diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index a41cd2089e3c3d93d8ae7ebeae9a6546e2645f57..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",
@@ -51,8 +51,7 @@
"${workspaceFolder}/src/tests"
],
"limitSymbolsToIncludedHeaders": true
- },
- "compileCommands": "${workspaceFolder}/build/compile_commands.json"
+ }
},
{
"name": "stm32f429zi_stm32f4discovery",
@@ -115,7 +114,7 @@
"defines": [
"DEBUG",
"_ARCH_CORTEXM4_STM32F4",
- "_BOARD_STM32F429ZI_SKYWARD_DEATH_STACK_X",
+ "_BOARD_STM32F429ZI_SKYWARD_DEATHST_X",
"_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_x",
"HSE_VALUE=8000000",
"SYSCLK_FREQ_168MHz=168000000",
@@ -161,23 +160,129 @@
}
},
{
- "name": "stm32f429zi_parafoil",
+ "name": "stm32f429zi_skyward_death_stack_v3",
+ "cStandard": "c11",
+ "cppStandard": "c++11",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "DEBUG",
+ "_ARCH_CORTEXM4_STM32F4",
+ "_BOARD_STM32F429ZI_SKYWARD_DEATHST_X",
+ "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_v3",
+ "HSE_VALUE=8000000",
+ "SYSCLK_FREQ_168MHz=168000000",
+ "_MIOSIX",
+ "__cplusplus=201103L"
+ ],
+ "includePath": [
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/libs/fmt/include",
+ "${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
+ "${workspaceFolder}/libs",
+ "${workspaceFolder}/src/shared",
+ "${workspaceFolder}/src/tests"
+ ],
+ "browse": {
+ "path": [
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_v3",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/stdlib_integration",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/interfaces",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/filesystem",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/kernel",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/util",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/e20",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/*",
+ "${workspaceFolder}/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
+ "${workspaceFolder}/libs/mxgui",
+ "${workspaceFolder}/libs/fmt",
+ "${workspaceFolder}/src/shared",
+ "${workspaceFolder}/src/tests"
+ ],
+ "limitSymbolsToIncludedHeaders": true
+ }
+ },
+ {
+ "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_SKYWARD_PARAFOIL",
+ "_MIOSIX_BOARDNAME=stm32f429zi_skyward_parafoil",
+ "HSE_VALUE=8000000",
+ "SYSCLK_FREQ_168MHz=168000000",
+ "_MIOSIX",
+ "__cplusplus=201103L"
+ ],
+ "includePath": [
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${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",
+ "${workspaceFolder}/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/libs/fmt/include",
+ "${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
+ "${workspaceFolder}/libs",
+ "${workspaceFolder}/src/shared",
+ "${workspaceFolder}/src/tests"
+ ],
+ "browse": {
+ "path": [
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${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",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/interfaces",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/filesystem",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/kernel",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/util",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/e20",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/*",
+ "${workspaceFolder}/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
+ "${workspaceFolder}/libs/mxgui",
+ "${workspaceFolder}/libs/fmt",
+ "${workspaceFolder}/src/shared",
+ "${workspaceFolder}/src/tests"
+ ],
+ "limitSymbolsToIncludedHeaders": true
+ }
+ },
+ {
+ "name": "stm32f429zi_skyward_pyxis_auxiliary",
"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_PYXIS_AUXILIARY",
+ "_MIOSIX_BOARDNAME=stm32f429zi_skyward_pyxis_auxiliary",
"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",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/libs/miosix-kernel/miosix",
@@ -191,8 +296,8 @@
],
"browse": {
"path": [
- "${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_pyxis_auxiliary",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/libs/miosix-kernel/miosix/stdlib_integration",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
@@ -212,6 +317,59 @@
],
"limitSymbolsToIncludedHeaders": true
}
+ },
+ {
+ "name": "stm32f205rc_skyward_ciuti",
+ "cStandard": "c11",
+ "cppStandard": "c++11",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "DEBUG",
+ "_ARCH_CORTEXM3_STM32F2",
+ "_BOARD_STM32F205RC_SKYWARD_CIUTI",
+ "_MIOSIX_BOARDNAME=stm32f205RC_skyward_ciuti",
+ "HSE_VALUE=25000000",
+ "SYSCLK_FREQ_120MHz=120000000",
+ "_MIOSIX",
+ "__cplusplus=201103L"
+ ],
+ "includePath": [
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/libs/fmt/include",
+ "${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
+ "${workspaceFolder}/libs",
+ "${workspaceFolder}/src/shared",
+ "${workspaceFolder}/src/tests"
+ ],
+ "browse": {
+ "path": [
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/stdlib_integration",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/common",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/interfaces",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/filesystem",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/kernel",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/util",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/e20",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/*",
