From d4f11bddbfa9b5a2a0bd91a216a9d50929d117a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Thu, 17 Apr 2025 19:48:00 +0200
Subject: [PATCH] LyraGS sometimes dreams of being a RIGv2
---
CMakeLists.txt | 2 +-
src/RIGv2/Actuators/Actuators.cpp | 484 ------------------------------
src/RIGv2/Actuators/Actuators.h | 80 ++---
src/RIGv2/Buses.h | 2 +-
src/RIGv2/Radio/Radio.cpp | 10 +-
src/RIGv2/Sensors/Sensors.cpp | 26 +-
src/RIGv2/rig-v2-entry.cpp | 13 +-
7 files changed, 44 insertions(+), 573 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1902a11e2..6485fa3c4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,7 +70,7 @@ sbs_target(motor-entry stm32f767zi_lyra_motor)
add_executable(rig-v2-entry src/RIGv2/rig-v2-entry.cpp ${RIG_V2_COMPUTER})
target_include_directories(rig-v2-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(rig-v2-entry stm32f767zi_rig_v2)
+sbs_target(rig-v2-entry stm32f767zi_lyra_gs)
add_executable(rig-v2-adc-test src/RIGv2/rig-v2-adc-test.cpp ${RIG_V2_COMPUTER})
target_include_directories(rig-v2-adc-test PRIVATE ${OBSW_INCLUDE_DIRS})
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index 9593345c8..e69de29bb 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -1,484 +0,0 @@
-/* Copyright (c) 2025 Skyward Experimental Rocketry
- * Authors: Davide Mor, Niccolò Betto
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * 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.
- */
-
-#include "Actuators.h"
-
-#include <RIGv2/Actuators/ActuatorsData.h>
-#include <RIGv2/Configs/ActuatorsConfig.h>
-#include <common/Events.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <events/EventBroker.h>
-#include <interfaces-impl/hwmapping.h>
-
-#include "ActuatorsMacros.h"
-
-using namespace Boardcore;
-using namespace miosix;
-using namespace Common;
-using namespace RIGv2;
-
-void Actuators::ServoInfo::openServoWithTime(uint32_t time)
-{
- long long currentTime = getTime();
-
- closeTs = currentTime + (time * Constants::NS_IN_MS);
- lastActionTs = currentTime;
-
- if (config.openingEvent != 0)
- EventBroker::getInstance().post(config.openingEvent, TOPIC_MOTOR);
-}
-
-void Actuators::ServoInfo::closeServo()
-{
- closeTs = 0;
- lastActionTs = getTime();
-
- if (config.closingEvent != 0)
- EventBroker::getInstance().post(config.closingEvent, TOPIC_MOTOR);
-}
-
-void Actuators::ServoInfo::unsafeSetServoPosition(float position)
-{
- // Check that the servo is actually there, just to be safe
- if (!servo)
- return;
-
- position *= config.limit;
- if (config.flipped)
- position = 1.0f - position;
-
- servo->setPosition(position);
-}
-
-float Actuators::ServoInfo::getServoPosition()
-{
- // Check that the servo is actually there, just to be safe
- if (!servo)
- return 0.0f;
-
- float position = servo->getPosition();
- if (config.flipped)
- position = 1.0f - position;
-
- position /= config.limit;
- return position;
-}
-
-float Actuators::ServoInfo::getMaxAperture()
-{
- return getModule<Registry>()->getOrSetDefaultUnsafe(
- config.maxApertureRegKey, config.defaultMaxAperture);
-}
-
-uint32_t Actuators::ServoInfo::getOpeningTime()
-{
- return getModule<Registry>()->getOrSetDefaultUnsafe(
- config.openingTimeRegKey, config.defaultOpeningTime);
-}
-
-bool Actuators::ServoInfo::setMaxAperture(float aperture)
-{
- if (aperture >= 0.0 && aperture <= 1.0)
- {
- getModule<Registry>()->setUnsafe(config.maxApertureRegKey, aperture);
- return true;
- }
- else
- {
- // What? Who would ever set this to above 100%?
