From efb92445a4ef30f66a167f113266fd5576f9ccd1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Tue, 11 Feb 2025 00:47:55 +0100
Subject: [PATCH] [RIGv2] Update Actuators to the 11 Orion servo valves
Boardcore has also been updated to include the updated BSP enabling up to 12 servos.
---
skyward-boardcore | 2 +-
src/RIGv2/Actuators/Actuators.cpp | 304 ++++++++++++----------------
src/RIGv2/Actuators/Actuators.h | 73 ++++---
src/RIGv2/Configs/ActuatorsConfig.h | 82 +++++---
src/RIGv2/Registry/Registry.cpp | 72 +++----
src/RIGv2/Registry/Registry.h | 36 ++--
src/common/Events.h | 51 +++--
7 files changed, 309 insertions(+), 311 deletions(-)
diff --git a/skyward-boardcore b/skyward-boardcore
index ef4e55b65..ead06db6a 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit ef4e55b6575914cc021c4eb36173db9339d3a7c8
+Subproject commit ead06db6a21548d24e3004a0027ae19a501bbaf1
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index c05c94d56..0b6de233d 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Davide Mor
+/* 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
@@ -27,6 +27,7 @@
#include <common/Events.h>
#include <drivers/timer/TimestampTimer.h>
#include <events/EventBroker.h>
+#include <interfaces-impl/hwmapping.h>
using namespace Boardcore;
using namespace miosix;
@@ -40,8 +41,8 @@ void Actuators::ServoInfo::openServoWithTime(uint32_t time)
closeTs = currentTime + (time * Constants::NS_IN_MS);
lastActionTs = currentTime;
- if (openingEvent != 0)
- EventBroker::getInstance().post(openingEvent, TOPIC_MOTOR);
+ if (config.openingEvent != 0)
+ EventBroker::getInstance().post(config.openingEvent, TOPIC_MOTOR);
}
void Actuators::ServoInfo::closeServo()
@@ -49,8 +50,8 @@ void Actuators::ServoInfo::closeServo()
closeTs = 0;
lastActionTs = getTime();
- if (closingEvent != 0)
- EventBroker::getInstance().post(closingEvent, TOPIC_MOTOR);
+ if (config.closingEvent != 0)
+ EventBroker::getInstance().post(config.closingEvent, TOPIC_MOTOR);
}
void Actuators::ServoInfo::unsafeSetServoPosition(float position)
@@ -59,8 +60,8 @@ void Actuators::ServoInfo::unsafeSetServoPosition(float position)
if (!servo)
return;
- position *= limit;
- if (flipped)
+ position *= config.limit;
+ if (config.flipped)
position = 1.0f - position;
servo->setPosition(position);
@@ -73,30 +74,30 @@ float Actuators::ServoInfo::getServoPosition()
return 0.0f;
float position = servo->getPosition();
- if (flipped)
+ if (config.flipped)
position = 1.0f - position;
- position /= limit;
+ position /= config.limit;
return position;
}
float Actuators::ServoInfo::getMaxAperture()
{
- return getModule<Registry>()->getOrSetDefaultUnsafe(maxApertureKey,
- defaultMaxAperture);
+ return getModule<Registry>()->getOrSetDefaultUnsafe(
+ config.maxApertureRegKey, config.defaultMaxAperture);
}
uint32_t Actuators::ServoInfo::getOpeningTime()
{
- return getModule<Registry>()->getOrSetDefaultUnsafe(openingTimeKey,
- defaultOpeningTime);
+ return getModule<Registry>()->getOrSetDefaultUnsafe(
+ config.openingTimeRegKey, config.defaultOpeningTime);
}
bool Actuators::ServoInfo::setMaxAperture(float aperture)
{
if (aperture >= 0.0 && aperture <= 1.0)
{
- getModule<Registry>()->setUnsafe(maxApertureKey, aperture);
+ getModule<Registry>()->setUnsafe(config.maxApertureRegKey, aperture);
return true;
}
else
@@ -108,145 +109,96 @@ bool Actuators::ServoInfo::setMaxAperture(float aperture)
bool Actuators::ServoInfo::setOpeningTime(uint32_t time)
{
- getModule<Registry>()->setUnsafe(openingTimeKey, time);
+ getModule<Registry>()->setUnsafe(config.openingTimeRegKey, time);
return true;
}
+/**
+ * @brief Shorthand to create a ServoInfo struct from the servo name
+ */
+#define MAKE_SERVO(name) \
+ ServoInfo \
+ { \
+ std::make_unique<Servo>( \
+ MIOSIX_SERVOS_##name##_TIM, \
+ TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
+ Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE, \
+ Config::Servos::FREQUENCY), \
+ ServoInfo::ServoConfig \
+ { \
+ .limit = Config::Servos::name##_LIMIT, \
+ .flipped = Config::Servos::name##_FLIPPED, \
+ .defaultOpeningTime = \
+ Config::Servos::DEFAULT_##name##_OPENING_TIME, \
+ .defaultMaxAperture = \
+ Config::Servos::DEFAULT_##name##_MAX_APERTURE, \
+ .openingEvent = MOTOR_##name##_OPEN, \
