diff --git a/skyward-boardcore b/skyward-boardcore
index ead06db6a21548d24e3004a0027ae19a501bbaf1..3e6454b0287ca280e6095f42607a3074a5670b09 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit ead06db6a21548d24e3004a0027ae19a501bbaf1
+Subproject commit 3e6454b0287ca280e6095f42607a3074a5670b09
diff --git a/src/ConRIG/Buttons/Buttons.cpp b/src/ConRIG/Buttons/Buttons.cpp
index 69593bf16c66da2654a62707601071379c650a8f..8390a9494aaeeccff1c67dcba0a204da15672c8c 100644
--- a/src/ConRIG/Buttons/Buttons.cpp
+++ b/src/ConRIG/Buttons/Buttons.cpp
@@ -32,11 +32,7 @@ using namespace miosix;
using namespace Boardcore;
using namespace ConRIG;
-Buttons::Buttons()
-{
- resetState();
- state.arm_switch = false;
-}
+Buttons::Buttons() : state() {}
bool Buttons::start()
{
@@ -50,18 +46,10 @@ mavlink_conrig_state_tc_t Buttons::getState() { return state; }
void Buttons::resetState()
{
- state.n2o_filling_btn = false;
- state.n2o_release_btn = false;
- state.n2_filling_btn = false;
- state.n2_release_btn = false;
- state.n2_detach_btn = false;
- state.n2o_venting_btn = false;
- state.nitrogen_btn = false;
- state.n2o_detach_btn = false;
- state.n2_quenching_btn = false;
- state.n2_3way_btn = false;
- state.tars_btn = false;
- state.ignition_btn = false;
+ // Preserve the arm switch state
+ auto armSwitch = state.arm_switch;
+ state = {};
+ state.arm_switch = armSwitch;
}
void Buttons::periodicStatusCheck()
@@ -85,9 +73,9 @@ void Buttons::periodicStatusCheck()
{
if (guard > Config::Buttons::GUARD_THRESHOLD)
{
- guard = 0;
- state.n2o_filling_btn = true;
- LOG_DEBUG(logger, "n2o filling button pressed");
+ guard = 0;
+ state.ox_filling_btn = true;
+ LOG_DEBUG(logger, "ox filling button pressed");
}
else
{
@@ -98,9 +86,9 @@ void Buttons::periodicStatusCheck()
{
if (guard > Config::Buttons::GUARD_THRESHOLD)
{
- guard = 0;
- state.n2o_release_btn = true;
- LOG_DEBUG(logger, "n2o release button pressed");
+ guard = 0;
+ state.ox_release_btn = true;
+ LOG_DEBUG(logger, "ox release button pressed");
}
else
{
@@ -124,9 +112,9 @@ void Buttons::periodicStatusCheck()
{
if (guard > Config::Buttons::GUARD_THRESHOLD)
{
- guard = 0;
- state.n2o_venting_btn = true;
- LOG_DEBUG(logger, "n2o venting button pressed");
+ guard = 0;
+ state.ox_venting_btn = true;
+ LOG_DEBUG(logger, "ox venting button pressed");
}
else
{
diff --git a/src/ConRIG/Radio/Radio.cpp b/src/ConRIG/Radio/Radio.cpp
index 04a5ab8d19c71297e2d6f0f7067de2e5515aa949..af3e1cf783a54f6658200b941995d4e095973c00 100644
--- a/src/ConRIG/Radio/Radio.cpp
+++ b/src/ConRIG/Radio/Radio.cpp
@@ -82,19 +82,7 @@ void Radio::handleMessage(const mavlink_message_t& msg)
{
Lock<FastMutex> lock{buttonsMutex};
// Reset the internal button state
- buttonState.n2o_filling_btn = false;
- buttonState.n2o_release_btn = false;
- buttonState.n2_filling_btn = false;
- buttonState.n2_release_btn = false;
- buttonState.n2_detach_btn = false;
- buttonState.n2o_venting_btn = false;
- buttonState.nitrogen_btn = false;
- buttonState.n2o_detach_btn = false;
- buttonState.n2_quenching_btn = false;
- buttonState.n2_3way_btn = false;
- buttonState.tars_btn = false;
- buttonState.arm_switch = false;
- buttonState.ignition_btn = false;
+ buttonState = {};
}
break;
@@ -173,19 +161,20 @@ void Radio::setButtonsState(mavlink_conrig_state_tc_t state)
