diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 2a83b9b7e3b7a7342b6c74588a0b44059501c90a..dc630721eef6582109b785e60a3cefa307d246cf 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -8,7 +8,7 @@
"defines": [
"DEBUG",
"_ARCH_CORTEXM4_STM32F4",
- "_BOARD_STM32F407VG_STM32F4DISCOVERY",
+ "_BOARD_STM32F4DISCOVERY",
"_MIOSIX_BOARDNAME=stm32f407vg_stm32f4discovery",
"HSE_VALUE=8000000",
"SYSCLK_FREQ_168MHz=168000000",
@@ -213,23 +213,23 @@
}
},
{
- "name": "stm32f429zi_parafoil",
+ "name": "stm32f429zi_skyward_parafoil",
"cStandard": "c11",
"cppStandard": "c++11",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
"DEBUG",
"_ARCH_CORTEXM4_STM32F4",
- "_BOARD_STM32F429ZI_PARAFOIL",
- "_MIOSIX_BOARDNAME=stm32f429zi_parafoil",
+ "_BOARD_STM32F429ZI_SKYWARD_PARAFOIL",
+ "_MIOSIX_BOARDNAME=stm32f429zi_skyward_parafoil",
"HSE_VALUE=8000000",
"SYSCLK_FREQ_168MHz=168000000",
"_MIOSIX",
"__cplusplus=201103L"
],
"includePath": [
- "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_parafoil",
- "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_parafoil",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/libs/miosix-kernel/miosix",
@@ -243,8 +243,8 @@
],
"browse": {
"path": [
- "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_parafoil",
- "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_parafoil",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/libs/miosix-kernel/miosix/stdlib_integration",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
@@ -319,7 +319,7 @@
}
},
{
- "name": "stm32f429zi_skyward_ciuti",
+ "name": "stm32f205rc_skyward_ciuti",
"cStandard": "c11",
"cppStandard": "c++11",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
@@ -373,4 +373,4 @@
}
],
"version": 4
-}
\ No newline at end of file
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 499e63fbe0bc2fbf8adf05ba283e4de56d1fb77a..caa4ff15bf38b4658d34a4bf0af6745b62d54e44 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,246 +1,264 @@
{
- "cmake.configureSettings": {
- "CMAKE_C_COMPILER_LAUNCHER": "ccache",
- "CMAKE_CXX_COMPILER_LAUNCHER": "ccache"
- },
- "cmake.parallelJobs": 1,
- "files.associations": {
- "sstream": "cpp",
- "format": "cpp",
- "any": "cpp",
- "array": "cpp",
- "atomic": "cpp",
- "bit": "cpp",
- "*.tcc": "cpp",
- "bitset": "cpp",
- "cctype": "cpp",
- "chrono": "cpp",
- "clocale": "cpp",
- "cmath": "cpp",
- "codecvt": "cpp",
- "complex": "cpp",
- "condition_variable": "cpp",
- "cstdarg": "cpp",
- "cstddef": "cpp",
- "cstdint": "cpp",
- "cstdio": "cpp",
- "cstdlib": "cpp",
- "cstring": "cpp",
- "ctime": "cpp",
- "cwchar": "cpp",
- "cwctype": "cpp",
- "deque": "cpp",
- "list": "cpp",
- "map": "cpp",
- "set": "cpp",
- "unordered_map": "cpp",
- "vector": "cpp",
- "exception": "cpp",
- "algorithm": "cpp",
- "functional": "cpp",
- "iterator": "cpp",
- "memory": "cpp",
- "memory_resource": "cpp",
- "numeric": "cpp",
- "optional": "cpp",
- "random": "cpp",
- "ratio": "cpp",
- "regex": "cpp",
- "string": "cpp",
- "string_view": "cpp",
- "system_error": "cpp",
- "tuple": "cpp",
- "type_traits": "cpp",
- "utility": "cpp",
- "fstream": "cpp",
- "future": "cpp",
- "initializer_list": "cpp",
- "iomanip": "cpp",
- "iosfwd": "cpp",
- "iostream": "cpp",
- "istream": "cpp",
- "limits": "cpp",
- "mutex": "cpp",
- "new": "cpp",
- "ostream": "cpp",
- "shared_mutex": "cpp",
- "stdexcept": "cpp",
- "streambuf": "cpp",
- "thread": "cpp",
- "cinttypes": "cpp",
- "typeindex": "cpp",
- "typeinfo": "cpp",
- "variant": "cpp",
- "__config": "cpp",
- "__threading_support": "cpp",
- "__mutex_base": "cpp",
- "__tree": "cpp",
- "locale": "cpp",
- "__bit_reference": "cpp",
- "__bits": "cpp",
- "__debug": "cpp",
- "__errc": "cpp",
- "__functional_base": "cpp",
- "__hash_table": "cpp",
- "__locale": "cpp",
- "__node_handle": "cpp",
- "__nullptr": "cpp",
- "__split_buffer": "cpp",
- "__string": "cpp",
- "__tuple": "cpp",
- "ios": "cpp",
- "queue": "cpp",
- "stack": "cpp",
- "__functional_03": "cpp",
- "filesystem": "cpp",
- "unordered_set": "cpp",
- "hash_map": "cpp",
- "valarray": "cpp",
- "ranges": "cpp",
- "compare": "cpp",
- "concepts": "cpp",
- "core": "cpp",
- "iterativelinearsolvers": "cpp",
- "pastixsupport": "cpp",
- "superlusupport": "cpp",
- "adolcforward": "cpp",
- "alignedvector3": "cpp",
- "bvh": "cpp",
- "fft": "cpp",
- "iterativesolvers": "cpp",
- "mprealsupport": "cpp",
- "matrixfunctions": "cpp",
- "nonlinearoptimization": "cpp",
- "openglsupport": "cpp",
- "polynomials": "cpp",
- "autodiff": "cpp",
- "sparseextra": "cpp",
- "specialfunctions": "cpp"
- },
- "cSpell.words": [
- "aelf",
- "airbrakes",
- "Airbrakes",
- "Alessandro",
- "AMSL",
- "atthr",
- "AVDD",
- "Baro",
- "boardcore",
- "Boardcorev",
- "boudrate",
- "Corigliano",
- "CORTEXM",
- "cpitch",
- "cppcheck",
- "croll",
- "cwise",
- "cyaw",
- "DATABUS",
- "deleteme",
- "DMEIE",
- "Doxyfile",
- "doxygen",
- "DRDY",
- "Duca",
- "Ecompass",
- "Eigen",
- "elfs",
- "Erbetta",
- "Fatt",
- "Fatttr",
- "fedetft's",
- "fiprintf",
- "Gatttr",
- "getdetahstate",
- "GNSS",
- "Gpio",
- "GPIOA",
- "GPIOB",
- "GPIOC",
- "GPIOD",
- "GPIOE",
- "GPIOF",
- "GPIOG",
- "GPIOS",
- "gpstr",
- "Hatt",
- "HSCMAND",
- "HSCMRNN",
- "HWMAPPING",
- "IDLEIE",
- "irqn",
- "irqv",
- "Kalman",
- "Katt",
- "kbps",
- "ldrex",
- "leds",
- "LIFCR",
- "logdecoder",
- "Luca",
- "MEKF",
- "MINC",
- "miosix",
- "mkdir",
- "mosfet",
- "mosi",
- "MPXHZ",
- "Musso",
- "NATT",
- "NBAR",
- "NDTR",
- "NGPS",
- "NMAG",
- "NMEA",
- "NMEKF",
- "nord",
- "NVIC",
- "peripehral",
- "PINC",
- "Pitot",
- "Plin",
- "Qgbw",
- "Qget",
- "Qhandle",
- "Qput",
- "Qwait",
- "Qwakeup",
- "Riccardo",
- "RXNE",
- "RXNEIE",
- "sats",
- "Satt",
- "sdio",
- "SDRAM",
- "spitch",
- "sqdip",
- "sqtrp",
- "sroll",
- "SSCDANN",
- "SSCDRRN",
- "stof",
- "syaw",
- "TCIE",
- "TEIE",
- "Terraneo",
- "testsuite",
- "TSCPP",
- "Ublox",
- "UBXACK",
- "UBXGPS",
- "UBXNAV",
- "Unsync",
- "upcounter",
- "USART",
- "vbat",
- "velnord",
- "vout",
- "vsense",
- "Xbee",
- "xnord",
- "yned"
- ],
- "cSpell.language": "en",
- "cSpell.enabled": true
+ "cmake.configureSettings": {
+ "CMAKE_C_COMPILER_LAUNCHER": "ccache",
+ "CMAKE_CXX_COMPILER_LAUNCHER": "ccache"
+ },
+ "cmake.parallelJobs": 1,
