From 79e8daa4fae989fc1e74ec9de2ddd6675376a334 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Mon, 24 Mar 2025 14:57:26 +0100
Subject: [PATCH 01/10] [ENGINE] Updated sensors for Orion.
---
.vscode/c_cpp_properties.json | 22 ++++
CMakeLists.txt | 2 +-
src/Motor/Sensors/Sensors.cpp | 194 +++++++++++++++++++++++++-------
src/Motor/Sensors/Sensors.h | 35 ++++--
src/Motor/Sensors/SensorsData.h | 22 +++-
5 files changed, 216 insertions(+), 59 deletions(-)
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index f27148483..8904aa986 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -487,6 +487,28 @@
"${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_orion_biscotto"
]
},
+ {
+ "name": "stm32f767zi_orion_engine",
+ "cStandard": "c11",
+ "cppStandard": "c++14",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "${defaultDefines}",
+ "_MIOSIX_BOARDNAME=stm32f767zi_orion_engine",
+ "_BOARD_STM32F767ZI_ORION_ENGINE",
+ "_ARCH_CORTEXM7_STM32F7",
+ "HSE_VALUE=25000000",
+ "SYSCLK_FREQ_216MHz=216000000",
+ "__ENABLE_XRAM",
+ "V_DDA_VOLTAGE=3.3f"
+ ],
+ "includePath": [
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_orion_engine/config",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_orion_engine"
+ ]
+ },
{
"name": "logdecoder",
"includePath": [
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1902a11e2..34f5723f2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,7 +66,7 @@ sbs_target(payload-entry-euroc stm32f767zi_lyra_biscotto)
add_executable(motor-entry src/Motor/motor-entry.cpp ${MOTOR_SOURCES})
target_include_directories(motor-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(motor-entry stm32f767zi_lyra_motor)
+sbs_target(motor-entry stm32f767zi_orion_engine)
add_executable(rig-v2-entry src/RIGv2/rig-v2-entry.cpp ${RIG_V2_COMPUTER})
target_include_directories(rig-v2-entry PRIVATE ${OBSW_INCLUDE_DIRS})
diff --git a/src/Motor/Sensors/Sensors.cpp b/src/Motor/Sensors/Sensors.cpp
index c930178ca..06211420c 100644
--- a/src/Motor/Sensors/Sensors.cpp
+++ b/src/Motor/Sensors/Sensors.cpp
@@ -48,8 +48,9 @@ bool Sensors::start()
if (Config::Sensors::ADS131M08::ENABLED)
{
ads131m08Init();
- topTankPressureInit();
- bottomTankPressureInit();
+ oxTopTankPressureInit();
+ oxBottomTankPressureInit();
+ n2TankPressureInit();
ccPressureInit();
tankTempInit();
}
@@ -97,20 +98,37 @@ LIS2MDLData Sensors::getLIS2MDLLastSample()
return lis2mdl ? lis2mdl->getLastSample() : LIS2MDLData{};
}
-LSM6DSRXData Sensors::getLSM6DSRXLastSample()
+LSM6DSRXData Sensors::getLSM6DSRX0LastSample()
{
- return lsm6dsrx ? lsm6dsrx->getLastSample() : LSM6DSRXData{};
+ return lsm6dsrx0 ? lsm6dsrx0->getLastSample() : LSM6DSRXData{};
}
-PressureData Sensors::getTopTankPressLastSample()
+LSM6DSRXData Sensors::getLSM6DSRX1LastSample()
{
- return topTankPressure ? topTankPressure->getLastSample() : PressureData{};
+ return lsm6dsrx1 ? lsm6dsrx1->getLastSample() : LSM6DSRXData{};
}
-PressureData Sensors::getBottomTankPressLastSample()
+PressureData Sensors::getOxTopTankPressLastSample()
{
- return bottomTankPressure ? bottomTankPressure->getLastSample()
- : PressureData{};
+ return oxTopTankPressure ? oxTopTankPressure->getLastSample()
+ : PressureData{};
+}
+
+PressureData Sensors::getOxBottomTankPress0LastSample()
+{
+ return oxBottomTankPressure0 ? oxBottomTankPressure0->getLastSample()
+ : PressureData{};
+}
+
+PressureData Sensors::getOxBottomTankPress1LastSample()
+{
+ return oxBottomTankPressure1 ? oxBottomTankPressure1->getLastSample()
+ : PressureData{};
+}
+
+PressureData Sensors::getN2TankPressLastSample()
+{
+ return n2TankPressure ? n2TankPressure->getLastSample() : PressureData{};
}
PressureData Sensors::getCCPressLastSample()
@@ -146,8 +164,11 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
if (lis2mdl)
infos.push_back(manager->getSensorInfo(lis2mdl.get()));
- if (lsm6dsrx)
- infos.push_back(manager->getSensorInfo(lsm6dsrx.get()));
+ if (lsm6dsrx0)
+ infos.push_back(manager->getSensorInfo(lsm6dsrx0.get()));
+
+ if (lsm6dsrx1)
+ infos.push_back(manager->getSensorInfo(lsm6dsrx1.get()));
if (ads131m08)
infos.push_back(manager->getSensorInfo(ads131m08.get()));
@@ -155,11 +176,19 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
if (internalAdc)
infos.push_back(manager->getSensorInfo(internalAdc.get()));
- if (topTankPressure)
- infos.push_back(manager->getSensorInfo(topTankPressure.get()));
+ if (oxTopTankPressure)
+ infos.push_back(manager->getSensorInfo(oxTopTankPressure.get()));
+
+ if (oxBottomTankPressure0)
+ infos.push_back(
+ manager->getSensorInfo(oxBottomTankPressure0.get()));
+
+ if (oxBottomTankPressure1)
+ infos.push_back(
+ manager->getSensorInfo(oxBottomTankPressure1.get()));
- if (bottomTankPressure)
- infos.push_back(manager->getSensorInfo(bottomTankPressure.get()));
+ if (n2TankPressure)
+ infos.push_back(manager->getSensorInfo(n2TankPressure.get()));
if (ccPressure)
infos.push_back(manager->getSensorInfo(ccPressure.get()));
@@ -249,18 +278,34 @@ void Sensors::lsm6dsrxInit()
LSM6DSRXConfig::FIFO_TIMESTAMP_DECIMATION::DEC_1;
config.fifoTemperatureBdr = LSM6DSRXConfig::FIFO_TEMPERATURE_BDR::DISABLED;
- lsm6dsrx = std::make_unique<LSM6DSRX>(getModule<Buses>()->getLSM6DSRX(),
- sensors::LSM6DSRX::cs::getPin(),
- spiConfig, config);
+ lsm6dsrx0 = std::make_unique<LSM6DSRX>(getModule<Buses>()->getLSM6DSRX(),
+ sensors::LSM6DSRX0::cs::getPin(),
+ spiConfig, config);
+ lsm6dsrx1 = std::make_unique<LSM6DSRX>(getModule<Buses>()->getLSM6DSRX(),
+ sensors::LSM6DSRX1::cs::getPin(),
+ spiConfig, config);
}
-void Sensors::lsm6dsrxCallback()
+void Sensors::lsm6dsrx0Callback()
{
- if (!lsm6dsrx)
+ if (!lsm6dsrx0)
return;
uint16_t lastFifoSize;
- const auto lastFifo = lsm6dsrx->getLastFifo(lastFifoSize);
+ const auto lastFifo = lsm6dsrx0->getLastFifo(lastFifoSize);
+
+ // For every instance inside the fifo log the sample
+ for (uint16_t i = 0; i < lastFifoSize; i++)
+ sdLogger.log(lastFifo.at(i));
+}
+
+void Sensors::lsm6dsrx1Callback()
+{
+ if (!lsm6dsrx1)
+ return;
+
+ uint16_t lastFifoSize;
+ const auto lastFifo = lsm6dsrx1->getLastFifo(lastFifoSize);
// For every instance inside the fifo log the sample
for (uint16_t i = 0; i < lastFifoSize; i++)
@@ -335,9 +380,9 @@ void Sensors::internalAdcCallback()
sdLogger.log(getInternalADCLastSample());
}
-void Sensors::topTankPressureInit()
+void Sensors::oxTopTankPressureInit()
{
- topTankPressure = std::make_unique<TrafagPressureSensor>(
+ oxTopTankPressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADS131M08LastSample();
@@ -348,31 +393,75 @@ void Sensors::topTankPressureInit()
Config::Sensors::Trafag::TANK_TOP_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
+ // TODO: is configuration correct?
}
-void Sensors::topTankPressureCallback()
+void Sensors::oxTopTankPressureCallback()
{
- sdLogger.log(TopTankPressureData{getTopTankPressLastSample()});
+ sdLogger.log(OxTopTankPressureData{getOxTopTankPressLastSample()});
}
-void Sensors::bottomTankPressureInit()
+void Sensors::oxBottomTankPressureInit()
{
- bottomTankPressure = std::make_unique<TrafagPressureSensor>(
+ oxBottomTankPressure0 = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL);
+ // TODO: which is the correct channel?
},
Config::Sensors::Trafag::TANK_BOTTOM_SHUNT_RESISTANCE,
Config::Sensors::Trafag::TANK_BOTTOM_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
+ // TODO: is this configuration correct?
+
+ oxBottomTankPressure1 = std::make_unique<TrafagPressureSensor>(
+ [this]()
+ {
+ auto sample = getADS131M08LastSample();
+ return sample.getVoltage(
+ Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL);
+ // TODO: which is the correct channel?
+ },
+ Config::Sensors::Trafag::TANK_BOTTOM_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::MIN_CURRENT,
+ Config::Sensors::Trafag::MAX_CURRENT);
+ // TODO: is this configuration correct?
+}
+
+void Sensors::oxBottomTankPressure0Callback()
+{
+ sdLogger.log(OxBottomTankPressureData{getOxBottomTankPress0LastSample()});
+}
+
+void Sensors::oxBottomTankPressure1Callback()
+{
+ sdLogger.log(OxBottomTankPressureData{getOxBottomTankPress1LastSample()});
+}
+
+void Sensors::n2TankPressureInit()
+{
+ n2TankPressure = std::make_unique<TrafagPressureSensor>(
+ [this]()
+ {
+ auto sample = getADS131M08LastSample();
+ return sample.getVoltage(
+ Config::Sensors::ADS131M08::TANK_TOP_PT_CHANNEL);
+ // TODO: which is the correct channel?
+ },
+ Config::Sensors::Trafag::TANK_TOP_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::TANK_TOP_MAX_PRESSURE,
+ Config::Sensors::Trafag::MIN_CURRENT,
+ Config::Sensors::Trafag::MAX_CURRENT);
+ // TODO: is this configuration correct?
}
-void Sensors::bottomTankPressureCallback()
+void Sensors::n2TankPressureCallback()
{
- sdLogger.log(BottomTankPressureData{getBottomTankPressLastSample()});
+ sdLogger.log(N2TankPressureData{getN2TankPressLastSample()});
}
void Sensors::ccPressureInit()
@@ -438,11 +527,18 @@ bool Sensors::sensorManagerInit()
map.emplace(lis2mdl.get(), lis2mdlInfo);
}
- if (lsm6dsrx)
+ if (lsm6dsrx0)
{
- SensorInfo lsm6dsrxInfo{"LSM6DSRX", Config::Sensors::LSM6DSRX::RATE,
- [this]() { lsm6dsrxCallback(); }};
- map.emplace(lsm6dsrx.get(), lsm6dsrxInfo);
+ SensorInfo lsm6dsrxInfo{"LSM6DSRX0", Config::Sensors::LSM6DSRX::RATE,
+ [this]() { lsm6dsrx0Callback(); }};
+ map.emplace(lsm6dsrx0.get(), lsm6dsrxInfo);
+ }
+
+ if (lsm6dsrx1)
+ {
+ SensorInfo lsm6dsrxInfo{"LSM6DSRX1", Config::Sensors::LSM6DSRX::RATE,
+ [this]() { lsm6dsrx1Callback(); }};
+ map.emplace(lsm6dsrx1.get(), lsm6dsrxInfo);
}
if (ads131m08)
@@ -460,18 +556,34 @@ bool Sensors::sensorManagerInit()
map.emplace(internalAdc.get(), internalAdcInfo);
}
- if (topTankPressure)
+ if (oxTopTankPressure)
+ {
+ SensorInfo info{"OxTopTankPressure", Config::Sensors::ADS131M08::RATE,
+ [this]() { oxTopTankPressureCallback(); }};
+ map.emplace(std::make_pair(oxTopTankPressure.get(), info));
+ }
+
+ if (oxBottomTankPressure0)
+ {
+ SensorInfo info{"OxBottomTankPressure0",
+ Config::Sensors::ADS131M08::RATE,
+ [this]() { oxBottomTankPressure0Callback(); }};
+ map.emplace(std::make_pair(oxBottomTankPressure0.get(), info));
+ }
+
+ if (oxBottomTankPressure1)
{
- SensorInfo info{"TopTankPressure", Config::Sensors::ADS131M08::RATE,
- [this]() { topTankPressureCallback(); }};
- map.emplace(std::make_pair(topTankPressure.get(), info));
+ SensorInfo info{"OxBottomTankPressure1",
+ Config::Sensors::ADS131M08::RATE,
+ [this]() { oxBottomTankPressure1Callback(); }};
+ map.emplace(std::make_pair(oxBottomTankPressure1.get(), info));
}
- if (bottomTankPressure)
+ if (n2TankPressure)
{
- SensorInfo info{"BottomTankPressure", Config::Sensors::ADS131M08::RATE,
- [this]() { bottomTankPressureCallback(); }};
- map.emplace(std::make_pair(bottomTankPressure.get(), info));
+ SensorInfo info{"N2TankPressure", Config::Sensors::ADS131M08::RATE,
+ [this]() { n2TankPressureCallback(); }};
+ map.emplace(std::make_pair(n2TankPressure.get(), info));
}
if (ccPressure)
diff --git a/src/Motor/Sensors/Sensors.h b/src/Motor/Sensors/Sensors.h
index ce8b56fd4..810fbfc22 100644
--- a/src/Motor/Sensors/Sensors.h
+++ b/src/Motor/Sensors/Sensors.h
@@ -54,10 +54,13 @@ public:
Boardcore::LPS22DFData getLPS22DFLastSample();
Boardcore::H3LIS331DLData getH3LIS331DLLastSample();
Boardcore::LIS2MDLData getLIS2MDLLastSample();
- Boardcore::LSM6DSRXData getLSM6DSRXLastSample();
+ Boardcore::LSM6DSRXData getLSM6DSRX0LastSample();
+ Boardcore::LSM6DSRXData getLSM6DSRX1LastSample();
- Boardcore::PressureData getTopTankPressLastSample();
- Boardcore::PressureData getBottomTankPressLastSample();
+ Boardcore::PressureData getOxTopTankPressLastSample();
+ Boardcore::PressureData getOxBottomTankPress0LastSample();
+ Boardcore::PressureData getOxBottomTankPress1LastSample();
+ Boardcore::PressureData getN2TankPressLastSample();
Boardcore::PressureData getCCPressLastSample();
Boardcore::TemperatureData getTankTempLastSample();
Boardcore::VoltageData getBatteryVoltageLastSample();
@@ -73,13 +76,16 @@ protected:
std::unique_ptr<Boardcore::LPS22DF> lps22df;
std::unique_ptr<Boardcore::H3LIS331DL> h3lis331dl;
std::unique_ptr<Boardcore::LIS2MDL> lis2mdl;
- std::unique_ptr<Boardcore::LSM6DSRX> lsm6dsrx;
+ std::unique_ptr<Boardcore::LSM6DSRX> lsm6dsrx0;
+ std::unique_ptr<Boardcore::LSM6DSRX> lsm6dsrx1;
std::unique_ptr<Boardcore::ADS131M08> ads131m08;
std::unique_ptr<Boardcore::InternalADC> internalAdc;
// Analog sensors
- std::unique_ptr<Boardcore::TrafagPressureSensor> topTankPressure;
- std::unique_ptr<Boardcore::TrafagPressureSensor> bottomTankPressure;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> oxTopTankPressure;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> oxBottomTankPressure0;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> oxBottomTankPressure1;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> n2TankPressure;
std::unique_ptr<Boardcore::TrafagPressureSensor> ccPressure;
std::unique_ptr<KuliteThermocouple> tankTemp;
@@ -95,8 +101,10 @@ private:
void lis2mdlInit();
void lis2mdlCallback();
+ /// @brief Initialize both lsm6dsrx sensors.
void lsm6dsrxInit();
- void lsm6dsrxCallback();
+ void lsm6dsrx0Callback();
+ void lsm6dsrx1Callback();
void ads131m08Init();
void ads131m08Callback();
@@ -104,11 +112,16 @@ private:
void internalAdcInit();
void internalAdcCallback();
- void topTankPressureInit();
- void topTankPressureCallback();
+ void oxTopTankPressureInit();
+ void oxTopTankPressureCallback();
- void bottomTankPressureInit();
- void bottomTankPressureCallback();
+ /// @brief Initialize both ox bottom pressure sensors.
