diff --git a/src/boards/MockupMain/Configs/SensorsConfig.h b/src/boards/MockupMain/Configs/SensorsConfig.h
index bfedffad7e15287d2887486ee5753d4cc893da04..3c06ffb808a0a96be1ff416415405192366b741e 100644
--- a/src/boards/MockupMain/Configs/SensorsConfig.h
+++ b/src/boards/MockupMain/Configs/SensorsConfig.h
@@ -43,7 +43,7 @@ namespace SensorsConfig
using namespace std::chrono_literals;
// clang-format on
-constexpr unsigned int NUMBER_OF_SENSORS = 7;
+constexpr unsigned int NUMBER_OF_SENSORS = 6;
constexpr uint32_t MAG_CALIBRATION_PERIOD = 100; // [ms]
// BMX160
@@ -52,14 +52,14 @@ constexpr Boardcore::BMX160Config::AccelerometerRange BMX160_ACC_FSR_ENUM =
Boardcore::BMX160Config::AccelerometerRange::G_16;
constexpr Boardcore::BMX160Config::GyroscopeRange BMX160_GYRO_FSR_ENUM =
Boardcore::BMX160Config::GyroscopeRange::DEG_1000;
-constexpr unsigned int BMX160_ACC_GYRO_ODR = 100;
+constexpr unsigned int BMX160_ACC_GYRO_ODR = 50;
constexpr Boardcore::BMX160Config::OutputDataRate BMX160_ACC_GYRO_ODR_ENUM =
- Boardcore::BMX160Config::OutputDataRate::HZ_100;
+ Boardcore::BMX160Config::OutputDataRate::HZ_50;
constexpr unsigned int BMX160_MAG_ODR = 100;
constexpr Boardcore::BMX160Config::OutputDataRate BMX160_MAG_ODR_ENUM =
Boardcore::BMX160Config::OutputDataRate::HZ_100;
-constexpr unsigned int BMX160_TEMP_DIVIDER = 1000;
+constexpr unsigned int BMX160_TEMP_DIVIDER = 0;
constexpr unsigned int BMX160_FIFO_WATERMARK = 40;
@@ -87,12 +87,12 @@ constexpr auto LPS22DF_PERIOD = 20_hz;
constexpr auto UBXGPS_SAMPLE_RATE = 5;
// The +5 is needed because GPS data must be read faster than it is produced (to
// not cause delays)
-constexpr auto UBXGPS_PERIOD = 10_hz;
+constexpr auto UBXGPS_PERIOD = 6_hz;
// ADS
constexpr Boardcore::ADS131M08Defs::OversamplingRatio
ADS131M08_OVERSAMPLING_RATIO =
- Boardcore::ADS131M08Defs::OversamplingRatio::OSR_4096;
+ Boardcore::ADS131M08Defs::OversamplingRatio::OSR_1024;
constexpr bool ADS131M08_GLOBAL_CHOP_MODE = true;
constexpr auto ADS131M08_PERIOD = 1000_hz;
@@ -111,7 +111,7 @@ static const Boardcore::AxisOrthoOrientation BMX160_AXIS_ROTATION = {
Boardcore::Direction::NEGATIVE_Y, Boardcore::Direction::NEGATIVE_Z};
// LIS magnetometer
-constexpr Boardcore::LIS3MDL::ODR MAG_LIS_ODR = Boardcore::LIS3MDL::ODR_80_HZ;
+constexpr Boardcore::LIS3MDL::ODR MAG_LIS_ODR = Boardcore::LIS3MDL::ODR_155_HZ;
constexpr Boardcore::LIS3MDL::FullScale MAG_LIS_FULLSCALE =
Boardcore::LIS3MDL::FS_4_GAUSS;
@@ -126,9 +126,9 @@ constexpr float BATTERY_VOLTAGE_COEFF = (150 + 40.2) / 40.2;
// imprecision, avoid clearing the fifo before the interrupt
constexpr auto BMX160_SAMPLE_PERIOD = std::chrono::milliseconds(
BMX160_FIFO_FILL_TIME * (BMX160_FIFO_WATERMARK + 30) * 4 / 1024); // [ms]
-constexpr auto LIS3MDL_SAMPLE_PERIOD = 6_hz;
+constexpr auto LIS3MDL_SAMPLE_PERIOD = 100_hz;
constexpr auto INTERNAL_ADC_SAMPLE_PERIOD = 1_hz;
-constexpr auto INTERNAL_TEMP_SAMPLE_PERIOD = 2_hz;
+constexpr auto INTERNAL_TEMP_SAMPLE_PERIOD = 1_hz;
// LoadCell
constexpr auto LOAD_CELL_SAMPLE_PERIOD = 1000_hz;
diff --git a/src/boards/MockupMain/Sensors/Sensors.cpp b/src/boards/MockupMain/Sensors/Sensors.cpp
index 66ceccf797c080befc86903b1026d8cba62806fa..781e98bcafa2fe6ab490bc4084462853b1caa78b 100644
--- a/src/boards/MockupMain/Sensors/Sensors.cpp
+++ b/src/boards/MockupMain/Sensors/Sensors.cpp
@@ -113,7 +113,7 @@ bool Sensors::start()
// Read the magnetometer calibration from predefined file
// Init all the sensors
- bmx160Init();
+ // bmx160Init();
// bmx160WithCorrectionInit();
lis3mdlInit();
h3lisInit();
@@ -124,40 +124,41 @@ bool Sensors::start()
// batteryVoltageInit();
loadCellInit();
- // Add the magnetometer calibration to the scheduler
- size_t result = scheduler->addTask(
- [&]()
- {
- // Gather the last sample data
- MagnetometerData lastSample = getBMX160LastSample();
-
- // Feed the data to the calibrator inside a protected area.