+ "files.associations": {
+ "sstream": "cpp",
+ "format": "cpp",
+ "any": "cpp",
+ "array": "cpp",
+ "atomic": "cpp",
+ "bit": "cpp",
+ "*.tcc": "cpp",
+ "bitset": "cpp",
+ "cctype": "cpp",
+ "chrono": "cpp",
+ "clocale": "cpp",
+ "cmath": "cpp",
+ "codecvt": "cpp",
+ "complex": "cpp",
+ "condition_variable": "cpp",
+ "cstdarg": "cpp",
+ "cstddef": "cpp",
+ "cstdint": "cpp",
+ "cstdio": "cpp",
+ "cstdlib": "cpp",
+ "cstring": "cpp",
+ "ctime": "cpp",
+ "cwchar": "cpp",
+ "cwctype": "cpp",
+ "deque": "cpp",
+ "list": "cpp",
+ "map": "cpp",
+ "set": "cpp",
+ "unordered_map": "cpp",
+ "vector": "cpp",
+ "exception": "cpp",
+ "algorithm": "cpp",
+ "functional": "cpp",
+ "iterator": "cpp",
+ "memory": "cpp",
+ "memory_resource": "cpp",
+ "numeric": "cpp",
+ "optional": "cpp",
+ "random": "cpp",
+ "ratio": "cpp",
+ "regex": "cpp",
+ "string": "cpp",
+ "string_view": "cpp",
+ "system_error": "cpp",
+ "tuple": "cpp",
+ "type_traits": "cpp",
+ "utility": "cpp",
+ "fstream": "cpp",
+ "future": "cpp",
+ "initializer_list": "cpp",
+ "iomanip": "cpp",
+ "iosfwd": "cpp",
+ "iostream": "cpp",
+ "istream": "cpp",
+ "limits": "cpp",
+ "mutex": "cpp",
+ "new": "cpp",
+ "ostream": "cpp",
+ "shared_mutex": "cpp",
+ "stdexcept": "cpp",
+ "streambuf": "cpp",
+ "thread": "cpp",
+ "cinttypes": "cpp",
+ "typeindex": "cpp",
+ "typeinfo": "cpp",
+ "variant": "cpp",
+ "__config": "cpp",
+ "__threading_support": "cpp",
+ "__mutex_base": "cpp",
+ "__tree": "cpp",
+ "locale": "cpp",
+ "__bit_reference": "cpp",
+ "__bits": "cpp",
+ "__debug": "cpp",
+ "__errc": "cpp",
+ "__functional_base": "cpp",
+ "__hash_table": "cpp",
+ "__locale": "cpp",
+ "__node_handle": "cpp",
+ "__nullptr": "cpp",
+ "__split_buffer": "cpp",
+ "__string": "cpp",
+ "__tuple": "cpp",
+ "ios": "cpp",
+ "queue": "cpp",
+ "stack": "cpp",
+ "__functional_03": "cpp",
+ "filesystem": "cpp",
+ "unordered_set": "cpp",
+ "hash_map": "cpp",
+ "valarray": "cpp",
+ "ranges": "cpp",
+ "compare": "cpp",
+ "concepts": "cpp",
+ "core": "cpp",
+ "iterativelinearsolvers": "cpp",
+ "pastixsupport": "cpp",
+ "superlusupport": "cpp",
+ "adolcforward": "cpp",
+ "alignedvector3": "cpp",
+ "bvh": "cpp",
+ "fft": "cpp",
+ "iterativesolvers": "cpp",
+ "mprealsupport": "cpp",
+ "matrixfunctions": "cpp",
+ "nonlinearoptimization": "cpp",
+ "openglsupport": "cpp",
+ "polynomials": "cpp",
+ "autodiff": "cpp",
+ "sparseextra": "cpp",
+ "specialfunctions": "cpp"
+ },
+ "cSpell.words": [
+ "ADCPRE",
+ "ADON",
+ "aelf",
+ "airbrakes",
+ "Airbrakes",
+ "Alessandro",
+ "AMSL",
+ "atthr",
+ "AVDD",
+ "Baro",
+ "boardcore",
+ "Boardcorev",
+ "boudrate",
+ "Corigliano",
+ "CORTEXM",
+ "cpitch",
+ "cppcheck",
+ "croll",
+ "cwise",
+ "cyaw",
+ "DATABUS",
+ "deleteme",
+ "DMEIE",
+ "Doxyfile",
+ "doxygen",
+ "DRDY",
+ "Duca",
+ "Ecompass",
+ "Eigen",
+ "elfs",
+ "Erbetta",
+ "Fatt",
+ "Fatttr",
+ "fedetft's",
+ "fiprintf",
+ "Gatttr",
+ "getdetahstate",
+ "GNSS",
+ "Gpio",
+ "GPIOA",
+ "GPIOB",
+ "GPIOC",
+ "GPIOD",
+ "GPIOE",
+ "GPIOF",
+ "GPIOG",
+ "GPIOS",
+ "gpstr",
+ "Hatt",
+ "HIFCR",
+ "HISR",
+ "HSCMAND",
+ "HSCMRNN",
+ "HWMAPPING",
+ "IDLEIE",
+ "irqn",
+ "irqv",
+ "JEOC",
+ "JOFR",
+ "JSQR",
+ "JSWSTART",
+ "Kalman",
+ "Katt",
+ "kbps",
+ "ldrex",
+ "leds",
+ "LIFCR",
+ "LISR",
+ "logdecoder",
+ "Luca",
+ "Matteo",
+ "MEKF",
+ "microcontrollers",
+ "MINC",
+ "miosix",
+ "mkdir",
+ "mosfet",
+ "mosi",
+ "MPXHZ",
+ "Musso",
+ "NATT",
+ "NBAR",
+ "NDTR",
+ "NGPS",
+ "Nidasio",
+ "NMAG",
+ "NMEA",
+ "NMEKF",
+ "nord",
+ "NVIC",
+ "peripehral",
+ "Piazzolla",
+ "PINC",
+ "Pitot",
+ "Plin",
+ "Qgbw",
+ "Qget",
+ "Qhandle",
+ "Qput",
+ "Qwait",
+ "Qwakeup",
+ "Riccardo",
+ "RXNE",
+ "RXNEIE",
+ "sats",
+ "Satt",
+ "sdio",
+ "SDRAM",
+ "smpr",
+ "SMPR",
+ "spitch",
+ "sqdip",
+ "sqtrp",
+ "sroll",
+ "SSCDANN",
+ "SSCDRRN",
+ "stof",
+ "SWSTART",
+ "syaw",
+ "TCIE",
+ "TCIF",
+ "TEIE",
+ "Terraneo",
+ "testsuite",
+ "TSCPP",
+ "TSVREFE",
+ "Ublox",
+ "UBXACK",
+ "UBXGPS",
+ "UBXNAV",
+ "Unsync",
+ "upcounter",
+ "USART",
+ "vbat",
+ "velnord",
+ "vout",
+ "vsense",
+ "Xbee",
+ "xnord",
+ "yned"
+ ],
+ "cSpell.language": "en",
+ "cSpell.enabled": true
}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e69d0759e5b07c981fc6fb1bbfdc0996171d3cc7..3dec47d98c5ef5522710677cddbbb93df618f99d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,19 +40,19 @@ add_executable(config-dsgamma src/entrypoints/config-dsgamma.cpp)
sbs_target(config-dsgamma stm32f429zi_stm32f4discovery)
add_executable(imu-calibration src/entrypoints/imu-calibration.cpp)
-sbs_target(imu-calibration stm32f429zi_parafoil)
+sbs_target(imu-calibration stm32f429zi_skyward_parafoil)
add_executable(mxgui-helloworld src/entrypoints/examples/mxgui-helloworld.cpp)
sbs_target(mxgui-helloworld stm32f429zi_stm32f4discovery)
add_executable(kernel-testsuite src/entrypoints/kernel-testsuite.cpp)
-sbs_target(kernel-testsuite stm32f429zi_stm32f4discovery)
+sbs_target(kernel-testsuite stm32f205rc_skyward_ciuti)
add_executable(runcam-settings src/entrypoints/runcam-settings.cpp)
sbs_target(runcam-settings stm32f407vg_stm32f4discovery)
add_executable(sdcard-benchmark src/entrypoints/sdcard-benchmark.cpp)
-sbs_target(sdcard-benchmark stm32f429zi_skyward_death_stack_x)
+sbs_target(sdcard-benchmark stm32f205rc_skyward_ciuti)
#-----------------------------------------------------------------------------#
# Tests #
@@ -133,13 +133,13 @@ add_executable(test-kalman-benchmark src/tests/algorithms/Kalman/test-kalman-ben
sbs_target(test-kalman-benchmark stm32f429zi_stm32f4discovery)
add_executable(test-attitude-parafoil src/tests/algorithms/NAS/test-attitude-parafoil.cpp)
-sbs_target(test-attitude-parafoil stm32f429zi_parafoil)
+sbs_target(test-attitude-parafoil stm32f429zi_skyward_parafoil)
add_executable(test-attitude-stack src/tests/algorithms/NAS/test-attitude-stack.cpp)
sbs_target(test-attitude-stack stm32f429zi_skyward_death_stack_x)
add_executable(test-nas-parafoil src/tests/algorithms/NAS/test-nas-parafoil.cpp)
-sbs_target(test-nas-parafoil stm32f429zi_parafoil)
+sbs_target(test-nas-parafoil stm32f429zi_skyward_parafoil)
add_executable(test-nas-stack src/tests/algorithms/NAS/test-nas-stack.cpp)