+ void oxBottomTankPressureInit();
+ void oxBottomTankPressure0Callback();
+ void oxBottomTankPressure1Callback();
+
+ void n2TankPressureInit();
+ void n2TankPressureCallback();
void ccPressureInit();
void ccPressureCallback();
diff --git a/src/Motor/Sensors/SensorsData.h b/src/Motor/Sensors/SensorsData.h
index b205266fb..168cf941c 100644
--- a/src/Motor/Sensors/SensorsData.h
+++ b/src/Motor/Sensors/SensorsData.h
@@ -26,24 +26,34 @@
namespace Motor
{
-struct TopTankPressureData : Boardcore::PressureData
+struct OxTopTankPressureData : Boardcore::PressureData
{
- explicit TopTankPressureData(const Boardcore::PressureData& data)
+ explicit OxTopTankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData{data}
{
}
- TopTankPressureData() {}
+ OxTopTankPressureData() {}
};
-struct BottomTankPressureData : Boardcore::PressureData
+struct OxBottomTankPressureData : Boardcore::PressureData
{
- explicit BottomTankPressureData(const Boardcore::PressureData& data)
+ explicit OxBottomTankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData{data}
{
}
- BottomTankPressureData() {}
+ OxBottomTankPressureData() {}
+};
+
+struct N2TankPressureData : Boardcore::PressureData
+{
+ explicit N2TankPressureData(const Boardcore::PressureData& data)
+ : Boardcore::PressureData{data}
+ {
+ }
+
+ N2TankPressureData() {}
};
struct CCPressureData : Boardcore::PressureData
--
GitLab
From 9a7e178ca9b55822096ba70185ed0c4f00660363 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Mon, 24 Mar 2025 22:40:20 +0100
Subject: [PATCH 02/10] [ENGINE] Updated actuators and can handler with Orion
servo valves.
---
src/Motor/Actuators/Actuators.cpp | 38 ++++++++++++++++----
src/Motor/Actuators/Actuators.h | 4 +--
src/Motor/CanHandler/CanHandler.cpp | 55 +++++++++++++++++++++++++----
src/common/CanConfig.h | 6 ++--
4 files changed, 86 insertions(+), 17 deletions(-)
diff --git a/src/Motor/Actuators/Actuators.cpp b/src/Motor/Actuators/Actuators.cpp
index 8582d035f..592999f9c 100644
--- a/src/Motor/Actuators/Actuators.cpp
+++ b/src/Motor/Actuators/Actuators.cpp
@@ -74,24 +74,46 @@ float Actuators::ServoInfo::getServoPosition()
Actuators::Actuators()
{
infos[0].servo = std::make_unique<Servo>(
- MIOSIX_SERVOS_1_TIM, TimerUtils::Channel::MIOSIX_SERVOS_1_CHANNEL,
+ MIOSIX_SERVOS_0_TIM, TimerUtils::Channel::MIOSIX_SERVOS_0_CHANNEL,
Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
Config::Servos::FREQUENCY);
infos[1].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[2].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[3].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);
ServoInfo* info;
info = getServo(ServosList::MAIN_VALVE);
info->limit = Config::Servos::MAIN_LIMIT;
info->flipped = Config::Servos::MAIN_FLIPPED;
info->unsafeSetServoPosition(0.0f);
+ // TODO: is the configuration correct? Same as lyra
+
+ info = getServo(ServosList::OX_VENTING_VALVE);
+ info->limit = Config::Servos::VENTING_LIMIT;
+ info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->unsafeSetServoPosition(0.0f);
+ // TODO: is the configuration correct? Same as lyra
+
+ info = getServo(ServosList::NITROGEN_VALVE);
+ info->limit = Config::Servos::VENTING_LIMIT;
+ info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->unsafeSetServoPosition(0.0f);
+ // TODO: is the configuration correct?
- info = getServo(ServosList::VENTING_VALVE);
+ info = getServo(ServosList::N2_QUENCHING_VALVE);
info->limit = Config::Servos::VENTING_LIMIT;
info->flipped = Config::Servos::VENTING_FLIPPED;
info->unsafeSetServoPosition(0.0f);
+ // TODO: is the configuration correct?
}
bool Actuators::start()
@@ -99,8 +121,8 @@ bool Actuators::start()
TaskScheduler& scheduler =
getModule<BoardScheduler>()->getActuatorsScheduler();
- infos[0].servo->enable();
- infos[1].servo->enable();
+ for (size_t i = 0; i < infos.size(); ++i)
+ infos[i].servo->enable();
// Reset all actions
lastActionTs = getTime();
@@ -165,10 +187,14 @@ Actuators::ServoInfo* Actuators::getServo(ServosList servo)
{
switch (servo)
{
- case VENTING_VALVE:
+ case OX_VENTING_VALVE:
return &infos[0];
case MAIN_VALVE:
return &infos[1];
+ case NITROGEN_VALVE:
+ return &infos[2];
+ case N2_QUENCHING_VALVE:
+ return &infos[3];
default:
// Oh FUCK
@@ -251,7 +277,7 @@ void Actuators::updatePositionsTask()
if (shouldVent)
{
// Open for at least timeout time
- openServoWithTime(ServosList::VENTING_VALVE,
+ openServoWithTime(ServosList::OX_VENTING_VALVE,
Config::Servos::SERVO_ACTION_TIMEOUT + 1000);
}
}
diff --git a/src/Motor/Actuators/Actuators.h b/src/Motor/Actuators/Actuators.h
index 15133ade1..2cfad5c92 100644
--- a/src/Motor/Actuators/Actuators.h
+++ b/src/Motor/Actuators/Actuators.h
@@ -25,7 +25,7 @@
#include <Motor/BoardScheduler.h>
#include <Motor/CanHandler/CanHandler.h>
#include <actuators/Servo/Servo.h>
-#include <common/MavlinkLyra.h>
+#include <common/MavlinkOrion.h>
#include <utils/DependencyManager/DependencyManager.h>
namespace Motor
@@ -76,7 +76,7 @@ private:
miosix::FastMutex infosMutex;
// Timestamp of last servo action
long long lastActionTs = 0;
- ServoInfo infos[2] = {};
+ std::array<ServoInfo, 4> infos;
};
} // namespace Motor
diff --git a/src/Motor/CanHandler/CanHandler.cpp b/src/Motor/CanHandler/CanHandler.cpp
index a110d856d..8a26ffb3d 100644
--- a/src/Motor/CanHandler/CanHandler.cpp
+++ b/src/Motor/CanHandler/CanHandler.cpp
@@ -100,18 +100,37 @@ bool CanHandler::start()
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
static_cast<uint8_t>(CanConfig::Board::MOTOR),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
- static_cast<uint8_t>(CanConfig::SensorId::TOP_TANK_PRESSURE),
+ static_cast<uint8_t>(CanConfig::SensorId::OX_TOP_TANK_PRESSURE),
static_cast<PressureData>(
- sensors->getTopTankPressLastSample()));
+ sensors->getOxTopTankPressLastSample()));
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
static_cast<uint8_t>(CanConfig::Board::MOTOR),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
- static_cast<uint8_t>(CanConfig::SensorId::BOTTOM_TANK_PRESSURE),
+ static_cast<uint8_t>(
+ CanConfig::SensorId::OX_BOTTOM_TANK_PRESSURE_0),
static_cast<PressureData>(
- sensors->getBottomTankPressLastSample()));
+ sensors->getOxBottomTankPress0LastSample()));
+
+ protocol.enqueueData(
+ static_cast<uint8_t>(CanConfig::Priority::HIGH),
+ static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
+ static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::BROADCAST),
+ static_cast<uint8_t>(
+ CanConfig::SensorId::OX_BOTTOM_TANK_PRESSURE_1),
+ static_cast<PressureData>(
+ sensors->getOxBottomTankPress1LastSample()));
+
+ protocol.enqueueData(
+ static_cast<uint8_t>(CanConfig::Priority::HIGH),
+ static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
+ static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::BROADCAST),
+ static_cast<uint8_t>(CanConfig::SensorId::N2_TANK_PRESSURE),
+ static_cast<PressureData>(sensors->getN2TankPressLastSample()));
},
Config::CanHandler::PRESSURE_PERIOD);
@@ -172,11 +191,33 @@ bool CanHandler::start()
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
static_cast<uint8_t>(CanConfig::Board::MOTOR),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
- static_cast<uint8_t>(ServosList::VENTING_VALVE),
+ static_cast<uint8_t>(ServosList::OX_VENTING_VALVE),
+ ServoFeedback{
+ TimestampTimer::getTimestamp(),
+ actuators->getServoPosition(ServosList::OX_VENTING_VALVE),
+ actuators->isServoOpen(ServosList::OX_VENTING_VALVE)});
+
+ protocol.enqueueData(
+ static_cast<uint8_t>(CanConfig::Priority::HIGH),
+ static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
+ static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::BROADCAST),
+ static_cast<uint8_t>(ServosList::NITROGEN_VALVE),
+ ServoFeedback{
+ TimestampTimer::getTimestamp(),
+ actuators->getServoPosition(ServosList::NITROGEN_VALVE),
+ actuators->isServoOpen(ServosList::NITROGEN_VALVE)});
+
+ protocol.enqueueData(
+ static_cast<uint8_t>(CanConfig::Priority::HIGH),
+ static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
+ static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::BROADCAST),
+ static_cast<uint8_t>(ServosList::N2_QUENCHING_VALVE),
ServoFeedback{
TimestampTimer::getTimestamp(),
- actuators->getServoPosition(ServosList::VENTING_VALVE),
- actuators->isServoOpen(ServosList::VENTING_VALVE)});
+ actuators->getServoPosition(ServosList::N2_QUENCHING_VALVE),
+ actuators->isServoOpen(ServosList::N2_QUENCHING_VALVE)});
},
Config::CanHandler::ACTUATORS_PERIOD);
diff --git a/src/common/CanConfig.h b/src/common/CanConfig.h
index 579c5c920..60fff984b 100644
--- a/src/common/CanConfig.h
+++ b/src/common/CanConfig.h
@@ -77,8 +77,10 @@ enum class SensorId : uint8_t
PITOT_STATIC_PRESSURE,
PITOT_TOTAL_PRESSURE,
CC_PRESSURE,
- BOTTOM_TANK_PRESSURE,
- TOP_TANK_PRESSURE,
+ OX_BOTTOM_TANK_PRESSURE_0,
+ OX_BOTTOM_TANK_PRESSURE_1,
+ OX_TOP_TANK_PRESSURE,
+ N2_TANK_PRESSURE,
TANK_TEMPERATURE,
MOTOR_ACTUATORS_CURRENT,
MAIN_BOARD_CURRENT,
--
GitLab
From 51e014b0ce33d6c6e7adb56bc35e5e846fc3639d Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Mon, 24 Mar 2025 22:45:47 +0100
Subject: [PATCH 03/10] [ENGINE] Updated HIL with Orion servo valves.
---
src/Motor/HIL/HIL.cpp | 5 ++++-
src/Motor/HIL/HILData.h | 24 +++++++++++++++++-------
2 files changed, 21 insertions(+), 8 deletions(-)
diff --git a/src/Motor/HIL/HIL.cpp b/src/Motor/HIL/HIL.cpp
index 4f5f6ded0..233886465 100644
--- a/src/Motor/HIL/HIL.cpp
+++ b/src/Motor/HIL/HIL.cpp
@@ -134,7 +134,10 @@ ActuatorData MotorHIL::updateActuatorData()
ActuatorsStateHIL actuatorsStateHIL{
(actuators->getServoPosition(MAIN_VALVE)),
- (actuators->getServoPosition(VENTING_VALVE))};
+ (actuators->getServoPosition(OX_VENTING_VALVE)),
+ (actuators->getServoPosition(NITROGEN_VALVE)),
+ (actuators->getServoPosition(N2_QUENCHING_VALVE)),
+ };
// Returning the feedback for the simulator
return ActuatorData{actuatorsStateHIL};
diff --git a/src/Motor/HIL/HILData.h b/src/Motor/HIL/HILData.h
index 14051e452..2728875d1 100644
--- a/src/Motor/HIL/HILData.h
+++ b/src/Motor/HIL/HILData.h
@@ -46,17 +46,24 @@ enum class MotorFlightPhases
struct ActuatorsStateHIL
{
- float mainValvePercentage = 0;
- float ventingValvePercentage = 0;
+ float mainValvePercentage = 0;
+ float oxVentingValvePercentage = 0;
+ float nitrogenValvePercentage = 0;
+ float n2QuenchingValvePercentage = 0;
ActuatorsStateHIL()
- : mainValvePercentage(0.0f), ventingValvePercentage(0.0f)
+ : mainValvePercentage(0.0f), oxVentingValvePercentage(0.0f),
+ nitrogenValvePercentage(0.0f), n2QuenchingValvePercentage(0.0f)
{
}
- ActuatorsStateHIL(float mainValvePercentage, float ventingValvePercentage)
+ ActuatorsStateHIL(float mainValvePercentage, float oxVentingValvePercentage,
+ float nitrogenValvePercentage,
+ float n2QuenchingValvePercentage)
: mainValvePercentage(mainValvePercentage),
- ventingValvePercentage(ventingValvePercentage)
+ oxVentingValvePercentage(oxVentingValvePercentage),
+ nitrogenValvePercentage(nitrogenValvePercentage),
+ n2QuenchingValvePercentage(n2QuenchingValvePercentage)
{
}
@@ -64,8 +71,11 @@ struct ActuatorsStateHIL
{
printf(
"mainValve: %f perc\n"
- "venting: %f perc\n",
- mainValvePercentage * 100, ventingValvePercentage * 100);
+ "oxVenting: %f perc\n"
+ "nitrogen: %f perc\n"
+ "n2Quenching: %f perc\n",
+ mainValvePercentage * 100, oxVentingValvePercentage * 100,
+ nitrogenValvePercentage * 100, n2QuenchingValvePercentage * 100);
}
};
--
GitLab
From 67a7cf58aae4f4ac3e23607465bccdef9170322f Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 26 Mar 2025 18:34:43 +0100
Subject: [PATCH 04/10] [ENGINE] Added placeholders for sensor and servo
configurations.
---
src/Motor/Actuators/Actuators.cpp | 16 ++++------
src/Motor/Configs/ActuatorsConfig.h | 14 ++++++---
src/Motor/Configs/SensorsConfig.h | 33 +++++++++++++++-----
src/Motor/Sensors/Sensors.cpp | 48 ++++++++++++++++-------------
4 files changed, 68 insertions(+), 43 deletions(-)
diff --git a/src/Motor/Actuators/Actuators.cpp b/src/Motor/Actuators/Actuators.cpp
index 592999f9c..70878c249 100644
--- a/src/Motor/Actuators/Actuators.cpp
+++ b/src/Motor/Actuators/Actuators.cpp
@@ -95,25 +95,21 @@ Actuators::Actuators()
info->limit = Config::Servos::MAIN_LIMIT;
info->flipped = Config::Servos::MAIN_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct? Same as lyra
info = getServo(ServosList::OX_VENTING_VALVE);
- info->limit = Config::Servos::VENTING_LIMIT;
- info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->limit = Config::Servos::OX_VENTING_LIMIT;
+ info->flipped = Config::Servos::OX_VENTING_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct? Same as lyra
info = getServo(ServosList::NITROGEN_VALVE);
- info->limit = Config::Servos::VENTING_LIMIT;
- info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->limit = Config::Servos::NITROGEN_LIMIT;
+ info->flipped = Config::Servos::NITROGEN_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct?
info = getServo(ServosList::N2_QUENCHING_VALVE);
- info->limit = Config::Servos::VENTING_LIMIT;
- info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->limit = Config::Servos::N2_QUENCHING_LIMIT;
+ info->flipped = Config::Servos::N2_QUENCHING_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct?