- return false;
- }
-}
-
-bool Actuators::ServoInfo::setOpeningTime(uint32_t time)
-{
- getModule<Registry>()->setUnsafe(config.openingTimeRegKey, time);
- return true;
-}
-
-Actuators::Actuators()
- : infos{MAKE_SERVO(OX_FIL), MAKE_SERVO(OX_REL), MAKE_DETACH_SERVO(OX_DET),
- MAKE_SERVO(N2_FIL), MAKE_SERVO(N2_REL), MAKE_DETACH_SERVO(N2_DET),
- MAKE_SERVO(NITR), MAKE_SERVO(OX_VEN), MAKE_SERVO(N2_QUE),
- MAKE_SERVO(MAIN)},
- n2_3wayValveInfo(MAKE_SIMPLE_SERVO(N2_3W))
-{
- for (auto& servo : infos)
- servo.unsafeSetServoPosition(0.0f);
-
- n2_3wayValveInfo.unsafeSetServoPosition(0.0f);
-}
-
-bool Actuators::isStarted() { return started; }
-
-bool Actuators::start()
-{
- TaskScheduler& scheduler =
- getModule<BoardScheduler>()->getActuatorsScheduler();
-
- // Enable all servos
- for (ServoInfo& info : infos)
- info.servo->enable();
-
- n2_3wayValveInfo.servo->enable();
-
- uint8_t result =
- scheduler.addTask([this]() { updatePositionsTask(); },
- Config::Servos::SERVO_TIMINGS_CHECK_PERIOD);
-
- if (result == 0)
- {
- LOG_ERR(logger, "Failed to add updatePositionsTask");
- return false;
- }
-
- started = true;
- return true;
-}
-
-void Actuators::armLightOn() { relays::armLight::low(); }
-void Actuators::armLightOff() { relays::armLight::high(); }
-
-void Actuators::igniterOn() { relays::ignition::low(); }
-void Actuators::igniterOff() { relays::ignition::high(); }
-
-bool Actuators::wiggleServo(ServosList servo)
-{
- // Special handling for the 3-way valve
- if (servo == N2_3WAY_VALVE)
- {
- // Toggle the valve to the current opposite state
- auto state = get3wayValveState();
-
- set3wayValveState(!state);
- Thread::sleep(1000);
- set3wayValveState(state);
-
- return true;
- }
-
- // Wiggle means open the servo for 1s
- return openServoWithTime(servo, 1000);
-}
-
-bool Actuators::toggleServo(ServosList servo)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return false;
-
- if (info->closeTs == 0)
- {
- uint32_t time = info->getOpeningTime();
-
- // The servo is closed, open it
- getModule<CanHandler>()->sendServoOpenCommand(servo, time);
- info->openServoWithTime(time);
- }
- else
- {
- // The servo is open, close it
- getModule<CanHandler>()->sendServoCloseCommand(servo);
- info->closeServo();
- }
-
- return true;
-}
-
-bool Actuators::openServo(ServosList servo)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return false;
-
- uint32_t time = info->getOpeningTime();
- getModule<CanHandler>()->sendServoOpenCommand(servo, time);
- info->openServoWithTime(time);
-
- return true;
-}
-
-bool Actuators::openServoWithTime(ServosList servo, uint32_t time)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return false;
-
- getModule<CanHandler>()->sendServoOpenCommand(servo, time);
- info->openServoWithTime(time);
- return true;
-}
-
-bool Actuators::closeServo(ServosList servo)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return false;
-
- getModule<CanHandler>()->sendServoCloseCommand(servo);
- info->closeServo();
- return true;
-}
-
-void Actuators::closeAllServos()
-{
- Lock<FastMutex> lock(infosMutex);
- for (uint8_t idx = 0; idx < 10; idx++)
- infos[idx].closeServo();
-
- getModule<CanHandler>()->sendServoCloseCommand(ServosList::MAIN_VALVE);
- getModule<CanHandler>()->sendServoCloseCommand(
- ServosList::OX_VENTING_VALVE);
-}
-
-bool Actuators::setMaxAperture(ServosList servo, float aperture)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return false;
-
- return info->setMaxAperture(aperture);
-}
-
-bool Actuators::setOpeningTime(ServosList servo, uint32_t time)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return false;
-
- return info->setOpeningTime(time);
-}
-
-bool Actuators::isServoOpen(ServosList servo)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return false;
-
