From ff80179f9d153308ccd306c8cdcf532abcd843f2 Mon Sep 17 00:00:00 2001
From: elvis <elvisilde@gmail.com>
Date: Sun, 1 Mar 2020 21:23:37 +0100
Subject: [PATCH] [SM][DPL] Remove and comment out unused parts of the hermes
firmware
---
sbs.conf | 9 ++-------
.../DeploymentController/DeploymentController.cpp | 8 ++++----
.../DeploymentController/Motor/MotorDriver.cpp | 8 ++++++--
src/modules/LoggerService/LoggerService.cpp | 2 +-
src/modules/SensorManager/SensorManager.cpp | 15 +++++++++++++--
src/modules/SensorManager/SensorManager.h | 8 ++++++++
src/modules/SensorManager/Sensors/ADCWrapper.h | 5 -----
src/modules/configs/CutterConfig.h | 2 +-
src/modules/configs/SensorManagerConfig.h | 3 ++-
9 files changed, 37 insertions(+), 23 deletions(-)
diff --git a/sbs.conf b/sbs.conf
index abc2566..6e7e50f 100644
--- a/sbs.conf
+++ b/sbs.conf
@@ -105,8 +105,6 @@ Files: src/modules/LoggerService/LoggerService.cpp
src/modules/ADA/ADAController.cpp
src/modules/ADA/ADA.cpp
src/modules/ADA/ADACalibrator.cpp
- src/modules/ADA/DeploymentUtils/generated/elevation_map_data.cpp
- src/modules/ADA/DeploymentUtils/elevation_map.cpp
src/modules/LoggerService/FlightStatsRecorder.cpp
src/modules/TMTCManager/XbeeInterrupt.cpp
@@ -115,8 +113,6 @@ Type: srcfiles
Files: src/modules/ADA/ADAController.cpp
src/modules/ADA/ADA.cpp
src/modules/ADA/ADACalibrator.cpp
- src/modules/ADA/DeploymentUtils/generated/elevation_map_data.cpp
- src/modules/ADA/DeploymentUtils/elevation_map.cpp
[deployment]
Type: srcfiles
@@ -148,7 +144,6 @@ Files: src/modules/LoggerService/FlightStatsRecorder.cpp
[ada-test-sources]
Type: srcfiles
Files: src/tests/catch/ada/ada_kalman_p/test-ada-data.cpp
- src/modules/ADA/DeploymentUtils/generated/tests/elevation_map_test_data.cpp
[kalman-test-sources]
Type: srcfiles
@@ -185,7 +180,7 @@ Files: src/tests/catch/fsm/test-ada.cpp
Type: board
BoardId: stm32f407vg_skyward_tortellino
BinName: flight
-Include: %main %logger %pwm %xbee %piksi %servo
+Include: %main %logger %pwm %xbee %piksi %servo %shared
Defines:
Main: flight
@@ -193,7 +188,7 @@ Main: flight
Type: board
BoardId: stm32f407vg_skyward_tortellino
BinName: testsuite
-Include: %main %logger %pwm %xbee %piksi %servo
+Include: %main %logger %pwm %xbee %piksi %servo %shared
Defines:
Main: testsuite
diff --git a/src/modules/DeploymentController/DeploymentController.cpp b/src/modules/DeploymentController/DeploymentController.cpp
index 64b7bc7..6ab4e65 100644
--- a/src/modules/DeploymentController/DeploymentController.cpp
+++ b/src/modules/DeploymentController/DeploymentController.cpp
@@ -256,7 +256,7 @@ State DeploymentController::state_cuttingBackup(const Event& ev)
case EV_ENTRY:
{
// Cutting rogallina
- cutters.enableBackupCutter();
+ //cutters.enableBackupCutter();
logStatus(DeploymentCTRLState::CUTTING_BACKUP);
@@ -272,7 +272,7 @@ State DeploymentController::state_cuttingBackup(const Event& ev)
}
case EV_EXIT:
{
- cutters.disableBackupCutter();
+ //cutters.disableBackupCutter();
sEventBroker->removeDelayed(ev_cut_timeout_id);
@@ -347,7 +347,7 @@ State DeploymentController::state_testingBackup(const Event& ev)
case EV_ENTRY:
{
// Cutting rogallina
- cutters.enableTestBackupCutter();
+ //cutters.enableTestBackupCutter();
logStatus(DeploymentCTRLState::TESTING_BACKUP);
@@ -363,7 +363,7 @@ State DeploymentController::state_testingBackup(const Event& ev)
}
case EV_EXIT:
{
- cutters.disableBackupCutter();
+ //cutters.disableBackupCutter();
sEventBroker->removeDelayed(ev_cut_timeout_id);
diff --git a/src/modules/DeploymentController/Motor/MotorDriver.cpp b/src/modules/DeploymentController/Motor/MotorDriver.cpp
index 00182f1..476415c 100644
--- a/src/modules/DeploymentController/Motor/MotorDriver.cpp
+++ b/src/modules/DeploymentController/Motor/MotorDriver.cpp
@@ -37,6 +37,7 @@ MotorDriver::~MotorDriver() { stop(); }
void MotorDriver::start(MotorDirection direction)
{
+ /*
// Ensure the pins are configured in output mode. (The rogallo controller
// may set these pins to "alternate mode" to use PWM to drive the servos)
nosecone::motP1::mode(Mode::OUTPUT);
@@ -54,9 +55,10 @@ void MotorDriver::start(MotorDirection direction)
nosecone::motP1::low();
nosecone::motP2::high();
}
+ */
/* Activate PWM on both half bridges */
- nosecone::motEn::high();
+ //nosecone::motEn::high();
/* Update status */
status.motor_active = true;
@@ -65,12 +67,14 @@ void MotorDriver::start(MotorDirection direction)