}
bool Actuators::start()
diff --git a/src/Motor/Configs/ActuatorsConfig.h b/src/Motor/Configs/ActuatorsConfig.h
index 36a876cd7..820b74693 100644
--- a/src/Motor/Configs/ActuatorsConfig.h
+++ b/src/Motor/Configs/ActuatorsConfig.h
@@ -49,11 +49,17 @@ constexpr float SERVO_CONFIDENCE = 0.02; // 2%
// Timeout is currently set at 2h
constexpr long long SERVO_ACTION_TIMEOUT = 2 * 60 * 60 * 1000;
-constexpr float VENTING_LIMIT = 0.90f;
-constexpr float MAIN_LIMIT = 0.90f;
+// TODO: check this values
+constexpr float OX_VENTING_LIMIT = 0.90f;
+constexpr float MAIN_LIMIT = 0.90f;
+constexpr float NITROGEN_LIMIT = 0.90f;
+constexpr float N2_QUENCHING_LIMIT = 0.90f;
-constexpr bool VENTING_FLIPPED = true;
-constexpr bool MAIN_FLIPPED = true;
+// TODO: check this values
+constexpr bool OX_VENTING_FLIPPED = true;
+constexpr bool MAIN_FLIPPED = true;
+constexpr bool NITROGEN_FLIPPED = true;
+constexpr bool N2_QUENCHING_FLIPPED = true;
} // namespace Servos
diff --git a/src/Motor/Configs/SensorsConfig.h b/src/Motor/Configs/SensorsConfig.h
index f3d039dcc..5f5451d07 100644
--- a/src/Motor/Configs/SensorsConfig.h
+++ b/src/Motor/Configs/SensorsConfig.h
@@ -111,16 +111,26 @@ Channel 4 - 29.65ohm
0.3584V 12.06mA 29.72ohm
0.5911V 20mA 29.55ohm
*/
+
+// TODO: calibrate ch0 and ch1
+constexpr float CH0_SHUNT_RESISTANCE = 29.0;
+constexpr float CH1_SHUNT_RESISTANCE = 29.0;
+
constexpr float CH4_SHUNT_RESISTANCE = 29.79;
constexpr float CH5_SHUNT_RESISTANCE = 29.7;
constexpr float CH6_SHUNT_RESISTANCE = 29.65;
+// TODO: check if the selected channels are fine
constexpr Boardcore::ADS131M08Defs::Channel TANK_TC_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_3;
-constexpr Boardcore::ADS131M08Defs::Channel TANK_TOP_PT_CHANNEL =
+constexpr Boardcore::ADS131M08Defs::Channel OX_TANK_TOP_PT_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_5;
-constexpr Boardcore::ADS131M08Defs::Channel TANK_BOTTOM_PT_CHANNEL =
+constexpr Boardcore::ADS131M08Defs::Channel OX_TANK_BOTTOM_0_PT_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_6;
+constexpr Boardcore::ADS131M08Defs::Channel OX_TANK_BOTTOM_1_PT_CHANNEL =
+ Boardcore::ADS131M08Defs::Channel::CHANNEL_0;
+constexpr Boardcore::ADS131M08Defs::Channel N2_TANK_PT_CHANNEL =
+ Boardcore::ADS131M08Defs::Channel::CHANNEL_1;
constexpr Boardcore::ADS131M08Defs::Channel ENGINE_PT_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_4;
@@ -130,16 +140,23 @@ constexpr bool ENABLED = true;
namespace Trafag
{
-constexpr float TANK_TOP_SHUNT_RESISTANCE = ADS131M08::CH5_SHUNT_RESISTANCE;
-constexpr float TANK_BOTTOM_SHUNT_RESISTANCE = ADS131M08::CH6_SHUNT_RESISTANCE;
-constexpr float ENGINE_SHUNT_RESISTANCE = ADS131M08::CH4_SHUNT_RESISTANCE;
+constexpr float OX_TANK_TOP_SHUNT_RESISTANCE = ADS131M08::CH5_SHUNT_RESISTANCE;
+constexpr float OX_TANK_BOTTOM_0_SHUNT_RESISTANCE =
+ ADS131M08::CH6_SHUNT_RESISTANCE;
+constexpr float OX_TANK_BOTTOM_1_SHUNT_RESISTANCE =
+ ADS131M08::CH0_SHUNT_RESISTANCE;
+constexpr float N2_TANK_SHUNT_RESISTANCE = ADS131M08::CH1_SHUNT_RESISTANCE;
+constexpr float ENGINE_SHUNT_RESISTANCE = ADS131M08::CH4_SHUNT_RESISTANCE;
constexpr float MIN_CURRENT = 4;
constexpr float MAX_CURRENT = 20;
-constexpr float TANK_TOP_MAX_PRESSURE = 100; // bar
-constexpr float TANK_BOTTOM_MAX_PRESSURE = 100; // bar
-constexpr float ENGINE_MAX_PRESSURE = 40; // bar
+// TODO: check these values
+constexpr float OX_TANK_TOP_MAX_PRESSURE = 100; // bar
+constexpr float OX_TANK_BOTTOM_0_MAX_PRESSURE = 100; // bar
+constexpr float OX_TANK_BOTTOM_1_MAX_PRESSURE = 100; // bar
+constexpr float N2_TANK_MAX_PRESSURE = 100; // TODO: CHECK
+constexpr float ENGINE_MAX_PRESSURE = 40; // bar
} // namespace Trafag
namespace Kulite
diff --git a/src/Motor/Sensors/Sensors.cpp b/src/Motor/Sensors/Sensors.cpp
index 06211420c..95916ba97 100644
--- a/src/Motor/Sensors/Sensors.cpp
+++ b/src/Motor/Sensors/Sensors.cpp
@@ -335,19 +335,32 @@ void Sensors::ads131m08Init()
// Configure all required channels
config.channelsConfig[(
- int)Config::Sensors::ADS131M08::TANK_TOP_PT_CHANNEL] = {
+ int)Config::Sensors::ADS131M08::OX_TANK_TOP_PT_CHANNEL] = {
.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
config.channelsConfig[(
- int)Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL] = {
+ int)Config::Sensors::ADS131M08::OX_TANK_BOTTOM_0_PT_CHANNEL] = {
.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
+ config.channelsConfig[(
+ int)Config::Sensors::ADS131M08::OX_TANK_BOTTOM_1_PT_CHANNEL] = {
+ .enabled = true,
+ .pga = ADS131M08Defs::PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0};
+
+ config.channelsConfig[(int)Config::Sensors::ADS131M08::N2_TANK_PT_CHANNEL] =
+ {.enabled = true,
+ .pga = ADS131M08Defs::PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0};
+
config.channelsConfig[(int)Config::Sensors::ADS131M08::ENGINE_PT_CHANNEL] =
{.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
@@ -387,13 +400,12 @@ void Sensors::oxTopTankPressureInit()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_TOP_PT_CHANNEL);
+ Config::Sensors::ADS131M08::OX_TANK_TOP_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_TOP_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_TOP_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_TOP_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_TOP_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is configuration correct?
}
void Sensors::oxTopTankPressureCallback()
@@ -408,28 +420,24 @@ void Sensors::oxBottomTankPressureInit()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL);
- // TODO: which is the correct channel?
+ Config::Sensors::ADS131M08::OX_TANK_BOTTOM_0_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_BOTTOM_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_0_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_0_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is this configuration correct?
oxBottomTankPressure1 = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL);
- // TODO: which is the correct channel?
+ Config::Sensors::ADS131M08::OX_TANK_BOTTOM_1_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_BOTTOM_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_1_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_1_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is this configuration correct?
}
void Sensors::oxBottomTankPressure0Callback()
@@ -449,14 +457,12 @@ void Sensors::n2TankPressureInit()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_TOP_PT_CHANNEL);
- // TODO: which is the correct channel?
+ Config::Sensors::ADS131M08::N2_TANK_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_TOP_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_TOP_MAX_PRESSURE,
+ Config::Sensors::Trafag::N2_TANK_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::N2_TANK_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is this configuration correct?
}
void Sensors::n2TankPressureCallback()
--
GitLab
From b3c574faf57d7fd926ab2bca85f183b7f491abe1 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 23 Apr 2025 12:30:13 +0200
Subject: [PATCH 05/10] [ENGINE] Updated log decoder.
---
scripts/logdecoder/General/logdecoder.cpp | 7 ++++---
scripts/logdecoder/Motor/logdecoder.cpp | 5 +++--
2 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/scripts/logdecoder/General/logdecoder.cpp b/scripts/logdecoder/General/logdecoder.cpp
index a237a6efc..a2cb68047 100644
--- a/scripts/logdecoder/General/logdecoder.cpp
+++ b/scripts/logdecoder/General/logdecoder.cpp
@@ -89,9 +89,10 @@ void registerTypes(Deserializer& ds)
ds.registerType<Main::LIS2MDLExternalData>();
ds.registerType<Main::CalibrationData>();
- // Motor
- ds.registerType<Motor::TopTankPressureData>();
- ds.registerType<Motor::BottomTankPressureData>();
+ // Engine
+ ds.registerType<Motor::OxTopTankPressureData>();
+ ds.registerType<Motor::OxBottomTankPressureData>();
+ ds.registerType<Motor::N2TankPressureData>();
ds.registerType<Motor::CCPressureData>();
ds.registerType<Motor::ActuatorsData>();
diff --git a/scripts/logdecoder/Motor/logdecoder.cpp b/scripts/logdecoder/Motor/logdecoder.cpp
index 18396a28d..709f6c5d2 100644
--- a/scripts/logdecoder/Motor/logdecoder.cpp
+++ b/scripts/logdecoder/Motor/logdecoder.cpp
@@ -51,8 +51,9 @@ void registerTypes(Deserializer& ds)
LogTypes::registerTypes(ds);
// Custom types
- ds.registerType<TopTankPressureData>();
- ds.registerType<BottomTankPressureData>();
+ ds.registerType<OxTopTankPressureData>();
+ ds.registerType<OxBottomTankPressureData>();
+ ds.registerType<N2TankPressureData>();
ds.registerType<CCPressureData>();
ds.registerType<ActuatorsData>();
}
--
GitLab
From de18cdd70453bb396c15723511a49eeec88c581a Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 23 Apr 2025 12:33:04 +0200
Subject: [PATCH 06/10] [ENGINE][WIP] Begun nomenclature refactoring:
transitioning from motor to engine. Changed folder and file names.
---
src/{Motor => Engine}/Actuators/Actuators.cpp | 0
src/{Motor => Engine}/Actuators/Actuators.h | 0
src/{Motor => Engine}/Actuators/ActuatorsData.h | 0
src/{Motor => Engine}/BoardScheduler.h | 0
src/{Motor => Engine}/Buses.h | 0
src/{Motor => Engine}/CanHandler/CanHandler.cpp | 0
src/{Motor => Engine}/CanHandler/CanHandler.h | 0
src/{Motor => Engine}/Configs/ActuatorsConfig.h | 0
src/{Motor => Engine}/Configs/CanHandlerConfig.h | 0
src/{Motor => Engine}/Configs/HILSimulationConfig.h | 0
src/{Motor => Engine}/Configs/SchedulerConfig.h | 0
src/{Motor => Engine}/Configs/SensorsConfig.h | 0
src/{Motor => Engine}/HIL/HIL.cpp | 0
src/{Motor => Engine}/HIL/HIL.h | 0
src/{Motor => Engine}/HIL/HILData.h | 0
src/{Motor => Engine}/PersistentVars/PersistentVars.cpp | 0
src/{Motor => Engine}/PersistentVars/PersistentVars.h | 0
src/{Motor => Engine}/Sensors/HILSensors.h | 0
src/{Motor => Engine}/Sensors/KuliteThermocouple.h | 0
src/{Motor => Engine}/Sensors/Sensors.cpp | 0
src/{Motor => Engine}/Sensors/Sensors.h | 0
src/{Motor => Engine}/Sensors/SensorsData.h | 0
src/{Motor/motor-entry.cpp => Engine/engine-entry.cpp} | 0
23 files changed, 0 insertions(+), 0 deletions(-)
rename src/{Motor => Engine}/Actuators/Actuators.cpp (100%)
rename src/{Motor => Engine}/Actuators/Actuators.h (100%)
rename src/{Motor => Engine}/Actuators/ActuatorsData.h (100%)
rename src/{Motor => Engine}/BoardScheduler.h (100%)
rename src/{Motor => Engine}/Buses.h (100%)
rename src/{Motor => Engine}/CanHandler/CanHandler.cpp (100%)
rename src/{Motor => Engine}/CanHandler/CanHandler.h (100%)
rename src/{Motor => Engine}/Configs/ActuatorsConfig.h (100%)
rename src/{Motor => Engine}/Configs/CanHandlerConfig.h (100%)
rename src/{Motor => Engine}/Configs/HILSimulationConfig.h (100%)
rename src/{Motor => Engine}/Configs/SchedulerConfig.h (100%)
rename src/{Motor => Engine}/Configs/SensorsConfig.h (100%)
rename src/{Motor => Engine}/HIL/HIL.cpp (100%)
rename src/{Motor => Engine}/HIL/HIL.h (100%)
rename src/{Motor => Engine}/HIL/HILData.h (100%)
rename src/{Motor => Engine}/PersistentVars/PersistentVars.cpp (100%)
rename src/{Motor => Engine}/PersistentVars/PersistentVars.h (100%)
rename src/{Motor => Engine}/Sensors/HILSensors.h (100%)
rename src/{Motor => Engine}/Sensors/KuliteThermocouple.h (100%)
rename src/{Motor => Engine}/Sensors/Sensors.cpp (100%)
rename src/{Motor => Engine}/Sensors/Sensors.h (100%)
rename src/{Motor => Engine}/Sensors/SensorsData.h (100%)
rename src/{Motor/motor-entry.cpp => Engine/engine-entry.cpp} (100%)
diff --git a/src/Motor/Actuators/Actuators.cpp b/src/Engine/Actuators/Actuators.cpp
similarity index 100%
rename from src/Motor/Actuators/Actuators.cpp
rename to src/Engine/Actuators/Actuators.cpp
diff --git a/src/Motor/Actuators/Actuators.h b/src/Engine/Actuators/Actuators.h
similarity index 100%
rename from src/Motor/Actuators/Actuators.h
rename to src/Engine/Actuators/Actuators.h
diff --git a/src/Motor/Actuators/ActuatorsData.h b/src/Engine/Actuators/ActuatorsData.h
similarity index 100%
rename from src/Motor/Actuators/ActuatorsData.h
rename to src/Engine/Actuators/ActuatorsData.h
diff --git a/src/Motor/BoardScheduler.h b/src/Engine/BoardScheduler.h
similarity index 100%
rename from src/Motor/BoardScheduler.h
rename to src/Engine/BoardScheduler.h
diff --git a/src/Motor/Buses.h b/src/Engine/Buses.h
similarity index 100%
rename from src/Motor/Buses.h
rename to src/Engine/Buses.h
diff --git a/src/Motor/CanHandler/CanHandler.cpp b/src/Engine/CanHandler/CanHandler.cpp
similarity index 100%
rename from src/Motor/CanHandler/CanHandler.cpp
rename to src/Engine/CanHandler/CanHandler.cpp
diff --git a/src/Motor/CanHandler/CanHandler.h b/src/Engine/CanHandler/CanHandler.h
similarity index 100%
rename from src/Motor/CanHandler/CanHandler.h
rename to src/Engine/CanHandler/CanHandler.h
diff --git a/src/Motor/Configs/ActuatorsConfig.h b/src/Engine/Configs/ActuatorsConfig.h
similarity index 100%
rename from src/Motor/Configs/ActuatorsConfig.h
rename to src/Engine/Configs/ActuatorsConfig.h
diff --git a/src/Motor/Configs/CanHandlerConfig.h b/src/Engine/Configs/CanHandlerConfig.h
similarity index 100%
rename from src/Motor/Configs/CanHandlerConfig.h
rename to src/Engine/Configs/CanHandlerConfig.h
diff --git a/src/Motor/Configs/HILSimulationConfig.h b/src/Engine/Configs/HILSimulationConfig.h
similarity index 100%
rename from src/Motor/Configs/HILSimulationConfig.h
rename to src/Engine/Configs/HILSimulationConfig.h
diff --git a/src/Motor/Configs/SchedulerConfig.h b/src/Engine/Configs/SchedulerConfig.h
similarity index 100%
rename from src/Motor/Configs/SchedulerConfig.h
rename to src/Engine/Configs/SchedulerConfig.h
diff --git a/src/Motor/Configs/SensorsConfig.h b/src/Engine/Configs/SensorsConfig.h
similarity index 100%
rename from src/Motor/Configs/SensorsConfig.h
rename to src/Engine/Configs/SensorsConfig.h
diff --git a/src/Motor/HIL/HIL.cpp b/src/Engine/HIL/HIL.cpp
similarity index 100%
rename from src/Motor/HIL/HIL.cpp
rename to src/Engine/HIL/HIL.cpp
diff --git a/src/Motor/HIL/HIL.h b/src/Engine/HIL/HIL.h
similarity index 100%
rename from src/Motor/HIL/HIL.h
rename to src/Engine/HIL/HIL.h
diff --git a/src/Motor/HIL/HILData.h b/src/Engine/HIL/HILData.h
similarity index 100%
rename from src/Motor/HIL/HILData.h
rename to src/Engine/HIL/HILData.h
diff --git a/src/Motor/PersistentVars/PersistentVars.cpp b/src/Engine/PersistentVars/PersistentVars.cpp
similarity index 100%
rename from src/Motor/PersistentVars/PersistentVars.cpp
rename to src/Engine/PersistentVars/PersistentVars.cpp
diff --git a/src/Motor/PersistentVars/PersistentVars.h b/src/Engine/PersistentVars/PersistentVars.h
similarity index 100%
rename from src/Motor/PersistentVars/PersistentVars.h
rename to src/Engine/PersistentVars/PersistentVars.h
diff --git a/src/Motor/Sensors/HILSensors.h b/src/Engine/Sensors/HILSensors.h
similarity index 100%
rename from src/Motor/Sensors/HILSensors.h
rename to src/Engine/Sensors/HILSensors.h
diff --git a/src/Motor/Sensors/KuliteThermocouple.h b/src/Engine/Sensors/KuliteThermocouple.h
similarity index 100%
rename from src/Motor/Sensors/KuliteThermocouple.h
rename to src/Engine/Sensors/KuliteThermocouple.h
diff --git a/src/Motor/Sensors/Sensors.cpp b/src/Engine/Sensors/Sensors.cpp
similarity index 100%
rename from src/Motor/Sensors/Sensors.cpp
rename to src/Engine/Sensors/Sensors.cpp
diff --git a/src/Motor/Sensors/Sensors.h b/src/Engine/Sensors/Sensors.h
similarity index 100%
rename from src/Motor/Sensors/Sensors.h
rename to src/Engine/Sensors/Sensors.h
diff --git a/src/Motor/Sensors/SensorsData.h b/src/Engine/Sensors/SensorsData.h
similarity index 100%
rename from src/Motor/Sensors/SensorsData.h
rename to src/Engine/Sensors/SensorsData.h
diff --git a/src/Motor/motor-entry.cpp b/src/Engine/engine-entry.cpp
similarity index 100%
rename from src/Motor/motor-entry.cpp
rename to src/Engine/engine-entry.cpp
--
GitLab
From 18d1235c1351d34a152d1302979ab016f64be38c Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 23 Apr 2025 13:52:16 +0200
Subject: [PATCH 07/10] [ENGINE] Changed nomenclature (from motor to engine)
inside src/Engine folder and within the log decoder.
