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; -- GitLab