- return info->closeTs != 0;
-}
-
-bool Actuators::isCanServoOpen(ServosList servo)
-{
- Lock<FastMutex> lock(infosMutex);
-
- if (servo == ServosList::MAIN_VALVE)
- return canMainOpen;
- 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;
-}
-
-void Actuators::set3wayValveState(bool state) { n2_3wayValveState = state; }
-
-bool Actuators::get3wayValveState() { return n2_3wayValveState; }
-
-void Actuators::openChamberWithTime(uint32_t time)
-{
- Lock<FastMutex> lock(infosMutex);
- long long currentTime = getTime();
-
- chamberCloseTs = currentTime + (time * Constants::NS_IN_MS);
- chamberLastActionTs = currentTime;
-}
-
-void Actuators::closeChamber()
-{
- Lock<FastMutex> lock(infosMutex);
- chamberCloseTs = 0;
-}
-
-bool Actuators::isChamberOpen()
-{
- Lock<FastMutex> lock(infosMutex);
- return chamberCloseTs != 0;
-}
-
-uint32_t Actuators::getServoOpeningTime(ServosList servo)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return 0;
-
- return info->getOpeningTime();
-}
-
-float Actuators::getServoMaxAperture(ServosList servo)
-{
- Lock<FastMutex> lock(infosMutex);
- ServoInfo* info = getServo(servo);
- if (info == nullptr)
- return 0;
-
- return info->getMaxAperture();
-}
-
-void Actuators::setCanServoOpen(ServosList servo, bool open)
-{
- Lock<FastMutex> lock(infosMutex);
- if (servo == ServosList::MAIN_VALVE)
- canMainOpen = 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)
-{
- Super::inject(injector);
- for (ServoInfo& info : infos)
- info.inject(injector);
-}
-
-Actuators::ServoInfo* Actuators::getServo(ServosList servo)
-{
- switch (servo)
- {
- case OX_FILLING_VALVE: // OX_FIL
- return &infos[0];
- case OX_RELEASE_VALVE: // OX_REL
- return &infos[1];
- case OX_DETACH_SERVO: // OX_DET
- return &infos[2];
- case N2_FILLING_VALVE: // N2_FIL
- return &infos[3];
- case N2_RELEASE_VALVE: // N2_REL
- return &infos[4];
- case N2_DETACH_SERVO: // N2_DET
- return &infos[5];
- case NITROGEN_VALVE: // NITR
- return &infos[6];
- case OX_VENTING_VALVE: // OX_VEN
- return &infos[7];
- case N2_QUENCHING_VALVE: // N2_QUE
- return &infos[8];
- case MAIN_VALVE: // MAIN
- return &infos[9];
-
- default:
- // Oh FUCK
- LOG_ERR(logger, "Invalid servo requested");
- return nullptr;
- }
-}
-
-void Actuators::unsafeSetServoPosition(uint8_t idx, float position)
-{
- infos[idx].unsafeSetServoPosition(position);
-
- // Log the update
- ActuatorsData data;
- data.timestamp = TimestampTimer::getTimestamp();
- data.servoIdx = idx;
- data.position = position;
- sdLogger.log(data);
-}
-
-void Actuators::unsafeOpenChamber() { relays::nitrogen::low(); }
-
-void Actuators::unsafeCloseChamber() { relays::nitrogen::high(); }
-
-void Actuators::updatePositionsTask()
-{
- Lock<FastMutex> lock(infosMutex);
-
- long long currentTime = getTime();
-
- // Iterate over all servos
- for (uint8_t idx = 0; idx < infos.size(); idx++)
- {
- if (currentTime < infos[idx].closeTs)
- {
- // The valve should be open
- if (currentTime < infos[idx].lastActionTs +
- (Config::Servos::SERVO_CONFIDENCE_TIME *
- Constants::NS_IN_MS))
- {
- // We should open the valve all the way
- unsafeSetServoPosition(idx, infos[idx].getMaxAperture());
- }
- else
- {
- // Time to wiggle the valve a little
- unsafeSetServoPosition(
- idx, infos[idx].getMaxAperture() *
- (1.0 - Config::Servos::SERVO_CONFIDENCE));
- }
- }
- else
- {
- // Ok the valve should be closed
- if (infos[idx].closeTs != 0)
- {
- // Perform the servo closing
- infos[idx].closeServo();
- }
-
- if (currentTime < infos[idx].lastActionTs +
- (Config::Servos::SERVO_CONFIDENCE_TIME *
- Constants::NS_IN_MS))
- {
- // We should close the valve all the way
- unsafeSetServoPosition(idx, 0.0);
- }
- else
- {
- // Time to wiggle the valve a little
- unsafeSetServoPosition(idx,
- infos[idx].getMaxAperture() *