---
CMakeLists.txt | 6 +--
cmake/dependencies.cmake | 12 +++---
scripts/logdecoder/General/logdecoder.cpp | 14 +++----
scripts/logdecoder/Motor/logdecoder.cpp | 6 +--
src/Engine/Actuators/Actuators.cpp | 6 +--
src/Engine/Actuators/Actuators.h | 8 ++--
src/Engine/Actuators/ActuatorsData.h | 4 +-
src/Engine/BoardScheduler.h | 6 +--
src/Engine/Buses.h | 4 +-
src/Engine/CanHandler/CanHandler.cpp | 8 ++--
src/Engine/CanHandler/CanHandler.h | 10 ++---
src/Engine/Configs/ActuatorsConfig.h | 4 +-
src/Engine/Configs/CanHandlerConfig.h | 4 +-
src/Engine/Configs/HILSimulationConfig.h | 4 +-
src/Engine/Configs/SchedulerConfig.h | 4 +-
src/Engine/Configs/SensorsConfig.h | 4 +-
src/Engine/HIL/HIL.cpp | 44 ++++++++++----------
src/Engine/HIL/HIL.h | 32 +++++++-------
src/Engine/HIL/HILData.h | 12 +++---
src/Engine/PersistentVars/PersistentVars.cpp | 4 +-
src/Engine/PersistentVars/PersistentVars.h | 4 +-
src/Engine/Sensors/HILSensors.h | 14 +++----
src/Engine/Sensors/KuliteThermocouple.h | 6 +--
src/Engine/Sensors/Sensors.cpp | 8 ++--
src/Engine/Sensors/Sensors.h | 10 ++---
src/Engine/Sensors/SensorsData.h | 4 +-
src/Engine/engine-entry.cpp | 22 +++++-----
27 files changed, 132 insertions(+), 132 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 34f5723f2..3eb32d9e4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,9 +64,9 @@ target_include_directories(payload-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
target_compile_definitions(payload-entry-euroc PRIVATE EUROC)
sbs_target(payload-entry-euroc stm32f767zi_lyra_biscotto)
-add_executable(motor-entry src/Motor/motor-entry.cpp ${MOTOR_SOURCES})
-target_include_directories(motor-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(motor-entry stm32f767zi_orion_engine)
+add_executable(engine-entry src/Engine/engine-entry.cpp ${ENGINE_SOURCES})
+target_include_directories(engine-entry PRIVATE ${OBSW_INCLUDE_DIRS})
+sbs_target(engine-entry stm32f767zi_orion_engine)
add_executable(rig-v2-entry src/RIGv2/rig-v2-entry.cpp ${RIG_V2_COMPUTER})
target_include_directories(rig-v2-entry PRIVATE ${OBSW_INCLUDE_DIRS})
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index 31286e428..e03e2ad7f 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -49,12 +49,12 @@ set(GROUNDSTATION_COMMON
src/Groundstation/Common/HubBase.cpp
)
-set(MOTOR_SOURCES
- src/Motor/PersistentVars/PersistentVars.cpp
- src/Motor/HIL/HIL.cpp
- src/Motor/Actuators/Actuators.cpp
- src/Motor/Sensors/Sensors.cpp
- src/Motor/CanHandler/CanHandler.cpp
+set(ENGINE_SOURCES
+ src/Engine/PersistentVars/PersistentVars.cpp
+ src/Engine/HIL/HIL.cpp
+ src/Engine/Actuators/Actuators.cpp
+ src/Engine/Sensors/Sensors.cpp
+ src/Engine/CanHandler/CanHandler.cpp
)
set(RIG_V2_COMPUTER
diff --git a/scripts/logdecoder/General/logdecoder.cpp b/scripts/logdecoder/General/logdecoder.cpp
index a2cb68047..3e9e5cf83 100644
--- a/scripts/logdecoder/General/logdecoder.cpp
+++ b/scripts/logdecoder/General/logdecoder.cpp
@@ -30,8 +30,8 @@
#include <Main/StateMachines/FlightModeManager/FlightModeManagerData.h>
#include <Main/StateMachines/MEAController/MEAControllerData.h>
#include <Main/StateMachines/NASController/NASControllerData.h>
-#include <Motor/Actuators/ActuatorsData.h>
-#include <Motor/Sensors/SensorsData.h>
+#include <Engine/Actuators/ActuatorsData.h>
+#include <Engine/Sensors/SensorsData.h>
#include <Payload/PinHandler/PinData.h>
#include <Payload/Sensors/SensorData.h>
#include <Payload/StateMachines/FlightModeManager/FlightModeManagerData.h>
@@ -90,11 +90,11 @@ void registerTypes(Deserializer& ds)
ds.registerType<Main::CalibrationData>();
// Engine
- ds.registerType<Motor::OxTopTankPressureData>();
- ds.registerType<Motor::OxBottomTankPressureData>();
- ds.registerType<Motor::N2TankPressureData>();
- ds.registerType<Motor::CCPressureData>();
- ds.registerType<Motor::ActuatorsData>();
+ ds.registerType<Engine::OxTopTankPressureData>();
+ ds.registerType<Engine::OxBottomTankPressureData>();
+ ds.registerType<Engine::N2TankPressureData>();
+ ds.registerType<Engine::CCPressureData>();
+ ds.registerType<Engine::ActuatorsData>();
// Payload
ds.registerType<Payload::FlightModeManagerStatus>();
diff --git a/scripts/logdecoder/Motor/logdecoder.cpp b/scripts/logdecoder/Motor/logdecoder.cpp
index 709f6c5d2..451f27d63 100644
--- a/scripts/logdecoder/Motor/logdecoder.cpp
+++ b/scripts/logdecoder/Motor/logdecoder.cpp
@@ -20,8 +20,8 @@
* THE SOFTWARE.
*/
-#include <Motor/Actuators/ActuatorsData.h>
-#include <Motor/Sensors/SensorsData.h>
+#include <Engine/Actuators/ActuatorsData.h>
+#include <Engine/Sensors/SensorsData.h>
#include <logger/Deserializer.h>
#include <logger/LogTypes.h>
#include <tscpp/stream.h>
@@ -43,7 +43,7 @@
using namespace tscpp;
using namespace Boardcore;
-using namespace Motor;
+using namespace Engine;
void registerTypes(Deserializer& ds)
{
diff --git a/src/Engine/Actuators/Actuators.cpp b/src/Engine/Actuators/Actuators.cpp
index 70878c249..446cbffa3 100644
--- a/src/Engine/Actuators/Actuators.cpp
+++ b/src/Engine/Actuators/Actuators.cpp
@@ -22,13 +22,13 @@
#include "Actuators.h"
-#include <Motor/Actuators/ActuatorsData.h>
-#include <Motor/Configs/ActuatorsConfig.h>
+#include <Engine/Actuators/ActuatorsData.h>
+#include <Engine/Configs/ActuatorsConfig.h>
#include <interfaces-impl/hwmapping.h>
using namespace miosix;
using namespace Boardcore;
-using namespace Motor;
+using namespace Engine;
void Actuators::ServoInfo::openServoWithTime(uint32_t time)
{
diff --git a/src/Engine/Actuators/Actuators.h b/src/Engine/Actuators/Actuators.h
index 2cfad5c92..177854541 100644
--- a/src/Engine/Actuators/Actuators.h
+++ b/src/Engine/Actuators/Actuators.h
@@ -22,13 +22,13 @@
#pragma once
-#include <Motor/BoardScheduler.h>
-#include <Motor/CanHandler/CanHandler.h>
+#include <Engine/BoardScheduler.h>
+#include <Engine/CanHandler/CanHandler.h>
#include <actuators/Servo/Servo.h>
#include <common/MavlinkOrion.h>
#include <utils/DependencyManager/DependencyManager.h>
-namespace Motor
+namespace Engine
{
class Actuators
@@ -79,4 +79,4 @@ private:
std::array<ServoInfo, 4> infos;
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Actuators/ActuatorsData.h b/src/Engine/Actuators/ActuatorsData.h
index a623c9a32..99f5db798 100644
--- a/src/Engine/Actuators/ActuatorsData.h
+++ b/src/Engine/Actuators/ActuatorsData.h
@@ -25,7 +25,7 @@
#include <cstdint>
#include <ostream>
-namespace Motor
+namespace Engine
{
struct ActuatorsData
{
@@ -53,4 +53,4 @@ struct ActuatorsData
}
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/BoardScheduler.h b/src/Engine/BoardScheduler.h
index 503908b53..fb8dadab1 100644
--- a/src/Engine/BoardScheduler.h
+++ b/src/Engine/BoardScheduler.h
@@ -22,11 +22,11 @@
#pragma once
-#include <Motor/Configs/SchedulerConfig.h>
+#include <Engine/Configs/SchedulerConfig.h>
#include <scheduler/TaskScheduler.h>
#include <utils/DependencyManager/DependencyManager.h>
-namespace Motor
+namespace Engine
{
class BoardScheduler : public Boardcore::Injectable
@@ -69,4 +69,4 @@ private:
Boardcore::TaskScheduler actuators;
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Buses.h b/src/Engine/Buses.h
index 62a25fde5..3efddfc12 100644
--- a/src/Engine/Buses.h
+++ b/src/Engine/Buses.h
@@ -26,7 +26,7 @@
#include <drivers/usart/USART.h>
#include <utils/DependencyManager/DependencyManager.h>
-namespace Motor
+namespace Engine
{
class Buses : public Boardcore::Injectable
@@ -50,4 +50,4 @@ private:
Boardcore::USART usart4{UART4, 256000, 1024};
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/CanHandler/CanHandler.cpp b/src/Engine/CanHandler/CanHandler.cpp
index 8a26ffb3d..110479751 100644
--- a/src/Engine/CanHandler/CanHandler.cpp
+++ b/src/Engine/CanHandler/CanHandler.cpp
@@ -22,14 +22,14 @@
#include "CanHandler.h"
-#include <Motor/Actuators/Actuators.h>
-#include <Motor/Configs/CanHandlerConfig.h>
-#include <Motor/Configs/SchedulerConfig.h>
+#include <Engine/Actuators/Actuators.h>
+#include <Engine/Configs/CanHandlerConfig.h>
+#include <Engine/Configs/SchedulerConfig.h>
#include <common/CanConfig.h>
#include <drivers/timer/TimestampTimer.h>
#include <events/EventData.h>
-using namespace Motor;
+using namespace Engine;
using namespace Boardcore;
using namespace Canbus;
using namespace Common;
diff --git a/src/Engine/CanHandler/CanHandler.h b/src/Engine/CanHandler/CanHandler.h
index c29da6fd3..464cc9b75 100644
--- a/src/Engine/CanHandler/CanHandler.h
+++ b/src/Engine/CanHandler/CanHandler.h
@@ -22,16 +22,16 @@
#pragma once
-#include <Motor/BoardScheduler.h>
-#include <Motor/PersistentVars/PersistentVars.h>
-#include <Motor/Sensors/Sensors.h>
+#include <Engine/BoardScheduler.h>
+#include <Engine/PersistentVars/PersistentVars.h>
+#include <Engine/Sensors/Sensors.h>
#include <common/CanConfig.h>
#include <drivers/canbus/CanProtocol/CanProtocol.h>
#include <utils/DependencyManager/DependencyManager.h>
#include <atomic>
-namespace Motor
+namespace Engine
{
class Actuators;
@@ -67,4 +67,4 @@ private:
Boardcore::Canbus::CanProtocol protocol;
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Configs/ActuatorsConfig.h b/src/Engine/Configs/ActuatorsConfig.h
index 820b74693..108e4ad0e 100644
--- a/src/Engine/Configs/ActuatorsConfig.h
+++ b/src/Engine/Configs/ActuatorsConfig.h
@@ -25,7 +25,7 @@
#include <interfaces-impl/hwmapping.h>
#include <units/Frequency.h>
-namespace Motor
+namespace Engine
{
namespace Config
@@ -64,4 +64,4 @@ constexpr bool N2_QUENCHING_FLIPPED = true;
} // namespace Servos
} // namespace Config
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Configs/CanHandlerConfig.h b/src/Engine/Configs/CanHandlerConfig.h
index dca3dbc19..b9ce955aa 100644
--- a/src/Engine/Configs/CanHandlerConfig.h
+++ b/src/Engine/Configs/CanHandlerConfig.h
@@ -26,7 +26,7 @@
#include <chrono>
-namespace Motor
+namespace Engine
{
namespace Config
@@ -50,4 +50,4 @@ constexpr Hertz TEMPERATURE_PERIOD = 10_hz;
} // namespace Config
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Configs/HILSimulationConfig.h b/src/Engine/Configs/HILSimulationConfig.h
index 254974618..2fb42e781 100644
--- a/src/Engine/Configs/HILSimulationConfig.h
+++ b/src/Engine/Configs/HILSimulationConfig.h
@@ -31,7 +31,7 @@
/* linter off */ using namespace Boardcore::Units::Frequency;
-namespace Motor
+namespace Engine
{
namespace Config
{
@@ -51,4 +51,4 @@ static_assert(N_DATA_BARO_CHAMBER * SIMULATION_RATE >= Sensors::ADS131M08::RATE,
} // namespace HIL
} // namespace Config
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Configs/SchedulerConfig.h b/src/Engine/Configs/SchedulerConfig.h
index ec35d17a4..2bc58620b 100644
--- a/src/Engine/Configs/SchedulerConfig.h
+++ b/src/Engine/Configs/SchedulerConfig.h
@@ -24,7 +24,7 @@
#include <miosix.h>
-namespace Motor
+namespace Engine
{
namespace Config
@@ -43,4 +43,4 @@ static const miosix::Priority CAN_PRIORITY = miosix::PRIORITY_MAX - 1;
} // namespace Config
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Configs/SensorsConfig.h b/src/Engine/Configs/SensorsConfig.h
index 5f5451d07..fe21e84b3 100644
--- a/src/Engine/Configs/SensorsConfig.h
+++ b/src/Engine/Configs/SensorsConfig.h
@@ -29,7 +29,7 @@
#include <sensors/LSM6DSRX/LSM6DSRX.h>
#include <units/Units.h>
-namespace Motor
+namespace Engine
{
namespace Config
@@ -188,4 +188,4 @@ constexpr bool ENABLED = true;
} // namespace Config
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/HIL/HIL.cpp b/src/Engine/HIL/HIL.cpp
index 233886465..3583f2e81 100644
--- a/src/Engine/HIL/HIL.cpp
+++ b/src/Engine/HIL/HIL.cpp
@@ -22,24 +22,24 @@
#include "HIL.h"
-#include <Motor/Actuators/Actuators.h>