sbs_target(test-nas-stack stm32f429zi_skyward_death_stack_x)
@@ -151,7 +151,7 @@ add_executable(test-triad src/tests/algorithms/NAS/test-triad.cpp)
sbs_target(test-triad stm32f429zi_skyward_death_stack_x)
add_executable(test-triad-parafoil src/tests/algorithms/NAS/test-triad-parafoil.cpp)
-sbs_target(test-triad-parafoil stm32f429zi_parafoil)
+sbs_target(test-triad-parafoil stm32f429zi_skyward_parafoil)
add_executable(test-ada src/tests/algorithms/ADA/test-ada.cpp)
sbs_target(test-ada stm32f429zi_skyward_death_stack_v3)
@@ -178,7 +178,7 @@ add_executable(test-general-purpose-timer src/tests/drivers/timer/test-general-p
sbs_target(test-general-purpose-timer stm32f429zi_stm32f4discovery)
add_executable(test-internal-adc src/tests/drivers/test-internal-adc.cpp)
-sbs_target(test-internal-adc stm32f429zi_skyward_death_stack_x)
+sbs_target(test-internal-adc stm32f407vg_stm32f4discovery)
add_executable(test-internal-adc-dma src/tests/drivers/test-internal-adc-dma.cpp)
sbs_target(test-internal-adc-dma stm32f429zi_stm32f4discovery)
@@ -231,6 +231,9 @@ sbs_target(test-xbee-snd stm32f429zi_stm32f4discovery)
add_executable(test-usart src/tests/drivers/usart/test-usart.cpp)
sbs_target(test-usart stm32f407vg_stm32f4discovery)
+add_executable(test-internal-temp src/tests/drivers/test-internal-temp.cpp)
+sbs_target(test-internal-temp stm32f407vg_stm32f4discovery)
+
#-----------------------------------------------------------------------------#
# Tests - Events #
#-----------------------------------------------------------------------------#
@@ -349,7 +352,7 @@ add_executable(test-max31855 src/tests/sensors/test-max31855.cpp)
sbs_target(test-max31855 stm32f429zi_stm32f4discovery)
add_executable(test-mpu9250 src/tests/sensors/test-mpu9250.cpp)
-sbs_target(test-mpu9250 stm32f429zi_parafoil)
+sbs_target(test-mpu9250 stm32f429zi_skyward_parafoil)
add_executable(test-ms5803 src/tests/sensors/test-ms5803.cpp)
sbs_target(test-ms5803 stm32f429zi_skyward_death_stack_x)
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 6521be8564ea0db4942ef95c52f26cbbc9cf2c67..b853f0628a71eb8045e1dc9c036fcd5e25d394dc 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -43,6 +43,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/diagnostic/PrintLogger.cpp
# Drivers
+ ${SBS_BASE}/src/shared/drivers/adc/InternalTemp.cpp
${SBS_BASE}/src/shared/drivers/adc/InternalADC.cpp
${SBS_BASE}/src/shared/drivers/canbus/Canbus.cpp
${SBS_BASE}/src/shared/drivers/canbus/CanInterrupt.cpp
@@ -80,6 +81,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
${SBS_BASE}/src/shared/sensors/HX711/HX711.cpp
${SBS_BASE}/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
+ ${SBS_BASE}/src/shared/sensors/LIS331HH/LIS331HH.cpp
${SBS_BASE}/src/shared/sensors/calibration/SensorDataExtra.cpp
${SBS_BASE}/src/shared/sensors/MAX6675/MAX6675.cpp
${SBS_BASE}/src/shared/sensors/MAX31855/MAX31855.cpp
@@ -98,6 +100,7 @@ foreach(OPT_BOARD ${BOARDS})
# Utils
${SBS_BASE}/src/shared/utils/AeroUtils/AeroUtils.cpp
${SBS_BASE}/src/shared/utils/ButtonHandler/ButtonHandler.cpp
+ ${SBS_BASE}/src/shared/utils/PinObserver/PinObserver.cpp
${SBS_BASE}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
${SBS_BASE}/src/shared/utils/Stats/Stats.cpp
${SBS_BASE}/src/shared/utils/TestUtils/TestHelper.cpp
diff --git a/libs/mavlink-skyward-lib b/libs/mavlink-skyward-lib
index 4874d08b4a6340d6a9da8da9a33f96b8f01d789b..be1b8d4f61c546548d8b0c7d128dd304c9c49476 160000
--- a/libs/mavlink-skyward-lib
+++ b/libs/mavlink-skyward-lib
@@ -1 +1 @@
-Subproject commit 4874d08b4a6340d6a9da8da9a33f96b8f01d789b
+Subproject commit be1b8d4f61c546548d8b0c7d128dd304c9c49476
diff --git a/libs/miosix-kernel b/libs/miosix-kernel
index 80ae230d328892074ef362c46f8ed72ec07a3141..d63a8905149e04e1db2fb813ec2f1e3e46f3734e 160000
--- a/libs/miosix-kernel
+++ b/libs/miosix-kernel
@@ -1 +1 @@
-Subproject commit 80ae230d328892074ef362c46f8ed72ec07a3141
+Subproject commit d63a8905149e04e1db2fb813ec2f1e3e46f3734e
diff --git a/libs/mxgui b/libs/mxgui
index 3ce4e0588633ead6328e65b1e711ea39375a805e..4416880780cbf6f3aa4792d4260a15554c89fa6b 160000
--- a/libs/mxgui
+++ b/libs/mxgui
@@ -1 +1 @@
-Subproject commit 3ce4e0588633ead6328e65b1e711ea39375a805e
+Subproject commit 4416880780cbf6f3aa4792d4260a15554c89fa6b
diff --git a/src/shared/algorithms/AirBrakes/TrajectoryPoint.h b/src/shared/algorithms/AirBrakes/TrajectoryPoint.h
index 18e880d67efeddd34fc3456228392b6f184da7b7..da4adfb069e08f6d50691a1fd3e148f251ac3da1 100644
--- a/src/shared/algorithms/AirBrakes/TrajectoryPoint.h
+++ b/src/shared/algorithms/AirBrakes/TrajectoryPoint.h
@@ -78,7 +78,7 @@ public:
TimedTrajectoryPoint() : TrajectoryPoint(), timestamp(0), vMod(0) {}
explicit TimedTrajectoryPoint(NASState state)
- : TrajectoryPoint(-state.d, -state.vn), timestamp(state.timestamp),
+ : TrajectoryPoint(-state.d, -state.vd), timestamp(state.timestamp),
vMod(Eigen::Vector3f{state.vn, state.ve, state.vd}.norm())
{
}
diff --git a/src/shared/diagnostic/CpuMeter/CpuMeter.cpp b/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
index 20da1e5af5a2dd6618c7ad46f9e2780c469468ca..57990c49ff064d0d5ae08ddf6c703c0c1e87a2c9 100644
--- a/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
+++ b/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
@@ -45,7 +45,11 @@ static volatile unsigned int update = 0;
CpuMeterData getCpuStats()
{
Lock<FastMutex> l(utilizationMutex);
- return CpuMeterData(TimestampTimer::getTimestamp(), utilization.getStats());
+ return CpuMeterData(TimestampTimer::getTimestamp(), utilization.getStats(),
+ MemoryProfiling::getAbsoluteFreeHeap(),
+ MemoryProfiling::getCurrentFreeHeap(),
+ MemoryProfiling::getAbsoluteFreeStack(),
+ MemoryProfiling::getCurrentFreeStack());
}
void resetCpuStats() { utilization.reset(); }
diff --git a/src/shared/diagnostic/CpuMeter/CpuMeterData.h b/src/shared/diagnostic/CpuMeter/CpuMeterData.h
index f091425f98bdeadf8f1a5d7f2ecf4d9719ac6b3c..a28b62a3a270284e38e808cdaae6f2fe2c1b8af6 100644
--- a/src/shared/diagnostic/CpuMeter/CpuMeterData.h
+++ b/src/shared/diagnostic/CpuMeter/CpuMeterData.h
@@ -36,12 +36,20 @@ struct CpuMeterData
float stdDev = 0; ///< Standard deviation of dataset.
uint32_t nSamples = 0; ///< Number of samples.