- Config::Servos::SERVO_CONFIDENCE);
- }
- }
- }
-
- // Handle nitrogen logic
- if (currentTime < chamberCloseTs)
- {
- unsafeOpenChamber();
- }
- else
- {
- chamberCloseTs = 0;
-
- unsafeCloseChamber();
- }
-
- // Handle the 3-way valve
- auto position = n2_3wayValveState ? 1.0f : 0.0f;
- n2_3wayValveInfo.unsafeSetServoPosition(position);
-}
diff --git a/src/RIGv2/Actuators/Actuators.h b/src/RIGv2/Actuators/Actuators.h
index b6cb422d7..66f09207c 100644
--- a/src/RIGv2/Actuators/Actuators.h
+++ b/src/RIGv2/Actuators/Actuators.h
@@ -81,72 +81,42 @@ private:
};
public:
- Actuators();
+ [[nodiscard]] bool start() { return true; }
- [[nodiscard]] bool start();
+ bool isStarted() { return true; }
- bool isStarted();
-
- bool wiggleServo(ServosList servo);
- bool toggleServo(ServosList servo);
- bool openServo(ServosList servo);
- bool openServoWithTime(ServosList servo, uint32_t time);
- bool closeServo(ServosList servo);
- void closeAllServos();
- bool setMaxAperture(ServosList servo, float aperture);
- bool setOpeningTime(ServosList servo, uint32_t time);
- bool isServoOpen(ServosList servo);
- bool isCanServoOpen(ServosList servo);
+ bool wiggleServo(ServosList servo) { return true; }
+ bool toggleServo(ServosList servo) { return true; }
+ bool openServo(ServosList servo) { return true; }
+ bool openServoWithTime(ServosList servo, uint32_t time) { return true; }
+ bool closeServo(ServosList servo) { return true; }
+ void closeAllServos() {}
+ bool setMaxAperture(ServosList servo, float aperture) { return true; }
+ bool setOpeningTime(ServosList servo, uint32_t time) { return true; }
+ bool isServoOpen(ServosList servo) { return false; }
+ bool isCanServoOpen(ServosList servo) { return false; }
// N2 3-way valve control
- void set3wayValveState(bool state);
- bool get3wayValveState();
+ void set3wayValveState(bool state) {}
+ bool get3wayValveState() { return false; }
// Chamber valve control
- void openChamberWithTime(uint32_t time);
- void closeChamber();
- bool isChamberOpen();
-
- uint32_t getServoOpeningTime(ServosList servo);
- float getServoMaxAperture(ServosList servo);
-
- void armLightOn();
- void armLightOff();
-
- void igniterOn();
- void igniterOff();
-
- void setCanServoOpen(ServosList servo, bool open);
-
- void inject(Boardcore::DependencyInjector& injector) override;
-
-private:
- ServoInfo* getServo(ServosList servo);
-
- void unsafeSetServoPosition(uint8_t idx, float position);
- void unsafeOpenChamber();
- void unsafeCloseChamber();
-
- void updatePositionsTask();
+ void openChamberWithTime(uint32_t time) {}
+ void closeChamber() {}
+ bool isChamberOpen() { return false; }
- std::atomic<bool> started{false};
+ uint32_t getServoOpeningTime(ServosList servo) { return 0; }
+ float getServoMaxAperture(ServosList servo) { return 0.f; }
- miosix::FastMutex infosMutex;
- std::array<ServoInfo, 10> infos;
- ServoInfo n2_3wayValveInfo;
- std::atomic<bool> n2_3wayValveState{false};
+ void armLightOn() {}
+ void armLightOff() {}
- long long chamberCloseTs =
- 0; ///< Timestamp to close the chamber (0 if closed)
- long long chamberLastActionTs = 0; ///< Timestamp of last chamber action
+ void igniterOn() {}
+ void igniterOff() {}
- bool canMainOpen = false;
- bool canNitrogenOpen = false;
- bool canOxVentingOpen = false;
- bool canN2QuenchingOpen = false;
+ void setCanServoOpen(ServosList servo, bool open) {}
- Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
+ void inject(Boardcore::DependencyInjector& injector) override {}
};
} // namespace RIGv2
diff --git a/src/RIGv2/Buses.h b/src/RIGv2/Buses.h
index a777b13e6..45e5ce93e 100644
--- a/src/RIGv2/Buses.h
+++ b/src/RIGv2/Buses.h
@@ -41,7 +41,7 @@ public:
Boardcore::SPIBus& getADS131M08_2() { return spi3; }
Boardcore::SPIBus& getMAX31856_1() { return spi3; }