-#include <Motor/Buses.h>
-#include <Motor/Configs/HILSimulationConfig.h>
+#include <Engine/Actuators/Actuators.h>
+#include <Engine/Buses.h>
+#include <Engine/Configs/HILSimulationConfig.h>
#include <common/Events.h>
#include <events/EventBroker.h>
#include <hil/HIL.h>
#include "HILData.h"
-namespace Motor
+namespace Engine
{
-MotorHILPhasesManager::MotorHILPhasesManager(
+EngineHILPhasesManager::EngineHILPhasesManager(
std::function<Boardcore::TimedTrajectoryPoint()> getCurrentPosition)
- : Boardcore::HILPhasesManager<MotorFlightPhases, SimulatorData,
+ : Boardcore::HILPhasesManager<EngineFlightPhases, SimulatorData,
ActuatorData>(getCurrentPosition)
{
- flagsFlightPhases = {{MotorFlightPhases::SIMULATION_STARTED, false}};
+ flagsFlightPhases = {{EngineFlightPhases::SIMULATION_STARTED, false}};
prev_flagsFlightPhases = flagsFlightPhases;
@@ -59,9 +59,9 @@ MotorHILPhasesManager::MotorHILPhasesManager(
eventBroker.subscribe(this, Common::TOPIC_ALT);
}
-void MotorHILPhasesManager::processFlagsImpl(
+void EngineHILPhasesManager::processFlagsImpl(
const SimulatorData& simulatorData,
- std::vector<MotorFlightPhases>& changed_flags)
+ std::vector<EngineFlightPhases>& changed_flags)
{
if (simulatorData.signal ==
static_cast<float>(HILSignal::SIMULATION_STARTED))
@@ -77,24 +77,24 @@ void MotorHILPhasesManager::processFlagsImpl(
}
// set true when the first packet from the simulator arrives
- if (isSetTrue(MotorFlightPhases::SIMULATION_STARTED))
+ if (isSetTrue(EngineFlightPhases::SIMULATION_STARTED))
{
t_start = Boardcore::TimestampTimer::getTimestamp();
printf("[HIL] ------- SIMULATION STARTED ! ------- \n");
- changed_flags.push_back(MotorFlightPhases::SIMULATION_STARTED);
+ changed_flags.push_back(EngineFlightPhases::SIMULATION_STARTED);
}
}
-void MotorHILPhasesManager::printOutcomes()
+void EngineHILPhasesManager::printOutcomes()
{
printf("OUTCOMES: (times dt from liftoff)\n\n");
printf("Simulation time: %.3f [sec]\n\n",
(double)(t_stop - t_start) / 1000000.0f);
}
-void MotorHILPhasesManager::handleEventImpl(
- const Boardcore::Event& e, std::vector<MotorFlightPhases>& changed_flags)
+void EngineHILPhasesManager::handleEventImpl(
+ const Boardcore::Event& e, std::vector<EngineFlightPhases>& changed_flags)
{
switch (e)
{
@@ -103,18 +103,18 @@ void MotorHILPhasesManager::handleEventImpl(
}
}
-MotorHIL::MotorHIL()
- : Boardcore::HIL<MotorFlightPhases, SimulatorData, ActuatorData>(
+EngineHIL::EngineHIL()
+ : Boardcore::HIL<EngineFlightPhases, SimulatorData, ActuatorData>(
nullptr, nullptr, [this]() { return updateActuatorData(); },
1000 / Config::HIL::SIMULATION_RATE.value())
{
}
-bool MotorHIL::start()
+bool EngineHIL::start()
{
auto& hilUsart = getModule<Buses>()->getHILUart();
- hilPhasesManager = new MotorHILPhasesManager(
+ hilPhasesManager = new EngineHILPhasesManager(
[&]()
{
Boardcore::TimedTrajectoryPoint timedTrajectoryPoint;
@@ -122,13 +122,13 @@ bool MotorHIL::start()
return timedTrajectoryPoint;
});
- hilTransceiver = new MotorHILTransceiver(hilUsart, hilPhasesManager);
+ hilTransceiver = new EngineHILTransceiver(hilUsart, hilPhasesManager);
- return Boardcore::HIL<MotorFlightPhases, SimulatorData,
+ return Boardcore::HIL<EngineFlightPhases, SimulatorData,
ActuatorData>::start();
}
-ActuatorData MotorHIL::updateActuatorData()
+ActuatorData EngineHIL::updateActuatorData()
{
auto actuators = getModule<Actuators>();
@@ -143,4 +143,4 @@ ActuatorData MotorHIL::updateActuatorData()
return ActuatorData{actuatorsStateHIL};
}
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/HIL/HIL.h b/src/Engine/HIL/HIL.h
index 67569f4d6..1d274d89e 100644
--- a/src/Engine/HIL/HIL.h
+++ b/src/Engine/HIL/HIL.h
@@ -22,57 +22,57 @@
#pragma once
-#include <Motor/Actuators/Actuators.h>
-#include <Motor/Buses.h>
-#include <Motor/Configs/HILSimulationConfig.h>
+#include <Engine/Actuators/Actuators.h>
+#include <Engine/Buses.h>
+#include <Engine/Configs/HILSimulationConfig.h>
#include <common/Events.h>
#include <events/EventBroker.h>
#include <hil/HIL.h>
#include "HILData.h"
-namespace Motor
+namespace Engine
{
-class MotorHILTransceiver
- : public Boardcore::HILTransceiver<MotorFlightPhases, SimulatorData,
+class EngineHILTransceiver
+ : public Boardcore::HILTransceiver<EngineFlightPhases, SimulatorData,
ActuatorData>
{
- using Boardcore::HILTransceiver<MotorFlightPhases, SimulatorData,
+ using Boardcore::HILTransceiver<EngineFlightPhases, SimulatorData,
ActuatorData>::HILTransceiver;
};
-class MotorHILPhasesManager
- : public Boardcore::HILPhasesManager<MotorFlightPhases, SimulatorData,
+class EngineHILPhasesManager
+ : public Boardcore::HILPhasesManager<EngineFlightPhases, SimulatorData,
ActuatorData>
{
public:
- explicit MotorHILPhasesManager(
+ explicit EngineHILPhasesManager(
std::function<Boardcore::TimedTrajectoryPoint()> getCurrentPosition);
void processFlagsImpl(
const SimulatorData& simulatorData,
- std::vector<MotorFlightPhases>& changed_flags) override;
+ std::vector<EngineFlightPhases>& changed_flags) override;
void printOutcomes();
private:
void handleEventImpl(
const Boardcore::Event& e,
- std::vector<MotorFlightPhases>& changed_flags) override;
+ std::vector<EngineFlightPhases>& changed_flags) override;
};
-class MotorHIL
- : public Boardcore::HIL<MotorFlightPhases, SimulatorData, ActuatorData>,
+class EngineHIL
+ : public Boardcore::HIL<EngineFlightPhases, SimulatorData, ActuatorData>,
public Boardcore::InjectableWithDeps<Buses, Actuators>
{
public:
- MotorHIL();
+ EngineHIL();
bool start() override;
private:
ActuatorData updateActuatorData();
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/HIL/HILData.h b/src/Engine/HIL/HILData.h
index 2728875d1..133b0e0a1 100644
--- a/src/Engine/HIL/HILData.h
+++ b/src/Engine/HIL/HILData.h
@@ -22,14 +22,14 @@
#pragma once
-#include <Motor/Configs/HILSimulationConfig.h>
+#include <Engine/Configs/HILSimulationConfig.h>
#include <sensors/HILSimulatorData.h>
-namespace Motor
+namespace Engine
{
// Sensors Data
-using MotorHILChamberBarometerData =
+using EngineHILChamberBarometerData =
Boardcore::BarometerSimulatorData<Config::HIL::N_DATA_BARO_CHAMBER>;
enum class HILSignal : int
@@ -39,7 +39,7 @@ enum class HILSignal : int
SIMULATION_FORCE_LAUNCH = 3
};
-enum class MotorFlightPhases
+enum class EngineFlightPhases
{
SIMULATION_STARTED
};
@@ -88,7 +88,7 @@ struct ActuatorsStateHIL
*/
struct SimulatorData
{
- MotorHILChamberBarometerData pressureChamber;
+ EngineHILChamberBarometerData pressureChamber;
float signal;
};
@@ -109,4 +109,4 @@ struct ActuatorData
void print() { actuatorsState.print(); }
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/PersistentVars/PersistentVars.cpp b/src/Engine/PersistentVars/PersistentVars.cpp
index 4864e564d..bc0b2bf48 100644
--- a/src/Engine/PersistentVars/PersistentVars.cpp
+++ b/src/Engine/PersistentVars/PersistentVars.cpp
@@ -29,7 +29,7 @@ using namespace miosix;
static bool PRESERVE hilMode = false;
-namespace Motor
+namespace Engine
{
namespace PersistentVars
@@ -45,4 +45,4 @@ bool getHilMode() { return hilMode; }
} // namespace PersistentVars
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/PersistentVars/PersistentVars.h b/src/Engine/PersistentVars/PersistentVars.h
index ab9c60318..676ec3724 100644
--- a/src/Engine/PersistentVars/PersistentVars.h
+++ b/src/Engine/PersistentVars/PersistentVars.h
@@ -22,7 +22,7 @@
#pragma once
-namespace Motor
+namespace Engine
{
namespace PersistentVars
@@ -34,4 +34,4 @@ bool getHilMode();
} // namespace PersistentVars
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Sensors/HILSensors.h b/src/Engine/Sensors/HILSensors.h
index 8e46a0ef1..493764114 100644
--- a/src/Engine/Sensors/HILSensors.h
+++ b/src/Engine/Sensors/HILSensors.h
@@ -21,7 +21,7 @@
*/
#pragma once
-#include <Motor/HIL/HIL.h>
+#include <Engine/HIL/HIL.h>
#include <common/CanConfig.h>
#include <common/ReferenceConfig.h>
#include <drivers/timer/TimestampTimer.h>
@@ -30,12 +30,12 @@
#include "Sensors.h"
-namespace Motor
+namespace Engine
{
class HILSensors
: public Boardcore::InjectableWithDeps<Boardcore::InjectableBase<Sensors>,
- MotorHIL>
+ EngineHIL>
{
public:
explicit HILSensors(bool enableHw) : Super{}, enableHw{enableHw} {}
@@ -56,10 +56,10 @@ private:
int getSampleCounter(int nData)
{
auto ts = miosix::getTime();
- auto tsSensorData = getModule<MotorHIL>()->getTimestampSimulatorData();
+ auto tsSensorData = getModule<EngineHIL>()->getTimestampSimulatorData();
long long simulationPeriod =
static_cast<long long>(
- getModule<MotorHIL>()->getSimulationPeriod()) *
+ getModule<EngineHIL>()->getSimulationPeriod()) *
1e6;
assert(ts >= tsSensorData &&
@@ -88,7 +88,7 @@ private:
{
Boardcore::PressureData data;
- auto* sensorData = getModule<MotorHIL>()->getSensorData();
+ auto* sensorData = getModule<EngineHIL>()->getSensorData();
int iCC = getSampleCounter(sensorData->pressureChamber.NDATA);
@@ -101,4 +101,4 @@ private:
bool enableHw;
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Sensors/KuliteThermocouple.h b/src/Engine/Sensors/KuliteThermocouple.h
index 99f241b0c..acdc04c2c 100644
--- a/src/Engine/Sensors/KuliteThermocouple.h
+++ b/src/Engine/Sensors/KuliteThermocouple.h
@@ -22,12 +22,12 @@
#pragma once
-#include <Motor/Sensors/SensorsData.h>
+#include <Engine/Sensors/SensorsData.h>
#include <sensors/Sensor.h>
#include <functional>
-namespace Motor
+namespace Engine
{
class KuliteThermocouple : public Boardcore::Sensor<Boardcore::TemperatureData>
@@ -61,4 +61,4 @@ private:
const float offset;
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Sensors/Sensors.cpp b/src/Engine/Sensors/Sensors.cpp
index 95916ba97..657c256fd 100644
--- a/src/Engine/Sensors/Sensors.cpp
+++ b/src/Engine/Sensors/Sensors.cpp
@@ -22,12 +22,12 @@
#include "Sensors.h"
-#include <Motor/Buses.h>
-#include <Motor/Configs/SensorsConfig.h>
-#include <Motor/Sensors/SensorsData.h>
+#include <Engine/Buses.h>
+#include <Engine/Configs/SensorsConfig.h>
+#include <Engine/Sensors/SensorsData.h>
#include <interfaces-impl/hwmapping.h>
-using namespace Motor;
+using namespace Engine;
using namespace Boardcore;
using namespace miosix;
diff --git a/src/Engine/Sensors/Sensors.h b/src/Engine/Sensors/Sensors.h
index 810fbfc22..7294874e8 100644
--- a/src/Engine/Sensors/Sensors.h
+++ b/src/Engine/Sensors/Sensors.h
@@ -22,9 +22,9 @@
#pragma once
-#include <Motor/BoardScheduler.h>
-#include <Motor/Buses.h>
-#include <Motor/Sensors/KuliteThermocouple.h>
+#include <Engine/BoardScheduler.h>
+#include <Engine/Buses.h>
+#include <Engine/Sensors/KuliteThermocouple.h>
#include <drivers/adc/InternalADC.h>
#include <scheduler/TaskScheduler.h>
#include <sensors/ADS131M08/ADS131M08.h>
@@ -39,7 +39,7 @@
#include <memory>
#include <vector>
-namespace Motor
+namespace Engine
{
class Sensors : public Boardcore::InjectableWithDeps<Buses, BoardScheduler>
@@ -135,4 +135,4 @@ private:
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/Sensors/SensorsData.h b/src/Engine/Sensors/SensorsData.h
index 168cf941c..16772d834 100644
--- a/src/Engine/Sensors/SensorsData.h
+++ b/src/Engine/Sensors/SensorsData.h
@@ -23,7 +23,7 @@
#pragma once
#include <sensors/SensorData.h>
-namespace Motor
+namespace Engine
{
struct OxTopTankPressureData : Boardcore::PressureData
@@ -66,4 +66,4 @@ struct CCPressureData : Boardcore::PressureData
CCPressureData() {}
};
-} // namespace Motor
+} // namespace Engine
diff --git a/src/Engine/engine-entry.cpp b/src/Engine/engine-entry.cpp
index 24888615f..84530f1eb 100644
--- a/src/Engine/engine-entry.cpp
+++ b/src/Engine/engine-entry.cpp
@@ -20,14 +20,14 @@
* THE SOFTWARE.