- // Contention is not high and the use of a mutex is suitable to
- // avoid pausing the kernel for this calibration operation
+ /*
+ // Add the magnetometer calibration to the scheduler
+ size_t result = scheduler->addTask(
+ [&]()
{
- miosix::Lock<FastMutex> l(calibrationMutex);
- magCalibrator.feed(lastSample);
-
- // Compute the correction
- SixParametersCorrector cal = magCalibrator.computeResult();
+ // Gather the last sample data
+ MagnetometerData lastSample = getBMX160LastSample();
- // Check result validity and save it
- if (!isnan(cal.getb()[0]) && !isnan(cal.getb()[1]) &&
- !isnan(cal.getb()[2]) && !isnan(cal.getA()[0]) &&
- !isnan(cal.getA()[1]) && !isnan(cal.getA()[2]))
+ // Feed the data to the calibrator inside a protected area.
+ // Contention is not high and the use of a mutex is suitable to
+ // avoid pausing the kernel for this calibration operation
{
- magCalibration = cal;
+ miosix::Lock<FastMutex> l(calibrationMutex);
+ magCalibrator.feed(lastSample);
+
+ // Compute the correction
+ SixParametersCorrector cal = magCalibrator.computeResult();
+
+ // Check result validity and save it
+ if (!isnan(cal.getb()[0]) && !isnan(cal.getb()[1]) &&
+ !isnan(cal.getb()[2]) && !isnan(cal.getA()[0]) &&
+ !isnan(cal.getA()[1]) && !isnan(cal.getA()[2]))
+ {
+ magCalibration = cal;
+ }
}
- }
- },
- MAG_CALIBRATION_PERIOD);
-
+ },
+ MAG_CALIBRATION_PERIOD);
+ */
// Create sensor manager with populated map and configured scheduler
- manager = new SensorManager(sensorMap, scheduler);
- miosix::GpioPin interruptPin = miosix::sensors::bmx160::intr::getPin();
+ manager = new SensorManager(sensorMap, scheduler);
+ /*miosix::GpioPin interruptPin = miosix::sensors::bmx160::intr::getPin();
enableExternalInterrupt(interruptPin.getPort(), interruptPin.getNumber(),
- InterruptTrigger::FALLING_EDGE, 0);
- return manager->start() && result != 0;
+ InterruptTrigger::FALLING_EDGE, 0);*/
+ return manager->start();
}
void Sensors::stop() { manager->stop(); }
@@ -277,7 +278,7 @@ void Sensors::h3lisInit()
// Get the correct SPI configuration
SPIBusConfig config = H3LIS331DL::getDefaultSPIConfig();
- config.clockDivider = SPI::ClockDivider::DIV_16;
+ config.clockDivider = SPI::ClockDivider::DIV_4;
// Create sensor instance with configured parameters
h3lis331dl = new H3LIS331DL(
@@ -301,7 +302,7 @@ void Sensors::lps22Init()
// Get the correct SPI configuration
SPIBusConfig config = LPS22DF::getDefaultSPIConfig();
- config.clockDivider = SPI::ClockDivider::DIV_16;
+ config.clockDivider = SPI::ClockDivider::DIV_4;
// Configure the device
LPS22DF::Config sensorConfig;
@@ -330,7 +331,7 @@ void Sensors::ubxGpsInit()
// Get the correct SPI configuration
SPIBusConfig config = UBXGPSSpi::getDefaultSPIConfig();
- config.clockDivider = SPI::ClockDivider::DIV_64;
+ config.clockDivider = SPI::ClockDivider::DIV_16;
// Create sensor instance with configured parameters
ubxGps = new UBXGPSSpi(modules.get<Buses>()->spi1,
@@ -353,7 +354,7 @@ void Sensors::ads131Init()
// Configure the SPI
SPIBusConfig config;
- config.clockDivider = SPI::ClockDivider::DIV_16;
+ config.clockDivider = SPI::ClockDivider::DIV_4;
// Configure the device
ADS131M08::Config sensorConfig;