+ .closingEvent = MOTOR_##name##_CLOSE, \
+ .openingTimeRegKey = CONFIG_ID_##name##_OPENING_TIME, \
+ .maxApertureRegKey = CONFIG_ID_##name##_MAX_APERTURE \
+ } \
+ }
+
+/**
+ * @brief Shorthand to create a detach ServoInfo struct from the servo name
+ */
+#define MAKE_DETACH_SERVO(name) \
+ ServoInfo \
+ { \
+ std::make_unique<Servo>( \
+ MIOSIX_SERVOS_##name##_TIM, \
+ TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
+ Config::Servos::DETACH_MIN_PULSE, \
+ Config::Servos::DETACH_MAX_PULSE, Config::Servos::FREQUENCY), \
+ ServoInfo::ServoConfig \
+ { \
+ .limit = Config::Servos::name##_LIMIT, \
+ .flipped = Config::Servos::name##_FLIPPED, \
+ .defaultOpeningTime = \
+ Config::Servos::DEFAULT_##name##_OPENING_TIME, \
+ .defaultMaxAperture = \
+ Config::Servos::DEFAULT_##name##_MAX_APERTURE, \
+ .openingEvent = MOTOR_##name##_OPEN, \
+ .closingEvent = MOTOR_##name##_CLOSE, \
+ .openingTimeRegKey = CONFIG_ID_##name##_OPENING_TIME, \
+ .maxApertureRegKey = CONFIG_ID_##name##_MAX_APERTURE \
+ } \
+ }
+
+/**
+ * @brief Shorthand to create a non-atomic ServoInfo struct from the servo name
+ */
+#define MAKE_SIMPLE_SERVO(name) \
+ ServoInfo \
+ { \
+ std::make_unique<Servo>( \
+ MIOSIX_SERVOS_##name##_TIM, \
+ TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
+ Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE, \
+ Config::Servos::FREQUENCY), \
+ ServoInfo::ServoConfig \
+ { \
+ .limit = Config::Servos::name##_LIMIT, \
+ .flipped = Config::Servos::name##_FLIPPED, \
+ .openingEvent = MOTOR_##name##_OPEN, \
+ .closingEvent = MOTOR_##name##_CLOSE, \
+ } \
+ }
+
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))
{
- // Initialize servos
- infos[0].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_1_TIM, TimerUtils::Channel::MIOSIX_SERVOS_1_CHANNEL,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- Config::Servos::FREQUENCY);
- infos[1].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_2_TIM, TimerUtils::Channel::MIOSIX_SERVOS_2_CHANNEL,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- Config::Servos::FREQUENCY);
- infos[2].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_3_TIM, TimerUtils::Channel::MIOSIX_SERVOS_3_CHANNEL,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- Config::Servos::FREQUENCY);
- infos[3].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_4_TIM, TimerUtils::Channel::MIOSIX_SERVOS_4_CHANNEL,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- Config::Servos::FREQUENCY);
- // This servo is currently unusable, due to it sharing the same timer as
- // miosix, TIM5
- // infos[4].servo = std::make_unique<Servo>(
- // MIOSIX_SERVOS_5_TIM, TimerUtils::Channel::MIOSIX_SERVOS_5_CHANNEL,
- // Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- // Config::Servos::FREQUENCY);
- infos[5].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_7_TIM, TimerUtils::Channel::MIOSIX_SERVOS_7_CHANNEL,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- Config::Servos::FREQUENCY);
- infos[6].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_9_TIM, TimerUtils::Channel::MIOSIX_SERVOS_9_CHANNEL,
- Config::Servos::SERVO2_MIN_PULSE, Config::Servos::SERVO2_MAX_PULSE,
- Config::Servos::FREQUENCY);
- // This servo is currently unusable, due to it sharing the same timer as
- // servo 1
- // infos[7].servo = std::make_unique<Servo>(
- // MIOSIX_SERVOS_8_TIM, TimerUtils::Channel::MIOSIX_SERVOS_8_CHANNEL,
- // Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- // Config::Servos::FREQUENCY);
- infos[8].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_6_TIM, TimerUtils::Channel::MIOSIX_SERVOS_6_CHANNEL,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- Config::Servos::FREQUENCY);
- infos[9].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_8_TIM, TimerUtils::Channel::MIOSIX_SERVOS_8_CHANNEL,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
- Config::Servos::FREQUENCY);
-
- ServoInfo* info;
- info = getServo(ServosList::N2O_FILLING_VALVE);
- info->defaultMaxAperture = Config::Servos::DEFAULT_FILLING_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_FILLING_OPENING_TIME;
- info->limit = Config::Servos::FILLING_LIMIT;
- info->flipped = Config::Servos::FILLING_FLIPPED;
- info->openingEvent = Common::Events::MOTOR_OPEN_FILLING_VALVE;