+ uint32_t minFreeHeap = 0;
+ uint32_t freeHeap = 0;
+ uint32_t minFreeStack = 0;
+ uint32_t freeStack = 0;
+
CpuMeterData() {}
- explicit CpuMeterData(uint64_t timestamp, StatsResult stats)
+ explicit CpuMeterData(uint64_t timestamp, StatsResult stats,
+ uint32_t freeHeap, uint32_t minFreeHeap,
+ uint32_t minFreeStack, uint32_t freeStack)
: timestamp(timestamp), minValue(stats.minValue),
maxValue(stats.maxValue), mean(stats.mean), stdDev(stats.stdDev),
- nSamples(stats.nSamples)
+ nSamples(stats.nSamples), minFreeHeap(minFreeHeap),
+ freeHeap(freeHeap), minFreeStack(minFreeStack), freeStack(freeStack)
{
}
diff --git a/src/shared/diagnostic/SkywardStack.h b/src/shared/diagnostic/SkywardStack.h
index 8b85e44b0965153080f462b80cd08aaac55c6f5b..6a27d747f85267406a2c73daa1b727e8b70bc77e 100644
--- a/src/shared/diagnostic/SkywardStack.h
+++ b/src/shared/diagnostic/SkywardStack.h
@@ -27,7 +27,11 @@
namespace Boardcore
{
+#ifndef _ARCH_CORTEXM3_STM32F2
static const unsigned int STACK_MIN_FOR_SKYWARD = 16 * 1024;
+#else
+static const unsigned int STACK_MIN_FOR_SKYWARD = 1024;
+#endif
inline unsigned int skywardStack(unsigned int stack)
{
diff --git a/src/shared/drivers/adc/InternalADC.cpp b/src/shared/drivers/adc/InternalADC.cpp
index 5599223012b51872d29bec8cfdee357fa9fb0f33..737b2b6bc040925b2f7268ebc6154edcb17f25b3 100644
--- a/src/shared/drivers/adc/InternalADC.cpp
+++ b/src/shared/drivers/adc/InternalADC.cpp
@@ -72,9 +72,7 @@ InternalADC::InternalADC(ADC_TypeDef* adc, const float supplyVoltage,
// Init indexMap
for (auto i = 0; i < CH_NUM; i++)
- {
indexMap[i] = -1;
- }
}
InternalADC::~InternalADC()
@@ -90,13 +88,13 @@ bool InternalADC::init()
adc->CR2 |= ADC_CR2_ADON;
// Set single conversion mode
- adc->CR2 &= ~ADC_CR2_CONT;
+ // adc->CR2 &= ~ADC_CR2_CONT;
// Set scan mode
- adc->CR1 |= ADC_CR1_SCAN;
+ // adc->CR1 |= ADC_CR1_SCAN;
// Data alignment
- adc->CR2 &= ~ADC_CR2_ALIGN; // right
+ // adc->CR2 &= ~ADC_CR2_ALIGN; // right
if (isUsingDMA)
{
@@ -130,33 +128,22 @@ bool InternalADC::init()
return true;
}
-bool InternalADC::enableChannel(Channel channel)
-{
- return enableChannel(channel, CYCLES_3);
-}
-
bool InternalADC::enableChannel(Channel channel, SampleTime sampleTime)
{
// Check channel number
if (channel < CH0 || channel >= CH_NUM)
- {
return false;
- }
// Add channel to the sequence
if (!isUsingDMA)
{
if (!addInjectedChannel(channel))
- {
return false;
- }
}
else
{
if (!addRegularChannel(channel))
- {
return false;
- }
// Update the DMA number of data
dmaStream->NDTR = activeChannels;
@@ -168,6 +155,52 @@ bool InternalADC::enableChannel(Channel channel, SampleTime sampleTime)
return true;
}
+bool InternalADC::addRegularChannel(Channel channel)
+{
+ // Check active channels number
+ if (activeChannels >= 16)
+ return false;
+
+ // Add the channel to the sequence
+ volatile uint32_t* sqrPtr;
+ switch (activeChannels / 6)
+ {
+ case 1:
+ sqrPtr = &(adc->SQR2);
+ break;
+ case 2:
+ sqrPtr = &(adc->SQR1);
+ break;
+ default:
+ sqrPtr = &(adc->SQR3);
+ }
+ *sqrPtr = channel << ((activeChannels % 6) * 5);
+
+ // Update the channels number in the register
+ adc->SQR1 &= ~ADC_SQR1_L;
+ adc->SQR1 |= activeChannels << 20;
+
+ // Save the index of the channel in the ADC's regular sequence
+ indexMap[channel] = activeChannels;
+
+ // Update the counter
+ activeChannels++;
+
+ return true;
+}
+
+ADCData InternalADC::readChannel(Channel channel, SampleTime sampleTime)
+{
+ setChannelSampleTime(channel, sampleTime);
+ startRegularConversion();
+
+ while (!(adc->SR & ADC_SR_EOC))
+ ;
+
+ return {TimestampTimer::getTimestamp(), channel,
+ static_cast<uint16_t>(adc->DR) * supplyVoltage / RESOLUTION};
+}
+
InternalADCData InternalADC::getVoltage(Channel channel)
{
float voltage = 0;
@@ -219,14 +252,14 @@ InternalADCData InternalADC::sampleImpl()
// This should trigger the DMA stream for each channel's conversion
- // Wait for tranfer end
+ // Wait for transfer end
while (!(*statusReg & (transferCompleteMask | transferErrorMask)))
;
// Clear the transfer complete flag
*clearFlagReg |= transferCompleteMask;
- // If and error has occurred (probaly due to a higher priority stream)
+ // If and error has occurred (probably due to a higher priority stream)
// don't update the timestamp, the values should not have been updated
if (*statusReg & transferErrorMask)
{
@@ -244,6 +277,8 @@ InternalADCData InternalADC::sampleImpl()
return lastSample;
}
+float InternalADC::getSupplyVoltage() { return supplyVoltage; }
+
inline void InternalADC::resetRegisters()
{
// Reset the ADC configuration
@@ -277,9 +312,7 @@ inline bool InternalADC::addInjectedChannel(Channel channel)
{
// Check active channels number
if (activeChannels >= 4)
- {
return false;
- }
// Add the channel to the sequence, starting from position 4
adc->JSQR |= channel << (15 - activeChannels * 5);
@@ -292,9 +325,7 @@ inline bool InternalADC::addInjectedChannel(Channel channel)
for (auto i = 0; i < CH_NUM; i++)
{
if (indexMap[i] >= 0)
- {
indexMap[i]++;
- }
}
// Set this channel index to 0
@@ -306,53 +337,15 @@ inline bool InternalADC::addInjectedChannel(Channel channel)
return true;
}
-inline bool InternalADC::addRegularChannel(Channel channel)
-{
- // Check active channels number
- if (activeChannels >= 16)
- {
- return false;
- }
-
- // Add the channel to the sequence
- volatile uint32_t* sqrPtr;
- switch (activeChannels % 6)
- {
- case 1:
- sqrPtr = &(adc->SQR3);
- break;
- case 2:
- sqrPtr = &(adc->SQR2);
- break;
- default:
- sqrPtr = &(adc->SQR1);
- }
- *sqrPtr = channel << ((activeChannels % 6) * 5);
-
- // Update the channels number in the register
- adc->SQR1 |= activeChannels << 20;
-
- // Save the index of the channel in the ADC's regular sequence
- indexMap[channel] = activeChannels;
-
- // Update the counter
- activeChannels++;
-
- return true;
-}
-
inline void InternalADC::setChannelSampleTime(Channel channel,
SampleTime sampleTime)
{
volatile uint32_t* smprPtr;
if (channel <= 9)
- {
smprPtr = &(adc->SMPR2);
- }
else
- {
smprPtr = &(adc->SMPR1);
- }
+
*smprPtr = sampleTime << (channel * 3);
}
diff --git a/src/shared/drivers/adc/InternalADC.h b/src/shared/drivers/adc/InternalADC.h
index 662419e817ef60eb8622b6326af3ad5f11bf3f72..ab0498619a7447080ab2efa4c6c6b7c53438e73b 100644
--- a/src/shared/drivers/adc/InternalADC.h
+++ b/src/shared/drivers/adc/InternalADC.h
@@ -90,6 +90,9 @@ public:
CH13,
CH14,
CH15,
+ CH16,
+ CH17,
+ CH18,
CH_NUM
};
@@ -127,9 +130,14 @@ public:
*/
bool init() override;
- bool enableChannel(Channel channel);
+ /**
+ * @brief Make a regular conversion for the specified channel.
+ */
+ ADCData readChannel(Channel channel, SampleTime sampleTime = CYCLES_3);
+
+ bool enableChannel(Channel channel, SampleTime sampleTime = CYCLES_3);
- bool enableChannel(Channel channel, SampleTime sampleTime);
+ bool addRegularChannel(Channel channel);
InternalADCData getVoltage(Channel channel);
@@ -137,6 +145,8 @@ public:
InternalADCData sampleImpl() override;
+ float getSupplyVoltage();
+
private:
inline void resetRegisters();
@@ -146,8 +156,6 @@ private:
inline bool addInjectedChannel(Channel channel);
- inline bool addRegularChannel(Channel channel);
-
inline void setChannelSampleTime(Channel channel, SampleTime sampleTime);
ADC_TypeDef* adc;
@@ -168,7 +176,7 @@ private:
* We'll use up to 4 injected channel by default and up to 16 channels when
* using DMA.