Boardcore::SPIBus& getMAX31856_2() { return spi1; }
- Boardcore::SPIBus& getRadio() { return spi6; }
+ Boardcore::SPIBus& getRadio() { return spi1; }
private:
Boardcore::SPIBus spi1;
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index df959b032..a56f2d200 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -53,9 +53,9 @@ void setIRQRadio(SX1278Lora* radio)
gRadio = radio;
}
-void __attribute__((used)) MIOSIX_RADIO_DIO0_IRQ() { handleDioIRQ(); }
-void __attribute__((used)) MIOSIX_RADIO_DIO1_IRQ() { handleDioIRQ(); }
-void __attribute__((used)) MIOSIX_RADIO_DIO3_IRQ() { handleDioIRQ(); }
+void __attribute__((used)) MIOSIX_RADIO1_DIO0_IRQ() { handleDioIRQ(); }
+void __attribute__((used)) MIOSIX_RADIO1_DIO1_IRQ() { handleDioIRQ(); }
+void __attribute__((used)) MIOSIX_RADIO1_DIO3_IRQ() { handleDioIRQ(); }
bool Radio::isStarted() { return started; }
@@ -63,8 +63,8 @@ bool Radio::start()
{
// Setup the frontend
std::unique_ptr<SX1278::ISX1278Frontend> frontend =
- std::make_unique<EbyteFrontend>(radio::txEn::getPin(),
- radio::rxEn::getPin());
+ std::make_unique<EbyteFrontend>(radio::txen::getPin(),
+ radio::rxen::getPin());
// Setup transceiver
radio = std::make_unique<SX1278Lora>(
diff --git a/src/RIGv2/Sensors/Sensors.cpp b/src/RIGv2/Sensors/Sensors.cpp
index 89e22b649..4e3155fd9 100644
--- a/src/RIGv2/Sensors/Sensors.cpp
+++ b/src/RIGv2/Sensors/Sensors.cpp
@@ -37,9 +37,12 @@ bool Sensors::isStarted() { return started; }
bool Sensors::start()
{
+ started = true;
+ return true;
+
if (Config::Sensors::InternalADC::ENABLED)
- internalAdcInit();
-
+ internalAdcInit();
+
if (Config::Sensors::ADC_1::ENABLED)
{
adc1Init();
@@ -52,23 +55,23 @@ bool Sensors::start()
rocketWeightInit();
oxTankWeightInit();
}
-
+
if (Config::Sensors::ADC_2::ENABLED)
{
adc2Init();
oxTankBottomPressureInit();
n2TankPressureInit();
}
-
+
if (Config::Sensors::MAX31856::ENABLED)
- tc1Init();
-
+ tc1Init();
+
if (!sensorManagerInit())
{
LOG_ERR(logger, "Failed to init SensorManager");
return false;
}
-
+
started = true;
return true;
}
@@ -428,9 +431,6 @@ void Sensors::adc1Init()
.offset = 0,
.gain = 1.0};
- adc1 = std::make_unique<ADS131M08>(getModule<Buses>()->getADS131M08_1(),
- sensors::ADS131_1::cs::getPin(),
- spiConfig, config);
}
void Sensors::adc1Callback() { sdLogger.log(ADC1Data{getADC1LastSample()}); }
@@ -464,9 +464,6 @@ void Sensors::adc2Init()
.offset = 0,
.gain = 1.0};
- adc2 = std::make_unique<ADS131M08>(getModule<Buses>()->getADS131M08_2(),
- sensors::ADS131_2::cs::getPin(),
- spiConfig, config);
}
void Sensors::adc2Callback() { sdLogger.log(ADC2Data{getADC2LastSample()}); }
@@ -476,9 +473,6 @@ void Sensors::tc1Init()
SPIBusConfig spiConfig = MAX31856::getDefaultSPIConfig();
spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
- tc1 = std::make_unique<MAX31856>(
- getModule<Buses>()->getMAX31856_1(), sensors::MAX31856_1::cs::getPin(),
- spiConfig, MAX31856::ThermocoupleType::K_TYPE);
}
void Sensors::tc1Callback() { sdLogger.log(TC1Data{getTc1LastSample()}); }
diff --git a/src/RIGv2/rig-v2-entry.cpp b/src/RIGv2/rig-v2-entry.cpp
index 6548c191f..324e0d6a5 100644
--- a/src/RIGv2/rig-v2-entry.cpp
+++ b/src/RIGv2/rig-v2-entry.cpp
@@ -147,16 +147,7 @@ int main()
led2On();
}
- std::cout << "Starting CanHandler" << std::endl;
- if (!canHandler->start())
- {
- initResult = false;
- std::cout << "*** Failed to start CanHandler ***" << std::endl;
- }
- else
- {
- led3On();
- }
+ std::cout << "Skipping CanHandler" << std::endl;
std::cout << "Starting GroundModeManager" << std::endl;
if (!gmm->start())
@@ -202,7 +193,7 @@ int main()
}
else
{
- broker.post(FMM_INIT_ERROR, TOPIC_MOTOR);
+ broker.post(FMM_INIT_OK, TOPIC_MOTOR);
std::cout << "*** Init failure ***" << std::endl;
}
--
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