- info->closingEvent = Common::Events::MOTOR_CLOSE_FILLING_VALVE;
- info->openingTimeKey = CONFIG_ID_N2O_FILLING_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_N2O_FILLING_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
-
- info = getServo(ServosList::N2O_RELEASE_VALVE);
- info->defaultMaxAperture = Config::Servos::DEFAULT_RELEASE_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_RELEASE_OPENING_TIME;
- info->limit = Config::Servos::RELEASE_LIMIT;
- info->flipped = Config::Servos::RELEASE_FLIPPED;
- info->openingEvent = Common::Events::MOTOR_OPEN_RELEASE_VALVE;
- info->closingEvent = Common::Events::MOTOR_CLOSE_RELEASE_VALVE;
- info->openingTimeKey = CONFIG_ID_N2O_RELEASE_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_N2O_RELEASE_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
-
- info = getServo(ServosList::N2O_VENTING_VALVE);
- info->defaultMaxAperture = Config::Servos::DEFAULT_VENTING_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_VENTING_OPENING_TIME;
- info->limit = Config::Servos::VENTING_LIMIT;
- info->flipped = Config::Servos::VENTING_FLIPPED;
- info->openingEvent = Common::Events::MOTOR_OPEN_VENTING_VALVE;
- info->closingEvent = Common::Events::MOTOR_CLOSE_VENTING_VALVE;
- info->openingTimeKey = CONFIG_ID_N2O_VENTING_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_N2O_VENTING_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
-
- info = getServo(ServosList::N2_FILLING_VALVE);
- info->defaultMaxAperture = Config::Servos::DEFAULT_FILLING_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_FILLING_OPENING_TIME;
- info->limit = Config::Servos::FILLING_LIMIT;
- info->flipped = Config::Servos::FILLING_FLIPPED;
- info->openingEvent = Common::Events::MOTOR_OPEN_FILLING_VALVE;
- info->closingEvent = Common::Events::MOTOR_CLOSE_FILLING_VALVE;
- info->openingTimeKey = CONFIG_ID_N2_FILLING_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_N2_FILLING_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
-
- info = getServo(ServosList::N2_RELEASE_VALVE);
- info->defaultMaxAperture = Config::Servos::DEFAULT_RELEASE_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_RELEASE_OPENING_TIME;
- info->limit = Config::Servos::RELEASE_LIMIT;
- info->flipped = Config::Servos::RELEASE_FLIPPED;
- info->openingEvent = Common::Events::MOTOR_OPEN_RELEASE_VALVE;
- info->closingEvent = Common::Events::MOTOR_CLOSE_RELEASE_VALVE;
- info->openingTimeKey = CONFIG_ID_N2_RELEASE_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_N2_RELEASE_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
-
- info = getServo(ServosList::N2_DETACH_SERVO);
- info->defaultMaxAperture = Config::Servos::DEFAULT_DISCONNECT_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_DISCONNECT_OPENING_TIME;
- info->limit = Config::Servos::DISCONNECT_LIMIT;
- info->flipped = Config::Servos::DISCONNECT_FLIPPED;
- info->openingEvent = Common::Events::MOTOR_DISCONNECT;
- info->openingTimeKey = CONFIG_ID_N2_DETACH_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_N2_DETACH_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
-
- info = getServo(ServosList::MAIN_VALVE);
- info->defaultMaxAperture = Config::Servos::DEFAULT_MAIN_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_MAIN_OPENING_TIME;
- info->limit = Config::Servos::MAIN_LIMIT;
- info->flipped = Config::Servos::MAIN_FLIPPED;
- info->openingEvent = Common::Events::MOTOR_OPEN_FEED_VALVE;
- info->closingEvent = Common::Events::MOTOR_CLOSE_FEED_VALVE;
- info->openingTimeKey = CONFIG_ID_MAIN_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_MAIN_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
-
- info = getServo(ServosList::NITROGEN_VALVE);
- info->defaultMaxAperture = Config::Servos::DEFAULT_MAIN_MAX_APERTURE;
- info->defaultOpeningTime = Config::Servos::DEFAULT_MAIN_OPENING_TIME;
- info->limit = Config::Servos::MAIN_LIMIT;
- info->flipped = Config::Servos::MAIN_FLIPPED;
- info->openingEvent = 0;
- info->closingEvent = 0;
- info->openingTimeKey = CONFIG_ID_NITROGEN_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_NITROGEN_MAX_APERTURE;
- info->unsafeSetServoPosition(0.0f);
+ for (auto& servo : infos)
+ servo.unsafeSetServoPosition(0.0f);
+
+ n2_3wayValveInfo.unsafeSetServoPosition(0.0f);
}
