Boardcore::TaskStatsResult stat : scheduler_stats)
{
SDlogger->log(stat);
}
@@ -239,4 +238,5 @@ private:
miosix::getTick());
}
};
-} // namespace ParafoilTestDev
\ No newline at end of file
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/ParafoilTestStatus.h b/src/boards/Parafoil/ParafoilTestStatus.h
index 005deebd8c231cc9683305353c807acf5d95333f..73f27c767c4ba66ff75faae58e13d21dd6879a82 100644
--- a/src/boards/Parafoil/ParafoilTestStatus.h
+++ b/src/boards/Parafoil/ParafoilTestStatus.h
@@ -18,7 +18,7 @@
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
- */
+ */
/**
* This class is used to keep track of various main class
@@ -27,49 +27,49 @@
#pragma once
-#include <string>
#include <ostream>
+#include <string>
-namespace ParafoilTestDev
+namespace Parafoil
{
- enum ParafoilTestComponentStatus
- {
- ERROR = 0,
- OK = 1
- };
-
- struct ParafoilTestStatus
- {
- //If there is an error, this uint8_t reports it(OR)
- uint8_t parafoil_test = OK;
+enum ParafoilTestComponentStatus
+{
+ ERROR = 0,
+ OK = 1
+};
- //Specific errors
- uint8_t logger = OK;
- uint8_t eventBroker = OK;
- uint8_t sensors = OK;
- uint8_t FMM = OK;
- uint8_t radio = OK;
+struct ParafoilTestStatus
+{
+ // If there is an error, this uint8_t reports it(OR)
+ uint8_t parafoil_test = OK;
- /**
- * @brief Method to set a specific component in an error state
- */
- void setError(uint8_t ParafoilTestStatus::*component)
- {
- //Put the passed component to error state
- this->*component = ERROR;
- //Logic OR
- parafoil_test = ERROR;
- }
+ // Specific errors
+ uint8_t logger = OK;
+ uint8_t eventBroker = OK;
+ uint8_t sensors = OK;
+ uint8_t FMM = OK;
+ uint8_t radio = OK;
+ /**
+ * @brief Method to set a specific component in an error state
+ */
+ void setError(uint8_t ParafoilTestStatus::*component)
+ {
+ // Put the passed component to error state
+ this->*component = ERROR;
+ // Logic OR
+ parafoil_test = ERROR;
+ }
- static std::string header()
- {
- return "logger, eventBorker, sensors, radio\n";
- }
+ static std::string header()
+ {
+ return "logger, eventBorker, sensors, radio\n";
+ }
- void print(std::ostream& os)
- {
- os << (int)logger << "," << (int)eventBroker << "," << (int)sensors << "," << (int)radio << "\n";
- }
- };
-}
\ No newline at end of file
+ void print(std::ostream& os)
+ {
+ os << (int)logger << "," << (int)eventBroker << "," << (int)sensors
+ << "," << (int)radio << "\n";
+ }
+};
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/TelemetriesTelecommands/Mavlink.h b/src/boards/Parafoil/TelemetriesTelecommands/Mavlink.h
index 59f1fd075610c24e7ce7c34cf08a760b5f385491..2ddad64c8513396e39e16c0cfbf78ebca216ea44 100644
--- a/src/boards/Parafoil/TelemetriesTelecommands/Mavlink.h
+++ b/src/boards/Parafoil/TelemetriesTelecommands/Mavlink.h
@@ -30,12 +30,12 @@
#include <mavlink_lib/lynx/mavlink.h>
#pragma GCC diagnostic pop
-#include <radio/MavlinkDriver/MavlinkDriver.h>
#include <Parafoil/Configs/MavlinkConfig.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
-using namespace Boardcore;
-
-namespace ParafoilTestDev
+namespace Parafoil
{
- using MavDriver = MavlinkDriver<MAV_PKT_SIZE, MAV_OUT_QUEUE_LEN>;
+
+using MavDriver = Boardcore::MavlinkDriver<MAV_PKT_SIZE, MAV_OUT_QUEUE_LEN>;
+
}
diff --git a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp b/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
index 8f73ce12c05d4960be03630676cf8b1621a4be8b..31df13ba35dc5d9816e06c462de4bdd4f25a33cd 100644
--- a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
+++ b/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
@@ -19,117 +19,120 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#include <Parafoil/TelemetriesTelecommands/TMRepository.h>
-namespace ParafoilTestDev
+using namespace Boardcore;
+
+namespace Parafoil
{
- /**
- * PUBLIC METHODS
- */
- mavlink_message_t TMRepository::packTM(uint8_t req_tm, uint8_t sys_id, uint8_t comp_id)
- {
- mavlink_message_t m;
- mavlink_nack_tm_t nack_tm;
- miosix::PauseKernelLock kLock;
+mavlink_message_t TMRepository::packTM(uint8_t req_tm, uint8_t sys_id,
+ uint8_t comp_id)
+{
+ mavlink_message_t m;
+ mavlink_nack_tm_t nack_tm;
+
+ miosix::PauseKernelLock kLock;
- switch (req_tm)
+ switch (req_tm)
+ {
+ case MavTMList::MAV_SENSORS_TM_ID:
+ tm_repository.sensors_tm.timestamp = miosix::getTick();
+ mavlink_msg_sensors_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.sensors_tm));
+ break;
+ /*case MavTMList::MAV_SYS_TM_ID:
+ tm_repository.sys_tm.timestamp = miosix::getTick();
+ mavlink_msg_sys_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.sys_tm));
+ break;
+ case MavTMList::MAV_FMM_TM_ID:
+ tm_repository.fmm_tm.timestamp = miosix::getTick();
+ mavlink_msg_fmm_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.fmm_tm));
+ break;
+ case MavTMList::MAV_LOGGER_TM_ID:
+ tm_repository.logger_tm.timestamp = miosix::getTick();
+ mavlink_msg_logger_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.logger_tm));
+ break;
+ case MavTMList::MAV_TMTC_TM_ID:
+ tm_repository.tmtc_tm.timestamp = miosix::getTick();
+ mavlink_msg_tmtc_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.tmtc_tm));
+ break;
+ case MavTMList::MAV_TASK_STATS_TM_ID:
+ tm_repository.task_stats_tm.timestamp = miosix::getTick();
+ mavlink_msg_task_stats_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.task_stats_tm));
+ break;
+ case MavTMList::MAV_GPS_TM_ID:
+ tm_repository.gps_tm.timestamp = miosix::getTick();
+ mavlink_msg_gps_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.gps_tm));
+ break;
+ case MavTMList::MAV_HR_TM_ID:
+ tm_repository.hr_tm.timestamp = miosix::getTick();
+ mavlink_msg_hr_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.hr_tm));
+ break;
+ case MavTMList::MAV_LR_TM_ID:
+ //tm_repository.tm_repository.lr_tm.timestamp = miosix::getTick();
+ mavlink_msg_lr_tm_encode(sys_id, comp_id, &m,
+ &(tm_repository.lr_tm));
+ break;*/
+ default:
{
- case MavTMList::MAV_SENSORS_TM_ID:
- tm_repository.sensors_tm.timestamp = miosix::getTick();
- mavlink_msg_sensors_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.sensors_tm));