+ "${workspaceFolder}/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
+ "${workspaceFolder}/libs/mxgui",
+ "${workspaceFolder}/libs/fmt",
+ "${workspaceFolder}/src/shared",
+ "${workspaceFolder}/src/tests"
+ ],
+ "limitSymbolsToIncludedHeaders": true
+ }
}
],
"version": 4
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 43e514f2603ebb9bb2b90fdab6c1c80067e2f17d..68d8988bcafbddb302ab2276396aab2f81057fc8 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,228 +1,306 @@
{
- "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",
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- "__bit_reference": "cpp",
- "__bits": "cpp",
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- "alignedvector3": "cpp",
- "bvh": "cpp",
- "fft": "cpp",
- "iterativesolvers": "cpp",
- "mprealsupport": "cpp",
- "matrixfunctions": "cpp",
- "nonlinearoptimization": "cpp",
- "openglsupport": "cpp",
- "polynomials": "cpp",
- "autodiff": "cpp",
- "sparseextra": "cpp",
- "specialfunctions": "cpp"
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- "TSCPP",
- "Ublox",
- "Unsync",
- "upcounter",
- "USART",
- "velnord",
- "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",
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+ "string_view": "cpp",
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+ "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": [
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+ "ADCPRE",
+ "addfilter",
+ "ADON",
+ "aelf",
+ "airbrakes",
+ "Airbrakes",
+ "Alain",
+ "Alessandro",
+ "ALST",
+ "AMSL",
+ "apbclk",
+ "atthr",
+ "AVDD",
+ "awum",
+ "Baro",
+ "bittiming",
+ "boardcore",
+ "Boardcorev",
+ "boudrate",
+ "Canbus",
+ "canprotocol",
+ "Carlucci",
+ "compid",
+ "Corigliano",
+ "CORTEXM",
+ "cpitch",
+ "cppcheck",
+ "croll",
+ "cwise",
+ "cyaw",
+ "DATABUS",
+ "deleteme",
+ "DMEIE",
+ "Doxyfile",
+ "doxygen",
+ "DRDY",
+ "Duca",
+ "Ecompass",
+ "Eigen",
+ "elfs",
+ "Erbetta",
+ "Fatt",
+ "Fatttr",
+ "fedetft's",
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+ "FMPIE",
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+ "getdetahstate",
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+ "GPIOB",
+ "GPIOC",
+ "GPIOD",
+ "GPIOE",
+ "GPIOF",
+ "GPIOG",
+ "GPIOS",
+ "gpstr",
+ "Hatt",
+ "HIFCR",
+ "HISR",
+ "hppw",
+ "HSCMAND",
+ "HSCMRNN",
+ "HWMAPPING",
+ "IDLEIE",
+ "Impli",
+ "Implii",
+ "INAK",
+ "INRQ",
+ "irqn",
+ "irqv",
+ "JEOC",
+ "JOFR",
+ "JSQR",
+ "JSWSTART",
+ "Kalman",
+ "Katt",
+ "kbps",
+ "LBKM",
+ "ldrex",
+ "leds",
+ "LIFCR",
+ "LISR",
+ "logdecoder",
+ "Luca",
+ "Mandelli",
+ "Matteo",
+ "Mavlink",
+ "mavlinkdriver",
+ "MEKF",
+ "microcontrollers",
+ "MINC",
+ "miosix",
+ "mkdir",
+ "mosfet",
+ "mosi",
+ "MPXHZ",
+ "Musso",
+ "nart",
+ "NATT",
+ "NBAR",
+ "NDTR",
+ "NGPS",
+ "Nidasio",
+ "NMAG",
+ "NMEA",
+ "NMEKF",
+ "nord",
+ "NVIC",
+ "peripehral",
+ "Piazzolla",
+ "PINC",
+ "Pitot",
+ "Plin",
+ "prescaler",
+ "Qgbw",
+ "Qget",
+ "Qhandle",
+ "Qput",
+ "Qwait",
+ "Qwakeup",
+ "RDHR",
+ "RDLR",
+ "RDTR",
+ "rflm",
+ "RFOM",
+ "Riccardo",
+ "RQCP",
+ "RXIRQ",
+ "RXNE",
+ "RXNEIE",
+ "sats",
+ "Satt",
+ "sdio",
+ "SDRAM",
+ "smpr",
+ "SMPR",
+ "spitch",
+ "sqdip",
+ "sqtrp",
+ "sroll",
+ "SSCDANN",
+ "SSCDRRN",
+ "stof",
+ "SWSTART",
+ "syaw",
+ "TCIE",
+ "TCIF",
+ "TDHR",
+ "TDLR",
+ "TDTR",
+ "TEIE",
+ "Terraneo",
+ "testsuite",
+ "THID",
+ "TMEIE",
+ "tparam",
+ "TSCPP",
+ "TSVREFE",
+ "Tweakable",
+ "txfp",
+ "TXIRQ",
+ "TXOK",
+ "TXRQ",
+ "Ublox",
+ "UBXACK",
+ "UBXGPS",
+ "UBXNAV",
+ "Unsync",
+ "upcounter",
+ "USART",
+ "vbat",
+ "velnord",
+ "vout",
+ "vsense",
+ "Xbee",
+ "xnord",
+ "yned"
+ ],
+ "cSpell.language": "en",
+ "cSpell.enabled": true
}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5623c9375bd54d014e1e31f5fe8109ff40650ff2..52b88b00b9d7a740fadcf23a794b230d9d964a49 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_stm32f4discovery)
+sbs_target(sdcard-benchmark stm32f429zi_skyward_death_stack_x)
#-----------------------------------------------------------------------------#
# Tests #
@@ -80,7 +80,7 @@ add_executable(test-sensormanager src/tests/test-sensormanager.cpp)
sbs_target(test-sensormanager stm32f429zi_skyward_death_stack_x)
add_executable(test-serial src/tests/test-serial.cpp)
-sbs_target(test-serial stm32f407vg_stm32f4discovery)
+sbs_target(test-serial stm32f429zi_stm32f4discovery)
add_executable(test-taskscheduler src/tests/scheduler/test-taskscheduler.cpp)
sbs_target(test-taskscheduler stm32f407vg_stm32f4discovery)
@@ -100,7 +100,7 @@ add_executable(catch-tests-boardcore
src/tests/catch/test-circularbuffer.cpp
src/tests/catch/test-eventbroker.cpp
src/tests/catch/test-timestamptimer.cpp
- src/tests/catch/test-kalman-eigen.cpp
+ src/tests/catch/test-kalman.cpp
src/tests/catch/test-packetqueue.cpp
src/tests/catch/test-sensormanager-catch.cpp
src/tests/catch/xbee/test-xbee-parser.cpp
@@ -129,20 +129,17 @@ sbs_target(test-stepper stm32f429zi_stm32f4discovery)
# Tests - Algorithms #
#-----------------------------------------------------------------------------#
-add_executable(test-kalman-eigen-benchmark src/tests/algorithms/Kalman/test-kalman-eigen-benchmark.cpp)
-sbs_target(test-kalman-eigen-benchmark stm32f429zi_stm32f4discovery)
-
-add_executable(test-tmp src/tests/algorithms/NAS/test-tmp.cpp)