*/
-#include <Motor/Actuators/Actuators.h>
-#include <Motor/BoardScheduler.h>
-#include <Motor/Buses.h>
-#include <Motor/CanHandler/CanHandler.h>
-#include <Motor/HIL/HIL.h>
-#include <Motor/PersistentVars/PersistentVars.h>
-#include <Motor/Sensors/HILSensors.h>
-#include <Motor/Sensors/Sensors.h>
+#include <Engine/Actuators/Actuators.h>
+#include <Engine/BoardScheduler.h>
+#include <Engine/Buses.h>
+#include <Engine/CanHandler/CanHandler.h>
+#include <Engine/HIL/HIL.h>
+#include <Engine/PersistentVars/PersistentVars.h>
+#include <Engine/Sensors/HILSensors.h>
+#include <Engine/Sensors/Sensors.h>
#include <diagnostic/CpuMeter/CpuMeter.h>
#include <diagnostic/PrintLogger.h>
#include <interfaces-impl/hwmapping.h>
@@ -38,7 +38,7 @@
#include <iostream>
using namespace Boardcore;
-using namespace Motor;
+using namespace Engine;
using namespace miosix;
int main()
@@ -61,10 +61,10 @@ int main()
Logger& sdLogger = Logger::getInstance();
// HIL
- MotorHIL* hil = nullptr;
+ EngineHIL* hil = nullptr;
if (PersistentVars::getHilMode())
{
- hil = new MotorHIL();
+ hil = new EngineHIL();
initResult = initResult && manager.insert(hil);
}
--
GitLab
From 076d708d287cd9b799ae262c911e8e0e3f1a4cb8 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 23 Apr 2025 19:00:09 +0200
Subject: [PATCH 08/10] [ENGINE] Changed nomenclature (from motor to engine)
inside logdecoder folders.
---
scripts/logdecoder/{Motor => Engine}/Makefile | 0
scripts/logdecoder/{Motor => Engine}/logdecoder.cpp | 0
2 files changed, 0 insertions(+), 0 deletions(-)
rename scripts/logdecoder/{Motor => Engine}/Makefile (100%)
rename scripts/logdecoder/{Motor => Engine}/logdecoder.cpp (100%)
diff --git a/scripts/logdecoder/Motor/Makefile b/scripts/logdecoder/Engine/Makefile
similarity index 100%
rename from scripts/logdecoder/Motor/Makefile
rename to scripts/logdecoder/Engine/Makefile
diff --git a/scripts/logdecoder/Motor/logdecoder.cpp b/scripts/logdecoder/Engine/logdecoder.cpp
similarity index 100%
rename from scripts/logdecoder/Motor/logdecoder.cpp
rename to scripts/logdecoder/Engine/logdecoder.cpp
--
GitLab
From b70520c0b2ff495c9519bcb728386f137d8afd73 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Tue, 6 May 2025 23:29:14 +0200
Subject: [PATCH 09/10] [ENGINE] Changed nomenclature (from motor to engine)
inside src folder, except in rigv2 and mavlink messages.
---
src/Engine/CanHandler/CanHandler.cpp | 26 ++--
src/Engine/HIL/HIL.cpp | 2 +-
src/Main/CanHandler/CanHandler.cpp | 18 +--
src/Main/CanHandler/CanHandler.h | 22 ++--
src/Main/HIL/HIL.cpp | 6 +-
src/Main/Radio/Radio.cpp | 12 +-
src/Main/Sensors/HILSensors.h | 2 +-
src/Main/Sensors/Sensors.cpp | 8 +-
src/Main/Sensors/Sensors.h | 6 +-
.../ABKController/ABKController.cpp | 4 +-
.../FlightModeManager/FlightModeManager.cpp | 2 +-
.../MEAController/MEAController.cpp | 4 +-
src/Payload/CanHandler/CanHandler.cpp | 22 ++--
src/Payload/CanHandler/CanHandler.h | 12 +-
src/Payload/HIL/HIL.cpp | 18 +--
src/Payload/HIL/HILData.h | 2 +-
src/Payload/Radio/MessageHandler.cpp | 10 +-
src/common/CanConfig.h | 6 +-
src/common/Events.h | 124 +++++++++---------
src/common/Topics.h | 4 +-
20 files changed, 155 insertions(+), 155 deletions(-)
diff --git a/src/Engine/CanHandler/CanHandler.cpp b/src/Engine/CanHandler/CanHandler.cpp
index 110479751..bcd3b14d0 100644
--- a/src/Engine/CanHandler/CanHandler.cpp
+++ b/src/Engine/CanHandler/CanHandler.cpp
@@ -63,7 +63,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::MEDIUM),
static_cast<uint8_t>(CanConfig::PrimaryType::STATUS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST), 0x00,
DeviceStatus{
TimestampTimer::getTimestamp(),
@@ -90,7 +90,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::CC_PRESSURE),
static_cast<PressureData>(sensors->getCCPressLastSample()));
@@ -98,7 +98,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::OX_TOP_TANK_PRESSURE),
static_cast<PressureData>(
@@ -107,7 +107,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(
CanConfig::SensorId::OX_BOTTOM_TANK_PRESSURE_0),
@@ -117,7 +117,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(
CanConfig::SensorId::OX_BOTTOM_TANK_PRESSURE_1),
@@ -127,7 +127,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::N2_TANK_PRESSURE),
static_cast<PressureData>(sensors->getN2TankPressLastSample()));
@@ -148,7 +148,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::MEDIUM),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::TANK_TEMPERATURE),
static_cast<TemperatureData>(sensors->getTankTempLastSample()));
@@ -156,9 +156,9 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::MEDIUM),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
- static_cast<uint8_t>(CanConfig::SensorId::MOTOR_BOARD_VOLTAGE),
+ static_cast<uint8_t>(CanConfig::SensorId::ENGINE_BOARD_VOLTAGE),
static_cast<VoltageData>(
sensors->getBatteryVoltageLastSample()));
},
@@ -178,7 +178,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::MAIN_VALVE),
ServoFeedback{
@@ -189,7 +189,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::OX_VENTING_VALVE),
ServoFeedback{
@@ -200,7 +200,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::NITROGEN_VALVE),
ServoFeedback{
@@ -211,7 +211,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::N2_QUENCHING_VALVE),
ServoFeedback{
diff --git a/src/Engine/HIL/HIL.cpp b/src/Engine/HIL/HIL.cpp
index 3583f2e81..768d2d07e 100644
--- a/src/Engine/HIL/HIL.cpp
+++ b/src/Engine/HIL/HIL.cpp
@@ -54,7 +54,7 @@ EngineHILPhasesManager::EngineHILPhasesManager(
eventBroker.subscribe(this, Common::TOPIC_FSR);
eventBroker.subscribe(this, Common::TOPIC_NAS);
eventBroker.subscribe(this, Common::TOPIC_TMTC);
- eventBroker.subscribe(this, Common::TOPIC_MOTOR);
+ eventBroker.subscribe(this, Common::TOPIC_ENGINE);
eventBroker.subscribe(this, Common::TOPIC_TARS);
eventBroker.subscribe(this, Common::TOPIC_ALT);
}
diff --git a/src/Main/CanHandler/CanHandler.cpp b/src/Main/CanHandler/CanHandler.cpp
index dccecff94..14d183a56 100644
--- a/src/Main/CanHandler/CanHandler.cpp
+++ b/src/Main/CanHandler/CanHandler.cpp
@@ -42,7 +42,7 @@ CanHandler::CanHandler()
static_cast<uint8_t>(CanConfig::Board::BROADCAST));
protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::RIG),
static_cast<uint8_t>(CanConfig::Board::BROADCAST));
- protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST));
}
@@ -244,11 +244,11 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
break;
}
- case CanConfig::SensorId::MOTOR_BOARD_VOLTAGE:
+ case CanConfig::SensorId::ENGINE_BOARD_VOLTAGE:
{
CanVoltageData data = voltageDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanMotorBatteryVoltage(data);
+ sensors->setCanEngineBatteryVoltage(data);
break;
}
@@ -293,14 +293,14 @@ void CanHandler::handleStatus(const Canbus::CanMessage& msg)
break;
}
- case CanConfig::Board::MOTOR:
+ case CanConfig::Board::ENGINE:
{
- status.motorLastStatus = getTime();
- status.motorState = deviceStatus.state;
+ status.engineLastStatus = getTime();
+ status.engineState = deviceStatus.state;
- status.motorLogNumber = deviceStatus.logNumber;
- status.motorLogGood = deviceStatus.logGood;
- status.motorHil = deviceStatus.hil;
+ status.engineLogNumber = deviceStatus.logNumber;
+ status.engineLogGood = deviceStatus.logGood;
+ status.engineHil = deviceStatus.hil;
break;
}
diff --git a/src/Main/CanHandler/CanHandler.h b/src/Main/CanHandler/CanHandler.h
index 1ea17ea7c..e4de6ea41 100644
--- a/src/Main/CanHandler/CanHandler.h
+++ b/src/Main/CanHandler/CanHandler.h
@@ -46,18 +46,18 @@ public:
{
long long rigLastStatus = 0;
long long payloadLastStatus = 0;
- long long motorLastStatus = 0;
+ long long engineLastStatus = 0;
uint8_t rigState = 0;
uint8_t payloadState = 0;
- uint8_t motorState = 0;
+ uint8_t engineState = 0;
bool rigArmed = false;
bool payloadArmed = false;
- uint16_t motorLogNumber = 0;
- bool motorLogGood = true;
- bool motorHil = false;
+ uint16_t engineLogNumber = 0;
+ bool engineLogGood = true;
+ bool engineHil = false;
bool isRigConnected()
{
@@ -70,23 +70,23 @@ public:
(payloadLastStatus +
Config::CanHandler::STATUS_TIMEOUT.count());
}
- bool isMotorConnected()
+ bool isEngineConnected()
{
return miosix::getTime() <=
- (motorLastStatus +
+ (engineLastStatus +
Config::CanHandler::STATUS_TIMEOUT.count());
}
uint8_t getRigState() { return rigState; }
uint8_t getPayloadState() { return payloadState; }
- uint8_t getMotorState() { return motorState; }
+ uint8_t getEngineState() { return engineState; }
bool isRigArmed() { return rigArmed; }
bool isPayloadArmed() { return payloadArmed; }
- uint16_t getMotorLogNumber() { return motorLogNumber; }
- bool isMotorLogGood() { return motorLogGood; }
- bool isMotorHil() { return motorHil; }
+ uint16_t getEngineLogNumber() { return engineLogNumber; }
+ bool isEngineLogGood() { return engineLogGood; }
+ bool isEngineHil() { return engineHil; }
};
CanHandler();
diff --git a/src/Main/HIL/HIL.cpp b/src/Main/HIL/HIL.cpp
index 04e501dd5..4917954b8 100644
--- a/src/Main/HIL/HIL.cpp
+++ b/src/Main/HIL/HIL.cpp
@@ -76,7 +76,7 @@ MainHILPhasesManager::MainHILPhasesManager(
eventBroker.subscribe(this, Common::TOPIC_FSR);
eventBroker.subscribe(this, Common::TOPIC_NAS);
eventBroker.subscribe(this, Common::TOPIC_TMTC);
- eventBroker.subscribe(this, Common::TOPIC_MOTOR);
+ eventBroker.subscribe(this, Common::TOPIC_ENGINE);
eventBroker.subscribe(this, Common::TOPIC_TARS);
eventBroker.subscribe(this, Common::TOPIC_ALT);
}
@@ -134,7 +134,7 @@ void MainHILPhasesManager::printOutcomes()
printf("Simulation time: %.3f [sec]\n\n",
(double)(t_stop - t_start) / 1000000.0f);
- printf("Motor stopped burning (simulation flag): \n");
+ printf("Engine stopped burning (simulation flag): \n");
outcomes[MainFlightPhases::SIM_BURNING].print(t_liftoff);
printf("Airbrakes exit shadowmode: \n");
@@ -193,7 +193,7 @@ void MainHILPhasesManager::handleEventImpl(
getCurrentPosition().z, getCurrentPosition().vz);
changed_flags.push_back(MainFlightPhases::LIFTOFF);
break;
- case Common::Events::FLIGHT_MOTOR_SHUTDOWN:
+ case Common::Events::FLIGHT_ENGINE_SHUTDOWN:
printf("[HIL] ------- SHUTDOWN -------: %f, %f \n",
getCurrentPosition().z, getCurrentPosition().vz);
changed_flags.push_back(MainFlightPhases::SHUTDOWN);
diff --git a/src/Main/Radio/Radio.cpp b/src/Main/Radio/Radio.cpp
index 6adb0c5a2..e6f75d6d8 100644
--- a/src/Main/Radio/Radio.cpp
+++ b/src/Main/Radio/Radio.cpp
@@ -838,10 +838,10 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
CanHandler::CanStatus canStatus =
getModule<CanHandler>()->getCanStatus();
tm.payload_board_state = canStatus.getPayloadState();
- tm.motor_board_state = canStatus.getMotorState();
+ tm.motor_board_state = canStatus.getEngineState();
tm.payload_can_status = canStatus.isPayloadConnected() ? 1 : 0;
- tm.motor_can_status = canStatus.isMotorConnected() ? 1 : 0;
+ tm.motor_can_status = canStatus.isEngineConnected() ? 1 : 0;
tm.rig_can_status = canStatus.isRigConnected() ? 1 : 0;
tm.hil_state = PersistentVars::getHilMode() ? 1 : 0;
@@ -873,7 +873,7 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.tank_temperature =
sensors->getCanTankTempLastSample().temperature;
tm.battery_voltage =
- sensors->getCanMotorBatteryVoltageLastSample().voltage;
+ sensors->getCanEngineBatteryVoltageLastSample().voltage;
// Valve states