bool Actuators::isStarted() { return started; }
@@ -256,16 +208,9 @@ bool Actuators::start()
TaskScheduler& scheduler =
getModule<BoardScheduler>()->getActuatorsScheduler();
- infos[0].servo->enable();
- infos[1].servo->enable();
- infos[2].servo->enable();
- infos[3].servo->enable();
- // infos[4].servo->enable();
- infos[5].servo->enable();
- infos[6].servo->enable();
- // infos[7].servo->enable();
- infos[8].servo->enable();
- infos[9].servo->enable();
+ // Enable all servos
+ for (ServoInfo& info : infos)
+ info.servo->enable();
uint8_t result =
scheduler.addTask([this]() { updatePositionsTask(); },
@@ -408,25 +353,31 @@ bool Actuators::isCanServoOpen(ServosList servo)
return false;
}
+void Actuators::set3wayValveState(bool state)
+{
+ auto position = state ? 1.0f : 0.0f;
+ n2_3wayValveInfo.unsafeSetServoPosition(position);
+}
+
void Actuators::openChamberWithTime(uint32_t time)
{
Lock<FastMutex> lock(infosMutex);
long long currentTime = getTime();
- nitrogenCloseTs = currentTime + (time * Constants::NS_IN_MS);
- nitrogenLastActionTs = currentTime;
+ chamberCloseTs = currentTime + (time * Constants::NS_IN_MS);
+ chamberLastActionTs = currentTime;
}
void Actuators::closeChamber()
{
Lock<FastMutex> lock(infosMutex);
- nitrogenCloseTs = 0;
+ chamberCloseTs = 0;
}
bool Actuators::isChamberOpen()
{
Lock<FastMutex> lock(infosMutex);
- return nitrogenCloseTs != 0;
+ return chamberCloseTs != 0;
}
uint32_t Actuators::getServoOpeningTime(ServosList servo)
@@ -467,25 +418,28 @@ void Actuators::inject(DependencyInjector& injector)
Actuators::ServoInfo* Actuators::getServo(ServosList servo)
{
- // info[4] and info[7] are currently unavailable
switch (servo)
{
- case N2O_FILLING_VALVE:
+ case N2O_FILLING_VALVE: // OX_FIL
return &infos[0];
- case N2O_RELEASE_VALVE:
+ case N2O_RELEASE_VALVE: // OX_REL
return &infos[1];
- case N2O_VENTING_VALVE:
+ case N2O_DETACH_SERVO: // OX_DET
return &infos[2];
- case N2_FILLING_VALVE:
- return &infos[3];
- case N2_RELEASE_VALVE:
+ case N2_FILLING_VALVE: // N2_FIL
+ return &infos[4];
+ case N2_RELEASE_VALVE: // N2_REL
return &infos[5];
- case N2_DETACH_SERVO:
+ case N2_DETACH_SERVO: // N2_DET
return &infos[6];
- case MAIN_VALVE:
+ case NITROGEN_VALVE: // NITR
+ return &infos[7];
+ case N2O_VENTING_VALVE: // OX_VEN
return &infos[8];
- case NITROGEN_VALVE:
+ case N2_QUENCHING_VALVE: // N2_QUE
return &infos[9];
+ case MAIN_VALVE: // MAIN
+ return &infos[10];
default:
// Oh FUCK
@@ -564,13 +518,13 @@ void Actuators::updatePositionsTask()
}
// Handle nitrogen logic
- if (currentTime < nitrogenCloseTs)
+ if (currentTime < chamberCloseTs)
{
unsafeOpenChamber();
}
else
{
- nitrogenCloseTs = 0;
+ chamberCloseTs = 0;
unsafeCloseChamber();
}
diff --git a/src/RIGv2/Actuators/Actuators.h b/src/RIGv2/Actuators/Actuators.h
index 08b66c634..75c413fcc 100644
--- a/src/RIGv2/Actuators/Actuators.h
+++ b/src/RIGv2/Actuators/Actuators.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Davide Mor
+/* 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
@@ -41,29 +41,34 @@ class Actuators
private:
struct ServoInfo : public Boardcore::InjectableWithDeps<Registry>
{
+ struct ServoConfig
+ {
+ float limit = 1.0; ///< Movement range limit
+ bool flipped = false; ///< Whether the servo is flipped
+ uint32_t defaultOpeningTime = 1000; // Default opening time [ms]
+ float defaultMaxAperture = 1.0; // Max aperture
+
+ uint8_t openingEvent = 0; ///< Event to fire after opening
+ uint8_t closingEvent = 0; ///< Event to fire after closing
+ uint32_t openingTimeRegKey =
+ CONFIG_ID_DEFAULT_OPENING_TIME; ///< Registry key for opening
+ ///< time
+ uint32_t maxApertureRegKey =
+ CONFIG_ID_DEFAULT_MAX_APERTURE; ///< Registry key for max
+ ///< aperture
+ };
+
+ ServoInfo(std::unique_ptr<Boardcore::Servo> servo,
+ const ServoConfig& config)
+ : servo(std::move(servo)), config(config)
+ {
+ }
+
std::unique_ptr<Boardcore::Servo> servo;
- // Hard limit of the aperture
- float limit = 1.0;
- // Should this servo be reversed?
- bool flipped = false;
- // How much time to stay open
- uint32_t defaultOpeningTime = 100000; // Default 100s [ms]
- // What angle is the maximum
- float defaultMaxAperture = 1.0;
-
- // What event to fire while opening?
- uint8_t openingEvent = 0;
- // What event to fire while closing?