-sbs_target(test-tmp stm32f429zi_skyward_death_stack_x)
+add_executable(test-kalman-benchmark src/tests/algorithms/Kalman/test-kalman-benchmark.cpp)
+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)
@@ -154,17 +151,26 @@ 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)
#-----------------------------------------------------------------------------#
# Tests - Drivers #
#-----------------------------------------------------------------------------#
-add_executable(test-canbus-loopback src/tests/drivers/canbus/test-canbus-loopback.cpp)
-sbs_target(test-canbus-loopback stm32f429zi_stm32f4discovery)
+add_executable(test-can-2way src/tests/drivers/canbus/CanDriver/test-can-2way.cpp)
+sbs_target(test-can-2way stm32f429zi_skyward_pyxis_auxiliary)
+
+add_executable(test-can-filters src/tests/drivers/canbus/CanDriver/test-can-filters.cpp)
+sbs_target(test-can-filters stm32f429zi_skyward_pyxis_auxiliary)
-add_executable(test-canbus-2way src/tests/drivers/canbus/test-canbus-2way.cpp)
-sbs_target(test-canbus-2way stm32f429zi_stm32f4discovery)
+add_executable(test-can-loopback src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp)
+sbs_target(test-can-loopback stm32f429zi_skyward_death_stack_x)
+
+add_executable(test-can-protocol src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp)
+sbs_target(test-can-protocol stm32f429zi_skyward_death_stack_x)
add_executable(test-dma-spi src/tests/drivers/dma/test-dma-spi.cpp)
sbs_target(test-dma-spi stm32f429zi_stm32f4discovery)
@@ -176,7 +182,7 @@ 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)
@@ -229,6 +235,9 @@ 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 #
#-----------------------------------------------------------------------------#
@@ -240,29 +249,23 @@ sbs_target(test-fsm stm32f429zi_stm32f4discovery)
# Tests - Radio #
#-----------------------------------------------------------------------------#
-add_executable(test-sx1278-bench
- src/tests/drivers/sx1278/test-sx1278-bench.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-bench stm32f407vg_stm32f4discovery)
+# add_executable(test-sx1278-bench src/tests/drivers/sx1278/test-sx1278-bench.cpp)
+# sbs_target(test-sx1278-bench stm32f407vg_stm32f4discovery)
-add_executable(test-sx1278-bidir
- src/tests/drivers/sx1278/test-sx1278-bidir.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-bidir stm32f407vg_stm32f4discovery)
+# add_executable(test-sx1278-bidir src/tests/drivers/sx1278/test-sx1278-bidir.cpp)
+# sbs_target(test-sx1278-bidir stm32f407vg_stm32f4discovery)
-add_executable(test-sx1278-tx
- src/tests/drivers/sx1278/test-sx1278-tx.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-tx stm32f407vg_stm32f4discovery)
+add_executable(test-sx1278-bidir-gs src/tests/drivers/sx1278/test-sx1278-bidir.cpp)
+sbs_target(test-sx1278-bidir-gs stm32f429zi_skyward_ground_station)
-add_executable(test-sx1278-rx
- src/tests/drivers/sx1278/test-sx1278-rx.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-rx stm32f407vg_stm32f4discovery)
+add_executable(test-sx1278-bidir-v3 src/tests/drivers/sx1278/test-sx1278-bidir.cpp)
+sbs_target(test-sx1278-bidir-v3 stm32f429zi_skyward_death_stack_v3)
+
+add_executable(test-sx1278-tx src/tests/drivers/sx1278/test-sx1278-tx.cpp)
+sbs_target(test-sx1278-tx stm32f429zi_skyward_death_stack_v3)
+
+add_executable(test-sx1278-rx src/tests/drivers/sx1278/test-sx1278-rx.cpp)
+sbs_target(test-sx1278-rx stm32f429zi_skyward_ground_station)
add_executable(test-sx1278-mavlink
src/tests/drivers/sx1278/test-sx1278-mavlink.cpp
@@ -279,6 +282,9 @@ sbs_target(test-sx1278-serial stm32f429zi_stm32f4discovery)
add_executable(test-cc3135 src/tests/drivers/CC3135/test-cc3135.cpp)
sbs_target(test-cc3135 stm32f407vg_stm32f4discovery)
+add_executable(test-mavlinkdriver src/tests/radio/test-mavlinkdriver.cpp)
+sbs_target(test-mavlinkdriver stm32f407vg_stm32f4discovery)
+
#-----------------------------------------------------------------------------#
# Tests - Sensors #
#-----------------------------------------------------------------------------#
@@ -347,17 +353,16 @@ 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)
-add_executable(test-ubloxgps-serial src/tests/sensors/test-ubloxgps.cpp)
-sbs_target(test-ubloxgps-serial stm32f429zi_skyward_death_stack_x)
+add_executable(test-ubxgps-serial src/tests/sensors/test-ubxgps-serial.cpp)
+sbs_target(test-ubxgps-serial stm32f429zi_skyward_death_stack_x)
-add_executable(test-ubloxgps-spi src/tests/sensors/test-ubloxgps.cpp)
-target_compile_definitions(test-ubloxgps-spi PRIVATE USE_SPI)
-sbs_target(test-ubloxgps-spi stm32f407vg_stm32f4discovery)
+add_executable(test-ubxgps-spi src/tests/sensors/test-ubxgps-spi.cpp)
+sbs_target(test-ubxgps-spi stm32f429zi_skyward_death_stack_x)
add_executable(test-vn100 src/tests/sensors/test-vn100.cpp)
sbs_target(test-vn100 stm32f407vg_stm32f4discovery)
@@ -371,3 +376,6 @@ sbs_target(test-csvreader stm32f429zi_stm32f4discovery)
add_executable(test-buttonhandler src/tests/utils/test-buttonhandler.cpp)
sbs_target(test-buttonhandler stm32f429zi_stm32f4discovery)
+
+add_executable(test-syncpacketqueue src/tests/utils/test-syncpacketqueue.cpp)
+sbs_target(test-syncpacketqueue stm32f407vg_stm32f4discovery)
diff --git a/cmake/boardcore-host.cmake b/cmake/boardcore-host.cmake