*
- * The differentiation is necessary because whitout DMA it is much simplier
+ * The differentiation is necessary because whiteout DMA it is much simpler
* to use injected channel for multichannel readings. Otherwise we would
* need to handle each channel's end of conversion interrupt or go through
*/
@@ -182,7 +190,7 @@ private:
volatile uint32_t* clearFlagReg;
static constexpr int INJECTED_CHANNEL_N = 4;
- static constexpr int RESOLUTION = 4096; ///< 12 bits
+ static constexpr int RESOLUTION = 4095; ///< 12 bits
};
} // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalTemp.cpp b/src/shared/drivers/adc/InternalTemp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e6c15b2fc9629145d82ac9a6cb4f7fe6c63dcfec
--- /dev/null
+++ b/src/shared/drivers/adc/InternalTemp.cpp
@@ -0,0 +1,84 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "InternalTemp.h"
+
+#ifdef _ARCH_CORTEXM4_STM32F4
+#define TEMP30_CAL_VALUE ((uint16_t*)((uint32_t)0x1FFF7A2C))
+#define TEMP110_CAL_VALUE ((uint16_t*)((uint32_t)0x1FFF7A2E))
+#define TEMP30 30
+#define TEMP110 110
+#endif
+
+namespace Boardcore
+{
+
+InternalTemp::InternalTemp(InternalADC::SampleTime sampleTime,
+ const float supplyVoltage)
+ : adc(ADC1, supplyVoltage), sampleTime(sampleTime)
+{
+}
+
+bool InternalTemp::init()
+{
+ bool result = adc.init();
+
+#if defined(_BOARD_STM32F4DISCOVERY) || defined(_ARCH_CORTEXM3_STM32F2)
+ adc.addRegularChannel(InternalADC::CH16);
+#else
+ adc.addRegularChannel(InternalADC::CH18);
+#endif
+
+ ADC->CCR &= ~ADC_CCR_VBATE;
+ ADC->CCR |= ADC_CCR_TSVREFE;
+
+ return result;
+}
+
+bool InternalTemp::selfTest() { return adc.selfTest(); }
+
+InternalTempData InternalTemp::sampleImpl()
+{
+#if defined(_BOARD_STM32F4DISCOVERY) || defined(_ARCH_CORTEXM3_STM32F2)
+ auto adcData = adc.readChannel(InternalADC::CH16, sampleTime);
+#else
+ auto adcData = adc.readChannel(InternalADC::CH18, sampleTime);
+#endif
+
+ InternalTempData data;
+ data.temperatureTimestamp = adcData.voltageTimestamp;
+
+#ifdef _ARCH_CORTEXM3_STM32F2
+ // Default conversion
+ data.temperature = ((adcData.voltage - 0.76) / 0.0025) + 25;
+#else
+ // Factory calibration
+ float voltage30 = static_cast<float>(*TEMP30_CAL_VALUE) * 3.3 / 4095;
+ float voltage110 = static_cast<float>(*TEMP110_CAL_VALUE) * 3.3 / 4095;
+ float slope = (voltage110 - voltage30) / (TEMP110 - TEMP30);
+ data.temperature = ((adcData.voltage - voltage30) / slope) + TEMP30;
+#endif
+
+ return data;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalTemp.h b/src/shared/drivers/adc/InternalTemp.h
new file mode 100644
index 0000000000000000000000000000000000000000..a66e32cafa0283ee463a82c0d8c7be4b3efa99a3
--- /dev/null
+++ b/src/shared/drivers/adc/InternalTemp.h
@@ -0,0 +1,51 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+#include <drivers/adc/InternalADC.h>
+
+#include "InternalTempData.h"
+
+namespace Boardcore
+{
+
+class InternalTemp : public Sensor<InternalTempData>
+{
+public:
+ explicit InternalTemp(
+ InternalADC::SampleTime sampleTime = InternalADC::CYCLES_480,
+ const float supplyVoltage = 5.0);
+
+ bool init() override;
+
+ bool selfTest() override;
+
+ InternalTempData sampleImpl() override;
+
+ // InternalTempData addRegularChannel(InternalADC::Channel channel);
+
+private:
+ InternalADC adc;
+ InternalADC::SampleTime sampleTime;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalTempData.h b/src/shared/drivers/adc/InternalTempData.h
new file mode 100644
index 0000000000000000000000000000000000000000..96f709033d5cdcadb60b4d3e53f19d2da7901b90
--- /dev/null
+++ b/src/shared/drivers/adc/InternalTempData.h
@@ -0,0 +1,42 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <sensors/SensorData.h>
+
+namespace Boardcore
+{
+
+struct InternalTempData : public TemperatureData
+{
+ InternalTempData() : TemperatureData{0, 0} {}
+
+ static std::string header() { return "timestamp,temperature\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << temperatureTimestamp << "," << temperature << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
index a2f7c2f1996beae88b85d0350576758218f6297d..309457505c60765b646868eed17381dc376ed5fc 100644
--- a/src/shared/logger/LogTypes.h
+++ b/src/shared/logger/LogTypes.h
@@ -23,6 +23,7 @@
#pragma once
#include <actuators/Servo/ServoData.h>
+#include <algorithms/ADA/ADAData.h>
#include <algorithms/NAS/NASState.h>
#include <diagnostic/CpuMeter/CpuMeter.h>
#include <diagnostic/PrintLoggerData.h>
@@ -49,6 +50,7 @@
#include <sensors/SensorData.h>
#include <sensors/UBXGPS/UBXGPSData.h>
#include <sensors/VN100/VN100Data.h>
+#include <sensors/analog/AnalogLoadCellData.h>
#include <sensors/analog/BatteryVoltageSensorData.h>
#include <sensors/analog/CurrentSensorData.h>
#include <sensors/analog/pressure/honeywell/HSCMAND015PAData.h>
@@ -56,6 +58,8 @@
#include <sensors/analog/pressure/honeywell/HSCMRNN160KAData.h>
#include <sensors/analog/pressure/honeywell/SSCDANN030PAAData.h>
#include <sensors/analog/pressure/honeywell/SSCDRRN015PDAData.h>
+#include <sensors/analog/pressure/nxp/MPXH6115AData.h>
+#include <sensors/analog/pressure/nxp/MPXH6400AData.h>
#include <sensors/analog/pressure/nxp/MPXHZ6130AData.h>
#include <fstream>
@@ -76,6 +80,7 @@ namespace LogTypes
void registerTypes(Deserializer& ds)
{
ds.registerType<ServoData>();
+ ds.registerType<ADAState>();
ds.registerType<NASState>();
ds.registerType<CpuMeterData>();
ds.registerType<LoggingString>();
@@ -103,14 +108,17 @@ void registerTypes(Deserializer& ds)
ds.registerType<TemperatureData>();
ds.registerType<UBXGPSData>();
ds.registerType<VN100Data>();
+ ds.registerType<AnalogLoadCellData>();
ds.registerType<BatteryVoltageSensorData>();
ds.registerType<CurrentSensorData>();
- ds.registerType<MPXHZ6130AData>();
ds.registerType<HSCMAND015PAData>();
ds.registerType<HSCMRNN030PAData>();
ds.registerType<HSCMRNN160KAData>();
ds.registerType<SSCDANN030PAAData>();
ds.registerType<SSCDRRN015PDAData>();
+ ds.registerType<MPXH6115AData>();
+ ds.registerType<MPXH6400AData>();
+ ds.registerType<MPXHZ6130AData>();
}
} // namespace LogTypes
diff --git a/src/shared/logger/Logger.cpp b/src/shared/logger/Logger.cpp
index 54fdd149f9a1d51c904e02bda506627303bb3cb2..b8c903a79268e22b4c80814f886027bd1f0826e7 100644
--- a/src/shared/logger/Logger.cpp
+++ b/src/shared/logger/Logger.cpp
@@ -55,9 +55,7 @@ bool Logger::start()
filename = getFileName(fileNumber);
struct stat st;
if (stat(filename.c_str(), &st) != 0)
- {
break;
- }
if (fileNumber == maxFilenameNumber - 1)
TRACE("Too many log files, appending data to last\n");
diff --git a/src/shared/logger/Logger.h b/src/shared/logger/Logger.h
index 76604ea6d95cae05d8b80aeb72224c59518662fb..496b1cf311900f722a7070447cb9234f864791f4 100644
--- a/src/shared/logger/Logger.h
+++ b/src/shared/logger/Logger.h
@@ -124,7 +124,7 @@ public:
*/
void logStats();
-private:
+public:
Logger();
static std::string getFileName(int logNumber);
@@ -153,10 +153,17 @@ private:
LoggerResult logImpl(const char *name, const void *data, unsigned int size);
static constexpr unsigned int maxFilenameNumber = 100; ///< Limit on files
- static constexpr unsigned int maxRecordSize = 512; ///< Limit on data
+#ifndef _ARCH_CORTEXM3_STM32F2
+ static constexpr unsigned int maxRecordSize = 512; ///< Limit on data
static constexpr unsigned int numRecords = 512; ///< Size of record queues
static constexpr unsigned int numBuffers = 8; ///< Number of buffers
static constexpr unsigned int bufferSize = 64 * 1024; ///< Size of buffers
+#else
+ static constexpr unsigned int maxRecordSize = 512; ///< Limit on data
+ static constexpr unsigned int numRecords = 64; ///< Size of record queues
+ static constexpr unsigned int numBuffers = 8; ///< Number of buffers
+ static constexpr unsigned int bufferSize = 4 * 1024; ///< Size of buffers
+#endif
/**