- break;
- /*case MavTMList::MAV_SYS_TM_ID:
- tm_repository.sys_tm.timestamp = miosix::getTick();
- mavlink_msg_sys_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.sys_tm));
- break;
- case MavTMList::MAV_FMM_TM_ID:
- tm_repository.fmm_tm.timestamp = miosix::getTick();
- mavlink_msg_fmm_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.fmm_tm));
- break;
- case MavTMList::MAV_LOGGER_TM_ID:
- tm_repository.logger_tm.timestamp = miosix::getTick();
- mavlink_msg_logger_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.logger_tm));
- break;
- case MavTMList::MAV_TMTC_TM_ID:
- tm_repository.tmtc_tm.timestamp = miosix::getTick();
- mavlink_msg_tmtc_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.tmtc_tm));
- break;
- case MavTMList::MAV_TASK_STATS_TM_ID:
- tm_repository.task_stats_tm.timestamp = miosix::getTick();
- mavlink_msg_task_stats_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.task_stats_tm));
- break;
- case MavTMList::MAV_GPS_TM_ID:
- tm_repository.gps_tm.timestamp = miosix::getTick();
- mavlink_msg_gps_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.gps_tm));
- break;
- case MavTMList::MAV_HR_TM_ID:
- tm_repository.hr_tm.timestamp = miosix::getTick();
- mavlink_msg_hr_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.hr_tm));
- break;
- case MavTMList::MAV_LR_TM_ID:
- //tm_repository.tm_repository.lr_tm.timestamp = miosix::getTick();
- mavlink_msg_lr_tm_encode(sys_id, comp_id, &m,
- &(tm_repository.lr_tm));
- break;*/
- default:
- {
- LOG_DEBUG(logger, "Unknown telemetry id: %d", req_tm);
- nack_tm.recv_msgid = 0;
- nack_tm.seq_ack = 0;
- mavlink_msg_nack_tm_encode(sys_id, comp_id, &m, &nack_tm);
- break;
- }
+ LOG_DEBUG(logger, "Unknown telemetry id: %d", req_tm);
+ nack_tm.recv_msgid = 0;
+ nack_tm.seq_ack = 0;
+ mavlink_msg_nack_tm_encode(sys_id, comp_id, &m, &nack_tm);
+ break;
}
- return m;
}
+ return m;
+}
- //Implement all the update functions
- void TMRepository::update(MPU9250Data data)
- {
- //Pause the kernel to avoid interructions during this fast operation
- miosix::PauseKernelLock kLock;
- //Update only the sensors message TODO update all the things
- tm_repository.sensors_tm.bmx160_acc_x = data.accelerationX;
- tm_repository.sensors_tm.bmx160_acc_y = data.accelerationY;
- tm_repository.sensors_tm.bmx160_acc_z = data.accelerationZ;
+// Implement all the update functions
+void TMRepository::update(MPU9250Data data)
+{
+ // Pause the kernel to avoid interructions during this fast operation
+ miosix::PauseKernelLock kLock;
+ // Update only the sensors message TODO update all the things
+ tm_repository.sensors_tm.bmx160_acc_x = data.accelerationX;
+ tm_repository.sensors_tm.bmx160_acc_y = data.accelerationY;
+ tm_repository.sensors_tm.bmx160_acc_z = data.accelerationZ;
- tm_repository.sensors_tm.bmx160_gyro_x = data.angularVelocityX;
- tm_repository.sensors_tm.bmx160_gyro_y = data.angularVelocityY;
- tm_repository.sensors_tm.bmx160_gyro_z = data.angularVelocityZ;
+ tm_repository.sensors_tm.bmx160_gyro_x = data.angularVelocityX;
+ tm_repository.sensors_tm.bmx160_gyro_y = data.angularVelocityY;
+ tm_repository.sensors_tm.bmx160_gyro_z = data.angularVelocityZ;
- tm_repository.sensors_tm.bmx160_mag_x = data.magneticFieldX;
- tm_repository.sensors_tm.bmx160_mag_y = data.magneticFieldY;
- tm_repository.sensors_tm.bmx160_mag_z = data.magneticFieldZ;
+ tm_repository.sensors_tm.bmx160_mag_x = data.magneticFieldX;
+ tm_repository.sensors_tm.bmx160_mag_y = data.magneticFieldY;
+ tm_repository.sensors_tm.bmx160_mag_z = data.magneticFieldZ;
- tm_repository.sensors_tm.bmx160_temp = data.temperature;
- }
+ tm_repository.sensors_tm.bmx160_temp = data.temperature;
+}
- void TMRepository::update(UbloxGPSData data)
- {
- //Pause the kernel to avoid interructions during this fast operation
- miosix::PauseKernelLock kLock;
- //Update only the sensors message TODO update all the things
- tm_repository.sensors_tm.gps_alt = data.height;
- tm_repository.sensors_tm.gps_fix = data.fix;
- tm_repository.sensors_tm.gps_lon = data.longitude;
- tm_repository.sensors_tm.gps_lat = data.latitude;
- }
+void TMRepository::update(UbloxGPSData data)
+{
+ // Pause the kernel to avoid interructions during this fast operation
+ miosix::PauseKernelLock kLock;
+ // Update only the sensors message TODO update all the things
+ tm_repository.sensors_tm.gps_alt = data.height;
+ tm_repository.sensors_tm.gps_fix = data.fix;
+ tm_repository.sensors_tm.gps_lon = data.longitude;
+ tm_repository.sensors_tm.gps_lat = data.latitude;
+}
- void TMRepository::update(BME280Data data)
- {
- //Pause the kernel to avoid interructions during this fast operation
- miosix::PauseKernelLock kLock;
- //Update only the sensors message TODO update all the things
- tm_repository.sensors_tm.ms5803_press = data.pressure;
- tm_repository.sensors_tm.ms5803_temp = data.temperature;
- }
-}
\ No newline at end of file
+void TMRepository::update(BME280Data data)
+{
+ // Pause the kernel to avoid interructions during this fast operation
+ miosix::PauseKernelLock kLock;
+ // Update only the sensors message TODO update all the things
+ tm_repository.sensors_tm.ms5803_press = data.pressure;
+ tm_repository.sensors_tm.ms5803_temp = data.temperature;
+}
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h b/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h
index 38eba7747f8e68de14ec96cec5d654d2a33da1b6..744f22bb9e3564f83235986ff9c603cddc579e71 100644
--- a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h
+++ b/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h
@@ -21,11 +21,11 @@
*/
#pragma once
+#include <Parafoil/TelemetriesTelecommands/Mavlink.h>
#include <Singleton.h>
+#include <sensors/BME280/BME280Data.h>
#include <sensors/MPU9250/MPU9250Data.h>
#include <sensors/UbloxGPS/UbloxGPSData.h>
-#include <sensors/BME280/BME280Data.h>
-#include <Parafoil/TelemetriesTelecommands/Mavlink.h>
/**
* @brief This class represents the collection of data that can
@@ -35,71 +35,70 @@
* It is necessary that this singleton class handles the structure update
* (when a message pack is requested).