- uint8_t closingEvent = 0;
- // How much time to stay open
- uint32_t openingTimeKey = CONFIG_ID_DEFAULT_OPENING_TIME;
- // What angle is the maximum
- uint32_t maxApertureKey = CONFIG_ID_DEFAULT_MAX_APERTURE;
-
- // Timestamp of when the servo should close, 0 if closed
- long long closeTs = 0;
- // Timestamp of last servo action (open/close)
- long long lastActionTs = 0;
+ ServoConfig config;
+
+ long long closeTs = 0; ///< Timestamp to close the servo (0 if closed)
+ long long lastActionTs = 0; ///< Timestamp of last servo action
void openServoWithTime(uint32_t time);
void closeServo();
@@ -93,6 +98,9 @@ public:
bool isServoOpen(ServosList servo);
bool isCanServoOpen(ServosList servo);
+ // N2 3-way valve control
+ void set3wayValveState(bool state);
+
// Chamber valve control
void openChamberWithTime(uint32_t time);
void closeChamber();
@@ -120,20 +128,21 @@ private:
void updatePositionsTask();
- Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
-
std::atomic<bool> started{false};
miosix::FastMutex infosMutex;
- ServoInfo infos[10] = {};
- // Timestamp of when the servo should close, 0 if closed
- long long nitrogenCloseTs = 0;
- // Timestamp of last servo action (open/close)
- long long nitrogenLastActionTs = 0;
+ ServoInfo infos[10];
+ ServoInfo n2_3wayValveInfo;
+
+ long long chamberCloseTs =
+ 0; ///< Timestamp to close the chamber (0 if closed)
+ long long chamberLastActionTs = 0; ///< Timestamp of last chamber action
bool canMainOpen = false;
bool canVentingOpen = false;
+
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
};
} // namespace RIGv2
diff --git a/src/RIGv2/Configs/ActuatorsConfig.h b/src/RIGv2/Configs/ActuatorsConfig.h
index 74b5a06ac..6a8f819fd 100644
--- a/src/RIGv2/Configs/ActuatorsConfig.h
+++ b/src/RIGv2/Configs/ActuatorsConfig.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Davide Mor
+/* 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
@@ -22,27 +22,26 @@
#pragma once
-#include <interfaces-impl/hwmapping.h>
#include <units/Frequency.h>
+#include <chrono>
+
namespace RIGv2
{
namespace Config
{
-
namespace Servos
{
-
/* linter off */ using namespace Boardcore::Units::Frequency;
+/* linter off */ using namespace std::chrono;
-// Generic pulse width for all servos
+// Pulse width for all servos
constexpr unsigned int MIN_PULSE = 500;
constexpr unsigned int MAX_PULSE = 2440;
-// Pulse width specific to SERVO 2 (disconnect servo)
-// TODO(davide.mor): This actually needs tweaking
-constexpr unsigned int SERVO2_MIN_PULSE = 900;
-constexpr unsigned int SERVO2_MAX_PULSE = 2100;
+// Pulse width for detach servos
+constexpr unsigned int DETACH_MIN_PULSE = 900;
+constexpr unsigned int DETACH_MAX_PULSE = 2100;
constexpr unsigned int FREQUENCY = 333;
@@ -50,31 +49,52 @@ constexpr Hertz SERVO_TIMINGS_CHECK_PERIOD = 10_hz;
constexpr long long SERVO_CONFIDENCE_TIME = 500; // 0.5s
constexpr float SERVO_CONFIDENCE = 0.02; // 2%
-constexpr uint32_t DEFAULT_FILLING_OPENING_TIME = 15000; // 15s
-constexpr uint32_t DEFAULT_VENTING_OPENING_TIME = 15000; // 15s
-constexpr uint32_t DEFAULT_MAIN_OPENING_TIME = 6000; // 6s
-constexpr uint32_t DEFAULT_RELEASE_OPENING_TIME = 10000; // 10s
-constexpr uint32_t DEFAULT_DISCONNECT_OPENING_TIME = 2000; // 2s
+constexpr uint32_t DEFAULT_OX_FIL_OPENING_TIME = 15000;