* A record is a single serialized logged class. Records are used to
diff --git a/src/shared/sensors/LIS331HH/LIS331HH.cpp b/src/shared/sensors/LIS331HH/LIS331HH.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ad3f18e9690164daf45c85c9288e56ff2495508c
--- /dev/null
+++ b/src/shared/sensors/LIS331HH/LIS331HH.cpp
@@ -0,0 +1,64 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "LIS331HH.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+namespace Boardcore
+{
+
+LIS331HH::LIS331HH(SPIBusInterface& bus, miosix::GpioPin cs,
+ SPIBusConfig spiConfig)
+ : slave(bus, cs, spiConfig)
+{
+}
+
+bool LIS331HH::init() { return true; }
+
+bool LIS331HH::selfTest() { return true; }
+
+LIS331HHData LIS331HH::sampleImpl()
+{
+ uint16_t val;
+ LIS331HHData data;
+
+ data.accelerationTimestamp = TimestampTimer::getTimestamp();
+
+ SPITransaction spi(slave);
+
+ val = spi.readRegister(OUT_X_L);
+ val |= spi.readRegister(OUT_X_H) << 8;
+ data.accelerationX = 6.0 / 65536.0 * val;
+
+ val = spi.readRegister(OUT_Y_L);
+ val |= spi.readRegister(OUT_Y_H) << 8;
+ data.accelerationY = 6.0 / 65536.0 * val;
+
+ val = spi.readRegister(OUT_Z_L);
+ val |= spi.readRegister(OUT_Z_H) << 8;
+ data.accelerationZ = 6.0 / 65536.0 * val;
+
+ return data;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LIS331HH/LIS331HH.h b/src/shared/sensors/LIS331HH/LIS331HH.h
new file mode 100644
index 0000000000000000000000000000000000000000..d91cb3d904eae391ce4f3e7ac16a4deb1820104f
--- /dev/null
+++ b/src/shared/sensors/LIS331HH/LIS331HH.h
@@ -0,0 +1,74 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <drivers/spi/SPIDriver.h>
+#include <sensors/Sensor.h>
+
+#include "LIS331HHData.h"
+
+namespace Boardcore
+{
+
+class LIS331HH : public Sensor<LIS331HHData>
+{
+public:
+ LIS331HH(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig);
+
+ bool init() override;
+
+ bool selfTest() override;
+
+private:
+ LIS331HHData sampleImpl() override;
+
+ SPISlave slave;
+
+ enum Registers : uint8_t
+ {
+ CTRL_REG1 = 0x20,
+ CTRL_REG2 = 0x21,
+ CTRL_REG3 = 0x22,
+ CTRL_REG4 = 0x23,
+ CTRL_REG5 = 0x24,
+ HP_FILTER_RESET = 0x25,
+ REFERENCE = 0x26,
+ STATUS_REG = 0x27,
+ OUT_X_L = 0x28,
+ OUT_X_H = 0x29,
+ OUT_Y_L = 0x2a,
+ OUT_Y_H = 0x2b,
+ OUT_Z_L = 0x2c,
+ OUT_Z_H = 0x2d,
+ INT1_CFG = 0x30,
+ INT1_SOURCE = 0x31,
+ INT1_THS = 0x32,
+ INT1_DURATION = 0x33,
+ INT2_CFG = 0x34,
+ INT2_SOURCE = 0x35,
+ INT2_THS = 0x36,
+ INT2_DURATION = 0x37,
+ };
+};
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/LIS331HH/LIS331HHData.h b/src/shared/sensors/LIS331HH/LIS331HHData.h
new file mode 100644
index 0000000000000000000000000000000000000000..72a57214106d2c3475abe59e9baef9b0701ef2c8
--- /dev/null
+++ b/src/shared/sensors/LIS331HH/LIS331HHData.h
@@ -0,0 +1,47 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <sensors/SensorData.h>
+
+namespace Boardcore
+{
+
+struct LIS331HHData : public AccelerometerData
+{
+ static std::string header()
+ {
+ return "accelerationTimestamp,accelerationX,accelerationY,"
+ "accelerationZ,temp_"
+ "timestamp,"
+ "temp\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << accelerationTimestamp << "," << accelerationX << ","
+ << accelerationY << "," << accelerationZ << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LIS3DSH/LIS3DSH.h b/src/shared/sensors/LIS3DSH/LIS3DSH.h
index 89404d1fcc68ecdc4e92d9374f6a8e14fcce8566..4c048dc25e2fe3a39db5333368d4e5a8ead6be6c 100644
--- a/src/shared/sensors/LIS3DSH/LIS3DSH.h
+++ b/src/shared/sensors/LIS3DSH/LIS3DSH.h
@@ -318,9 +318,10 @@ public:
private:
/**
* @brief Read new data from the accelerometer.
- * Acceleretions are returned in g.
*
- * @return boolean value indicating whether the operation succeded or not
+ * Accelerations are returned in g.
+ *
+ * @return boolean value indicating whether the operation succeeded or not
*/
LIS3DSHData sampleImpl() override
{
@@ -346,9 +347,9 @@ private:
}
/**
- * @brief Read accelrometer data.
+ * @brief Read accelerometer data.
*
- * @return the read accelrometer sample
+ * @return the read accelerometer sample
*/
AccelerometerData readAccelData()
{
diff --git a/src/shared/utils/ButtonHandler/ButtonHandler.cpp b/src/shared/utils/ButtonHandler/ButtonHandler.cpp
index 56a0e5df40a5f5e5b2d12d4c3c80e2f0bfb00774..89c20e726514ba2acc90a9f5ea5d1d2266c3365f 100644
--- a/src/shared/utils/ButtonHandler/ButtonHandler.cpp
+++ b/src/shared/utils/ButtonHandler/ButtonHandler.cpp
@@ -44,6 +44,11 @@ bool ButtonHandler::registerButtonCallback(miosix::GpioPin pin,
return false;
}
+bool ButtonHandler::unregisterButtonCallback(miosix::GpioPin pin)
+{
+ return callbacks.erase(pin) != 0;
+}
+
bool ButtonHandler::start() { return scheduler.start(); }
void ButtonHandler::stop() { scheduler.stop(); }
@@ -63,12 +68,12 @@ void ButtonHandler::periodicButtonValueCheck(miosix::GpioPin pin)
// Retrieve the pin information
const ButtonCallback &callback = std::get<0>(callbacks[pin]);
bool &wasPressed = std::get<1>(callbacks[pin]);
- int &pressedTicks = std::get<2>(callbacks[pin]);
+ unsigned int &pressedTicks = std::get<2>(callbacks[pin]);
// Read the current button status
// Note: The button is assumed to be pressed if the pin value is low
// (pulldown)
- bool isNowPressed = !pin.value();
+ const bool isNowPressed = !pin.value();
if (isNowPressed)
{
diff --git a/src/shared/utils/ButtonHandler/ButtonHandler.h b/src/shared/utils/ButtonHandler/ButtonHandler.h
index 2ff97a9beb9e4acb7e6e98c45ee88550fa3deddf..8ae5b7d583f10ed726f93e12709bb88279d8e0c3 100644
--- a/src/shared/utils/ButtonHandler/ButtonHandler.h
+++ b/src/shared/utils/ButtonHandler/ButtonHandler.h
@@ -23,8 +23,8 @@
#pragma once
#include <Singleton.h>
-#include <miosix.h>
#include <scheduler/TaskScheduler.h>
+#include <utils/GpioPinCompare.h>
#include <map>
@@ -33,24 +33,10 @@ namespace Boardcore
enum class ButtonEvent
{
- PRESSED, // Called as soon as the button is pressed
- SHORT_PRESS, // Called as soon as the button is released
- LONG_PRESS, // Called as soon as the button is released
- VERY_LONG_PRESS // Called as soon as the button is released
-};
-
-/**
- * @brief Comparison operator between GpioPins used for std::map.
- */
-struct GpioPinCompare
-{
- bool operator()(const miosix::GpioPin& lhs,
- const miosix::GpioPin& rhs) const
- {
- if (lhs.getPort() == rhs.getPort())
- return lhs.getNumber() < rhs.getNumber();
- return lhs.getPort() < rhs.getPort();
- }
+ PRESSED, ///< The button is pressed.
+ SHORT_PRESS, ///< The button is released before LONG_PRESS_TICKS.
+ LONG_PRESS, ///< The button is released before VERY_LONG_PRESS_TICKS.
+ VERY_LONG_PRESS ///< The button is released after VERY_LONG_PRESS_TICKS.
};
/**
@@ -122,17 +108,12 @@ private:
/**
* @brief Map of all the callbacks registered in the ButtonHandler.
*
- * The key is the GpioPin for which the callback is registered. To used
- * GpioPin as a map key, the GpioPinCompare operator was defined as
- * explained here:
- * https://stackoverflow.com/questions/1102392/how-can-i-use-stdmaps-with-user-defined-types-as-key
- *
* The type stored is a tuple containing:
* - The button callback function;
* - Whether or not the button was pressed in the last check iteration;
* - The relative tick of the last pin value change.
*/
- std::map<miosix::GpioPin, std::tuple<ButtonCallback, bool, int>,
+ std::map<miosix::GpioPin, std::tuple<ButtonCallback, bool, unsigned int>,
GpioPinCompare>
callbacks;
};
diff --git a/src/shared/utils/GpioPinCompare.h b/src/shared/utils/GpioPinCompare.h
new file mode 100644
index 0000000000000000000000000000000000000000..428c32c0b97ce46eba3ddb52ee4887efd4ab10e9
--- /dev/null
+++ b/src/shared/utils/GpioPinCompare.h
@@ -0,0 +1,47 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <miosix.h>
+
+namespace Boardcore
+{
+
+/**
+ * @brief Comparison operator between GpioPins used for std::map.