* The pack method is the core of the class. It returns a mavlink_message
- * with the message data(specified with the id) requested.
+ * with the message data(specified with the id) requested.
*/
-using namespace Boardcore;
-
-namespace ParafoilTestDev
+namespace Parafoil
{
- class TMRepository : public Singleton<TMRepository>
- {
- friend class Singleton<TMRepository>;
- public:
+class TMRepository : public Boardcore::Singleton<TMRepository>
+{
+ friend class Boardcore::Singleton<TMRepository>;
- /**
- * @brief Retrieve a telemetry message in packed form.
- *
- * @param req_tm required telemetry
- * @param sys_id system id to pack it with
- * @param comp_id component id to pack it with
- * @return packed mavlink struct of that telemetry or a NACK_TM if
- * the telemetry id was not found.
- */
- mavlink_message_t packTM(uint8_t req_tm, uint8_t sys_id = TMTC_MAV_SYSID,
- uint8_t comp_id = TMTC_MAV_COMPID);
+public:
+ /**
+ * @brief Retrieve a telemetry message in packed form.
+ *
+ * @param req_tm required telemetry
+ * @param sys_id system id to pack it with
+ * @param comp_id component id to pack it with
+ * @return packed mavlink struct of that telemetry or a NACK_TM if
+ * the telemetry id was not found.
+ */
+ mavlink_message_t packTM(uint8_t req_tm, uint8_t sys_id = TMTC_MAV_SYSID,
+ uint8_t comp_id = TMTC_MAV_COMPID);
- /**
- * @brief Update functions
- */
- void update(MPU9250Data data);
- void update(UbloxGPSData data);
- void update(BME280Data data);
+ /**
+ * @brief Update functions
+ */
+ void update(Boardcore::MPU9250Data data);
+ void update(Boardcore::UbloxGPSData data);
+ void update(Boardcore::BME280Data data);
- private:
- /**
- * @brief Struct containing all TMs in the form of mavlink messages.
- */
- struct TmRepository_t
- {
- mavlink_sys_tm_t sys_tm;
- mavlink_pin_obs_tm_t pin_obs_tm;
- mavlink_logger_tm_t logger_tm;
- mavlink_fmm_tm_t fmm_tm;
- mavlink_tmtc_tm_t tmtc_tm;
- mavlink_task_stats_tm_t task_stats_tm;
- mavlink_dpl_tm_t dpl_tm;
- mavlink_ada_tm_t ada_tm;
- mavlink_abk_tm_t abk_tm;
- mavlink_nas_tm_t nas_tm;
+private:
+ /**
+ * @brief Struct containing all TMs in the form of mavlink messages.
+ */
+ struct TmRepository_t
+ {
+ mavlink_sys_tm_t sys_tm;
+ mavlink_pin_obs_tm_t pin_obs_tm;
+ mavlink_logger_tm_t logger_tm;
+ mavlink_fmm_tm_t fmm_tm;
+ mavlink_tmtc_tm_t tmtc_tm;
+ mavlink_task_stats_tm_t task_stats_tm;
+ mavlink_dpl_tm_t dpl_tm;
+ mavlink_ada_tm_t ada_tm;
+ mavlink_abk_tm_t abk_tm;
+ mavlink_nas_tm_t nas_tm;
- mavlink_ms5803_tm_t digital_baro_tm;
- mavlink_bmx160_tm_t bmx_tm;
- mavlink_lis3mdl_tm_t lis3mdl_tm;
- mavlink_adc_tm_t adc_tm;
- mavlink_gps_tm_t gps_tm;
+ mavlink_ms5803_tm_t digital_baro_tm;
+ mavlink_bmx160_tm_t bmx_tm;
+ mavlink_lis3mdl_tm_t lis3mdl_tm;
+ mavlink_adc_tm_t adc_tm;
+ mavlink_gps_tm_t gps_tm;
- mavlink_hr_tm_t hr_tm;
- mavlink_lr_tm_t lr_tm;
- mavlink_windtunnel_tm_t wind_tm;
- mavlink_sensors_tm_t sensors_tm;
- mavlink_test_tm_t test_tm;
- } tm_repository;
+ mavlink_hr_tm_t hr_tm;
+ mavlink_lr_tm_t lr_tm;
+ mavlink_windtunnel_tm_t wind_tm;
+ mavlink_sensors_tm_t sensors_tm;
+ mavlink_test_tm_t test_tm;
+ } tm_repository;
- /**
- * @brief Logger
- */
- PrintLogger logger = Logging::getLogger("TMRepository");
- };
-}
\ No newline at end of file
+ /**
+ * @brief Logger
+ */
+ Boardcore::PrintLogger logger =
+ Boardcore::Logging::getLogger("TMRepository");
+};
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingAlgorithm.cpp b/src/boards/Parafoil/Wing/WingAlgorithm.cpp
index 38f120d2c10097ee46edfb939292190d18db392e..641c70ae442e1da40ec9923fa4ed51735050d98e 100644
--- a/src/boards/Parafoil/Wing/WingAlgorithm.cpp
+++ b/src/boards/Parafoil/Wing/WingAlgorithm.cpp
@@ -23,140 +23,137 @@
#include <Parafoil/Wing/WingAlgorithm.h>
#include <drivers/timer/TimestampTimer.h>
-namespace ParafoilTestDev
+using namespace Boardcore;
+
+namespace Parafoil
+{
+std::istream& operator>>(std::istream& input, WingAlgorithmData& data)
+{
+ input >> data.timestamp;
+ input.ignore(1, ',');
+ input >> data.servo1Angle;
+ input.ignore(1, ',');
+ input >> data.servo2Angle;
+ return input;
+}
+
+WingAlgorithm::WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2,
+ const char* filename)
+ : parser(filename)
+{
+ setServo(servo1, servo2);
+}
+
+WingAlgorithm::WingAlgorithm(const char* filename) : parser(filename) {}
+
+bool WingAlgorithm::init()
+{
+ // Returns a std::vector which contains
+ // all the csv parsed with the data structure in mind
+ steps = parser.collect();
+
+ // Return if the size collected is greater than 0
+ fileValid = steps.size() > 0;
+ return fileValid;
+}
+
+void WingAlgorithm::setServo(ServoInterface* servo1, ServoInterface* servo2)
{
- std::istream& operator>>(std::istream& input, WingAlgorithmData& data)
+ if (servo1 != NULL)
{
- input >> data.timestamp;
- input.ignore(1, ',');
- input >> data.servo1Angle;
- input.ignore(1, ',');
- input >> data.servo2Angle;
- return input;
+ this->servo1 = servo1;
}
-
- /**
- * PUBLIC METHODS
- */
- WingAlgorithm::WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2, const char* filename)
- : parser(filename)
+ else
{
- setServo(servo1, servo2);
+ // In this case i create a standard servo from the wing config file
+ servo1 =
+ new WingServo(WING_SERVO1_TIMER, WING_SERVO1_PWM_CHANNEL,
+ WING_SERVO1_MIN_POSITION, WING_SERVO1_MAX_POSITION,
+ WING_SERVO1_RESET_POSITION);
}
- WingAlgorithm::WingAlgorithm(const char* filename)
