From b3e0b1beac023fe990ebb2a8ad7282ed42aed67f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Sat, 25 Jan 2025 12:40:38 +0100
Subject: [PATCH 1/3] [Boardcore] Update the boardcore submodule
* Fix CMake CXX version to 14
* Make SensorFIFO thread safe (API change)
* UBXGPSSpi: Removed 1ms thread sleep during sample
* Various minor fixes to sensor drivers
* Minor SBS fixes
* New Console and Udp radio transceivers
---
skyward-boardcore | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/skyward-boardcore b/skyward-boardcore
index 93254875b..ef4e55b65 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 93254875ba79c70c4e1b4fb1b144a8b117337abf
+Subproject commit ef4e55b6575914cc021c4eb36173db9339d3a7c8
--
GitLab
From 5d977786858ee3468a7ac81603477d8635dc1725 Mon Sep 17 00:00:00 2001
From: Giovanni Annaloro <giovanni.annaloro@skywarder.eu>
Date: Thu, 23 Jan 2025 22:48:03 +0100
Subject: [PATCH 2/3] [Sensors] LSM6DSRX log callback adapted to the thread
safe SensorFIFO implementation
---
src/Main/Sensors/Sensors.cpp | 6 ++++--
src/Motor/Sensors/Sensors.cpp | 7 +++++--
src/Payload/Sensors/Sensors.cpp | 10 +++++-----
3 files changed, 14 insertions(+), 9 deletions(-)
diff --git a/src/Main/Sensors/Sensors.cpp b/src/Main/Sensors/Sensors.cpp
index d8dd731aa..9a86955e5 100644
--- a/src/Main/Sensors/Sensors.cpp
+++ b/src/Main/Sensors/Sensors.cpp
@@ -625,8 +625,10 @@ void Sensors::lsm6dsrxCallback()
return;
// For every instance inside the fifo log the sample
- for (uint16_t i = 0; i < lsm6dsrx->getLastFifoSize(); i++)
- sdLogger.log(lsm6dsrx->getLastFifo().at(i));
+ uint16_t lastFifoSize;
+ const auto lastFifo = lsm6dsrx->getLastFifo(lastFifoSize);
+ for (uint16_t i = 0; i < lastFifoSize; i++)
+ sdLogger.log(lastFifo.at(i));
}
void Sensors::vn100Init()
diff --git a/src/Motor/Sensors/Sensors.cpp b/src/Motor/Sensors/Sensors.cpp
index 5d8ed74e4..c930178ca 100644
--- a/src/Motor/Sensors/Sensors.cpp
+++ b/src/Motor/Sensors/Sensors.cpp
@@ -259,9 +259,12 @@ void Sensors::lsm6dsrxCallback()
if (!lsm6dsrx)
return;
+ uint16_t lastFifoSize;
+ const auto lastFifo = lsm6dsrx->getLastFifo(lastFifoSize);
+
// For every instance inside the fifo log the sample
- for (uint16_t i = 0; i < lsm6dsrx->getLastFifoSize(); i++)
- sdLogger.log(lsm6dsrx->getLastFifo().at(i));
+ for (uint16_t i = 0; i < lastFifoSize; i++)
+ sdLogger.log(lastFifo.at(i));
}
void Sensors::ads131m08Init()
diff --git a/src/Payload/Sensors/Sensors.cpp b/src/Payload/Sensors/Sensors.cpp
index c763eaddb..0adc003da 100644
--- a/src/Payload/Sensors/Sensors.cpp
+++ b/src/Payload/Sensors/Sensors.cpp
@@ -541,13 +541,13 @@ void Sensors::lsm6dsrxCallback()
return;
// We can skip logging the last sample since we are logging the fifo
- auto& logger = Logger::getInstance();
- auto& fifo = lsm6dsrx->getLastFifo();
- auto fifoSize = lsm6dsrx->getLastFifoSize();
+ auto& logger = Logger::getInstance();
+ uint16_t lastFifoSize;
+ const auto lastFifo = lsm6dsrx->getLastFifo(lastFifoSize);
// For every instance inside the fifo log the sample
- for (auto i = 0; i < fifoSize; i++)
- logger.log(fifo.at(i));
+ for (uint16_t i = 0; i < lastFifoSize; i++)
+ logger.log(lastFifo.at(i));
}
void Sensors::ads131m08Init()
--
GitLab
From c89d6f9c839f65f8dfa69d7ba4dce03f623be81f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Sat, 25 Jan 2025 13:27:46 +0100
Subject: [PATCH 3/3] [CMake] Fix sbs script include order
The `sbs.cmake` script was included too early, which caused `enable_language()` to be called before the call to `project()`, which is illegal by CMake specification.
---
CMakeLists.txt | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e91c7441..2e28274d6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,8 +21,6 @@
cmake_minimum_required(VERSION 3.16)
enable_testing()
-include(skyward-boardcore/cmake/sbs.cmake)
-include(cmake/dependencies.cmake)
# -----------------------------------------------------------------------------#
# Project #
@@ -30,6 +28,9 @@ include(cmake/dependencies.cmake)
project(OnBoardSoftware)
+include(skyward-boardcore/cmake/sbs.cmake)
+include(cmake/dependencies.cmake)
+
#-----------------------------------------------------------------------------#
# Flight entrypoints #
#-----------------------------------------------------------------------------#
--
GitLab