From bd0ce824a4932bdb84907e69124db1ebc55221b9 Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Sat, 10 May 2025 12:57:51 +0200
Subject: [PATCH] [MockupMain] Working loadcell
---
src/MockupMain/BoardScheduler.h | 4 ++--
src/MockupMain/Configs/SensorsConfig.h | 12 ++++++------
src/MockupMain/Sensors/Sensors.cpp | 10 ++++++++++
src/MockupMain/mockup-entry.cpp | 2 +-
4 files changed, 19 insertions(+), 9 deletions(-)
diff --git a/src/MockupMain/BoardScheduler.h b/src/MockupMain/BoardScheduler.h
index 1769434b2..f347ce413 100644
--- a/src/MockupMain/BoardScheduler.h
+++ b/src/MockupMain/BoardScheduler.h
@@ -52,10 +52,10 @@ public:
};
};
- Boardcore::TaskScheduler& nasController() { return critical; }
Boardcore::TaskScheduler& sensors() { return high; }
Boardcore::TaskScheduler& pinHandler() { return high; }
Boardcore::TaskScheduler& radio() { return medium; }
+ Boardcore::TaskScheduler& nasController() { return low; }
static Priority::PriorityLevel flightModeManagerPriority()
{
@@ -64,7 +64,7 @@ public:
static Priority::PriorityLevel nasControllerPriority()
{
- return Priority::MEDIUM;
+ return Priority::LOW;
}
/**
diff --git a/src/MockupMain/Configs/SensorsConfig.h b/src/MockupMain/Configs/SensorsConfig.h
index 132f19f80..01da8ae15 100644
--- a/src/MockupMain/Configs/SensorsConfig.h
+++ b/src/MockupMain/Configs/SensorsConfig.h
@@ -55,7 +55,7 @@ constexpr auto ACC_GYRO_ODR = Boardcore::BMX160Config::OutputDataRate::HZ_100;
constexpr auto MAG_ODR = Boardcore::BMX160Config::OutputDataRate::HZ_100;
static const Boardcore::AxisOrthoOrientation AXIS_ORIENTATION = {
- Boardcore::Direction::POSITIVE_Z, Boardcore::Direction::POSITIVE_Y};
+ Boardcore::Direction::NEGATIVE_Z, Boardcore::Direction::POSITIVE_Y};
constexpr auto TEMP_DIVIDER = 0;
constexpr auto FIFO_WATERMARK = 40;
@@ -69,7 +69,7 @@ constexpr auto MAG_DATA_SIZE = 8;
namespace H3LIS331DL
{
constexpr auto ENABLED = true;
-constexpr auto SAMPLING_RATE = 800_hz;
+constexpr auto SAMPLING_RATE = 400_hz;
constexpr auto ODR = Boardcore::H3LIS331DLDefs::OutputDataRate::ODR_1000;
constexpr auto BDU =
Boardcore::H3LIS331DLDefs::BlockDataUpdate::BDU_CONTINUOS_UPDATE;
@@ -87,7 +87,7 @@ constexpr auto ODR = Boardcore::LPS22DF::ODR_50;
namespace UBXGPS
{
constexpr auto ENABLED = true;
-constexpr auto SAMPLING_RATE = 10_hz;
+constexpr auto SAMPLING_RATE = 6_hz;
} // namespace UBXGPS
namespace ADS131M08
@@ -103,14 +103,14 @@ namespace LIS3MDL
{
constexpr auto ENABLED = true;
constexpr auto SAMPLING_RATE = 100_hz;
-constexpr auto ODR = Boardcore::LIS3MDL::ODR_155_HZ;
+constexpr auto ODR = Boardcore::LIS3MDL::ODR_10_HZ;
constexpr auto FSR = Boardcore::LIS3MDL::FS_4_GAUSS;
} // namespace LIS3MDL
namespace InternalADC
{
constexpr auto ENABLED = true;
-constexpr auto SAMPLING_RATE = 100_hz;
+constexpr auto SAMPLING_RATE = 1_hz;
constexpr auto VBAT_CH = Boardcore::InternalADC::Channel::CH5;
constexpr auto VBAT_COEFF = (150 + 40.2) / 40.2;
} // namespace InternalADC
@@ -118,7 +118,7 @@ constexpr auto VBAT_COEFF = (150 + 40.2) / 40.2;
namespace LoadCell
{
constexpr auto ENABLED = true;
-constexpr auto SAMPLING_RATE = InternalADC::SAMPLING_RATE;
+constexpr auto SAMPLING_RATE = ADS131M08::SAMPLING_RATE;
constexpr auto ADC_CHANNEL = Boardcore::ADS131M08Defs::Channel::CHANNEL_0;
namespace Calibration
diff --git a/src/MockupMain/Sensors/Sensors.cpp b/src/MockupMain/Sensors/Sensors.cpp
index fad15ae3c..0cdf2738c 100644
--- a/src/MockupMain/Sensors/Sensors.cpp
+++ b/src/MockupMain/Sensors/Sensors.cpp
@@ -62,6 +62,9 @@ bool Sensors::start()
if (config::InternalADC::ENABLED)
internalADCInit();
+ if (config::LoadCell::ENABLED)
+ loadCellInit();
+
if (!postSensorCreationHook())
{
LOG_ERR(logger, "Sensors post-creation hook failed");
@@ -527,6 +530,13 @@ bool Sensors::sensorManagerInit()
map.emplace(internalAdc.get(), info);
}
+ if (loadCell)
+ {
+ SensorInfo info{"LoadCell", config::LoadCell::SAMPLING_RATE,
+ [this]() { loadCellCallback(); }};
+ map.emplace(loadCell.get(), info);
+ }
+
auto& scheduler = getModule<BoardScheduler>()->sensors();
manager = std::make_unique<SensorManager>(map, &scheduler);
return manager->start();
diff --git a/src/MockupMain/mockup-entry.cpp b/src/MockupMain/mockup-entry.cpp
index 0ea06da34..76e3480c4 100644
--- a/src/MockupMain/mockup-entry.cpp
+++ b/src/MockupMain/mockup-entry.cpp
@@ -134,7 +134,7 @@ int main()
START_MODULE(pinHandler);
START_MODULE(radio);
- START_MODULE(nasController);
+ // START_MODULE(nasController);
START_MODULE(flightModeManager);
START_MODULE(scheduler);
--
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