Lock<FastMutex> lock{buttonsMutex};
// The OR operator is introduced to make sure that the receiver
// understood the command
- buttonState.n2o_filling_btn |= state.n2o_filling_btn;
- buttonState.n2o_release_btn |= state.n2o_release_btn;
+ buttonState.ox_filling_btn |= state.ox_filling_btn;
+ buttonState.ox_release_btn |= state.ox_release_btn;
buttonState.n2_filling_btn |= state.n2_filling_btn;
buttonState.n2_release_btn |= state.n2_release_btn;
buttonState.n2_detach_btn |= state.n2_detach_btn;
- buttonState.n2o_venting_btn |= state.n2o_venting_btn;
+ buttonState.ox_venting_btn |= state.ox_venting_btn;
buttonState.nitrogen_btn |= state.nitrogen_btn;
- buttonState.n2o_detach_btn |= state.n2o_detach_btn;
+ buttonState.ox_detach_btn |= state.ox_detach_btn;
buttonState.n2_quenching_btn |= state.n2_quenching_btn;
buttonState.n2_3way_btn |= state.n2_3way_btn;
- buttonState.tars_btn |= state.tars_btn;
- buttonState.arm_switch |= state.arm_switch;
+ buttonState.tars3_btn |= state.tars3_btn;
+ buttonState.tars3m_btn |= state.tars3m_btn;
buttonState.ignition_btn |= state.ignition_btn;
+ buttonState.arm_switch |= state.arm_switch;
}
bool Radio::start()
@@ -241,19 +230,4 @@ bool Radio::start()
MavlinkStatus Radio::getMavlinkStatus() { return mavDriver->getStatus(); }
-Radio::Radio()
-{
- buttonState.n2o_filling_btn = false;
- buttonState.n2o_release_btn = false;
- buttonState.n2_filling_btn = false;
- buttonState.n2_release_btn = false;
- buttonState.n2_detach_btn = false;
- buttonState.n2o_venting_btn = false;
- buttonState.nitrogen_btn = false;
- buttonState.n2o_detach_btn = false;
- buttonState.n2_quenching_btn = false;
- buttonState.n2_3way_btn = false;
- buttonState.tars_btn = false;
- buttonState.arm_switch = false;
- buttonState.ignition_btn = false;
-}
+Radio::Radio() : buttonState() {}
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index 4125625826a6f9270b8c9553e9d890479de1d956..6f2f570b529ad4d884e56f5557e12fd87a59caff 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -239,7 +239,7 @@ void Actuators::closeAllServos()
getModule<CanHandler>()->sendServoCloseCommand(ServosList::MAIN_VALVE);
getModule<CanHandler>()->sendServoCloseCommand(
- ServosList::N2O_VENTING_VALVE);
+ ServosList::OX_VENTING_VALVE);
}
bool Actuators::setMaxAperture(ServosList servo, float aperture)
@@ -275,10 +275,15 @@ bool Actuators::isServoOpen(ServosList servo)
bool Actuators::isCanServoOpen(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
+
if (servo == ServosList::MAIN_VALVE)
return canMainOpen;
- else if (servo == ServosList::N2O_VENTING_VALVE)
- return canVentingOpen;
+ else if (servo == ServosList::NITROGEN_VALVE)
+ return canNitrogenOpen;
+ else if (servo == ServosList::OX_VENTING_VALVE)
+ return canOxVentingOpen;
+ else if (servo == ServosList::N2_QUENCHING_VALVE)
+ return canN2QuenchingOpen;
else
return false;
}
@@ -289,6 +294,11 @@ void Actuators::set3wayValveState(bool state)
n2_3wayValveInfo.unsafeSetServoPosition(position);
}
+bool Actuators::get3wayValveState()
+{
+ return n2_3wayValveInfo.getServoPosition() == 1.0f;
+}
+
void Actuators::openChamberWithTime(uint32_t time)
{
Lock<FastMutex> lock(infosMutex);
@@ -335,8 +345,12 @@ void Actuators::setCanServoOpen(ServosList servo, bool open)
Lock<FastMutex> lock(infosMutex);
