From f5b6058d3d91e73c7c1e81979f739af97111b34a Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Mon, 12 Sep 2022 08:56:06 +0000
Subject: [PATCH] [Sensors] Changed BMX parameters

---
 CMakeLists.txt                             | 7 +++++--
 skyward-boardcore                          | 2 +-
 src/boards/Main/Configs/ActuatorsConfigs.h | 2 +-
 src/boards/Main/Configs/SensorsConfig.h    | 2 +-
 src/boards/Main/Sensors/Sensors.cpp        | 2 +-
 5 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd25d7b75..239717931 100644
--- a/CMakeLists.txt
+++ b/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})
diff --git a/skyward-boardcore b/skyward-boardcore
index b0b8bb436..bb4e094b3 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit b0b8bb436182a9f04f9a1a9ac443da6dd938bc99
+Subproject commit bb4e094b30080e544a481a48ef7b721f193bf7a0
diff --git a/src/boards/Main/Configs/ActuatorsConfigs.h b/src/boards/Main/Configs/ActuatorsConfigs.h
index e0b3900d5..1cb694624 100644
--- a/src/boards/Main/Configs/ActuatorsConfigs.h
+++ b/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
diff --git a/src/boards/Main/Configs/SensorsConfig.h b/src/boards/Main/Configs/SensorsConfig.h
index 0f411e0f3..05ad0d27c 100644
--- a/src/boards/Main/Configs/SensorsConfig.h
+++ b/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 =
diff --git a/src/boards/Main/Sensors/Sensors.cpp b/src/boards/Main/Sensors/Sensors.cpp
index eac470559..2908ffab3 100644
--- a/src/boards/Main/Sensors/Sensors.cpp
+++ b/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;
-- 
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