- : parser(filename){}
-
- bool WingAlgorithm::init()
+ if (servo2 != NULL)
{
- //Returns a std::vector which contains
- //all the csv parsed with the data structure in mind
- steps = parser.collect();
-
- //Return if the size collected is greater than 0
- fileValid = steps.size() > 0;
- return fileValid;
+ this->servo2 = servo2;
}
-
- void WingAlgorithm::setServo(ServoInterface* servo1, ServoInterface* servo2)
+ else
{
- if(servo1 != NULL)
- {
- this -> servo1 = servo1;
- }
- else
- {
- //In this case i create a standard servo from the wing config file
- servo1 = new WingServo(WING_SERVO1_TIMER,
- WING_SERVO1_PWM_CHANNEL,
- WING_SERVO1_MIN_POSITION,
- WING_SERVO1_MAX_POSITION,
- WING_SERVO1_RESET_POSITION);
- }
-
- if(servo2 != NULL)
- {
- this -> servo2 = servo2;
- }
- else
- {
- //In this case i create a standard servo from the wing config file
- servo2 = new WingServo(WING_SERVO2_TIMER,
- WING_SERVO2_PWM_CHANNEL,
- WING_SERVO2_MIN_POSITION,
- WING_SERVO2_MAX_POSITION,
- WING_SERVO2_RESET_POSITION);
- }
+ // In this case i create a standard servo from the wing config file
+ servo2 =
+ new WingServo(WING_SERVO2_TIMER, WING_SERVO2_PWM_CHANNEL,
+ WING_SERVO2_MIN_POSITION, WING_SERVO2_MAX_POSITION,
+ WING_SERVO2_RESET_POSITION);
}
+}
- void WingAlgorithm::addStep(WingAlgorithmData step)
+void WingAlgorithm::addStep(WingAlgorithmData step)
+{
+ // I do it if and only if the file is invalid, because
+ // i don't want to mess up with the timestamp order
+ if (!fileValid)
{
- //I do it if and only if the file is invalid, because
- //i don't want to mess up with the timestamp order
- if(!fileValid)
- {
- //Add it to the std::vector at the end
- steps.push_back(step);
- }
+ // Add it to the std::vector at the end
+ steps.push_back(step);
}
+}
+
+void WingAlgorithm::begin()
+{
+ running = true;
+ shouldReset = true;
+ // Set the current timestamp
+ timeStart = TimestampTimer::getInstance().getTimestamp();
+}
- void WingAlgorithm::begin()
+void WingAlgorithm::end()
+{
+ running = false;
+ // Set the offset timestamp to 0
+ timeStart = 0;
+}
+
+/**
+ * PROTECTED METHODS
+ */
+void WingAlgorithm::step()
+{
+ // Variable to remember what is the step that has to be done
+ static unsigned int stepIndex = 0;
+ uint64_t currentTimestamp = TimestampTimer::getInstance().getTimestamp();
+
+ if (shouldReset)
{
- running = true;
- shouldReset = true;
- //Set the current timestamp
- timeStart = TimestampTimer::getInstance().getTimestamp();
+ // If the algorithm has been stopped
+ // i want to start from the beginning
+ stepIndex = 0;
+ shouldReset = false;
}
- void WingAlgorithm::end()
+ if (stepIndex >= steps.size())
{
- running = false;
- //Set the offset timestamp to 0
- timeStart = 0;
+ // End the procedure so it won't be executed
+ end();
+ // Set the index to 0 in case of another future execution
+ stepIndex = 0;
+ // Terminate here
+ return;
}
- /**
- * PROTECTED METHODS
- */
- void WingAlgorithm::step()
+ if (currentTimestamp - timeStart >= steps[stepIndex].timestamp)
{
- //Variable to remember what is the step that has to be done
- static unsigned int stepIndex = 0;
- uint64_t currentTimestamp = TimestampTimer::getInstance().getTimestamp();
-
- if(shouldReset)
+ // TODO log the action
+ // I need to execute the current step (if not null servos)
+ if (servo1 != NULL)
{
- //If the algorithm has been stopped
- //i want to start from the beginning
- stepIndex = 0;
- shouldReset = false;
+ servo1->set(steps[stepIndex].servo1Angle);
}
-
- if(stepIndex >= steps.size())
+ if (servo2 != NULL)
{
- //End the procedure so it won't be executed
- end();
- //Set the index to 0 in case of another future execution
- stepIndex = 0;
- //Terminate here
- return;
+ servo2->set(steps[stepIndex].servo2Angle);
}
- if(currentTimestamp - timeStart >= steps[stepIndex].timestamp)
- {
- //TODO log the action
- //I need to execute the current step (if not null servos)
- if(servo1 != NULL)
- {
- servo1->set(steps[stepIndex].servo1Angle);
- }
- if(servo2 != NULL)
- {
- servo2->set(steps[stepIndex].servo2Angle);
- }
-
- //finally increment the stepIndex
- stepIndex++;
- }
+ // finally increment the stepIndex
+ stepIndex++;
}
-}
\ No newline at end of file
+}
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingAlgorithm.h b/src/boards/Parafoil/Wing/WingAlgorithm.h
index ad4aa33f33865543c2c4e969ebbdba5e8575ba78..bd7158f2b7b6a93dd6e4da17dbcf09bc42d389f5 100644
--- a/src/boards/Parafoil/Wing/WingAlgorithm.h
+++ b/src/boards/Parafoil/Wing/WingAlgorithm.h
@@ -22,9 +22,9 @@
#pragma once
-#include <utils/CSVReader/CSVReader.h>
-#include <common/Algorithm.h>
#include <Parafoil/Wing/WingServo.h>
+#include <common/Algorithm.h>
+#include <utils/CSVReader/CSVReader.h>
/**
* @brief This class abstracts the concept of wing timestamp based
@@ -32,114 +32,114 @@
* We use a CSV parser to properly parse the procedure and every step
* we check if it is time to advance and in case actuate teh step with
* the two servos.
- *
+ *
* Brief use case:
* WingServo servo1...
* WingServo servo2...
- *
+ *
* servo1.enable();
* servo2.enable();
- *
+ *
* WingAlgorithm algorithm(&servo1, &servo2, "Optional File")
* algorithm.init();
- *
+ *
* //In case of a non valid file/empty string you can add the steps
* algorithm.addStep(WingAlgorithmData{timestamp, angle1, angle2});
- *
+ *
* algorithm.begin();
- *
+ *
* algorithm.update()...
- *
+ *
* //End of algorithm
- *
+ *
* algorithm.begin();
- *
+ *
* algorithm.update()...