void MotorDriver::stop()
{
+ /*
nosecone::motP1::low();
nosecone::motP2::low();
+ */
Thread::sleep(MOTOR_DISABLE_DELAY_MS); // Wait a short delay
- nosecone::motEn::low();
+ //nosecone::motEn::low();
status.motor_active = false;
}
diff --git a/src/modules/LoggerService/LoggerService.cpp b/src/modules/LoggerService/LoggerService.cpp
index efeff93..712e04d 100644
--- a/src/modules/LoggerService/LoggerService.cpp
+++ b/src/modules/LoggerService/LoggerService.cpp
@@ -54,7 +54,7 @@ LogResult LoggerService::log<BoardStatus>(const BoardStatus& t)
{
miosix::PauseKernelLock kLock;
- tm_repository.sys_tm.board = t.board;
+ //tm_repository.sys_tm.board = t.death_stack;
tm_repository.sys_tm.logger = t.logger;
tm_repository.sys_tm.ev_broker = t.ev_broker;
tm_repository.sys_tm.pin_obs = t.pin_obs;
diff --git a/src/modules/SensorManager/SensorManager.cpp b/src/modules/SensorManager/SensorManager.cpp
index 95743fc..3d66c4c 100644
--- a/src/modules/SensorManager/SensorManager.cpp
+++ b/src/modules/SensorManager/SensorManager.cpp
@@ -94,15 +94,17 @@ bool SensorManager::start()
void SensorManager::initSensors()
{
- i2c1::init();
+ /*i2c1::init();
spiMPU9250::init();
- spiMS5803::init();
+ spiMS5803::init();*/
// Instantiation
+ /*
adc_ad7994 = new AD7994Wrapper(sensors::ad7994::addr, AD7994_V_REF);
temp_lm75b_analog = new LM75BType(sensors::lm75b_analog::addr);
temp_lm75b_imu = new LM75BType(sensors::lm75b_imu::addr);
pressure_ms5803 = new MS580301BA07Type();
+ *
imu_mpu9250 =
new MPU9250Type(MPU9250Type::ACC_FS_16G, MPU9250Type::GYRO_FS_2000);
@@ -111,12 +113,14 @@ void SensorManager::initSensors()
adc_internal = new ADCWrapper();
piksi = new Piksi("/dev/gps");
+ */
#ifdef USE_MOCK_SENSORS
mock_pressure_sensor = new MockPressureSensor();
mock_gps = new MockGPS();
#endif
+ /*
// Some sensors dont have init or self tests
sensor_status.piksi = 1;
@@ -145,12 +149,14 @@ void SensorManager::initSensors()
sensor_status.current_sensor = adc_internal->getCurrentSensorPtr()->init();
status.sensor_status = sensor_status.toNumeric();
+ */
TRACE("[SM] Sensor init done\n");
}
void SensorManager::initSamplers()
{
+ /*
sampler_20hz_simple.AddSensor(adc_internal->getBatterySensorPtr());
sampler_20hz_simple.AddSensor(adc_ad7994);
sampler_20hz_simple.AddSensor(adc_internal->getCurrentSensorPtr());
@@ -161,6 +167,7 @@ void SensorManager::initSamplers()
sampler_50hz_simple.AddSensor(pressure_ms5803);
sampler_250hz_simple.AddSensor(imu_mpu9250);
+ */
// Piksi does not inherit from Sensor, so we sample it in a different way
@@ -176,6 +183,7 @@ void SensorManager::initScheduler()
long long start_time = miosix::getTick() + 10;
// 250 Hz sensor sampler
+ /*
std::function<void()> simple_250hz_callback =
std::bind(&SensorManager::onSimple250HZCallback, this);
std::function<void()> simple_250hz_sampler =
@@ -234,6 +242,7 @@ void SensorManager::initScheduler()
StackLogger::getInstance()->updateStack(THID_SENSOR_SAMPLER);
},
1000, static_cast<uint8_t>(SensorSamplerId::STATS), start_time);
+ */
TRACE("[SM] Scheduler initialization complete\n");
}
@@ -309,6 +318,7 @@ void SensorManager::stateLogging(const Event& ev)
}
}
+/*
void SensorManager::onSimple20HZCallback()
{
AD7994WrapperData* ad7994_data = adc_ad7994->getDataPtr();
@@ -374,6 +384,7 @@ void SensorManager::onSimple250HZCallback()
ada_controller->updateAcc(mpu9255_data.accel.getZ());
}
+*/
void SensorManager::onGPSCallback()
{
diff --git a/src/modules/SensorManager/SensorManager.h b/src/modules/SensorManager/SensorManager.h
index c16ad9f..7ca564c 100644
--- a/src/modules/SensorManager/SensorManager.h
+++ b/src/modules/SensorManager/SensorManager.h
@@ -42,6 +42,7 @@ using miosix::PauseKernelLock;
using std::vector;
// Forward declarations
+/*
template <typename ProtocolSPI>
class MPU9250;
@@ -53,13 +54,16 @@ class LM75B;
template <typename ProtocolSPI>
class MS580301BA07;
+*/
class Piksi;
namespace DeathStackBoard
{
+/*
class ADCWrapper;
class AD7994Wrapper;
+*/
#ifdef USE_MOCK_SENSORS
class MockPressureSensor;
@@ -67,11 +71,13 @@ class MockGPS;
#endif
// Type definitions
+/*
typedef MPU9250<spiMPU9250> MPU9250Type;
typedef ADIS16405<spiADIS16405, miosix::sensors::adis16405::rst> ADIS16405Type;
typedef MS580301BA07<spiMS5803> MS580301BA07Type;
typedef LM75B<i2c1> LM75BType;
+*/
/**
* The SensorManager class manages all the sensors connected to the Homeone
* Board.