index 85d11ef2498c72e2528591aabf6a092ebb82b0af..355f4c9e69dca277517dd4a4bdc5cc401064433e 100644
--- a/cmake/boardcore-host.cmake
+++ b/cmake/boardcore-host.cmake
@@ -22,7 +22,7 @@
add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
# Debug
${SBS_BASE}/src/shared/utils/Debug.cpp
- ${SBS_BASE}/src/shared/diagnostic/CpuMeter.cpp
+ ${SBS_BASE}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
${SBS_BASE}/src/shared/diagnostic/PrintLogger.cpp
# Actuators
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 7d521942145deac97f0c9b58b127de8b93b420e8..d5a2e222f0d41f5d77829b239bdccc3b0eb9a070 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -26,23 +26,28 @@ include(boardcore-host)
foreach(OPT_BOARD ${BOARDS})
set(BOARDCORE_LIBRARY boardcore-${OPT_BOARD})
add_library(${BOARDCORE_LIBRARY} STATIC EXCLUDE_FROM_ALL
+
# Actuators
${SBS_BASE}/src/shared/actuators/HBridge/HBridge.cpp
${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp
-
# Algorithms
+ ${SBS_BASE}/src/shared/algorithms/ADA/ADA.cpp
+ ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakes.cpp
${SBS_BASE}/src/shared/algorithms/NAS/NAS.cpp
+ ${SBS_BASE}/src/shared/algorithms/NAS/StateInitializer.cpp
# Debug
${SBS_BASE}/src/shared/utils/Debug.cpp
- ${SBS_BASE}/src/shared/diagnostic/CpuMeter.cpp
+ ${SBS_BASE}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
${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
+ ${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
+ ${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
+ ${SBS_BASE}/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
${SBS_BASE}/src/shared/drivers/i2c/stm32f2_f4_i2c.cpp
${SBS_BASE}/src/shared/drivers/interrupt/external_interrupts.cpp
${SBS_BASE}/src/shared/drivers/timer/PWM.cpp
@@ -76,6 +81,8 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/BMX160/BMX160.cpp
${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
@@ -84,7 +91,8 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/MS5803/MS5803.cpp
${SBS_BASE}/src/shared/sensors/SensorManager.cpp
${SBS_BASE}/src/shared/sensors/SensorSampler.cpp
- ${SBS_BASE}/src/shared/sensors/UbloxGPS/UbloxGPS.cpp
+ ${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
+ ${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
${SBS_BASE}/src/shared/sensors/VN100/VN100.cpp
# Calibration
@@ -93,6 +101,7 @@ 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 94b57a3b5d5c200e69817066d69bc2e37cf963af..be1b8d4f61c546548d8b0c7d128dd304c9c49476 160000
--- a/libs/mavlink-skyward-lib
+++ b/libs/mavlink-skyward-lib
@@ -1 +1 @@
-Subproject commit 94b57a3b5d5c200e69817066d69bc2e37cf963af
+Subproject commit be1b8d4f61c546548d8b0c7d128dd304c9c49476
diff --git a/libs/miosix-kernel b/libs/miosix-kernel
index a4d47de3e79207aebb096cc8878e75af24905b07..fd9f506f11661d34b1e42a4af8b12d994fd1fa0e 160000
--- a/libs/miosix-kernel
+++ b/libs/miosix-kernel
@@ -1 +1 @@
-Subproject commit a4d47de3e79207aebb096cc8878e75af24905b07
+Subproject commit fd9f506f11661d34b1e42a4af8b12d994fd1fa0e
diff --git a/libs/mxgui b/libs/mxgui
index 0052374bc85c2bf90753faba61ecc08905658c83..537e0d172209024e6cfefbfeb4bf0a61bf8a09d1 160000
--- a/libs/mxgui
+++ b/libs/mxgui
@@ -1 +1 @@
-Subproject commit 0052374bc85c2bf90753faba61ecc08905658c83
+Subproject commit 537e0d172209024e6cfefbfeb4bf0a61bf8a09d1
diff --git a/scripts/generators/README.md b/scripts/generators/README.md
index dfa4189d688093436b7c79293db6ad612aa7513a..a428a0ca26ac4a3e41c37291d33ccd8224219473 100644
--- a/scripts/generators/README.md
+++ b/scripts/generators/README.md
@@ -21,6 +21,7 @@ optional arguments:
## FSMGen
The FSMGen program generates cpp files (`FSMController.h`, `FSMController.cpp`, `FSMData.h` and `test-FMS.cpp`) for each scxml file specified.
+DO NOT USE FOR HSM
```shell
usage: fsmgen.py [-h] [-q] [-a AUTHORS] [-n MAIN_NAMESPACE] [-f [F [F ...]]] [directory]
diff --git a/src/entrypoints/bmx160-calibration-entry.cpp b/src/entrypoints/bmx160-calibration-entry.cpp
index d2aa4746b97f41ee1b47c5306c6ea884f1f859ef..92153a60604522fc9ea1b5e99cbd469a489f8810 100644
--- a/src/entrypoints/bmx160-calibration-entry.cpp
+++ b/src/entrypoints/bmx160-calibration-entry.cpp
@@ -22,6 +22,7 @@
#include <drivers/interrupt/external_interrupts.h>
#include <drivers/timer/TimestampTimer.h>
+#include <scheduler/TaskScheduler.h>
#include <sensors/BMX160/BMX160.h>
#include <sensors/BMX160/BMX160WithCorrection.h>
#include <sensors/calibration/AxisOrientation.h>
@@ -31,8 +32,9 @@
#include <fstream>
#include <iostream>
-using namespace Boardcore;
using namespace std;
+using namespace miosix;
+using namespace Boardcore;
constexpr const char* CORRECTION_PARAMETER_FILE = "/sd/bmx160_params.csv";
constexpr const char* MAG_CALIBRATION_DATA_FILE =
@@ -41,15 +43,13 @@ constexpr int ACC_CALIBRATION_SAMPLES = 200;
constexpr int ACC_CALIBRATION_SLEEP_TIME = 25; // [us]
constexpr int ACC_CALIBRATION_N_ORIENTATIONS = 6;
-constexpr int MAG_CALIBRATION_SAMPLES = 500;
-constexpr int MAG_CALIBRATION_DURATION = 60; // [s]
-constexpr int MAG_CALIBRATION_SLEEP_TIME =
- MAG_CALIBRATION_DURATION * 1000 / MAG_CALIBRATION_SAMPLES; // [us]
+constexpr int MAG_CALIBRATION_DURATION = 10; // [s]
+constexpr uint32_t MAG_CALIBRATION_SAMPLE_PERIOD = 20; // [ms]
BMX160* bmx160;
/**
- * Orientations for accelerometer calibration
+ * @brief Orientations for accelerometer calibration.