*/
-using namespace Boardcore;
-
-namespace ParafoilTestDev
+namespace Parafoil
{
- struct WingAlgorithmData
- {
- uint64_t timestamp; //First timestamp is 0 (in microseconds)
- float servo1Angle; //degrees
- float servo2Angle; //degrees
- };
-
- class WingAlgorithm : public Algorithm
- {
- public:
+struct WingAlgorithmData
+{
+ uint64_t timestamp; // First timestamp is 0 (in microseconds)
+ float servo1Angle; // degrees
+ float servo2Angle; // degrees
+};
- /**
- * @brief Construct a new Wing Algorithm object
- *
- * @param servo1 The first servo
- * @param servo2 The second servo
- * @param filename The csv file where all the operations are stored
- */
- WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2, const char* filename);
+class WingAlgorithm : public Algorithm
+{
+public:
+ /**
+ * @brief Construct a new Wing Algorithm object
+ *
+ * @param servo1 The first servo
+ * @param servo2 The second servo
+ * @param filename The csv file where all the operations are stored
+ */
+ WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2,
+ const char* filename);
- /**
- * @brief Construct a new Wing Algorithm object
- *
- * @param filename The csv file where all the operations are stored
- */
- WingAlgorithm(const char* filename);
+ /**
+ * @brief Construct a new Wing Algorithm object
+ *
+ * @param filename The csv file where all the operations are stored
+ */
+ WingAlgorithm(const char* filename);
- /**
- * @brief This method parses the file and stores it into a std::vector
- *
- * @return true If the initialization finished correctly
- * @return false If something went wrong
- */
- bool init() override;
+ /**
+ * @brief This method parses the file and stores it into a std::vector
+ *
+ * @return true If the initialization finished correctly
+ * @return false If something went wrong
+ */
+ bool init() override;
- /**
- * @brief Set the Servos objects
- * @param servo1 The first algorithm servo
- * @param servo2 The second algorithm servo
- */
- void setServo(ServoInterface* servo1, ServoInterface* servo2);
+ /**
+ * @brief Set the Servos objects
+ * @param servo1 The first algorithm servo
+ * @param servo2 The second algorithm servo
+ */
+ void setServo(ServoInterface* servo1, ServoInterface* servo2);
- /**
- * @brief Adds manually the step in case of fast debug needs
- *
- * @param step The data that describes a step(timestamp, servo1 angle, servo2 angle)
- */
- void addStep(WingAlgorithmData step);
+ /**
+ * @brief Adds manually the step in case of fast debug needs
+ *
+ * @param step The data that describes a step(timestamp, servo1 angle,
+ * servo2 angle)
+ */
+ void addStep(WingAlgorithmData step);
- /**
- * @brief This sets the reference timestamp for the algorithm
- */
- void begin();
+ /**
+ * @brief This sets the reference timestamp for the algorithm
+ */
+ void begin();
- /**
- * @brief This disables the algorithm
- */
- void end();
+ /**
+ * @brief This disables the algorithm
+ */
+ void end();
- protected:
- //Actuators
- ServoInterface* servo1;
- ServoInterface* servo2;
- //Offset timestamp
- uint64_t timeStart;
- //Procedure
- std::vector<WingAlgorithmData> steps;
- //File parser
- CSVParser<WingAlgorithmData> parser;
- bool fileValid = false;
- //This boolean is used to understand when to reset
- //the index where the algorithm has stopped.
- //In case of end call, we want to be able to perform
- //another time this algorithm starting from 0
- bool shouldReset = false;
+protected:
+ // Actuators
+ ServoInterface* servo1;
+ ServoInterface* servo2;
+ // Offset timestamp
+ uint64_t timeStart;
+ // Procedure
+ std::vector<WingAlgorithmData> steps;
+ // File parser
+ Boardcore::CSVParser<WingAlgorithmData> parser;
+ bool fileValid = false;
+ // This boolean is used to understand when to reset
+ // the index where the algorithm has stopped.
+ // In case of end call, we want to be able to perform
+ // another time this algorithm starting from 0
+ bool shouldReset = false;
- /**
- * @brief This method implements the algorithm step based on the current timestamp
- */
- void step() override;
- };
-}
\ No newline at end of file
+ /**
+ * @brief This method implements the algorithm step based on the current
+ * timestamp
+ */
+ void step() override;
+};
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingConfig.h b/src/boards/Parafoil/Wing/WingConfig.h
index 213f00bf3b189ae3298a33b3291dfbc18707fb8e..c11bea6c1cb2d9a9d3ec198984caa7dbf86caccd 100644
--- a/src/boards/Parafoil/Wing/WingConfig.h
+++ b/src/boards/Parafoil/Wing/WingConfig.h
@@ -18,47 +18,47 @@
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
- */
+ */
#pragma once
#include <drivers/timer/PWM.h>
-using namespace Boardcore;
-
/**
* @brief This class defines all the wing configs
* (E.g. Servos PWM channels, Servos max and min positions, etc..)
*/
-namespace ParafoilTestDev
+namespace Parafoil
{
- /**
- * ALGORITHM CONFIGURATION
- */
- static const uint32_t WING_UPDATE_PERIOD = 10; //milliseconds
- static const uint8_t WING_CONTROLLER_ID = 100; //TODO define a correct ID
+/**
+ * ALGORITHM CONFIGURATION
+ */
+static const uint32_t WING_UPDATE_PERIOD = 10; // milliseconds
+static const uint8_t WING_CONTROLLER_ID = 100; // TODO define a correct ID
- /**
- * SERVOS CONFIGURATIONS
- */
+/**
+ * SERVOS CONFIGURATIONS
+ */
- //16 bit, 45MHz, no DMA timer
- static TIM_TypeDef* WING_SERVO1_TIMER = TIM13;
- static TIM_TypeDef* WING_SERVO2_TIMER = TIM14;
+// 16 bit, 45MHz, no DMA timer
+static TIM_TypeDef* WING_SERVO1_TIMER = TIM13;
+static TIM_TypeDef* WING_SERVO2_TIMER = TIM14;
- static const TimerUtils::Channel WING_SERVO1_PWM_CHANNEL = TimerUtils::Channel::CHANNEL_1;
- static const TimerUtils::Channel WING_SERVO2_PWM_CHANNEL = TimerUtils::Channel::CHANNEL_1;
+static const Boardcore::TimerUtils::Channel WING_SERVO1_PWM_CHANNEL =
+ Boardcore::TimerUtils::Channel::CHANNEL_1;
+static const Boardcore::TimerUtils::Channel WING_SERVO2_PWM_CHANNEL =
+ Boardcore::TimerUtils::Channel::CHANNEL_1;
- //Servo dipendent variables
- static const unsigned int WING_SERVO_MIN_PULSE = 1000;
- static const unsigned int WING_SERVO_MAX_PULSE = 2500;
- static const unsigned int WING_SERVO_FREQUENCY = 50;
+// Servo dipendent variables
+static const unsigned int WING_SERVO_MIN_PULSE = 1000;
+static const unsigned int WING_SERVO_MAX_PULSE = 2500;
+static const unsigned int WING_SERVO_FREQUENCY = 50;
- static const float WING_SERVO1_MAX_POSITION = 180; //degrees
- static const float WING_SERVO2_MAX_POSITION = 180; //degrees
+static const float WING_SERVO1_MAX_POSITION = 180; // degrees
+static const float WING_SERVO2_MAX_POSITION = 180; // degrees
- static const float WING_SERVO1_MIN_POSITION = 0; //degrees
- static const float WING_SERVO2_MIN_POSITION = 0; //degrees
+static const float WING_SERVO1_MIN_POSITION = 0; // degrees
+static const float WING_SERVO2_MIN_POSITION = 0; // degrees
- static const float WING_SERVO1_RESET_POSITION = 90; //degrees
- static const float WING_SERVO2_RESET_POSITION = 90; //degrees
-}
\ No newline at end of file
+static const float WING_SERVO1_RESET_POSITION = 90; // degrees
+static const float WING_SERVO2_RESET_POSITION = 90; // degrees