+constexpr uint32_t DEFAULT_OX_REL_OPENING_TIME = 10000;
+constexpr uint32_t DEFAULT_OX_DET_OPENING_TIME = 2000;
+constexpr uint32_t DEFAULT_N2_FIL_OPENING_TIME = 15000;
+constexpr uint32_t DEFAULT_N2_REL_OPENING_TIME = 10000;
+constexpr uint32_t DEFAULT_N2_DET_OPENING_TIME = 2000;
+constexpr uint32_t DEFAULT_NITR_OPENING_TIME = 600000;
+constexpr uint32_t DEFAULT_OX_VEN_OPENING_TIME = 15000;
+constexpr uint32_t DEFAULT_N2_QUE_OPENING_TIME = 15000;
+constexpr uint32_t DEFAULT_MAIN_OPENING_TIME = 6000;
-constexpr float DEFAULT_FILLING_MAX_APERTURE = 1.00f;
-constexpr float DEFAULT_VENTING_MAX_APERTURE = 1.00f;
-constexpr float DEFAULT_MAIN_MAX_APERTURE = 1.00f;
-constexpr float DEFAULT_RELEASE_MAX_APERTURE = 1.00f;
-constexpr float DEFAULT_DISCONNECT_MAX_APERTURE = 1.00f;
+constexpr float DEFAULT_OX_FIL_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_OX_REL_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_OX_DET_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_N2_FIL_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_N2_REL_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_N2_DET_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_NITR_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_OX_VEN_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_N2_QUE_MAX_APERTURE = 1.0;
+constexpr float DEFAULT_MAIN_MAX_APERTURE = 1.0;
-constexpr float FILLING_LIMIT = 0.90f;
-constexpr float VENTING_LIMIT = 0.90f;
-constexpr float MAIN_LIMIT = 0.90f;
-constexpr float RELEASE_LIMIT = 0.50f;
-constexpr float DISCONNECT_LIMIT = 1.00f;
+constexpr float OX_FIL_LIMIT = 0.9;
+constexpr float OX_REL_LIMIT = 0.5;
+constexpr float OX_DET_LIMIT = 1.0;
+constexpr float N2_3W_LIMIT = 1.0;
+constexpr float N2_FIL_LIMIT = 0.9;
+constexpr float N2_REL_LIMIT = 0.5;
+constexpr float N2_DET_LIMIT = 1.0;
+constexpr float NITR_LIMIT = 0.9;
+constexpr float OX_VEN_LIMIT = 0.9;
+constexpr float N2_QUE_LIMIT = 0.9;
+constexpr float MAIN_LIMIT = 0.9;
-constexpr bool FILLING_FLIPPED = true;
-constexpr bool VENTING_FLIPPED = true;
-constexpr bool MAIN_FLIPPED = true;
-constexpr bool RELEASE_FLIPPED = true;
-constexpr bool DISCONNECT_FLIPPED = false;
+constexpr bool OX_FIL_FLIPPED = true;
+constexpr bool OX_REL_FLIPPED = true;
+constexpr bool OX_DET_FLIPPED = false;
+constexpr bool N2_3W_FLIPPED = true;
+constexpr bool N2_FIL_FLIPPED = true;
+constexpr bool N2_REL_FLIPPED = true;
+constexpr bool N2_DET_FLIPPED = false;
+constexpr bool NITR_FLIPPED = true;
+constexpr bool OX_VEN_FLIPPED = true;
+constexpr bool N2_QUE_FLIPPED = true;
+constexpr bool MAIN_FLIPPED = true;
} // namespace Servos
-
} // namespace Config
} // namespace RIGv2
diff --git a/src/RIGv2/Registry/Registry.cpp b/src/RIGv2/Registry/Registry.cpp
index 2fa748947..bd02273bd 100644
--- a/src/RIGv2/Registry/Registry.cpp
+++ b/src/RIGv2/Registry/Registry.cpp
@@ -33,46 +33,46 @@ const char* RIGv2::configurationIdToName(ConfigurationId id)
{
switch (id)
{
- case CONFIG_ID_N2O_FILLING_OPENING_TIME:
- return "N2O_FILLING_OPENING_TIME";
- case CONFIG_ID_N2O_FILLING_MAX_APERTURE:
- return "N2O_FILLING_MAX_APERTURE";
- case CONFIG_ID_N2O_RELEASE_OPENING_TIME:
- return "N2O_RELEASE_OPENING_TIME";
- case CONFIG_ID_N2O_RELEASE_MAX_APERTURE:
- return "N2O_RELEASE_MAX_APERTURE";
- case CONFIG_ID_N2O_DETACH_OPENING_TIME:
- return "N2O_DETACH_OPENING_TIME";
- case CONFIG_ID_N2O_DETACH_MAX_APERTURE:
- return "N2O_DETACH_MAX_APERTURE";
- case CONFIG_ID_N2O_VENTING_OPENING_TIME:
- return "N2O_VENTING_OPENING_TIME";
- case CONFIG_ID_N2O_VENTING_MAX_APERTURE:
- return "N2O_VENTING_MAX_APERTURE";
- case CONFIG_ID_N2_FILLING_OPENING_TIME:
- return "N2_FILLING_OPENING_TIME";
- case CONFIG_ID_N2_FILLING_MAX_APERTURE:
- return "N2_FILLING_MAX_APERTURE";
- case CONFIG_ID_N2_RELEASE_OPENING_TIME:
- return "N2_RELEASE_OPENING_TIME";
- case CONFIG_ID_N2_RELEASE_MAX_APERTURE:
- return "N2_RELEASE_MAX_APERTURE";
- case CONFIG_ID_N2_DETACH_OPENING_TIME:
- return "N2_DETACH_OPENING_TIME";
- case CONFIG_ID_N2_DETACH_MAX_APERTURE:
- return "N2_DETACH_MAX_APERTURE";
- case CONFIG_ID_N2_QUENCHING_OPENING_TIME:
- return "N2_QUENCHING_OPENING_TIME";
- case CONFIG_ID_N2_QUENCHING_MAX_APERTURE:
- return "N2_QUENCHING_MAX_APERTURE";
+ case CONFIG_ID_OX_FIL_OPENING_TIME:
+ return "OX_FIL_OPENING_TIME";
+ case CONFIG_ID_OX_FIL_MAX_APERTURE:
+ return "OX_FIL_MAX_APERTURE";
+ case CONFIG_ID_OX_REL_OPENING_TIME:
+ return "OX_REL_OPENING_TIME";
+ case CONFIG_ID_OX_REL_MAX_APERTURE:
+ return "OX_REL_MAX_APERTURE";
+ case CONFIG_ID_OX_DET_OPENING_TIME:
+ return "OX_DET_OPENING_TIME";
+ case CONFIG_ID_OX_DET_MAX_APERTURE:
+ return "OX_DET_MAX_APERTURE";
+ case CONFIG_ID_OX_VEN_OPENING_TIME:
+ return "OX_VEN_OPENING_TIME";
+ case CONFIG_ID_OX_VEN_MAX_APERTURE:
+ return "OX_VEN_MAX_APERTURE";
+ case CONFIG_ID_N2_FIL_OPENING_TIME:
+ return "N2_FIL_OPENING_TIME";
+ case CONFIG_ID_N2_FIL_MAX_APERTURE:
+ return "N2_FIL_MAX_APERTURE";
+ case CONFIG_ID_N2_REL_OPENING_TIME:
+ return "N2_REL_OPENING_TIME";
+ case CONFIG_ID_N2_REL_MAX_APERTURE:
+ return "N2_REL_MAX_APERTURE";
+ case CONFIG_ID_N2_DET_OPENING_TIME:
+ return "N2_DET_OPENING_TIME";
+ case CONFIG_ID_N2_DET_MAX_APERTURE:
+ return "N2_DET_MAX_APERTURE";
+ case CONFIG_ID_N2_QUE_OPENING_TIME:
+ return "N2_QUE_OPENING_TIME";
+ case CONFIG_ID_N2_QUE_MAX_APERTURE:
+ return "N2_QUE_MAX_APERTURE";
case CONFIG_ID_MAIN_OPENING_TIME:
return "MAIN_OPENING_TIME";
case CONFIG_ID_MAIN_MAX_APERTURE:
return "MAIN_MAX_APERTURE";
- case CONFIG_ID_NITROGEN_OPENING_TIME:
- return "NITROGEN_OPENING_TIME";
- case CONFIG_ID_NITROGEN_MAX_APERTURE:
- return "NITROGEN_MAX_APERTURE";
+ case CONFIG_ID_NITR_OPENING_TIME:
+ return "NITR_OPENING_TIME";
+ case CONFIG_ID_NITR_MAX_APERTURE:
+ return "NITR_MAX_APERTURE";
case CONFIG_ID_IGNITION_TIME:
return "IGNITION_TIME";
case CONFIG_ID_DEFAULT_OPENING_TIME:
diff --git a/src/RIGv2/Registry/Registry.h b/src/RIGv2/Registry/Registry.h
index b1f8e4cd2..6f26a3934 100644
--- a/src/RIGv2/Registry/Registry.h
+++ b/src/RIGv2/Registry/Registry.h
@@ -31,37 +31,37 @@ namespace RIGv2
enum ConfigurationKeys
{
// N2O
- CONFIG_ID_N2O_FILLING_OPENING_TIME,
- CONFIG_ID_N2O_FILLING_MAX_APERTURE,
+ CONFIG_ID_OX_FIL_OPENING_TIME,
+ CONFIG_ID_OX_FIL_MAX_APERTURE,
- CONFIG_ID_N2O_RELEASE_OPENING_TIME,
- CONFIG_ID_N2O_RELEASE_MAX_APERTURE,
+ CONFIG_ID_OX_REL_OPENING_TIME,
+ CONFIG_ID_OX_REL_MAX_APERTURE,
- CONFIG_ID_N2O_DETACH_OPENING_TIME,
- CONFIG_ID_N2O_DETACH_MAX_APERTURE,
+ CONFIG_ID_OX_DET_OPENING_TIME,
+ CONFIG_ID_OX_DET_MAX_APERTURE,
- CONFIG_ID_N2O_VENTING_OPENING_TIME,
- CONFIG_ID_N2O_VENTING_MAX_APERTURE,
+ CONFIG_ID_OX_VEN_OPENING_TIME,