+ *
+ * This function was implemented to use GpioPin as a map key. Check here for
+ * more explanation:
+ * https://stackoverflow.com/questions/1102392/how-can-i-use-stdmaps-with-user-defined-types-as-key
+ */
+struct GpioPinCompare
+{
+ bool operator()(const miosix::GpioPin& lhs,
+ const miosix::GpioPin& rhs) const
+ {
+ if (lhs.getPort() == rhs.getPort())
+ return lhs.getNumber() < rhs.getNumber();
+ return lhs.getPort() < rhs.getPort();
+ }
+};
+} // namespace Boardcore
diff --git a/src/shared/utils/PinObserver.h b/src/shared/utils/PinObserver.h
deleted file mode 100644
index a09573f5453f043219bde522004011a3f2a671b7..0000000000000000000000000000000000000000
--- a/src/shared/utils/PinObserver.h
+++ /dev/null
@@ -1,228 +0,0 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Author: Luca Erbetta
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <diagnostic/StackLogger.h>
-#include <miosix.h>
-
-#include <functional>
-#include <map>
-#include <utility>
-
-#include "ActiveObject.h"
-
-using miosix::FastMutex;
-using miosix::GpioPin;
-using miosix::Lock;
-using miosix::Thread;
-using miosix::Unlock;
-
-using std::function;
-using std::map;
-using std::pair;
-
-namespace Boardcore
-{
-
-/**
- * Class used to call a callback after a pin performs a specific transition
- * (RISING or FALLING edge) and stays in the new state for a specific amount of
- * time. Useful if you want to monitor pin transitions but you want to avoid
- * spurious state changes.
- *
- * A callback to monitor each state change no matter the thresold or the
- * transition is also available, in order to be able to observe the current
- * state of the pin
- */
-class PinObserver : public ActiveObject
-{
-public:
- /**
- * @brief Pin transition
- * Actual enumaration value represents the stat of the pin after the
- * corresponding transition has occured.
- */
- enum class Transition : int
- {
- FALLING_EDGE = 0,
- RISING_EDGE = 1
- };
-
- using OnStateChangeCallback =
- function<void(unsigned int, unsigned char, int)>;
-
- using OnTransitionCallback = function<void(unsigned int, unsigned char)>;
-
- /**
- * @brief Construct a new Pin Observer object
- *
- * @param pollIntervalMs Pin transition polling interval
- */
- PinObserver(unsigned int pollIntervalMs = 20) : pollInterval(pollIntervalMs)
- {
- }
-
- /**
- * Observe a pin for a specific transition, and optionally for every
- * single state change.
- *
- * The @param transitionCb function is called only if the two following
- * conditions are verified:
- * 1. The transition specified in the @param transition is detected
- * 2. The pin stays in the new state for at least detection_threshols
- * samples.
- *
- * The @param onstatechangeCb function [optional] is called at each state
- * change, both rising and falling edge, regardless of the @param
- * detectionThreshold
- *
- * @param p GPIOA_BASE, GPIOB_BASE ...
- * @param n Which pin (0 to 15)
- * @param transition What transition to detect (RISING or FALLING edge)
- * @param transitionCb Function to call when the transition is detected and
- * the pin stays in the new configuration for at least @param
- * detectionThreshold samples
- * @param detectionThreshold How many times the pin should be observed in
- * the post-transition state to trigger the actual transition callback.
- * @param onstatechangeCb Function to be called at each pin state change,
- * no matter the threshold or the transition
- */
- void observePin(unsigned int p, unsigned char n, Transition transition,
- OnTransitionCallback transitionCb,
- unsigned int detectionThreshold = 1,
- OnStateChangeCallback onstatechangeCb = nullptr)
- {
- Lock<FastMutex> lock(mtxMap);
- observedPins.insert(
- std::make_pair(pair<unsigned int, unsigned char>({p, n}),
- ObserverData{GpioPin{p, n}, transition, transitionCb,
- onstatechangeCb, detectionThreshold}));
- }
-
- /**
- * @brief Stop monitoring the specified pin
- *
- * @param p GPIOA_BASE, GPIOB_BASE ...
- * @param n Which pin (0 to 15)
- */
- void removeObservedPin(unsigned int p, unsigned char n)
- {
- Lock<FastMutex> lock(mtxMap);
- observedPins.erase({p, n});
- }
-
-protected:
- void run()
- {
- while (true)
- {
- {
- Lock<FastMutex> lock(mtxMap);
-
- for (auto it = observedPins.begin(); it != observedPins.end();
- it++)
- {
- pair<int, int> key = it->first;
- ObserverData& pinData = it->second;
-
- int oldState = pinData.state;
- int newState = pinData.pin.value();
-
- // Save current state in the struct
- pinData.state = newState;
-
- // Are we in a post-transition state?
- if (pinData.state == static_cast<int>(pinData.transition))
- {
- ++pinData.detectedCount;
- }
- else
- {
- pinData.detectedCount = 0;
- }
-
- // Pre-calcualate conditions in order to unlock the mutex
- // only one time
-
- bool stateChange = pinData.onstatechangeCallback &&
- oldState != pinData.state;
- bool pinTriggered =
- pinData.detectedCount == pinData.detectionThreshold;
-
- {
- Unlock<FastMutex> unlock(lock);
-
- if (stateChange)
- {
- pinData.onstatechangeCallback(key.first, key.second,
- newState);
- }
-
- if (pinTriggered)
- {
- pinData.transitionCallback(key.first, key.second);
- }
- }
- }
- }
-
- StackLogger::getInstance().updateStack(THID_PIN_OBS);
-
- Thread::sleep(pollInterval);
- }
- }
-
-private:
- struct ObserverData
- {
- GpioPin pin;
- Transition transition;
- OnTransitionCallback transitionCallback;
- OnStateChangeCallback onstatechangeCallback;
- unsigned int detectionThreshold;
- unsigned int detectedCount;
- int state; // 1 if HIGH, 0 if LOW
-
- ObserverData(GpioPin pin, Transition transition,
- OnTransitionCallback transitionCallback,
- OnStateChangeCallback onstatechangeCallback,
- unsigned int detectionThreshold)
- : pin(pin), transition(transition),
- transitionCallback(transitionCallback),
- onstatechangeCallback(onstatechangeCallback),
- detectionThreshold(detectionThreshold),
- // Set to this value to avoid detection if the pin is already in
- // the ending state of the "trigger" transition
- detectedCount(detectionThreshold + 1), state(0)
- {
- }
- };
-
- map<pair<unsigned int, unsigned char>, ObserverData> observedPins;
- FastMutex mtxMap;
-
- unsigned int pollInterval;
- bool stopped = true;
-};
-
-} // namespace Boardcore
diff --git a/src/shared/utils/PinObserver/PinObserver.cpp b/src/shared/utils/PinObserver/PinObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0eb65db1488357178ae8058de54e209b6c59eb3c
--- /dev/null
+++ b/src/shared/utils/PinObserver/PinObserver.cpp
@@ -0,0 +1,107 @@
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Author: Luca Erbetta, Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "PinObserver.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+#include <functional>
+
+namespace Boardcore
+{
+
+bool PinObserver::registerPinCallback(miosix::GpioPin pin, PinCallback callback,
+ uint32_t detectionThreshold)
+{
+ // Try to insert the callback
+ auto result = callbacks.insert(
+ {pin, {callback, detectionThreshold, 0, 0, pin.value() == 1, 0}});
+
+ // Check if the insertion took place
+ if (result.second)
+ {
+ if (scheduler.addTask(
+ std::bind(&PinObserver::periodicPinValueCheck, this, pin),
+ SAMPLE_PERIOD, TaskScheduler::Policy::SKIP))
+ return true;
+ else
+ callbacks.erase(pin);
+ }
+
+ return false;
+}
+
+bool PinObserver::start() { return scheduler.start(); }
+
+void PinObserver::stop() { scheduler.stop(); }
+
+bool PinObserver::isRunning() { return scheduler.isRunning(); }
+
+PinData PinObserver::getPinData(miosix::GpioPin pin) { return callbacks[pin]; }
+
+void PinObserver::resetPinChangesCount(miosix::GpioPin pin)
+{
+ callbacks[pin].changesCount = 0;
+}
+
+PinObserver::PinObserver() { scheduler.start(); }
+
+void PinObserver::periodicPinValueCheck(miosix::GpioPin pin)
+{
+ // Make sure the pin informations are still present
+ if (callbacks.find(pin) == callbacks.end())
+ return;
+
+ auto &pinData = callbacks[pin];
+
+ // Retrieve the pin information
+ uint32_t &count = pinData.periodCount;
+
+ // Read the current pin status
+ const bool newState = pin.value();
+
+ // Are we in a transition?