if (servo == ServosList::MAIN_VALVE)
canMainOpen = open;
- else if (servo == ServosList::N2O_VENTING_VALVE)
- canVentingOpen = open;
+ else if (servo == ServosList::NITROGEN_VALVE)
+ canNitrogenOpen = open;
+ else if (servo == ServosList::OX_VENTING_VALVE)
+ canOxVentingOpen = open;
+ else if (servo == ServosList::N2_QUENCHING_VALVE)
+ canN2QuenchingOpen = open;
}
void Actuators::inject(DependencyInjector& injector)
@@ -350,11 +364,11 @@ Actuators::ServoInfo* Actuators::getServo(ServosList servo)
{
switch (servo)
{
- case N2O_FILLING_VALVE: // OX_FIL
+ case OX_FILLING_VALVE: // OX_FIL
return &infos[0];
- case N2O_RELEASE_VALVE: // OX_REL
+ case OX_RELEASE_VALVE: // OX_REL
return &infos[1];
- case N2O_DETACH_SERVO: // OX_DET
+ case OX_DETACH_SERVO: // OX_DET
return &infos[2];
case N2_FILLING_VALVE: // N2_FIL
return &infos[4];
@@ -364,7 +378,7 @@ Actuators::ServoInfo* Actuators::getServo(ServosList servo)
return &infos[6];
case NITROGEN_VALVE: // NITR
return &infos[7];
- case N2O_VENTING_VALVE: // OX_VEN
+ case OX_VENTING_VALVE: // OX_VEN
return &infos[8];
case N2_QUENCHING_VALVE: // N2_QUE
return &infos[9];
diff --git a/src/RIGv2/Actuators/Actuators.h b/src/RIGv2/Actuators/Actuators.h
index 75c413fcceee00f97e8cab0fd121d29335cd903e..0289b1a7812906c4e7925c55a602085917b7266c 100644
--- a/src/RIGv2/Actuators/Actuators.h
+++ b/src/RIGv2/Actuators/Actuators.h
@@ -100,6 +100,7 @@ public:
// N2 3-way valve control
void set3wayValveState(bool state);
+ bool get3wayValveState();
// Chamber valve control
void openChamberWithTime(uint32_t time);
@@ -138,8 +139,10 @@ private:
0; ///< Timestamp to close the chamber (0 if closed)
long long chamberLastActionTs = 0; ///< Timestamp of last chamber action
- bool canMainOpen = false;
- bool canVentingOpen = false;
+ bool canMainOpen = false;
+ bool canNitrogenOpen = false;
+ bool canOxVentingOpen = false;
+ bool canN2QuenchingOpen = false;
Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index d35a38d320976c5db850cdb0160b87ef4697b56c..472eb5d10ec967853d538710de7c789db9abd39a 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -546,11 +546,11 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.timestamp = TimestampTimer::getTimestamp();
// Sensors
- tm.rocket_mass = sensors->getOxTankWeight().load;
- tm.n2o_vessel_mass = sensors->getOxVesselWeight().load;
+ tm.rocket_mass = sensors->getOxTankWeight().load;
+ tm.ox_vessel_mass = sensors->getOxVesselWeight().load;
- tm.n2o_vessel_pressure = sensors->getOxVesselPressure().pressure;
- tm.n2o_filling_pressure = sensors->getOxFillingPressure().pressure;
+ tm.ox_vessel_pressure = sensors->getOxVesselPressure().pressure;
+ tm.ox_filling_pressure = sensors->getOxFillingPressure().pressure;
tm.n2_filling_pressure = sensors->getN2FillingPressure().pressure;
tm.n2_vessel_1_pressure = sensors->getN2Vessel1Pressure().pressure;
tm.n2_vessel_2_pressure = sensors->getN2Vessel2Pressure().pressure;
@@ -575,13 +575,14 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
sdLogger.log(cpuStats);
// Valve states
- tm.n2o_filling_valve_state =
- actuators->isServoOpen(ServosList::N2O_FILLING_VALVE);
- tm.n2o_release_valve_state =
- actuators->isServoOpen(ServosList::N2O_RELEASE_VALVE);
- tm.n2o_detach_state = 0; // TODO
- tm.n2o_venting_valve_state =
- actuators->isServoOpen(ServosList::N2O_VENTING_VALVE);