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingController.cpp b/src/boards/Parafoil/Wing/WingController.cpp
index a32ad0580b31d6ba75089e83a035cfc487adc015..6e3ead4f63cfe58246252797959456dd8e2d2ab4 100644
--- a/src/boards/Parafoil/Wing/WingController.cpp
+++ b/src/boards/Parafoil/Wing/WingController.cpp
@@ -22,137 +22,129 @@
#include <Parafoil/Wing/WingConfig.h>
#include <Parafoil/Wing/WingController.h>
-namespace ParafoilTestDev
+using namespace Boardcore;
+
+namespace Parafoil
{
- /**
- * PUBLIC METHODS
- */
- WingController::WingController(TaskScheduler* scheduler)
- {
- //Assign the task scheduler
- this -> scheduler = scheduler;
- //Set the current running state
- this -> running = false;
+WingController::WingController(TaskScheduler* scheduler)
+{
+ // Assign the task scheduler
+ this->scheduler = scheduler;
- //Set the current selected algorithm to 0
- this -> selectedAlgorithm = 0;
+ // Set the current running state
+ this->running = false;
- //Initialize the servos, enable them,
- //register the task into the task scheduler
- init();
- }
+ // Set the current selected algorithm to 0
+ this->selectedAlgorithm = 0;
+
+ // Initialize the servos, enable them,
+ // register the task into the task scheduler
+ init();
+}
+
+WingController::~WingController()
+{
+ // Delete the servos
+ delete servo1;
+ delete servo2;
+}
- WingController::~WingController()
+void WingController::addAlgorithm(const char* filename)
+{
+ // Create the algorithm
+ WingAlgorithm* algorithm = new WingAlgorithm(servo1, servo2, filename);
+
+ // Add the algorithm to the vector and init it
+ algorithms.push_back(algorithm);
+ // If init fails[Beacuse of inexistent file or stuff] doesn't matter
+ // Because the algorithm is empty and so it won't do anything
+ algorithms[algorithms.size() - 1]->init();
+}
+
+void WingController::addAlgorithm(WingAlgorithm* algorithm)
+{
+ // Ensure that the servos are correct
+ algorithm->setServo(servo1, servo2);
+
+ // Add the algorithm to the vector
+ algorithms.push_back(algorithm);
+}
+
+void WingController::selectAlgorithm(unsigned int index)
+{
+ if (index >= 0 && index < algorithms.size())
{
- //Delete the servos
- delete servo1;
- delete servo2;
+ selectedAlgorithm = index;
}
-
- void WingController::addAlgorithm(const char* filename)
+ else
{
- //Create the algorithm
- WingAlgorithm* algorithm = new WingAlgorithm(servo1, servo2, filename);
-
- //Add the algorithm to the vector and init it
- algorithms.push_back(algorithm);
- //If init fails[Beacuse of inexistent file or stuff] doesn't matter
- //Because the algorithm is empty and so it won't do anything
- algorithms[algorithms.size() - 1] -> init();
+ // I select the 0 algorithm
+ selectedAlgorithm = 0;
}
+}
- void WingController::addAlgorithm(WingAlgorithm* algorithm)
+void WingController::start()
+{
+ // If the selected algorithm is valid --> also the
+ // algorithms array is not empty i start the whole thing
+ if (selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
{
- //Ensure that the servos are correct
- algorithm->setServo(servo1, servo2);
+ // Set the boolean that enables the update method to true
+ running = true;
- //Add the algorithm to the vector
- algorithms.push_back(algorithm);
- }
+ // Begin the selected algorithm
+ algorithms[selectedAlgorithm]->begin();
- void WingController::selectAlgorithm(unsigned int index)
- {
- if(index >= 0 && index < algorithms.size())
- {
- selectedAlgorithm = index;
- }
- else
- {
- //I select the 0 algorithm
- selectedAlgorithm = 0;
- }
+ // Also start the scheduler
+ scheduler->start();
}
+}
- void WingController::start()
+void WingController::stop()
+{
+ // Set running to false so that the update method doesn't act
+ running = false;
+ // Stop the algorithm if selected
+ if (selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
{
- //If the selected algorithm is valid --> also the
- //algorithms array is not empty i start the whole thing
- if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
- {
- //Set the boolean that enables the update method to true
- running = true;
-
- //Begin the selected algorithm
- algorithms[selectedAlgorithm] -> begin();
-
- //Also start the scheduler
- scheduler -> start();
- }
+ algorithms[selectedAlgorithm]->end();
}
+}
- void WingController::stop()
+void WingController::update()
+{
+ // Check if the algorithm is running
+ if (!running)
{
- //Set running to false so that the update method doesn't act
- running = false;
- //Stop the algorithm if selected
- if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
- {
- algorithms[selectedAlgorithm] -> end();
- }
+ return;
}
- void WingController::update()
+ // If the selected algorithm is valid i can update it
+ if (selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
{
- //Check if the algorithm is running
- if(!running)
- {
- return;
- }
-
- //If the selected algorithm is valid i can update it
- if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
- {
- algorithms[selectedAlgorithm] -> update();
- }
+ algorithms[selectedAlgorithm]->update();
}
+}
- /**
- * PRIVATE METHODS
- */
- void WingController::init()
- {
- //Instanciate the servos
- servo1 = new WingServo(WING_SERVO1_TIMER,
- WING_SERVO1_PWM_CHANNEL,
- WING_SERVO1_MIN_POSITION,
- WING_SERVO1_MAX_POSITION,
- WING_SERVO1_RESET_POSITION);
-
- servo2 = new WingServo(WING_SERVO2_TIMER,
- WING_SERVO2_PWM_CHANNEL,
- WING_SERVO2_MIN_POSITION,
- WING_SERVO2_MAX_POSITION,
- WING_SERVO2_RESET_POSITION);
-
- //Enable servos
- servo1 -> enable();
- servo2 -> enable();
-
- //Register the task
- TaskScheduler::function_t updateFunction([=]() {update();});
-
- scheduler -> addTask(updateFunction, WING_UPDATE_PERIOD,
- WING_CONTROLLER_ID);
- }
-}
\ No newline at end of file
+void WingController::init()
+{
+ // Instanciate the servos
+ servo1 = new WingServo(WING_SERVO1_TIMER, WING_SERVO1_PWM_CHANNEL,
+ WING_SERVO1_MIN_POSITION, WING_SERVO1_MAX_POSITION,
+ WING_SERVO1_RESET_POSITION);
+
+ servo2 = new WingServo(WING_SERVO2_TIMER, WING_SERVO2_PWM_CHANNEL,
+ WING_SERVO2_MIN_POSITION, WING_SERVO2_MAX_POSITION,
+ WING_SERVO2_RESET_POSITION);
+
+ // Enable servos
+ servo1->enable();
+ servo2->enable();
+
+ // Register the task
+ TaskScheduler::function_t updateFunction([=]() { update(); });
+
+ scheduler->addTask(updateFunction, WING_UPDATE_PERIOD, WING_CONTROLLER_ID);
+}
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingController.h b/src/boards/Parafoil/Wing/WingController.h
index 1e9e0c488783b43a32a126edb7d59a21b73a0b16..0cd099061bca22e3058b7143b001436b94478686 100644
--- a/src/boards/Parafoil/Wing/WingController.h
+++ b/src/boards/Parafoil/Wing/WingController.h
@@ -19,6 +19,7 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
#include <Parafoil/Wing/WingAlgorithm.h>
@@ -26,118 +27,116 @@
/**
* @brief This class allows the user to select the wing algorithm
- * that has to be used during the tests. It also registers his
+ * that has to be used during the tests. It also registers his
* dedicated function in the task schduler in order to be
* executed every fixed period and to update the two servos position
* depending on the selected algorithm.