*
* The BMX160 reference frame view facing the death stack x is:
* z x
@@ -77,22 +77,16 @@ constexpr const char* testHumanFriendlyDirection[]{
void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
if (bmx160)
- {
- bmx160->IRQupdateTimestamp(
- TimestampTimer::getInstance().getTimestamp());
- }
+ bmx160->IRQupdateTimestamp(TimestampTimer::getTimestamp());
}
int menu();
-bool askToContinue();
void waitForInput();
BMX160CorrectionParameters calibrateAccelerometer(
BMX160CorrectionParameters correctionParameters);
BMX160CorrectionParameters calibrateMagnetometer(
BMX160CorrectionParameters correctionParameters);
-BMX160CorrectionParameters changeMinGyroCorrectionSamples(
- BMX160CorrectionParameters correctionParameters);
int main()
{
@@ -102,7 +96,7 @@ int main()
// Greet the user
printf("\nWelcome to the calibration procedure!\n");
- // Read the current correciton parameters
+ // Read the current correction parameters
BMX160CorrectionParameters correctionParameters;
correctionParameters =
BMX160WithCorrection::readCorrectionParametersFromFile(
@@ -117,10 +111,6 @@ int main()
case 2:
correctionParameters = calibrateMagnetometer(correctionParameters);
break;
- case 3:
- correctionParameters =
- changeMinGyroCorrectionSamples(correctionParameters);
- break;
default:
break;
@@ -144,23 +134,12 @@ int menu()
printf("\nWhat do you want to do?\n");
printf("1. Calibrate accelerometer\n");
printf("2. Calibrate magnetometer\n");
- printf("3. Set minimum gyroscope samples for calibration\n");
printf("\n>> ");
scanf("%d", &choice);
return choice;
}
-bool askToContinue()
-{
- string temp;
-
- cout << "Write 'c' to continue, otherwise stop:\n";
- getline(cin, temp);
-
- return temp != "c";
-}
-
void waitForInput()
{
string temp;
@@ -244,10 +223,7 @@ BMX160CorrectionParameters calibrateAccelerometer(
printf(" | % 2.5f % 2.5f % 2.5f |\n", 0.f, 0.f,
correctionParameters.accelParams(2, 0));
- if (!askToContinue())
- {
- return correctionParameters;
- }
+ waitForInput();
printf(
"Please note that the BMX axis, viewed facing the death stack x, "
@@ -337,16 +313,18 @@ BMX160CorrectionParameters calibrateMagnetometer(
SPIBus bus(SPI1);
BMX160Config bmxConfig;
- bmxConfig.fifoMode = BMX160Config::FifoMode::DISABLED;
+ bmxConfig.fifoMode = BMX160Config::FifoMode::HEADER;
+ bmxConfig.fifoWatermark = 20;
+ bmxConfig.fifoInterrupt = BMX160Config::FifoInterruptPin::PIN_INT1;
bmxConfig.temperatureDivider = 0;
bmxConfig.accelerometerRange = BMX160Config::AccelerometerRange::G_16;
bmxConfig.gyroscopeRange = BMX160Config::GyroscopeRange::DEG_2000;
- bmxConfig.accelerometerDataRate = BMX160Config::OutputDataRate::HZ_1600;
- bmxConfig.gyroscopeDataRate = BMX160Config::OutputDataRate::HZ_1600;
- bmxConfig.magnetometerRate = BMX160Config::OutputDataRate::HZ_50;
+ bmxConfig.accelerometerDataRate = BMX160Config::OutputDataRate::HZ_100;
+ bmxConfig.gyroscopeDataRate = BMX160Config::OutputDataRate::HZ_100;
+ bmxConfig.magnetometerRate = BMX160Config::OutputDataRate::HZ_100;
bmxConfig.gyroscopeUnit = BMX160Config::GyroscopeMeasureUnit::RAD;
@@ -372,16 +350,16 @@ BMX160CorrectionParameters calibrateMagnetometer(
// Show the user the current correction values
printf("Current bias vector\n");
- printf("b = [ % 2.5f % 2.5f % 2.5f ]\n\n",
+ printf("b = |% 2.5f % 2.5f % 2.5f|\n\n",
correctionParameters.magnetoParams(0, 1),
correctionParameters.magnetoParams(1, 1),
correctionParameters.magnetoParams(2, 1));
printf("Matrix to be multiplied to the input vector\n");
- printf(" | % 2.5f % 2.5f % 2.5f |\n",
+ printf(" |% 2.5f % 2.5f % 2.5f|\n",
correctionParameters.magnetoParams(0, 0), 0.f, 0.f);
- printf("M = | % 2.5f % 2.5f % 2.5f |\n", 0.f,
+ printf("M = |% 2.5f % 2.5f % 2.5f|\n", 0.f,
correctionParameters.magnetoParams(1, 0), 0.f);
- printf(" | % 2.5f % 2.5f % 2.5f |\n", 0.f, 0.f,
+ printf(" |% 2.5f % 2.5f % 2.5f|\n", 0.f, 0.f,
correctionParameters.magnetoParams(2, 0));
printf("Now I will calibrate the magnetometer\n");
@@ -392,56 +370,46 @@ BMX160CorrectionParameters calibrateMagnetometer(
printf("The calibration will run for %d seconds\n",
MAG_CALIBRATION_DURATION);
- if (!askToContinue())
- {
- return correctionParameters;
- }
+ waitForInput();
- // Sample the sensor and feed the data to the calibration model
- int count = 0;
- while (count < MAG_CALIBRATION_SAMPLES)
- {
- bmx160->sample();
+ printf("Calibration started, rotate the stack!\n");
- BMX160Data data = bmx160->getLastSample();
- calibrationModel->feed(data);
- count++;
+ TaskScheduler scheduler;
+ scheduler.addTask(
+ [&]()
+ {
+ bmx160->sample();
- miosix::Thread::sleep(MAG_CALIBRATION_SLEEP_TIME);
- }
+ uint8_t fifoSize = bmx160->getLastFifoSize();
+ auto& fifo = bmx160->getLastFifo();
- printf("Computing the result....");
+ for (uint8_t i = 0; i < fifoSize; i++)
+ {
+ Logger::getInstance().log(fifo.at(i));
+ calibrationModel->feed(fifo.at(i));
+ }
+ },
+ 200);
+ Logger::getInstance().start();
+ scheduler.start();
+
+ Thread::sleep(MAG_CALIBRATION_DURATION * 1000);
+
+ scheduler.stop();
+ Logger::getInstance().stop();
+
+ printf("Computing the result....\n");
auto corrector = calibrationModel->computeResult();
corrector >> m;
corrector >> correctionParameters.magnetoParams;
printf("b: the bias vector\n");
- printf("b = [ % 2.5f % 2.5f % 2.5f ]\n\n", m(0, 1), m(1, 1),
- m(2, 1));
+ printf("b = |% 2.5f % 2.5f % 2.5f|\n\n", m(0, 1), m(1, 1), m(2, 1));
printf("M: the matrix to be multiplied to the input vector\n");
- printf(" | % 2.5f % 2.5f % 2.5f |\n", m(0, 0), 0.f, 0.f);
- printf("M = | % 2.5f % 2.5f % 2.5f |\n", 0.f, m(1, 0), 0.f);
- printf(" | % 2.5f % 2.5f % 2.5f |\n", 0.f, 0.f, m(2, 0));
-
- return correctionParameters;
-}
-
-BMX160CorrectionParameters changeMinGyroCorrectionSamples(
- BMX160CorrectionParameters correctionParameters)
-{
- // Show the user the current parameter
- printf(
- "The current minimun number of gyroscope samples for calibration "
- "is "
- "%d\n",
- correctionParameters.minGyroSamplesForCalibration);
-
- if (askToContinue())
- {
- printf("Insert the new value: ");
- scanf("%d", &correctionParameters.minGyroSamplesForCalibration);
- }
+ printf(" |% 2.5f % 2.5f % 2.5f|\n", m(0, 0), 0.f, 0.f);
+ printf("M = |% 2.5f % 2.5f % 2.5f|\n", 0.f, m(1, 0), 0.f);
+ printf(" |% 2.5f % 2.5f % 2.5f|\n", 0.f, 0.f, m(2, 0));
return correctionParameters;
}
diff --git a/src/entrypoints/sdcard-benchmark.cpp b/src/entrypoints/sdcard-benchmark.cpp
index 89aa596440629e7fca70113320d987ad15e63467..9a54a3a63869949c8b7b04e7e1b8a94697107256 100644
--- a/src/entrypoints/sdcard-benchmark.cpp
+++ b/src/entrypoints/sdcard-benchmark.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Author: Luca Erbetta
+/* Copyright (c) 2018-2021 Skyward Experimental Rocketry
+ * Authors: 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
@@ -20,121 +20,145 @@
* THE SOFTWARE.
