[Sensors] Changed BMX parameters

CMakeLists.txt

@@ -38,15 +38,18 @@ target_include_directories(auxiliary-entry PRIVATE ${OBSW_INCLUDE_DIRS})
 sbs_target(auxiliary-entry stm32f429zi_skyward_pyxis_auxiliary)
 
 add_executable(main-entry-euroc src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
-target_include_directories(main-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS} EUROC)
+target_include_directories(main-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
+target_compile_definitions(main-entry-euroc PRIVATE EUROC BUZZER_LOW)
 sbs_target(main-entry-euroc stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-roccaraso src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
 target_include_directories(main-entry-roccaraso PRIVATE ${OBSW_INCLUDE_DIRS} ROCCARASO)
+target_compile_definitions(main-entry-roccaraso PRIVATE ROCCARASO)
 sbs_target(main-entry-roccaraso stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-milano src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
-target_include_directories(main-entry-milano PRIVATE ${OBSW_INCLUDE_DIRS} MILANO)
+target_include_directories(main-entry-milano PRIVATE ${OBSW_INCLUDE_DIRS})
+target_compile_definitions(main-entry-milano PRIVATE MILANO)
 sbs_target(main-entry-milano stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-hil-euroc src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER} ${HIL})

skyward-boardcore @ bb4e094b

-Subproject commit b0b8bb436182a9f04f9a1a9ac443da6dd938bc99
+Subproject commit bb4e094b30080e544a481a48ef7b721f193bf7a0

src/boards/Main/Configs/ActuatorsConfigs.h

@@ -62,7 +62,7 @@ constexpr Boardcore::TimerUtils::Channel BUZZER_CHANNEL =
     Boardcore::TimerUtils::Channel::CHANNEL_1;
 
 #ifdef BUZZER_LOW
-constexpr float BUZZER_DUTY_CYCLE = 0.05;
+constexpr float BUZZER_DUTY_CYCLE = 0.01;
 #else
 constexpr float BUZZER_DUTY_CYCLE = 0.5;
 #endif

src/boards/Main/Configs/SensorsConfig.h

@@ -86,7 +86,7 @@ constexpr unsigned int IMU_BMX_ACC_DATA_SIZE    = 6;
 constexpr unsigned int IMU_BMX_GYRO_DATA_SIZE   = 6;
 constexpr unsigned int IMU_BMX_MAG_DATA_SIZE    = 8;
 
-constexpr unsigned int IMU_BMX_FIFO_WATERMARK = 80;
+constexpr unsigned int IMU_BMX_FIFO_WATERMARK = 40;
 
 // MPU9250
 constexpr Boardcore::MPU9250::AccelFSR IMU_MPU_ACC_FSR =

src/boards/Main/Sensors/Sensors.cpp

@@ -331,7 +331,7 @@ Sensors::~Sensors()
 void Sensors::bmx160Init()
 {
     SPIBusConfig spiConfig;
-    spiConfig.clockDivider = SPI::ClockDivider::DIV_16;
+    spiConfig.clockDivider = SPI::ClockDivider::DIV_8;
 
     BMX160Config config;
     config.fifoMode      = BMX160Config::FifoMode::HEADER;