- *
+ *
* Use case example:
* controller = new WingController(scheduler);
- *
+ *
* controller.addAlgorithm("filename");
* OR
* controller.addAlgorithm(algorithm);
- *
+ *
* controller.selectAlgorithm(index);
- *
+ *
* controller.start();
* controller.stop(); //If you want to abort the execution
* controller.start(); //If you want to start again from the beginning
*/
-using namespace Boardcore;
-
-namespace ParafoilTestDev
+namespace Parafoil
+{
+class WingController
{
- class WingController
- {
- private:
- /**
- * @brief Servo actuators
- */
- ServoInterface* servo1;
- ServoInterface* servo2;
-
- /**
- * @brief List of loaded algorithms (from SD or not)
- */
- std::vector<WingAlgorithm*> algorithms;
-
- /**
- * @brief The common task scheduler
- */
- TaskScheduler* scheduler;
-
- /**
- * @brief This attribute is modified by the mavlink radio section.
- * The user using the Ground Station can select the pre-enumered algorithm to execute
- */
- unsigned int selectedAlgorithm;
-
- /**
- * @brief Internal running state
- */
- bool running;
-
- /**
- * @brief Initialization method. It registers the update method
- * into the task scheduler
- */
- void init();
-
- public:
-
- /**
- * @brief Construct a new Wing Controller object
- *
- * @param scheduler The main used task scheduler
- */
- WingController(TaskScheduler* scheduler);
-
- /**
- * @brief Destroy the Wing Controller object.
- * In particular destroys the servo instances
- */
- ~WingController();
-
- /**
- * @brief Method to add the algorithm in the list
- *
- * @param filename The SD file where to read the instructions
- */
- void addAlgorithm(const char* filename);
-
- /**
- * @brief Method to add the algorithm in the list
- *
- * @param algorithm The algorithm with
- * all already done (e.g. steps already registered)
- */
- void addAlgorithm(WingAlgorithm* algorithm);
-
- /**
- * @brief Selects the algorithm if present.
- *
- * @param index The algorithms vector index
- */
- void selectAlgorithm(unsigned int index);
-
- /**
- * @brief Sets the internal state running and
- * starts the selected algorithm
- */
- void start();
-
- /**
- * @brief Sets the internal state to stop and
- * stops the selected algorithm
- */
- void stop();
-
- /**
- * @brief Method that is called every time period
- * to update the internal wing servos states
- */
- void update();
- };
-}
\ No newline at end of file
+private:
+ /**
+ * @brief Servo actuators
+ */
+ ServoInterface* servo1;
+ ServoInterface* servo2;
+
+ /**
+ * @brief List of loaded algorithms (from SD or not)
+ */
+ std::vector<WingAlgorithm*> algorithms;
+
+ /**
+ * @brief The common task scheduler
+ */
+ Boardcore::TaskScheduler* scheduler;
+
+ /**
+ * @brief This attribute is modified by the mavlink radio section.
+ * The user using the Ground Station can select the pre-enumered algorithm
+ * to execute
+ */
+ unsigned int selectedAlgorithm;
+
+ /**
+ * @brief Internal running state
+ */
+ bool running;
+
+ /**
+ * @brief Initialization method. It registers the update method
+ * into the task scheduler
+ */
+ void init();
+
+public:
+ /**
+ * @brief Construct a new Wing Controller object
+ *
+ * @param scheduler The main used task scheduler
+ */
+ WingController(Boardcore::TaskScheduler* scheduler);
+
+ /**
+ * @brief Destroy the Wing Controller object.
+ * In particular destroys the servo instances
+ */
+ ~WingController();
+
+ /**
+ * @brief Method to add the algorithm in the list
+ *
+ * @param filename The SD file where to read the instructions
+ */
+ void addAlgorithm(const char* filename);
+
+ /**
+ * @brief Method to add the algorithm in the list
+ *
+ * @param algorithm The algorithm with
+ * all already done (e.g. steps already registered)
+ */
+ void addAlgorithm(WingAlgorithm* algorithm);
+
+ /**
+ * @brief Selects the algorithm if present.