+ if (pinData.lastState != newState)
+ {
+ count = 0; // Yes, reset the counter
+ pinData.changesCount++; // And register the change
+ }
+ else
+ {
+ count++; // No, continue to increment
+
+ // If the count reaches the threshold, then trigger the event
+ if (count > pinData.threshold)
+ {
+ if (newState)
+ pinData.callback(PinTransition::RISING_EDGE);
+ else
+ pinData.callback(PinTransition::FALLING_EDGE);
+ }
+ }
+
+ // Save the current pin status
+ pinData.lastStateTimestamp = TimestampTimer::getTimestamp();
+ pinData.lastState = newState;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/utils/PinObserver/PinObserver.h b/src/shared/utils/PinObserver/PinObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..a81f6e2b84bd21f252e0ef0b1ae720a89ba44528
--- /dev/null
+++ b/src/shared/utils/PinObserver/PinObserver.h
@@ -0,0 +1,141 @@
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Author: Luca Erbetta, Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <Singleton.h>
+#include <scheduler/TaskScheduler.h>
+#include <utils/GpioPinCompare.h>
+
+#include <map>
+
+namespace Boardcore
+{
+
+/**
+ * @brief Pin transition.
+ */
+enum class PinTransition
+{
+ FALLING_EDGE, ///< The pin goes from high to low.
+ RISING_EDGE ///< The pin goes from low to high.
+};
+
+/**
+ * @brief Pin informations.
+ */
+struct PinData
+{
+ std::function<void(PinTransition)> callback; ///< The callback function.
+ uint32_t threshold; ///< Number of periods to trigger an event.
+ uint32_t periodCount; ///< Number of periods the value was the same.
+ uint64_t lastStateTimestamp; ///< Timestamp of the last measurement.
+ bool lastState; ///< The last measured pin state.
+ uint32_t changesCount; ///< Incremental count of the pin changes.
+};
+
+/**
+ * Class used to call a callback after a pin performs a specific transition
+ * (RISING or FALLING edge) and stays in the new state for a specific amount of
+ * time. Useful if you want to monitor pin transitions but you want to avoid
+ * spurious state changes.
+ *
+ * A callback to monitor each state change no matter the threshold or the
+ * transition is also available, in order to be able to observe the current
+ * state of the pin.
+ */
+class PinObserver : public Singleton<PinObserver>
+{
+ friend Singleton<PinObserver>;
+
+ static constexpr uint32_t SAMPLE_PERIOD = 100; // 10Hz
+
+public:
+ using PinCallback = std::function<void(PinTransition)>;
+
+ /**
+ * Observe a pin for a specific transition, and optionally for every
+ * single state change.
+ *
+ * @param pin Pin to listen to.
+ * @param callback Function to call on button events.
+ * @param detectionThreshold How many times the pin should be observed in
+ * the post-transition state to trigger the actual transition callback,
+ * defaults to 1.
+ * @return False if another callback was already registered for the pin.
+ */
+ bool registerPinCallback(miosix::GpioPin pin, PinCallback callback,
+ uint32_t detectionThreshold = 1);
+
+ /**
+ * @brief Starts the PinObserver's task scheduler.
+ *
+ * Note that the scheduler is started as soon as the PinObserver is first
+ * used.
+ *
+ * @return Whether the task scheduler was started or not.
+ */
+ bool start();
+
+ /**
+ * @brief Stops the PinObserver's task scheduler.
+ */
+ void stop();
+
+ /**
+ * @brief True if the PinObserver started correctly.
+ */
+ bool isRunning();
+
+ /**
+ * @brief Returns the information for the specified pin.
+ */
+ PinData getPinData(miosix::GpioPin pin);
+
+ /**
+ * @brief Resets the changes counter for the specified pin.
+ */
+ void resetPinChangesCount(miosix::GpioPin pin);
+
+private:
+ /**
+ * @brief Construct a new PinObserver object.
+ *
+ * @param pollInterval Pin transition polling interval, defaults to 20 [ms].
+ */
+ PinObserver();
+
+ /**
+ * @brief This function is added to the scheduler for every pin registered
+ * in the PinObserver.
+ *
+ * @param pin Pin whose value need to be checked.
+ */
+ void periodicPinValueCheck(miosix::GpioPin pin);
+
+ TaskScheduler scheduler;
+
+ /// Map of all the callbacks registered in the PinObserver.
+ std::map<miosix::GpioPin, PinData, GpioPinCompare> callbacks;
+};
+
+} // namespace Boardcore
diff --git a/src/tests/drivers/test-internal-temp.cpp b/src/tests/drivers/test-internal-temp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..23fd7844a83f5ae4978d26f092253f76067814e3
--- /dev/null
+++ b/src/tests/drivers/test-internal-temp.cpp
@@ -0,0 +1,44 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <drivers/adc/InternalTemp.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <miosix.h>
+#include <utils/ClockUtils.h>
+
+using namespace Boardcore;
+
+int main()
+{
+ ADC->CCR |= ADC_CCR_ADCPRE_0 | ADC_CCR_ADCPRE_1;
+
+ InternalTemp temp(InternalADC::CYCLES_480, 3.0);
+ temp.init();
+
+ for (;;)
+ {
+ temp.sample();
+ printf("Temperature: %2.3f\n", temp.getLastSample().temperature);
+
+ miosix::delayMs(1000);
+ }
+}
diff --git a/src/tests/test-pinobserver.cpp b/src/tests/test-pinobserver.cpp
index 1fe87708a4f27d22bf72f4d84455860331c34b0e..9856200ef36e72da7b604ae2d496a830ee3dc912 100644
--- a/src/tests/test-pinobserver.cpp
+++ b/src/tests/test-pinobserver.cpp
@@ -21,10 +21,14 @@
*/
#include <miosix.h>
-#include <utils/PinObserver.h>
+#include <utils/PinObserver/PinObserver.h>
+
+#include <functional>
using namespace Boardcore;
using namespace miosix;
+using namespace std;
+using namespace std::placeholders;
static constexpr unsigned int POLL_INTERVAL = 20;
@@ -35,60 +39,38 @@ static constexpr unsigned char PIN1_PIN = 5;
static constexpr unsigned int PIN2_PORT = GPIOE_BASE;
static constexpr unsigned char PIN2_PIN = 6;
-void onStateChange(unsigned int p, unsigned char n, int state)
+void onTransition(GpioPin pin, PinTransition transition)
{
- if (p == BTN_PORT && n == BTN_PIN)
- {
- printf("BTN state change: %d\n", state);
- }
- if (p == PIN1_PORT && n == PIN1_PIN)
- {
- printf("PIN1 state change: %d\n", state);
- }
- if (p == PIN2_PORT && n == PIN2_PIN)
- {
- printf("PIN2 state change: %d\n", state);
- }
-}
+ if (pin.getPort() == BTN_PORT && pin.getNumber() == BTN_PIN)
+ printf("BTN transition: ");
+ if (pin.getPort() == PIN1_PORT && pin.getNumber() == PIN1_PIN)
+ printf("PIN1 transition: ");
+ if (pin.getPort() == PIN2_PORT && pin.getNumber() == PIN2_PIN)
+ printf("PIN2 transition: ");
-void onTransition(unsigned int p, unsigned char n)
-{
- if (p == BTN_PORT && n == BTN_PIN)
- {
- printf("BTN transition.\n");
- }
- if (p == PIN1_PORT && n == PIN1_PIN)
- {
- printf("PIN1 transition.\n");
- }
- if (p == PIN2_PORT && n == PIN2_PIN)
- {
- printf("PIN2 transition.\n");
- }
+ if (transition == PinTransition::FALLING_EDGE)
+ printf("FALLING_EDGE\n");
+ else
+ printf("RISING_EDGE\n");
}
int main()
{
- GpioPin(BTN_PORT, BTN_PIN).mode(Mode::INPUT);
- GpioPin(PIN1_PORT, PIN1_PIN).mode(Mode::INPUT_PULL_DOWN);
- GpioPin(PIN2_PORT, PIN2_PIN).mode(Mode::INPUT_PULL_UP);
-
- PinObserver observer;
-
- observer.observePin(BTN_PORT, BTN_PIN, PinObserver::Transition::RISING_EDGE,
- &onTransition, 1, onStateChange);
+ auto btn = GpioPin(BTN_PORT, BTN_PIN);
+ auto pin1 = GpioPin(PIN1_PORT, PIN1_PIN);
+ auto pin2 = GpioPin(PIN2_PORT, PIN2_PIN);
- observer.observePin(PIN1_PORT, PIN1_PIN,
- PinObserver::Transition::FALLING_EDGE, &onTransition,
- 1000 / POLL_INTERVAL, onStateChange);
+ btn.mode(Mode::INPUT);
+ pin1.mode(Mode::INPUT_PULL_DOWN);
+ pin2.mode(Mode::INPUT_PULL_UP);
- observer.observePin(PIN2_PORT, PIN2_PIN,
- PinObserver::Transition::RISING_EDGE, &onTransition,
- 1000 / POLL_INTERVAL, onStateChange);
+ PinObserver::getInstance().registerPinCallback(
+ btn, std::bind(onTransition, btn, _1), 10);
+ PinObserver::getInstance().registerPinCallback(
+ pin1, std::bind(onTransition, pin1, _1), 10);
+ PinObserver::getInstance().registerPinCallback(
+ pin2, std::bind(onTransition, pin2, _1), 10);
- observer.start();
- for (;;)
- {
+ while (true)
Thread::sleep(10000);
- }
}