tm.main_valve_state =
@@ -885,9 +885,9 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
CanHandler::CanStatus canStatus =
getModule<CanHandler>()->getCanStatus();
- tm.log_number = canStatus.getMotorLogNumber();
- tm.log_good = canStatus.isMotorLogGood() ? 1 : 0;
- tm.hil_state = canStatus.isMotorHil() ? 1 : 0;
+ tm.log_number = canStatus.getEngineLogNumber();
+ tm.log_good = canStatus.isEngineLogGood() ? 1 : 0;
+ tm.hil_state = canStatus.isEngineHil() ? 1 : 0;
mavlink_msg_motor_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID, &msg,
diff --git a/src/Main/Sensors/HILSensors.h b/src/Main/Sensors/HILSensors.h
index dfc34428f..d7f6e0d3d 100644
--- a/src/Main/Sensors/HILSensors.h
+++ b/src/Main/Sensors/HILSensors.h
@@ -67,7 +67,7 @@ private:
if (!Config::HIL::IS_FULL_HIL)
{
// Adding to sensorManager's scheduler a task to "sample" the
- // combustion chamber pressure coming from motor
+ // combustion chamber pressure coming from engine
getSensorsScheduler().addTask([this]()
{ setCanCCPress(updateCCData()); },
Config::HIL::BARO_CHAMBER_RATE);
diff --git a/src/Main/Sensors/Sensors.cpp b/src/Main/Sensors/Sensors.cpp
index edeaa29a2..f9e8de2a6 100644
--- a/src/Main/Sensors/Sensors.cpp
+++ b/src/Main/Sensors/Sensors.cpp
@@ -418,10 +418,10 @@ TemperatureData Sensors::getCanTankTempLastSample()
return canTankTemperature;
}
-VoltageData Sensors::getCanMotorBatteryVoltageLastSample()
+VoltageData Sensors::getCanEngineBatteryVoltageLastSample()
{
Lock<FastMutex> lock{canMutex};
- return canMotorBatteryVoltage;
+ return canEngineBatteryVoltage;
}
void Sensors::setCanPitotDynamicPress(PressureData data)
@@ -460,10 +460,10 @@ void Sensors::setCanTankTemp(TemperatureData data)
canTankTemperature = data;
}
-void Sensors::setCanMotorBatteryVoltage(VoltageData data)
+void Sensors::setCanEngineBatteryVoltage(VoltageData data)
{
Lock<FastMutex> lock{canMutex};
- canMotorBatteryVoltage = data;
+ canEngineBatteryVoltage = data;
}
std::vector<SensorInfo> Sensors::getSensorInfos()
diff --git a/src/Main/Sensors/Sensors.h b/src/Main/Sensors/Sensors.h
index bb4bda036..73abbc4fe 100644
--- a/src/Main/Sensors/Sensors.h
+++ b/src/Main/Sensors/Sensors.h
@@ -104,7 +104,7 @@ public:
Boardcore::PressureData getCanBottomTankPressLastSample();
Boardcore::PressureData getCanCCPressLastSample();
Boardcore::TemperatureData getCanTankTempLastSample();
- Boardcore::VoltageData getCanMotorBatteryVoltageLastSample();
+ Boardcore::VoltageData getCanEngineBatteryVoltageLastSample();
std::vector<Boardcore::SensorInfo> getSensorInfos();
@@ -115,7 +115,7 @@ public:
void setCanBottomTankPress(Boardcore::PressureData data);
void setCanCCPress(Boardcore::PressureData data);
void setCanTankTemp(Boardcore::TemperatureData data);
- void setCanMotorBatteryVoltage(Boardcore::VoltageData data);
+ void setCanEngineBatteryVoltage(Boardcore::VoltageData data);
protected:
virtual bool postSensorCreationHook() { return true; }
@@ -132,7 +132,7 @@ protected:
Boardcore::PressureData canTopTankPressure;
Boardcore::PressureData canBottomTankPressure;
Boardcore::TemperatureData canTankTemperature;
- Boardcore::VoltageData canMotorBatteryVoltage;
+ Boardcore::VoltageData canEngineBatteryVoltage;
// Digital sensors
std::unique_ptr<Boardcore::LPS22DF> lps22df;
diff --git a/src/Main/StateMachines/ABKController/ABKController.cpp b/src/Main/StateMachines/ABKController/ABKController.cpp
index 085527243..2b3c79218 100644
--- a/src/Main/StateMachines/ABKController/ABKController.cpp
+++ b/src/Main/StateMachines/ABKController/ABKController.cpp
@@ -148,9 +148,9 @@ void ABKController::state_armed(const Event& event)
break;
}
- case FLIGHT_MOTOR_SHUTDOWN:
+ case FLIGHT_ENGINE_SHUTDOWN:
{
- // Enable only after motor shutdown
+ // Enable only after engine shutdown
transition(&ABKController::state_shadow_mode);
break;
}
diff --git a/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
index 285c16e63..097b3bf21 100644
--- a/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -608,7 +608,7 @@ State FlightModeManager::state_unpowered_ascent(const Event& event)
{
updateAndLogStatus(FlightModeManagerState::UNPOWERED_ASCENT);
- EventBroker::getInstance().post(FLIGHT_MOTOR_SHUTDOWN,
+ EventBroker::getInstance().post(FLIGHT_ENGINE_SHUTDOWN,
TOPIC_FLIGHT);
apogeeTimeoutEvent = EventBroker::getInstance().postDelayed(
diff --git a/src/Main/StateMachines/MEAController/MEAController.cpp b/src/Main/StateMachines/MEAController/MEAController.cpp
index cc463d7fb..643180387 100644
--- a/src/Main/StateMachines/MEAController/MEAController.cpp
+++ b/src/Main/StateMachines/MEAController/MEAController.cpp
@@ -298,7 +298,7 @@ void MEAController::state_shadow_mode(const Event& event)
break;
}
- case FLIGHT_MOTOR_SHUTDOWN:
+ case FLIGHT_ENGINE_SHUTDOWN:
{
transition(&MEAController::state_active_unpowered);
break;
@@ -328,7 +328,7 @@ void MEAController::state_active(const Event& event)
break;
}
- case FLIGHT_MOTOR_SHUTDOWN:
+ case FLIGHT_ENGINE_SHUTDOWN:
{
transition(&MEAController::state_active_unpowered);
break;
diff --git a/src/Payload/CanHandler/CanHandler.cpp b/src/Payload/CanHandler/CanHandler.cpp
index ed916b236..c529aa1a6 100644
--- a/src/Payload/CanHandler/CanHandler.cpp
+++ b/src/Payload/CanHandler/CanHandler.cpp
@@ -53,10 +53,10 @@ bool CanStatus::isRigConnected()
rigLastStatus + nanoseconds{config::Status::TIMEOUT}.count();
}
-bool CanStatus::isMotorConnected()
+bool CanStatus::isEngineConnected()
{
return miosix::getTime() <=
- motorLastStatus + nanoseconds{config::Status::TIMEOUT}.count();
+ engineLastStatus + nanoseconds{config::Status::TIMEOUT}.count();
}
bool CanHandler::start()
@@ -91,12 +91,12 @@ bool CanHandler::start()
return false;
}
- // Add MOTOR filter
- filterAdded = protocol->addFilter(static_cast<uint8_t>(Board::MOTOR),
+ // Add ENGINE filter
+ filterAdded = protocol->addFilter(static_cast<uint8_t>(Board::ENGINE),
static_cast<uint8_t>(Board::BROADCAST));
if (!filterAdded)
{
- LOG_ERR(logger, "Failed to add MOTOR filter");
+ LOG_ERR(logger, "Failed to add ENGINE filter");
return false;
}
@@ -281,14 +281,14 @@ void CanHandler::handleStatus(const CanMessage& msg)
break;
}
- case Board::MOTOR:
+ case Board::ENGINE:
{
- status.motorLastStatus = miosix::getTime();
- status.motorState = deviceStatus.state;
+ status.engineLastStatus = miosix::getTime();
+ status.engineState = deviceStatus.state;
- status.motorLogNumber = deviceStatus.logNumber;
- status.motorLogGood = deviceStatus.logGood;
- status.motorHil = deviceStatus.hil;
+ status.engineLogNumber = deviceStatus.logNumber;
+ status.engineLogGood = deviceStatus.logGood;
+ status.engineHil = deviceStatus.hil;
break;
}
diff --git a/src/Payload/CanHandler/CanHandler.h b/src/Payload/CanHandler/CanHandler.h
index 6087184b6..e793bba96 100644
--- a/src/Payload/CanHandler/CanHandler.h
+++ b/src/Payload/CanHandler/CanHandler.h
@@ -38,22 +38,22 @@ struct CanStatus
{
int64_t mainLastStatus = 0; ///< Timestamp of last main status message
int64_t rigLastStatus = 0; ///< Timestamp of last rig status message
- int64_t motorLastStatus = 0; ///< Timestamp of last motor status message
+ int64_t engineLastStatus = 0; ///< Timestamp of last engine status message
uint8_t mainState = 0;
uint8_t rigState = 0;
- uint8_t motorState = 0;
+ uint8_t engineState = 0;
bool mainArmed = false;
bool rigArmed = false;
- int16_t motorLogNumber = -1;
- bool motorLogGood = false;
- bool motorHil = false;
+ int16_t engineLogNumber = -1;
+ bool engineLogGood = false;
+ bool engineHil = false;
bool isMainConnected();
bool isRigConnected();
- bool isMotorConnected();
+ bool isEngineConnected();
};
class CanHandler
diff --git a/src/Payload/HIL/HIL.cpp b/src/Payload/HIL/HIL.cpp
index 304f82bd2..3c9319d95 100644
--- a/src/Payload/HIL/HIL.cpp
+++ b/src/Payload/HIL/HIL.cpp
@@ -53,7 +53,7 @@ PayloadHILPhasesManager::PayloadHILPhasesManager(
{PayloadFlightPhases::ARMED, false},
{PayloadFlightPhases::LIFTOFF_PIN_DETACHED, false},
{PayloadFlightPhases::LIFTOFF, false},
- {PayloadFlightPhases::MOTOR_SHUTDOWN, false},
+ {PayloadFlightPhases::ENGINE_SHUTDOWN, false},
{PayloadFlightPhases::AEROBRAKES, false},
{PayloadFlightPhases::APOGEE, false},
{PayloadFlightPhases::PARA1, false},
@@ -73,7 +73,7 @@ PayloadHILPhasesManager::PayloadHILPhasesManager(
eventBroker.subscribe(this, Common::TOPIC_FSR);
eventBroker.subscribe(this, Common::TOPIC_NAS);
eventBroker.subscribe(this, Common::TOPIC_TMTC);
- eventBroker.subscribe(this, Common::TOPIC_MOTOR);
+ eventBroker.subscribe(this, Common::TOPIC_ENGINE);
eventBroker.subscribe(this, Common::TOPIC_TARS);
eventBroker.subscribe(this, Common::TOPIC_ALT);
}
@@ -121,8 +121,8 @@ void PayloadHILPhasesManager::printOutcomes()
printf("Simulation time: %.3f [sec]\n\n",
(double)(t_stop - t_start) / 1000000.0f);
- printf("Motor shutdown: \n");
- outcomes[PayloadFlightPhases::MOTOR_SHUTDOWN].print(t_liftoff);
+ printf("Engine shutdown: \n");
+ outcomes[PayloadFlightPhases::ENGINE_SHUTDOWN].print(t_liftoff);
printf("Apogee: \n");
outcomes[PayloadFlightPhases::APOGEE].print(t_liftoff);
@@ -179,12 +179,12 @@ void PayloadHILPhasesManager::handleEventImpl(
getCurrentPosition().z, getCurrentPosition().vz);
changed_flags.push_back(PayloadFlightPhases::LIFTOFF);
break;
- case Common::Events::FLIGHT_MOTOR_SHUTDOWN:
- setFlagFlightPhase(PayloadFlightPhases::MOTOR_SHUTDOWN, true);
- registerOutcomes(PayloadFlightPhases::MOTOR_SHUTDOWN);
- printf("[HIL] ------- MOTOR SHUTDOWN ! ------- %f, %f \n",
+ case Common::Events::FLIGHT_ENGINE_SHUTDOWN:
+ setFlagFlightPhase(PayloadFlightPhases::ENGINE_SHUTDOWN, true);
+ registerOutcomes(PayloadFlightPhases::ENGINE_SHUTDOWN);
+ printf("[HIL] ------- ENGINE SHUTDOWN ! ------- %f, %f \n",
getCurrentPosition().z, getCurrentPosition().vz);
- changed_flags.push_back(PayloadFlightPhases::MOTOR_SHUTDOWN);
+ changed_flags.push_back(PayloadFlightPhases::ENGINE_SHUTDOWN);
break;
case Common::Events::FLIGHT_APOGEE_DETECTED:
case Common::Events::CAN_APOGEE_DETECTED:
diff --git a/src/Payload/HIL/HILData.h b/src/Payload/HIL/HILData.h
index 3dd059778..11e6807d6 100644
--- a/src/Payload/HIL/HILData.h
+++ b/src/Payload/HIL/HILData.h
@@ -67,7 +67,7 @@ enum class PayloadFlightPhases
ARMED,
LIFTOFF_PIN_DETACHED,
LIFTOFF,
- MOTOR_SHUTDOWN,
+ ENGINE_SHUTDOWN,
AEROBRAKES,
APOGEE,
PARA1,
diff --git a/src/Payload/Radio/MessageHandler.cpp b/src/Payload/Radio/MessageHandler.cpp
index 42e9172d0..599aabcee 100644
--- a/src/Payload/Radio/MessageHandler.cpp
+++ b/src/Payload/Radio/MessageHandler.cpp
@@ -678,10 +678,10 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
auto canStatus = parent.getModule<CanHandler>()->getCanStatus();
tm.main_board_state = canStatus.mainState;
- tm.motor_board_state = canStatus.motorState;
+ tm.motor_board_state = canStatus.engineState;
tm.main_can_status = canStatus.isMainConnected();
- tm.motor_can_status = canStatus.isMotorConnected();
+ tm.motor_can_status = canStatus.isEngineConnected();
tm.rig_can_status = canStatus.isRigConnected();
tm.hil_state = PersistentVars::getHilMode();
@@ -732,11 +732,11 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
tm.combustion_chamber_pressure = -1.0f;
tm.tank_temperature = -1.0f;
tm.battery_voltage = -1.0f;
- tm.log_good = canStatus.motorLogGood;
- tm.log_number = canStatus.motorLogNumber;