*/
+#include <drivers/timer/TimestampTimer.h>
+#include <miosix.h>
+#include <stdint.h>
+#include <utils/Stats/Stats.h>
+
#include <array>
-// #include <chrono>
#include <cstdio>
#include <ctime>
#include <iostream>
-// #include <thread>
-#include <miosix.h>
-#include <utils/Stats/Stats.h>
-
#include <vector>
using namespace Boardcore;
using namespace miosix;
using namespace std;
-const unsigned int NUM_WRITES = 5000;
+///< Number of writes to perform for each buffer size
+const unsigned int NUM_WRITES = 1000;
-vector<unsigned int> BUF_SIZES{128, 256, 512, 1024, 2048, 4096, 1024 * 8};
+vector<size_t> BUFFER_SIZES = {128, 256, 512, 1024, 2048,
+ 4096, 8192, 16348, 32768, 65536};
-// Fills a buffer with random bytes
-void rndFill(uint8_t* buf, unsigned int size)
+array<float, NUM_WRITES> data;
+
+/**
+ * @brief Fills a buffer with random bytes.
+ *
+ * @param buf Pointer to the buffer to fill.
+ * @param size Size of the buffer
+ */
+void rndFill(uint8_t* buf, size_t size);
+
+/**
+ * @brief Writes random bufferSize bytes on the SD card and measure the duration
+ * of each transaction.
+ *
+ * @param bufferSize Number of bytes to write.
+ * @param results Array where to store the duration measured for each write.
+ * @return True if no error encountered.
+ */
+bool benchmark(size_t bufferSize, array<float, NUM_WRITES>& results);
+
+/**
+ * @brief Prints the test results for the specified buffer size.
+ *
+ * @param bufferSize Buffer size of the benchmark.
+ * @param results Results form the benchmark.
+ */
+void printResults(size_t bufferSize, array<float, NUM_WRITES>& results);
+
+int main()
{
- for (unsigned int i = 0; i < size; i++)
+ srand(time(NULL));
+
+ for (size_t bufferSize : BUFFER_SIZES)
{
- *buf = rand() % 256;
- ++buf;
+ if (benchmark(bufferSize, data))
+ printResults(bufferSize, data);
+ else
+ printf("Error while performing the benchmark (buffer size: %lu)\n",
+ (unsigned long)bufferSize);
}
+
+ printf("Test completed\n");
+
+ while (true)
+ Thread::sleep(1000);
}
-bool benchmark(unsigned int buf_size, array<float, NUM_WRITES>& results)
+void rndFill(uint8_t* buf, size_t size)
{
- bool success = false;
+ for (size_t i = 0; i < size; i++)
+ buf[i] = rand() % 256;
+}
- uint8_t* buf = new uint8_t[buf_size];
+bool benchmark(size_t bufferSize, array<float, NUM_WRITES>& results)
+{
+ uint8_t* buffer = new uint8_t[bufferSize];
- FILE* f = fopen("/sd/buf.dat", "w");
+ FILE* file = fopen("/sd/buf.dat", "w");
- if (f == NULL)
+ if (file == nullptr)
{
printf("Error opening file!\n");
- goto clean;
+ // cppcheck-suppress nullPointerRedundantCheck
+ // cppcheck-suppress nullPointer
+ fclose(file);
+ // cppcheck-suppress uninitdata
+ delete[] buffer;
+ return false;
}
for (unsigned int i = 0; i < NUM_WRITES; i++)
{
- rndFill(buf, buf_size);
- long long t = getTick();
- int w = fwrite(buf, 1, buf_size, f);
- t = getTick() - t;
+ rndFill(buffer, bufferSize);
- if (w != (int)buf_size)
- {
- printf("fwrite error: %d\n", ferror(f));
- goto clean;
- }
- results[i] = t;
- }
+ // Time in microseconds (us)
+ uint64_t duration = TimestampTimer::getTimestamp();
- success = true;
+ size_t writeResult = fwrite(buffer, 1, bufferSize, file);
-clean:
- // Cleanup
- fclose(f);
- remove("buf.dat");
- delete[] buf;
+ duration = TimestampTimer::getTimestamp() - duration;
- return success;
-}
+ if (writeResult != bufferSize)
+ {
+ printf("fwrite error: %d\n", ferror(file));
+ fclose(file);
+ delete[] buffer;
+ return false;
+ }
-void printResults(unsigned int buf_size, array<float, NUM_WRITES>& results)
-{
- Stats s;
- for (float f : results)
- {
- s.add(f);
+ results[i] = duration;
}
- StatsResult res = s.getStats();
-
- cout << "***BUF SIZE: " << buf_size << "\n";
- cout << "Times: \n";
- cout << "- mean: " << res.mean << " ms \n";
- cout << "- stddev: " << res.stdDev << " ms \n";
- cout << "- min: " << res.minValue << " ms \n";
- cout << "- max: " << res.maxValue << " ms \n";
-
- cout << "Speeds: \n";
- cout << "- mean: " << buf_size / (res.mean * 1024) << " KiB/s \n";
- cout << "- min: " << buf_size / (res.maxValue * 1024) << " KiB/s \n";
- cout << "- max: " << buf_size / (res.minValue * 1024) << " KiB/s \n";
- cout << "\n\n";
+ fclose(file);
+ delete[] buffer;
+ return true;
}
-array<float, NUM_WRITES> data;
-
-int main()
+void printResults(size_t bufferSize, array<float, NUM_WRITES>& results)
{
- srand(time(NULL));
-
- for (unsigned int s : BUF_SIZES)
- {
- if (benchmark(s, data))
- {
- printResults(s, data);
- }
- else
- {
- cout << "Error (buf_size: " << s << ").\nAborting.\n";
- }
- }
- for (;;)
- {
- Thread::sleep(60000);
- cout << "Aborted!\n";
- }
-
- return 0;
+ // Compute statistics on the benchmark results
+ Stats stats;
+ for (float result : results)
+ stats.add(result);
+ StatsResult statsResults = stats.getStats();
+