+ *
+ * @param index The algorithms vector index
+ */
+ void selectAlgorithm(unsigned int index);
+
+ /**
+ * @brief Sets the internal state running and
+ * starts the selected algorithm
+ */
+ void start();
+
+ /**
+ * @brief Sets the internal state to stop and
+ * stops the selected algorithm
+ */
+ void stop();
+
+ /**
+ * @brief Method that is called every time period
+ * to update the internal wing servos states
+ */
+ void update();
+};
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingServo.cpp b/src/boards/Parafoil/Wing/WingServo.cpp
index d10aabb4ebd544eeaf738c79ca9593d4dde7d533..26167e703d91ae911abcfa86249c4f935e2b9419 100644
--- a/src/boards/Parafoil/Wing/WingServo.cpp
+++ b/src/boards/Parafoil/Wing/WingServo.cpp
@@ -19,57 +19,49 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#include <Parafoil/Wing/WingServo.h>
-namespace ParafoilTestDev
+using namespace Boardcore;
+
+namespace Parafoil
+{
+
+WingServo::WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel,
+ float minPosition, float maxPosition)
+ : WingServo(timer, pwmChannel, minPosition, maxPosition, minPosition)
{
- /**
- * PUBLIC METHODS
- */
- WingServo::WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel, float minPosition, float maxPosition)
- :WingServo(timer, pwmChannel, minPosition, maxPosition, minPosition){}
-
- WingServo::WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel, float minPosition, float maxPosition, float resetPosition)
- :ServoInterface(minPosition, maxPosition, resetPosition)
- {
- servo = new Servo(timer, pwmChannel, WING_SERVO_MIN_PULSE
- , WING_SERVO_MAX_PULSE
- , WING_SERVO_FREQUENCY);
- }
+}
- WingServo::~WingServo(){}
+WingServo::WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel,
+ float minPosition, float maxPosition, float resetPosition)
+ : ServoInterface(minPosition, maxPosition, resetPosition)
+{
+ servo = new Servo(timer, pwmChannel, WING_SERVO_MIN_PULSE,
+ WING_SERVO_MAX_PULSE, WING_SERVO_FREQUENCY);
+}
+
+WingServo::~WingServo() {}
- void WingServo::enable()
- {
- servo -> enable();
- //Set the servo position to reset
- setPosition(RESET_POS);
- }
+void WingServo::enable()
+{
+ servo->enable();
+ // Set the servo position to reset
+ setPosition(RESET_POS);
+}
- void WingServo::disable()
- {
- servo -> disable();
- }
+void WingServo::disable() { servo->disable(); }
- void WingServo::selfTest()
- {
- setPosition(MIN_POS);
- miosix::Thread::sleep(1000);
- setPosition(RESET_POS);
- miosix::Thread::sleep(1000);
- setPosition(MAX_POS);
- }
+void WingServo::selfTest()
+{
+ setPosition(MIN_POS);
+ miosix::Thread::sleep(1000);
+ setPosition(RESET_POS);
+ miosix::Thread::sleep(1000);
+ setPosition(MAX_POS);
+}
- /**
- * PRIVATE METHODS
- */
- void WingServo::setPosition(float angle)
- {
- servo->setPosition(angle / 180);
- }
+void WingServo::setPosition(float angle) { servo->setPosition(angle / 180); }
- float WingServo::preprocessPosition(float angle)
- {
- return angle;
- }
-}
\ No newline at end of file
+float WingServo::preprocessPosition(float angle) { return angle; }
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingServo.h b/src/boards/Parafoil/Wing/WingServo.h
index 2711a3c4c3897c9ce727b0cf9738b907a817ccad..74bcc163cdf558479442faa6397b3578d4d145db 100644
--- a/src/boards/Parafoil/Wing/WingServo.h
+++ b/src/boards/Parafoil/Wing/WingServo.h
@@ -19,72 +19,74 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
+#include <Parafoil/Wing/WingConfig.h>
#include <common/ServoInterface.h>
#include <drivers/servo/Servo.h>
-#include <Parafoil/Wing/WingConfig.h>
-using namespace Boardcore;
-
-namespace ParafoilTestDev
+namespace Parafoil
{
- class WingServo : public ServoInterface
- {
- public:
- /**
- * @brief Construct a new Wing Servo object
- * It will use the min position as reset
- *
- * @param timer The servo timer that needs to be used
- * @param pwmChannel The servo pwm port used
- * @param minPosition The min allowed servo position(degrees)
- * @param maxPosition The max allowed servo position(degrees)
- */
- WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel, float minPosition, float maxPosition);
+class WingServo : public ServoInterface
+{
+public:
+ /**
+ * @brief Construct a new Wing Servo object
+ * It will use the min position as reset
+ *
+ * @param timer The servo timer that needs to be used
+ * @param pwmChannel The servo pwm port used
+ * @param minPosition The min allowed servo position(degrees)
+ * @param maxPosition The max allowed servo position(degrees)
+ */
+ WingServo(TIM_TypeDef* timer, Boardcore::TimerUtils::Channel pwmChannel,
+ float minPosition, float maxPosition);
- /**
- * @brief Construct a new Wing Servo object
- *
- * @param timer The servo timer that needs to be used
- * @param pwmChannel The servo pwm port used
- * @param minPosition The min allowed servo position(degrees)
- * @param maxPosition The max allowed servo position(degrees)
- * @param resetPosition The position where the servo is when it resets(degrees)
- */
- WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel, float minPosition, float maxPosition, float resetPosition);
+ /**
+ * @brief Construct a new Wing Servo object
+ *
+ * @param timer The servo timer that needs to be used
+ * @param pwmChannel The servo pwm port used
+ * @param minPosition The min allowed servo position(degrees)
+ * @param maxPosition The max allowed servo position(degrees)
+ * @param resetPosition The position where the servo is when it
+ * resets(degrees)
+ */
+ WingServo(TIM_TypeDef* timer, Boardcore::TimerUtils::Channel pwmChannel,
+ float minPosition, float maxPosition, float resetPosition);
- /**
- * @brief Destroy the Wing Servo object
- */
- ~WingServo();
+ /**
+ * @brief Destroy the Wing Servo object
+ */
+ ~WingServo();
- void enable() override;
+ void enable() override;
- void disable() override;
+ void disable() override;
- /**
- * @brief Execute a self test with the servo
- */
- void selfTest() override;
+ /**
+ * @brief Execute a self test with the servo
+ */
+ void selfTest() override;
- private:
- Servo* servo;
+private:
+ Boardcore::Servo* servo;
- protected:
- /**
- * @brief Set the servo position
- * @param angle sevo position(degrees)
- */
- void setPosition(float angle) override;
+protected:
+ /**
+ * @brief Set the servo position
+ * @param angle sevo position(degrees)
+ */
+ void setPosition(float angle) override;
- /**
- * @brief Method to convert the angle passed by the user to an
- * useful angle for the servo interface
- * @param angle The angle(degrees)
- * @return float The converted angle
- */
- float preprocessPosition(float angle) override;
- };
-}
\ No newline at end of file
+ /**
+ * @brief Method to convert the angle passed by the user to an
+ * useful angle for the servo interface
+ * @param angle The angle(degrees)
+ * @return float The converted angle
+ */
+ float preprocessPosition(float angle) override;
+};
+} // namespace Parafoil
diff --git a/src/entrypoints/Parafoil/logdecoder/LogTypes.h b/src/entrypoints/Parafoil/logdecoder/LogTypes.h
index 9a2ca5f89444b350a67e8bfef3cdec003cb15b3e..8e7500d1a78eca01acfcd47ffde5cc7ebde778d6 100644
--- a/src/entrypoints/Parafoil/logdecoder/LogTypes.h
+++ b/src/entrypoints/Parafoil/logdecoder/LogTypes.h
@@ -65,13 +65,6 @@
#include "FlightStatsRecorder/FSRData.h"
#include "scheduler/TaskSchedulerData.h"
-// Serialized classes
-using std::ofstream;
-
-using namespace DeathStackBoard;
-using namespace Boardcore;
-using namespace ParafoilTestDev;
-
template <typename T>
void print(T& t, ostream& os)
{
diff --git a/src/entrypoints/Parafoil/parafoil-entry.cpp b/src/entrypoints/Parafoil/parafoil-entry.cpp
index b5abd84ee5983e44e1c5985507d7f3b97e156d7f..ab4843c5952af3f09505b6f0a4ec8f500a31c063 100644
--- a/src/entrypoints/Parafoil/parafoil-entry.cpp
+++ b/src/entrypoints/Parafoil/parafoil-entry.cpp
@@ -27,7 +27,7 @@
#include <miosix.h>
using namespace miosix;
-using namespace ParafoilTestDev;
+using namespace Parafoil;
using namespace Boardcore;
void enablePin()