@@ -152,6 +158,7 @@ private:
SimpleSensorSampler sampler_250hz_simple;
// Sensors
+ /*
AD7994Wrapper* adc_ad7994;
MPU9250Type* imu_mpu9250;
ADIS16405Type* imu_adis16405;
@@ -159,6 +166,7 @@ private:
LM75BType* temp_lm75b_analog;
ADCWrapper* adc_internal;
MS580301BA07Type* pressure_ms5803;
+ */
#ifdef USE_MOCK_SENSORS
MockPressureSensor* mock_pressure_sensor;
MockGPS* mock_gps;
diff --git a/src/modules/SensorManager/Sensors/ADCWrapper.h b/src/modules/SensorManager/Sensors/ADCWrapper.h
index a27d78e..c99c4be 100644
--- a/src/modules/SensorManager/Sensors/ADCWrapper.h
+++ b/src/modules/SensorManager/Sensors/ADCWrapper.h
@@ -62,8 +62,6 @@ public:
current_data.timestamp = miosix::getTick();
current_data.raw_value_1 = parent.adc.convertChannel(CS_1_CHANNEL);
- current_data.raw_value_2 = parent.adc.convertChannel(CS_2_CHANNEL);
-
current_data.current_1 = adcToCurrent(current_data.raw_value_1);
current_data.current_2 = adcToCurrent(current_data.raw_value_2);
@@ -81,9 +79,6 @@ public:
const adc_t::Channel CS_1_CHANNEL =
static_cast<adc_t::Channel>(ADC_CURRENT_SENSE_1_CHANNEL);
- const adc_t::Channel CS_2_CHANNEL =
- static_cast<adc_t::Channel>(ADC_CURRENT_SENSE_2_CHANNEL);
-
ADCWrapper& parent;
CurrentSenseData current_data;
};
diff --git a/src/modules/configs/CutterConfig.h b/src/modules/configs/CutterConfig.h
index 8168d17..5ccc48d 100644
--- a/src/modules/configs/CutterConfig.h
+++ b/src/modules/configs/CutterConfig.h
@@ -46,7 +46,7 @@ static constexpr int CUT_TEST_DURATION = 3 * 1000;
// PRIMARY --> THCUT1 on theboard
static const PWMChannel CUTTER_CHANNEL_PRIMARY = PWMChannel::CH2;
-typedef miosix::actuators::thCut1::ena PrimaryCutterEna;
+typedef miosix::actuators::hbridge::inh PrimaryCutterEna;
// PWM Frequency & duty-cycle
static const unsigned int CUTTER_PWM_FREQUENCY = 15000; // Hz
diff --git a/src/modules/configs/SensorManagerConfig.h b/src/modules/configs/SensorManagerConfig.h
index e3c8594..aaf52a9 100644
--- a/src/modules/configs/SensorManagerConfig.h
+++ b/src/modules/configs/SensorManagerConfig.h
@@ -39,13 +39,14 @@ typedef BusSPI<1, miosix::interfaces::spi1::mosi,
busSPI1;
// Spi protocol defs
+/*
typedef ProtocolSPI<busSPI1, miosix::sensors::mpu9250::cs> spiMPU9250;
typedef ProtocolSPI<busSPI1, miosix::sensors::adis16405::cs> spiADIS16405;
typedef ProtocolSPI<busSPI1, miosix::sensors::ms5803::cs> spiMS5803;
+*/
static constexpr uint8_t INTERNAL_ADC_NUM = 3;
static constexpr uint8_t ADC_CURRENT_SENSE_1_CHANNEL = 6;
-static constexpr uint8_t ADC_CURRENT_SENSE_2_CHANNEL = 4;
static constexpr uint8_t ADC_BATTERY_VOLTAGE_CHANNEL = 5;
//Time after which a gps location is no longer valid in milliseconds
--
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