+ printf("\tBuffer size: %lu\n", (unsigned long)bufferSize);
+ printf("Times:\n");
+ printf("- mean: % 6.1f us\n", statsResults.mean);
+ printf("- std dev: % 6.1f us\n", statsResults.stdDev);
+ printf("- min: % 6.1f us\n", statsResults.minValue);
+ printf("- max: % 6.1f us\n", statsResults.maxValue);
+ printf("Speeds:\n");
+ printf("- mean: % 6.2fKiB/s\n",
+ bufferSize / (statsResults.mean / 1e6) / 1024);
+ printf("- min: % 6.2fKiB/s\n",
+ bufferSize / (statsResults.maxValue / 1e6) / 1024);
+ printf("- max: % 6.2fKiB/s\n",
+ bufferSize / (statsResults.minValue / 1e6) / 1024);
+
+ printf("\n");
}
diff --git a/src/shared/ActiveObject.h b/src/shared/ActiveObject.h
index ddcb49f60d4bca82b2671d0fd498d013ab850709..c26c6b2d902308ebd9821ee895bc8137f7f133e8 100644
--- a/src/shared/ActiveObject.h
+++ b/src/shared/ActiveObject.h
@@ -49,7 +49,7 @@ public:
virtual ~ActiveObject(){};
/**
- * @brief Start the thread associated with this activeobject.
+ * @brief Start the thread associated with this active object.
*
* Call stop() to terminate execution of the thread.
* @return true if the thread has been started.
diff --git a/src/shared/actuators/Servo/Servo.cpp b/src/shared/actuators/Servo/Servo.cpp
index ceffefd2963bda1cb9984ea73974b692d62df2ba..2cabb2505381e44168d7fe90c8346173e07f0cde 100644
--- a/src/shared/actuators/Servo/Servo.cpp
+++ b/src/shared/actuators/Servo/Servo.cpp
@@ -59,8 +59,16 @@ void Servo::disable() {}
#endif
-void Servo::setPosition(float position)
+void Servo::setPosition(float position, bool limited)
{
+ if (limited)
+ {
+ if (position < 0)
+ position = 0;
+ else if (position > 1)
+ position = 1;
+ }
+
float pulse = minPulse + (maxPulse - minPulse) * position;
float dutyCycle = pulse * frequency / 1000000.0f;
@@ -101,7 +109,7 @@ float Servo::getPosition360Deg() { return getPosition() * 3600; }
ServoData Servo::getState()
{
- return {TimestampTimer::getInstance().getTimestamp(),
+ return {TimestampTimer::getTimestamp(),
#ifndef COMPILE_FOR_HOST
pwm.getTimer().getTimerNumber(), static_cast<uint8_t>(pwmChannel),
diff --git a/src/shared/actuators/Servo/Servo.h b/src/shared/actuators/Servo/Servo.h
index 2e0a511eb412e5a52f71a4399357d927ded90d62..e4a792cc1380044597d0da1a9c08f7f0c1a3fc76 100644
--- a/src/shared/actuators/Servo/Servo.h
+++ b/src/shared/actuators/Servo/Servo.h
@@ -98,7 +98,7 @@ public:
*
* @param position Position in range [0, 1].
*/
- void setPosition(float position);
+ void setPosition(float position, bool limited = true);
void setPosition90Deg(float degrees);
diff --git a/src/shared/algorithms/ADA/ADA.cpp b/src/shared/algorithms/ADA/ADA.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0b828756a82f859a5ebb3e4d4c983ae71aaed738
--- /dev/null
+++ b/src/shared/algorithms/ADA/ADA.cpp
@@ -0,0 +1,67 @@
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Authors: Luca Mozzarelli, Luca Conterio, 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 "ADA.h"
+
+#include <drivers/timer/TimestampTimer.h>
+#include <utils/AeroUtils/AeroUtils.h>
+
+namespace Boardcore
+{
+
+ADA::ADA(const ReferenceValues reference,
+ const KalmanFilter::KalmanConfig kalmanConfig)
+ : reference(reference), filter(kalmanConfig), state()
+{
+}
+
+void ADA::update(const float pressure)
+{
+ const auto filterState = filter.getState();
+
+ // Update the Kalman filter
+ filter.predict();
+ filter.correct(KalmanFilter::CVectorP{pressure});
+
+ // Convert filter data to altitudes and speeds
+ state.timestamp = TimestampTimer::getTimestamp();
+ state.mslAltitude = Aeroutils::relAltitude(pressure, reference.pressure,
+ reference.temperature);
+ state.aglAltitude = state.mslAltitude - reference.altitude;
+ state.verticalSpeed = Aeroutils::verticalSpeed(
+ filterState(0), filterState(1), reference.mslPressure,
+ reference.mslTemperature);
+ state.x0 = filterState(0);
+ state.x1 = filterState(1);
+ state.x2 = filterState(2);
+}
+
+ADAState ADA::getState() { return state; }
+
+void ADA::setReferenceValues(const ReferenceValues reference)
+{
+ this->reference = reference;
+}
+
+ReferenceValues ADA::getReferenceValues() { return reference; }
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/ADA/ADA.h b/src/shared/algorithms/ADA/ADA.h
new file mode 100644
index 0000000000000000000000000000000000000000..1e0eb0f1d8329e5a4035c76375e610f97fd15dba
--- /dev/null
+++ b/src/shared/algorithms/ADA/ADA.h
@@ -0,0 +1,71 @@
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Authors: Luca Mozzarelli, Luca Conterio, 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 <algorithms/Kalman/Kalman.h>
+#include <algorithms/ReferenceValues.h>
+
+#include "ADAData.h"
+
+namespace Boardcore
+{
+
+class ADA
+{
+public:
+ using KalmanFilter = Kalman<float, 3, 1>;
+
+ ADA(const ReferenceValues reference,
+ const KalmanFilter::KalmanConfig kalmanConfig);
+
+ /**
+ * @brief Update the Kalman filter.
