From a0dff9b2d3ad6edb7703cec33f76163e4eabb147 Mon Sep 17 00:00:00 2001
From: Angelo Prete <angelo.prete@skywarder.eu>
Date: Fri, 31 May 2024 23:39:41 +0200
Subject: [PATCH] [SensorsConfig] Updated sample rate to nanoseconds
---
src/boards/MockupMain/Configs/SensorsConfig.h | 24 +++++++++----------
1 file changed, 12 insertions(+), 12 deletions(-)
diff --git a/src/boards/MockupMain/Configs/SensorsConfig.h b/src/boards/MockupMain/Configs/SensorsConfig.h
index 9985c7d9e..316b9fc0a 100644
--- a/src/boards/MockupMain/Configs/SensorsConfig.h
+++ b/src/boards/MockupMain/Configs/SensorsConfig.h
@@ -67,25 +67,26 @@ constexpr Boardcore::H3LIS331DLDefs::BlockDataUpdate H3LIS331DL_BDU =
Boardcore::H3LIS331DLDefs::BlockDataUpdate::BDU_CONTINUOS_UPDATE;
constexpr Boardcore::H3LIS331DLDefs::FullScaleRange H3LIS331DL_FSR =
Boardcore::H3LIS331DLDefs::FullScaleRange::FS_100;
-constexpr uint32_t H3LIS331DL_PERIOD = 1; // [ms] 1000Hz
+constexpr uint32_t H3LIS331DL_PERIOD = 1 * 1000; // [ns] 1000Hz
// LPS22DF
constexpr Boardcore::LPS22DF::AVG LPS22DF_AVG = Boardcore::LPS22DF::AVG_4;
constexpr Boardcore::LPS22DF::ODR LPS22DF_ODR = Boardcore::LPS22DF::ODR_50;
-constexpr uint32_t LPS22DF_PERIOD = 50; // [ms] 20Hz
+constexpr uint32_t LPS22DF_PERIOD = 50 * 1000; // [ns] 20Hz
// UBXGPS
constexpr uint8_t UBXGPS_SAMPLE_RATE = 10;
// The +5 is needed because GPS data must be read faster than it is produced (to
// not cause delays)
-constexpr uint32_t UBXGPS_PERIOD = 1000 / (UBXGPS_SAMPLE_RATE + 5); // [ms]
+constexpr uint32_t UBXGPS_PERIOD =
+ 1000 / (UBXGPS_SAMPLE_RATE + 5) * 1000; // [ns]
// ADS
constexpr Boardcore::ADS131M08Defs::OversamplingRatio
ADS131M08_OVERSAMPLING_RATIO =
Boardcore::ADS131M08Defs::OversamplingRatio::OSR_4096;
constexpr bool ADS131M08_GLOBAL_CHOP_MODE = true;
-constexpr uint32_t ADS131M08_PERIOD = 1; // [ms] 1000Hz
+constexpr uint32_t ADS131M08_PERIOD = 1 * 1000; // [ns] 1000Hz
// UNUSED - How many bytes go into the fifo each second
constexpr unsigned int BMX160_FIFO_FILL_RATE =
@@ -112,19 +113,18 @@ constexpr Boardcore::InternalADC::Channel ADC_BATTERY_VOLTAGE =
// Internal ADC voltage divider
constexpr float BATTERY_VOLTAGE_COEFF = (150 + 40.2) / 40.2;
-// Sampling periods [ms]
-
// BMX160_SAMPLE_PERIOD: Sample before the fifo is full, but slightly after the
// watermark level (watermark + 30) ---> high slack due to scheduler
// imprecision, avoid clearing the fifo before the interrupt
-constexpr unsigned int BMX160_SAMPLE_PERIOD =
- BMX160_FIFO_FILL_TIME * (BMX160_FIFO_WATERMARK + 30) * 4 / 1024; // [ms]
-constexpr unsigned int LIS3MDL_SAMPLE_PERIOD = 15;
-constexpr unsigned int INTERNAL_ADC_SAMPLE_PERIOD = 1000; // [ms]
-constexpr unsigned int INTERNAL_TEMP_SAMPLE_PERIOD = 2000; // [ms]
+constexpr unsigned int BMX160_SAMPLE_PERIOD = BMX160_FIFO_FILL_TIME *
+ (BMX160_FIFO_WATERMARK + 30) * 4 /
+ 1024 * 1000; // [ns]
+constexpr unsigned int LIS3MDL_SAMPLE_PERIOD = 15 * 1000; // [ns]
+constexpr unsigned int INTERNAL_ADC_SAMPLE_PERIOD = 1000 * 1000; // [ns]
+constexpr unsigned int INTERNAL_TEMP_SAMPLE_PERIOD = 2000 * 1000; // [ns]
// LoadCell
-constexpr unsigned int LOAD_CELL_SAMPLE_PERIOD = 1; // [ms] 1000 Hz
+constexpr unsigned int LOAD_CELL_SAMPLE_PERIOD = 1 * 1000; // [ns] 1000 Hz
constexpr Boardcore::ADS131M08Defs::Channel LOAD_CELL_ADC_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_0;
// TODO set calibration
--
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