From c762a279c01c419735107ac265c22711da687912 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Wed, 2 Oct 2024 23:12:22 +0200
Subject: [PATCH] [HIL] Logging lsm6dsrx also in hil mode (fifo problem)
---
src/boards/Main/Sensors/HILSensors.h | 8 ++++++++
src/boards/Main/Sensors/Sensors.h | 3 ++-
src/boards/Payload/Sensors/HILSensors.h | 8 ++++++++
src/boards/Payload/Sensors/Sensors.h | 3 ++-
4 files changed, 20 insertions(+), 2 deletions(-)
diff --git a/src/boards/Main/Sensors/HILSensors.h b/src/boards/Main/Sensors/HILSensors.h
index a78575f97..4b5d478a3 100644
--- a/src/boards/Main/Sensors/HILSensors.h
+++ b/src/boards/Main/Sensors/HILSensors.h
@@ -41,6 +41,14 @@ public:
explicit HILSensors(bool enableHw) : Super{}, enableHw{enableHw} {}
private:
+ void lsm6dsrxCallback() override
+ {
+ if (!lsm6dsrx)
+ return;
+
+ Boardcore::Logger::getInstance().log(lsm6dsrx->getLastSample());
+ }
+
bool postSensorCreationHook() override
{
using namespace Boardcore;
diff --git a/src/boards/Main/Sensors/Sensors.h b/src/boards/Main/Sensors/Sensors.h
index 0fe1840bd..9a1beeaea 100644
--- a/src/boards/Main/Sensors/Sensors.h
+++ b/src/boards/Main/Sensors/Sensors.h
@@ -116,6 +116,8 @@ public:
protected:
virtual bool postSensorCreationHook() { return true; }
+ virtual void lsm6dsrxCallback();
+
Boardcore::TaskScheduler& getSensorsScheduler();
miosix::FastMutex canMutex;
@@ -165,7 +167,6 @@ private:
void ubxgpsCallback();
void lsm6dsrxInit();
- void lsm6dsrxCallback();
void vn100Init();
void vn100Callback();
diff --git a/src/boards/Payload/Sensors/HILSensors.h b/src/boards/Payload/Sensors/HILSensors.h
index 533b455bb..46b2dae87 100644
--- a/src/boards/Payload/Sensors/HILSensors.h
+++ b/src/boards/Payload/Sensors/HILSensors.h
@@ -41,6 +41,14 @@ public:
explicit HILSensors(bool enableHw) : Super{}, enableHw{enableHw} {}
private:
+ void lsm6dsrxCallback() override
+ {
+ if (!lsm6dsrx)
+ return;
+
+ Boardcore::Logger::getInstance().log(lsm6dsrx->getLastSample());
+ }
+
bool postSensorCreationHook() override
{
using namespace Boardcore;
diff --git a/src/boards/Payload/Sensors/Sensors.h b/src/boards/Payload/Sensors/Sensors.h
index 8d729965b..07ac1dfd1 100644
--- a/src/boards/Payload/Sensors/Sensors.h
+++ b/src/boards/Payload/Sensors/Sensors.h
@@ -139,6 +139,8 @@ protected:
*/
virtual bool postSensorCreationHook() { return true; }
+ virtual void lsm6dsrxCallback();
+
std::unique_ptr<Boardcore::LPS22DF> lps22df;
std::unique_ptr<Boardcore::LPS28DFW> lps28dfw;
std::unique_ptr<Boardcore::H3LIS331DL> h3lis331dl;
@@ -177,7 +179,6 @@ private:
void ubxgpsCallback();
void lsm6dsrxInit();
- void lsm6dsrxCallback();
void ads131m08Init();
void ads131m08Callback();
--
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