+ CONFIG_ID_OX_VEN_MAX_APERTURE,
// N2
- CONFIG_ID_N2_FILLING_OPENING_TIME,
- CONFIG_ID_N2_FILLING_MAX_APERTURE,
+ CONFIG_ID_N2_FIL_OPENING_TIME,
+ CONFIG_ID_N2_FIL_MAX_APERTURE,
- CONFIG_ID_N2_RELEASE_OPENING_TIME,
- CONFIG_ID_N2_RELEASE_MAX_APERTURE,
+ CONFIG_ID_N2_REL_OPENING_TIME,
+ CONFIG_ID_N2_REL_MAX_APERTURE,
- CONFIG_ID_N2_DETACH_OPENING_TIME,
- CONFIG_ID_N2_DETACH_MAX_APERTURE,
+ CONFIG_ID_N2_DET_OPENING_TIME,
+ CONFIG_ID_N2_DET_MAX_APERTURE,
- CONFIG_ID_N2_QUENCHING_OPENING_TIME,
- CONFIG_ID_N2_QUENCHING_MAX_APERTURE,
+ CONFIG_ID_N2_QUE_OPENING_TIME,
+ CONFIG_ID_N2_QUE_MAX_APERTURE,
// Main & Nitrogen
CONFIG_ID_MAIN_OPENING_TIME,
CONFIG_ID_MAIN_MAX_APERTURE,
- CONFIG_ID_NITROGEN_OPENING_TIME,
- CONFIG_ID_NITROGEN_MAX_APERTURE,
+ CONFIG_ID_NITR_OPENING_TIME,
+ CONFIG_ID_NITR_MAX_APERTURE,
// Ignition parameters
CONFIG_ID_IGNITION_TIME,
diff --git a/src/common/Events.h b/src/common/Events.h
index efff19c8d..6a93c35fd 100644
--- a/src/common/Events.h
+++ b/src/common/Events.h
@@ -144,16 +144,29 @@ enum Events : uint8_t
TMTC_ARP_EXIT_TEST_MODE,
MOTOR_START_TARS,
MOTOR_STOP_TARS,
- MOTOR_OPEN_VENTING_VALVE,
- MOTOR_CLOSE_VENTING_VALVE,
- MOTOR_OPEN_FILLING_VALVE,
- MOTOR_CLOSE_FILLING_VALVE,
- MOTOR_OPEN_RELEASE_VALVE,
- MOTOR_CLOSE_RELEASE_VALVE,
- MOTOR_DISCONNECT,
+ MOTOR_OX_FIL_OPEN,
+ MOTOR_OX_FIL_CLOSE,
+ MOTOR_OX_REL_OPEN,
+ MOTOR_OX_REL_CLOSE,
+ MOTOR_OX_DET_OPEN,
+ MOTOR_OX_DET_CLOSE,
+ MOTOR_N2_3W_OPEN,
+ MOTOR_N2_3W_CLOSE,
+ MOTOR_N2_FIL_OPEN,
+ MOTOR_N2_FIL_CLOSE,
+ MOTOR_N2_REL_OPEN,
+ MOTOR_N2_REL_CLOSE,
+ MOTOR_N2_DET_OPEN,
+ MOTOR_N2_DET_CLOSE,
+ MOTOR_NITR_OPEN,
+ MOTOR_NITR_CLOSE,
+ MOTOR_OX_VEN_OPEN,
+ MOTOR_OX_VEN_CLOSE,
+ MOTOR_N2_QUE_OPEN,
+ MOTOR_N2_QUE_CLOSE,
+ MOTOR_MAIN_OPEN,
+ MOTOR_MAIN_CLOSE,
MOTOR_IGNITION,
- MOTOR_OPEN_FEED_VALVE,
- MOTOR_CLOSE_FEED_VALVE,
MOTOR_MANUAL_ACTION,
MOTOR_OPEN_OXIDANT,
MOTOR_COOLING_TIMEOUT,
@@ -280,16 +293,18 @@ inline std::string getEventString(uint8_t event)
{TMTC_ARP_EXIT_TEST_MODE, "TMTC_ARP_EXIT_TEST_MODE"},
{MOTOR_START_TARS, "MOTOR_START_TARS"},
{MOTOR_STOP_TARS, "MOTOR_STOP_TARS"},
- {MOTOR_OPEN_VENTING_VALVE, "MOTOR_OPEN_VENTING_VALVE"},
- {MOTOR_CLOSE_VENTING_VALVE, "MOTOR_CLOSE_VENTING_VALVE"},
- {MOTOR_OPEN_FILLING_VALVE, "MOTOR_OPEN_FILLING_VALVE"},
- {MOTOR_CLOSE_FILLING_VALVE, "MOTOR_CLOSE_FILLING_VALVE"},
- {MOTOR_OPEN_RELEASE_VALVE, "MOTOR_OPEN_RELEASE_VALVE"},
- {MOTOR_CLOSE_RELEASE_VALVE, "MOTOR_CLOSE_RELEASE_VALVE"},
- {MOTOR_DISCONNECT, "MOTOR_DISCONNECT"},
+ {MOTOR_OX_FIL_OPEN, "MOTOR_OX_FIL_OPEN"},
+ {MOTOR_OX_REL_OPEN, "MOTOR_OX_REL_OPEN"},
+ {MOTOR_OX_DET_OPEN, "MOTOR_OX_DET_OPEN"},
+ {MOTOR_N2_3W_OPEN, "MOTOR_N2_3W_OPEN"},
+ {MOTOR_N2_FIL_OPEN, "MOTOR_N2_FIL_OPEN"},
+ {MOTOR_N2_REL_OPEN, "MOTOR_N2_REL_OPEN"},
+ {MOTOR_N2_DET_OPEN, "MOTOR_N2_DET_OPEN"},
+ {MOTOR_NITR_OPEN, "MOTOR_NITR_OPEN"},
+ {MOTOR_OX_VEN_OPEN, "MOTOR_OX_VEN_OPEN"},
+ {MOTOR_N2_QUE_OPEN, "MOTOR_N2_QUE_OPEN"},
+ {MOTOR_MAIN_OPEN, "MOTOR_MAIN_OPEN"},
{MOTOR_IGNITION, "MOTOR_IGNITION"},
- {MOTOR_OPEN_FEED_VALVE, "MOTOR_OPEN_FEED_VALVE"},
- {MOTOR_CLOSE_FEED_VALVE, "MOTOR_CLOSE_FEED_VALVE"},
{MOTOR_MANUAL_ACTION, "MOTOR_MANUAL_ACTION"},
{MOTOR_OPEN_OXIDANT, "MOTOR_OPEN_OXIDANT"},
{MOTOR_COOLING_TIMEOUT, "MOTOR_COOLING_TIMEOUT"},
--
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