+ tm.ox_filling_valve_state =
+ actuators->isServoOpen(ServosList::OX_FILLING_VALVE);
+ tm.ox_release_valve_state =
+ actuators->isServoOpen(ServosList::OX_RELEASE_VALVE);
+ tm.ox_detach_state =
+ actuators->isServoOpen(ServosList::OX_DETACH_SERVO);
+ tm.ox_venting_valve_state =
+ actuators->isServoOpen(ServosList::OX_VENTING_VALVE);
tm.n2_filling_valve_state =
actuators->isServoOpen(ServosList::N2_FILLING_VALVE);
@@ -589,22 +590,23 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
actuators->isServoOpen(ServosList::N2_RELEASE_VALVE);
tm.n2_detach_state =
actuators->isServoOpen(ServosList::N2_DETACH_SERVO);
- tm.n2_quenching_valve_state = 0; // TODO
- tm.n2_3way_valve_state = 0; // TODO
+ tm.n2_quenching_valve_state =
+ actuators->isServoOpen(ServosList::N2_QUENCHING_VALVE);
+ tm.n2_3way_valve_state =
+ actuators->isServoOpen(ServosList::N2_3WAY_VALVE);
tm.main_valve_state =
actuators->isServoOpen(ServosList::MAIN_VALVE);
tm.nitrogen_valve_state =
actuators->isServoOpen(ServosList::NITROGEN_VALVE);
- tm.ignition_state = actuators->isChamberOpen();
+ tm.chamber_valve_state = actuators->isChamberOpen();
// Internal states
tm.gmm_state = getModule<GroundModeManager>()->getState();
- tm.tars_state = getModule<TARS1>()->isRefueling() ? 1 : 0;
+ tm.tars3_state = getModule<TARS1>()->isRefueling();
+ tm.tars3m_state = 0; // TODO
tm.arming_state = getModule<GroundModeManager>()->getState() ==
- GroundModeManagerState::ARMED
- ? 1
- : 0;
+ GroundModeManagerState::ARMED;
// Can data
CanHandler::CanStatus canStatus =
@@ -634,20 +636,20 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.timestamp = TimestampTimer::getTimestamp();
// Sensors (either CAN or local)
- tm.top_tank_pressure = sensors->getOxTankTopPressure().pressure;
- tm.bottom_tank_pressure =
+ tm.ox_tank_top_pressure = sensors->getOxTankTopPressure().pressure;
+ tm.ox_tank_bot_pressure =
sensors->getOxTankBottomPressure().pressure;
tm.combustion_chamber_pressure =
sensors->getCombustionChamberPressure().pressure;
- tm.tank_temperature = sensors->getOxTankTemperature().temperature;
- tm.battery_voltage = sensors->getMotorBatteryVoltage().voltage;
+ tm.ox_tank_temperature =
+ sensors->getOxTankTemperature().temperature;
+ tm.battery_voltage = sensors->getMotorBatteryVoltage().voltage;
// Valve states
tm.main_valve_state =
- actuators->isCanServoOpen(ServosList::MAIN_VALVE) ? 1 : 0;
- tm.venting_valve_state =
- actuators->isCanServoOpen(ServosList::N2O_VENTING_VALVE) ? 1
- : 0;
+ actuators->isCanServoOpen(ServosList::MAIN_VALVE);
+ tm.ox_venting_valve_state =
+ actuators->isCanServoOpen(ServosList::OX_VENTING_VALVE);
// Can data
CanHandler::CanStatus canStatus =
@@ -928,35 +930,35 @@ void Radio::handleConrigState(const mavlink_message_t& msg)
lastManualActuation = currentTime;
}
- if (BUTTON_PRESSED(n2o_filling_btn))
+ if (BUTTON_PRESSED(ox_filling_btn))
{
- // The N2O filling switch was pressed
+ // The OX filling switch was pressed
EventBroker::getInstance().post(MOTOR_MANUAL_ACTION, TOPIC_TARS);
- getModule<Actuators>()->toggleServo(ServosList::N2O_FILLING_VALVE);
+ getModule<Actuators>()->toggleServo(ServosList::OX_FILLING_VALVE);
lastManualActuation = currentTime;
}
- if (BUTTON_PRESSED(n2o_release_btn))
+ if (BUTTON_PRESSED(ox_release_btn))
{