+ tm.log_good = canStatus.engineLogGood;
+ tm.log_number = canStatus.engineLogNumber;
tm.main_valve_state = 255;
tm.venting_valve_state = 255;
- tm.hil_state = canStatus.motorHil;
+ tm.hil_state = canStatus.engineHil;
mavlink_msg_motor_tm_encode(config::Mavlink::SYSTEM_ID,
config::Mavlink::COMPONENT_ID, &msg,
diff --git a/src/common/CanConfig.h b/src/common/CanConfig.h
index 60fff984b..8ccda3495 100644
--- a/src/common/CanConfig.h
+++ b/src/common/CanConfig.h
@@ -67,7 +67,7 @@ enum class Board : uint8_t
RIG,
MAIN,
PAYLOAD,
- MOTOR
+ ENGINE
};
enum class SensorId : uint8_t
@@ -82,10 +82,10 @@ enum class SensorId : uint8_t
OX_TOP_TANK_PRESSURE,
N2_TANK_PRESSURE,
TANK_TEMPERATURE,
- MOTOR_ACTUATORS_CURRENT,
+ ENGINE_ACTUATORS_CURRENT,
MAIN_BOARD_CURRENT,
PAYLOAD_BOARD_CURRENT,
- MOTOR_BOARD_VOLTAGE
+ ENGINE_BOARD_VOLTAGE
};
enum class EventId : uint8_t
diff --git a/src/common/Events.h b/src/common/Events.h
index 5e02ec862..967aeaade 100644
--- a/src/common/Events.h
+++ b/src/common/Events.h
@@ -89,7 +89,7 @@ enum Events : uint8_t
FLIGHT_LANDING_TIMEOUT,
FLIGHT_LAUNCH_PIN_DETACHED,
FLIGHT_LIFTOFF,
- FLIGHT_MOTOR_SHUTDOWN,
+ FLIGHT_ENGINE_SHUTDOWN,
FLIGHT_MISSION_TIMEOUT,
FLIGHT_NC_DETACHED,
FLIGHT_WING_DESCENT,
@@ -142,36 +142,36 @@ enum Events : uint8_t
TMTC_ARP_CALIBRATE,
TMTC_ARP_ENTER_TEST_MODE,
TMTC_ARP_EXIT_TEST_MODE,
- MOTOR_START_TARS,
- MOTOR_STOP_TARS,
- 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_MANUAL_ACTION,
- MOTOR_OPEN_OXIDANT,
- MOTOR_COOLING_TIMEOUT,
- MOTOR_SHADOW_MODE_TIMEOUT,
- MOTOR_OPEN_CHAMBER,
+ ENGINE_START_TARS,
+ ENGINE_STOP_TARS,
+ ENGINE_OX_FIL_OPEN,
+ ENGINE_OX_FIL_CLOSE,
+ ENGINE_OX_REL_OPEN,
+ ENGINE_OX_REL_CLOSE,
+ ENGINE_OX_DET_OPEN,
+ ENGINE_OX_DET_CLOSE,
+ ENGINE_N2_3W_OPEN,
+ ENGINE_N2_3W_CLOSE,
+ ENGINE_N2_FIL_OPEN,
+ ENGINE_N2_FIL_CLOSE,
+ ENGINE_N2_REL_OPEN,
+ ENGINE_N2_REL_CLOSE,
+ ENGINE_N2_DET_OPEN,
+ ENGINE_N2_DET_CLOSE,
+ ENGINE_NITR_OPEN,
+ ENGINE_NITR_CLOSE,
+ ENGINE_OX_VEN_OPEN,
+ ENGINE_OX_VEN_CLOSE,
+ ENGINE_N2_QUE_OPEN,
+ ENGINE_N2_QUE_CLOSE,
+ ENGINE_MAIN_OPEN,
+ ENGINE_MAIN_CLOSE,
+ ENGINE_IGNITION,
+ ENGINE_MANUAL_ACTION,
+ ENGINE_OPEN_OXIDANT,
+ ENGINE_COOLING_TIMEOUT,
+ ENGINE_SHADOW_MODE_TIMEOUT,
+ ENGINE_OPEN_CHAMBER,
TARS_WASHING_DONE,
TARS_CHECK_PRESSURE_STABILIZE,
TARS_PRESSURE_STABILIZED,
@@ -237,7 +237,7 @@ inline std::string getEventString(uint8_t event)
{FLIGHT_LANDING_DETECTED, "FLIGHT_LANDING_DETECTED"},
{FLIGHT_LAUNCH_PIN_DETACHED, "FLIGHT_LAUNCH_PIN_DETACHED"},
{FLIGHT_LIFTOFF, "FLIGHT_LIFTOFF"},
- {FLIGHT_MOTOR_SHUTDOWN, "FLIGHT_MOTOR_SHUTDOWN"},
+ {FLIGHT_ENGINE_SHUTDOWN, "FLIGHT_ENGINE_SHUTDOWN"},
{FLIGHT_LANDING_TIMEOUT, "FLIGHT_LANDING_TIMEOUT"},
{FLIGHT_NC_DETACHED, "FLIGHT_NC_DETACHED"},
{FLIGHT_MISSION_TIMEOUT, "FLIGHT_MISSION_TIMEOUT"},
@@ -291,36 +291,36 @@ inline std::string getEventString(uint8_t event)
{TMTC_ARP_FOLLOW, "TMTC_ARP_FOLLOW"},
{TMTC_ARP_ENTER_TEST_MODE, "TMTC_ARP_ENTER_TEST_MODE"},
{TMTC_ARP_EXIT_TEST_MODE, "TMTC_ARP_EXIT_TEST_MODE"},
- {MOTOR_START_TARS, "MOTOR_START_TARS"},
- {MOTOR_STOP_TARS, "MOTOR_STOP_TARS"},
- {MOTOR_OX_FIL_OPEN, "MOTOR_OX_FIL_OPEN"},
- {MOTOR_OX_FIL_CLOSE, "MOTOR_OX_FIL_CLOSE"},
- {MOTOR_OX_REL_OPEN, "MOTOR_OX_REL_OPEN"},
- {MOTOR_OX_REL_CLOSE, "MOTOR_OX_REL_CLOSE"},
- {MOTOR_OX_DET_OPEN, "MOTOR_OX_DET_OPEN"},
- {MOTOR_OX_DET_CLOSE, "MOTOR_OX_DET_CLOSE"},
- {MOTOR_N2_3W_OPEN, "MOTOR_N2_3W_OPEN"},
- {MOTOR_N2_3W_CLOSE, "MOTOR_N2_3W_CLOSE"},
- {MOTOR_N2_FIL_OPEN, "MOTOR_N2_FIL_OPEN"},
- {MOTOR_N2_FIL_CLOSE, "MOTOR_N2_FIL_CLOSE"},
- {MOTOR_N2_REL_OPEN, "MOTOR_N2_REL_OPEN"},
- {MOTOR_N2_REL_CLOSE, "MOTOR_N2_REL_CLOSE"},
- {MOTOR_N2_DET_OPEN, "MOTOR_N2_DET_OPEN"},
- {MOTOR_N2_DET_CLOSE, "MOTOR_N2_DET_CLOSE"},
- {MOTOR_NITR_OPEN, "MOTOR_NITR_OPEN"},
- {MOTOR_NITR_CLOSE, "MOTOR_NITR_CLOSE"},
- {MOTOR_OX_VEN_OPEN, "MOTOR_OX_VEN_OPEN"},
- {MOTOR_OX_VEN_CLOSE, "MOTOR_OX_VEN_CLOSE"},
- {MOTOR_N2_QUE_OPEN, "MOTOR_N2_QUE_OPEN"},
- {MOTOR_N2_QUE_CLOSE, "MOTOR_N2_QUE_CLOSE"},
- {MOTOR_MAIN_OPEN, "MOTOR_MAIN_OPEN"},
- {MOTOR_MAIN_CLOSE, "MOTOR_MAIN_CLOSE"},
- {MOTOR_IGNITION, "MOTOR_IGNITION"},
- {MOTOR_MANUAL_ACTION, "MOTOR_MANUAL_ACTION"},
- {MOTOR_OPEN_OXIDANT, "MOTOR_OPEN_OXIDANT"},
- {MOTOR_COOLING_TIMEOUT, "MOTOR_COOLING_TIMEOUT"},
- {MOTOR_SHADOW_MODE_TIMEOUT, "MOTOR_SHADOW_MODE_TIMEOUT"},
- {MOTOR_OPEN_CHAMBER, "MOTOR_OPEN_CHAMBER"},
+ {ENGINE_START_TARS, "ENGINE_START_TARS"},
+ {ENGINE_STOP_TARS, "ENGINE_STOP_TARS"},
+ {ENGINE_OX_FIL_OPEN, "ENGINE_OX_FIL_OPEN"},
+ {ENGINE_OX_FIL_CLOSE, "ENGINE_OX_FIL_CLOSE"},
+ {ENGINE_OX_REL_OPEN, "ENGINE_OX_REL_OPEN"},
+ {ENGINE_OX_REL_CLOSE, "ENGINE_OX_REL_CLOSE"},
+ {ENGINE_OX_DET_OPEN, "ENGINE_OX_DET_OPEN"},
+ {ENGINE_OX_DET_CLOSE, "ENGINE_OX_DET_CLOSE"},
+ {ENGINE_N2_3W_OPEN, "ENGINE_N2_3W_OPEN"},
+ {ENGINE_N2_3W_CLOSE, "ENGINE_N2_3W_CLOSE"},
+ {ENGINE_N2_FIL_OPEN, "ENGINE_N2_FIL_OPEN"},
+ {ENGINE_N2_FIL_CLOSE, "ENGINE_N2_FIL_CLOSE"},
+ {ENGINE_N2_REL_OPEN, "ENGINE_N2_REL_OPEN"},
+ {ENGINE_N2_REL_CLOSE, "ENGINE_N2_REL_CLOSE"},
+ {ENGINE_N2_DET_OPEN, "ENGINE_N2_DET_OPEN"},
+ {ENGINE_N2_DET_CLOSE, "ENGINE_N2_DET_CLOSE"},
+ {ENGINE_NITR_OPEN, "ENGINE_NITR_OPEN"},
+ {ENGINE_NITR_CLOSE, "ENGINE_NITR_CLOSE"},
+ {ENGINE_OX_VEN_OPEN, "ENGINE_OX_VEN_OPEN"},
+ {ENGINE_OX_VEN_CLOSE, "ENGINE_OX_VEN_CLOSE"},
+ {ENGINE_N2_QUE_OPEN, "ENGINE_N2_QUE_OPEN"},
+ {ENGINE_N2_QUE_CLOSE, "ENGINE_N2_QUE_CLOSE"},
+ {ENGINE_MAIN_OPEN, "ENGINE_MAIN_OPEN"},
+ {ENGINE_MAIN_CLOSE, "ENGINE_MAIN_CLOSE"},
+ {ENGINE_IGNITION, "ENGINE_IGNITION"},
+ {ENGINE_MANUAL_ACTION, "ENGINE_MANUAL_ACTION"},
+ {ENGINE_OPEN_OXIDANT, "ENGINE_OPEN_OXIDANT"},
+ {ENGINE_COOLING_TIMEOUT, "ENGINE_COOLING_TIMEOUT"},
+ {ENGINE_SHADOW_MODE_TIMEOUT, "ENGINE_SHADOW_MODE_TIMEOUT"},
+ {ENGINE_OPEN_CHAMBER, "ENGINE_OPEN_CHAMBER"},
{TARS_WASHING_DONE, "TARS_WASHING_DONE"},
{TARS_CHECK_PRESSURE_STABILIZE, "TARS_CHECK_PRESSURE_STABILIZE"},
{TARS_PRESSURE_STABILIZED, "TARS_PRESSURE_STABILIZED"},
diff --git a/src/common/Topics.h b/src/common/Topics.h
index 37c83378b..3033e9f63 100644
--- a/src/common/Topics.h
+++ b/src/common/Topics.h
@@ -42,7 +42,7 @@ enum Topics : uint8_t
TOPIC_FSR,
TOPIC_NAS,
TOPIC_TMTC,
- TOPIC_MOTOR,
+ TOPIC_ENGINE,
TOPIC_TARS,
TOPIC_ALT,
TOPIC_WING,
@@ -51,6 +51,6 @@ enum Topics : uint8_t
const std::vector<uint8_t> TOPICS_LIST{
TOPIC_ABK, TOPIC_ADA, TOPIC_MEA, TOPIC_ARP, TOPIC_DPL,
TOPIC_CAN, TOPIC_FLIGHT, TOPIC_FMM, TOPIC_FSR, TOPIC_NAS,
- TOPIC_TMTC, TOPIC_MOTOR, TOPIC_TARS, TOPIC_ALT, TOPIC_WING};
+ TOPIC_TMTC, TOPIC_ENGINE, TOPIC_TARS, TOPIC_ALT, TOPIC_WING};
} // namespace Common
--
GitLab
From 167b0dd204d11b670c2bcb6697faa3ccced73e01 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Thu, 29 May 2025 11:05:38 +0200
Subject: [PATCH 10/10] [ENGINE] Added thermocouple.
---
src/Engine/Buses.h | 1 +
src/Engine/Configs/SensorsConfig.h | 6 +++++
src/Engine/Sensors/Sensors.cpp | 37 ++++++++++++++++++++++++++++++
src/Engine/Sensors/Sensors.h | 6 +++++
4 files changed, 50 insertions(+)
diff --git a/src/Engine/Buses.h b/src/Engine/Buses.h
index 3efddfc12..08d2283f5 100644
--- a/src/Engine/Buses.h
+++ b/src/Engine/Buses.h
@@ -39,6 +39,7 @@ public:
Boardcore::SPIBus& getLIS2MDL() { return spi3; }
Boardcore::SPIBus& getLSM6DSRX() { return spi3; }
Boardcore::SPIBus& getADS131M08() { return spi4; }
+ Boardcore::SPIBus& getThermocouple() { return spi1; }
Boardcore::USART& getHILUart() { return usart4; }
diff --git a/src/Engine/Configs/SensorsConfig.h b/src/Engine/Configs/SensorsConfig.h
index fe21e84b3..19bbf69de 100644
--- a/src/Engine/Configs/SensorsConfig.h
+++ b/src/Engine/Configs/SensorsConfig.h
@@ -173,6 +173,12 @@ constexpr float TANK_P1_TEMP = 34.0f;
} // namespace Kulite
+namespace MAX31856
+{
+constexpr Hertz PERIOD = 10_hz;
+constexpr bool ENABLED = true;
+} // namespace MAX31856
+
namespace InternalADC
{
constexpr Boardcore::InternalADC::Channel VBAT_CH =
diff --git a/src/Engine/Sensors/Sensors.cpp b/src/Engine/Sensors/Sensors.cpp
index 657c256fd..360dab1f7 100644
--- a/src/Engine/Sensors/Sensors.cpp
+++ b/src/Engine/Sensors/Sensors.cpp
@@ -55,6 +55,9 @@ bool Sensors::start()
tankTempInit();
}
+ if (Config::Sensors::MAX31856::ENABLED)
+ thermocoupleInit();
+
if (Config::Sensors::InternalADC::ENABLED)
internalAdcInit();
@@ -141,6 +144,11 @@ TemperatureData Sensors::getTankTempLastSample()
return tankTemp ? tankTemp->getLastSample() : TemperatureData{};
}
+TemperatureData Sensors::getThermocoupleLastSample()
+{
+ return thermocouple ? thermocouple->getLastSample() : TemperatureData{};
+}
+
VoltageData Sensors::getBatteryVoltageLastSample()
{
auto sample = getInternalADCLastSample();
@@ -196,6 +204,9 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
if (tankTemp)
infos.push_back(manager->getSensorInfo(tankTemp.get()));
+ if (thermocouple)
+ infos.push_back(manager->getSensorInfo(thermocouple.get()));
+
return infos;
}
else
@@ -507,6 +518,25 @@ void Sensors::tankTempInit()
void Sensors::tankTempCallback() { sdLogger.log(getTankTempLastSample()); }
+void Sensors::thermocoupleInit()
+{
+ SPIBusConfig spiConfig = MAX31856::getDefaultSPIConfig();
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
+
+ thermocouple = std::make_unique<MAX31856>(
+ getModule<Buses>()->getThermocouple(),
+ sensors::thermocouple::cs::getPin(), spiConfig,
+ MAX31856::ThermocoupleType::K_TYPE); // TODO: verify the type
+}
+
+void Sensors::thermocoupleCallback()
+{
+ if (!thermocouple)
+ return;
+
+ sdLogger.log(getThermocoupleLastSample());
+}
+
bool Sensors::sensorManagerInit()
{
SensorManager::SensorMap_t map;
@@ -606,6 +636,13 @@ bool Sensors::sensorManagerInit()
map.emplace(std::make_pair(tankTemp.get(), info));
}
+ if (thermocouple)
+ {
+ SensorInfo info("MAX31856", Config::Sensors::MAX31856::PERIOD,
+ [this]() { thermocoupleCallback(); });
+ map.emplace(std::make_pair(thermocouple.get(), info));
+ }
+
manager = std::make_unique<SensorManager>(map, &getSensorsScheduler());
return manager->start();
}
diff --git a/src/Engine/Sensors/Sensors.h b/src/Engine/Sensors/Sensors.h
index 7294874e8..73bb192eb 100644
--- a/src/Engine/Sensors/Sensors.h
+++ b/src/Engine/Sensors/Sensors.h
@@ -32,6 +32,7 @@
#include <sensors/LIS2MDL/LIS2MDL.h>
#include <sensors/LPS22DF/LPS22DF.h>
#include <sensors/LSM6DSRX/LSM6DSRX.h>
+#include <sensors/MAX31856/MAX31856.h>
#include <sensors/SensorManager.h>
#include <sensors/analog/TrafagPressureSensor.h>
#include <utils/DependencyManager/DependencyManager.h>
@@ -64,6 +65,7 @@ public:
Boardcore::PressureData getCCPressLastSample();
Boardcore::TemperatureData getTankTempLastSample();
Boardcore::VoltageData getBatteryVoltageLastSample();
+ Boardcore::TemperatureData getThermocoupleLastSample();
std::vector<Boardcore::SensorInfo> getSensorInfos();
@@ -80,6 +82,7 @@ protected:
std::unique_ptr<Boardcore::LSM6DSRX> lsm6dsrx1;
std::unique_ptr<Boardcore::ADS131M08> ads131m08;
std::unique_ptr<Boardcore::InternalADC> internalAdc;
+ std::unique_ptr<Boardcore::MAX31856> thermocouple;
// Analog sensors
std::unique_ptr<Boardcore::TrafagPressureSensor> oxTopTankPressure;
@@ -112,6 +115,9 @@ private:
void internalAdcInit();
void internalAdcCallback();
+ void thermocoupleInit();
+ void thermocoupleCallback();
+
void oxTopTankPressureInit();
void oxTopTankPressureCallback();
--
GitLab