diff --git a/src/boards/HeliTest/ThermalCutter/Cutter.h b/src/boards/HeliTest/ThermalCutter/Cutter.h index 4976877b6588f7b85b643b0b3d1f791a12f87dcc..dc5ed8304b16944c14b0763b76ee8d1539034b30 100644 --- a/src/boards/HeliTest/ThermalCutter/Cutter.h +++ b/src/boards/HeliTest/ThermalCutter/Cutter.h @@ -28,6 +28,7 @@ #include "HeliTest/config.h" #include "drivers/pwm/pwm.h" #include "CutterData.h" +#include "logger/Logger.h" using miosix::GpioPin; using miosix::Thread; @@ -44,7 +45,6 @@ public: { pin_enable.low(); - // Start PWM with 0 duty cycle to keep IN pins low pwm.enableChannel(CUTTER_PWM_CHANNEL, 0.0f); @@ -62,7 +62,9 @@ public: if (status.state == CutterState::IDLE) { enableCutter(CUTTER_PWM_CHANNEL, pin_enable); + status.state = CutterState::CUTTING; + logStatus(); } } @@ -71,7 +73,9 @@ public: if (status.state == CutterState::CUTTING) { disableCutter(CUTTER_PWM_CHANNEL, pin_enable); + status.state = CutterState::IDLE; + logStatus(); } } private: @@ -94,6 +98,12 @@ private: ena_pin.low(); // Disable hbridge } + void logStatus() + { + status.timestamp = miosix::getTick(); + Logger::instance().log(status); + } + PWM pwm; GpioPin pin_enable;