- // The N2O release switch was pressed
+ // The OX release switch was pressed
EventBroker::getInstance().post(MOTOR_MANUAL_ACTION, TOPIC_TARS);
- getModule<Actuators>()->toggleServo(ServosList::N2O_RELEASE_VALVE);
+ getModule<Actuators>()->toggleServo(ServosList::OX_RELEASE_VALVE);
lastManualActuation = currentTime;
}
- if (BUTTON_PRESSED(n2o_detach_btn))
+ if (BUTTON_PRESSED(ox_detach_btn))
{
- // The N2O detach switch was pressed
+ // The OX detach switch was pressed
EventBroker::getInstance().post(MOTOR_MANUAL_ACTION, TOPIC_TARS);
- getModule<Actuators>()->toggleServo(ServosList::N2O_DETACH_SERVO);
+ getModule<Actuators>()->toggleServo(ServosList::OX_DETACH_SERVO);
lastManualActuation = currentTime;
}
- if (BUTTON_PRESSED(n2o_venting_btn))
+ if (BUTTON_PRESSED(ox_venting_btn))
{
- // The N2O venting switch was pressed
+ // The OX venting switch was pressed
EventBroker::getInstance().post(MOTOR_MANUAL_ACTION, TOPIC_TARS);
- getModule<Actuators>()->toggleServo(ServosList::N2O_VENTING_VALVE);
+ getModule<Actuators>()->toggleServo(ServosList::OX_VENTING_VALVE);
lastManualActuation = currentTime;
}
@@ -993,7 +995,7 @@ void Radio::handleConrigState(const mavlink_message_t& msg)
}
// TODO: tars3
- if (BUTTON_PRESSED(tars_btn))
+ if (BUTTON_PRESSED(tars3_btn))
{
// The TARS switch was pressed
EventBroker::getInstance().post(MOTOR_START_TARS, TOPIC_TARS);
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.cpp b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
index b6806abf3b158366ba876131d98024c2cbd8c86a..2d1e27c004ddcf5845b3cba132cb95c99ae3f576 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.cpp
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
@@ -104,13 +104,13 @@ void TARS1::state_refueling(const Event& event)
logAction(TarsActionType::WASHING);
// Start washing
- actuators->openServoWithTime(ServosList::N2O_VENTING_VALVE,
+ actuators->openServoWithTime(ServosList::OX_VENTING_VALVE,
Config::TARS1::WASHING_OPENING_TIME);
// Wait a bit so that the servo don't actuate at the same time
Thread::sleep(Config::TARS1::WASHING_TIME_DELAY);
- actuators->openServoWithTime(ServosList::N2O_FILLING_VALVE,
+ actuators->openServoWithTime(ServosList::OX_FILLING_VALVE,
Config::TARS1::WASHING_OPENING_TIME);
// After double the time we opened the valve, move to the next phase
@@ -127,7 +127,7 @@ void TARS1::state_refueling(const Event& event)
logAction(TarsActionType::OPEN_FILLING);
// Open the filling for a long time
- actuators->openServoWithTime(ServosList::N2O_FILLING_VALVE,
+ actuators->openServoWithTime(ServosList::OX_FILLING_VALVE,
Config::TARS1::FILLING_OPENING_TIME);
nextDelayedEventId = EventBroker::getInstance().postDelayed(
@@ -176,11 +176,11 @@ void TARS1::state_refueling(const Event& event)
logAction(TarsActionType::OPEN_VENTING);
// Open the venting and check for pressure stabilization
- actuators->openServo(ServosList::N2O_VENTING_VALVE);
+ actuators->openServo(ServosList::OX_VENTING_VALVE);
// Calculate next check time based on the time the valve stays open
unsigned int nextCheckTime =
- actuators->getServoOpeningTime(ServosList::N2O_VENTING_VALVE) +
+ actuators->getServoOpeningTime(ServosList::OX_VENTING_VALVE) +
Config::TARS1::PRESSURE_STABILIZE_WAIT_TIME * 5;
nextDelayedEventId = EventBroker::getInstance().postDelayed(