+ *
+ * @param pressure Measured pressure [Pa].
+ */
+ void update(const float pressure);
+
+ /**
+ * @param state ADA state with altitude and Kalman parameters.
+ */
+ ADAState getState();
+
+ /**
+ * @brief Changes the reference values.
+ */
+ void setReferenceValues(const ReferenceValues reference);
+
+ /**
+ * @brief Returns the current reference values.
+ */
+ ReferenceValues getReferenceValues();
+
+private:
+ ReferenceValues reference;
+
+ KalmanFilter filter;
+
+ ADAState state;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/ADA/ADAData.h b/src/shared/algorithms/ADA/ADAData.h
new file mode 100644
index 0000000000000000000000000000000000000000..a00d7c4cfeebd6c4b7f9fcfda59f0a01c31023c3
--- /dev/null
+++ b/src/shared/algorithms/ADA/ADAData.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Author: Luca Mozzarelli, 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 <ostream>
+
+namespace Boardcore
+{
+
+struct ADAState
+{
+ uint64_t timestamp;
+ float mslAltitude; // Altitude at mean sea level [m].
+ float aglAltitude; // Altitude above ground level [m].
+ float verticalSpeed; // Vertical speed [m/s].
+ float x0;
+ float x1;
+ float x2;
+
+ static std::string header()
+ {
+ return "timestamp,mslAltitude,aglAltitude,verticalSpeed,x0,x1,x2\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << mslAltitude << "," << aglAltitude << ","
+ << verticalSpeed << "," << x0 << "," << x1 << "," << x2 << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/AirBrakes.cpp b/src/shared/algorithms/AirBrakes/AirBrakes.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..896815cdba7893328e332a775c895c878602a4c2
--- /dev/null
+++ b/src/shared/algorithms/AirBrakes/AirBrakes.cpp
@@ -0,0 +1,239 @@
+/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco, 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 "AirBrakes.h"
+
+#include <logger/Logger.h>
+#include <utils/Constants.h>
+
+#include <limits>
+
+namespace Boardcore
+{
+
+AirBrakes::AirBrakes(std::function<TimedTrajectoryPoint()> getCurrentPosition,
+ const TrajectorySet &trajectorySet,
+ const AirBrakesConfig &config,
+ std::function<void(float)> setActuator)
+ : getCurrentPosition(getCurrentPosition), trajectorySet(trajectorySet),
+ config(config), setActuator(setActuator),
+ pi(config.KP, config.KI, config.TS)
+{
+}
+
+bool AirBrakes::init() { return true; }
+
+void AirBrakes::begin()
+{
+ if (running)
+ return;
+
+ lastPosition = getCurrentPosition();
+ chooseTrajectory(lastPosition);
+
+ Algorithm::begin();
+}
+
+void AirBrakes::step()
+{
+ auto currentPosition = getCurrentPosition();
+
+ // Do nothing if we have no new data
+ if (lastPosition.timestamp >= currentPosition.timestamp)
+ return;
+ lastPosition = currentPosition;
+
+ auto setPoint = getSetpoint(currentPosition);
+ float rho = getRho(currentPosition.z);
+
+ float targetDrag = piStep(currentPosition, setPoint, rho);
+ float surface = getSurface(currentPosition, rho, targetDrag);
+
+ setActuator(surface / config.SURFACE);
+}
+
+void AirBrakes::chooseTrajectory(TrajectoryPoint currentPosition)
+{
+ float minDistance = std::numeric_limits<float>::infinity();
+ uint8_t trjIndexMin = trajectorySet.length() / 2;
+
+ for (uint8_t trjIndex = 0; trjIndex < trajectorySet.length(); trjIndex++)
+ {
+ Trajectory &trajectory = trajectorySet.trajectories[trjIndex];
+
+ for (uint32_t ptIndex = 0; ptIndex < trajectory.size(); ptIndex++)
+ {
+ TrajectoryPoint point = trajectory.points[ptIndex];
+ float distance =
+ TrajectoryPoint::distanceSquared(point, currentPosition);
+
+ if (distance < minDistance)
+ {
+ minDistance = distance;
+ trjIndexMin = trjIndex;
+ lastSelectedPointIndex = ptIndex;
+ chosenTrajectory = &trajectory;
+ }
+ }
+ }
+
+ chosenTrajectory = &(trajectorySet.trajectories[trjIndexMin]);
+
+ Logger::getInstance().log(AirBrakesChosenTrajectory{trjIndexMin});
+}
+
+TrajectoryPoint AirBrakes::getSetpoint(TrajectoryPoint currentPosition)
+{
+ if (chosenTrajectory == nullptr)
+ return {};
+
+ float minDistance = std::numeric_limits<float>::infinity();
+
+ uint32_t end = chosenTrajectory->size();
+ for (uint32_t ptIndex = lastSelectedPointIndex; ptIndex < end; ptIndex++)
+ {
+ float distanceFromCurrentinput = TrajectoryPoint::distanceSquared(
+ chosenTrajectory->points[ptIndex], currentPosition);
+
+ if (distanceFromCurrentinput < minDistance)
+ {
+ minDistance = distanceFromCurrentinput;
+ lastSelectedPointIndex = ptIndex;
+ }
+ }
+
+ return chosenTrajectory->points[lastSelectedPointIndex];
+}
+
+float AirBrakes::getRho(float z)
+{
+ return Constants::RHO_0 * expf(-z / Constants::Hn);
+}
+
+float AirBrakes::piStep(TimedTrajectoryPoint currentPosition,
+ TrajectoryPoint setPoint, float rho)
+{
+ const float cdMin = getCD(currentPosition, 0);
+ const float dragMin = getDrag(currentPosition, cdMin, rho);
+
+ const float cdMax = getCD(currentPosition, config.EXTENSION);
+ const float dragMax = getDrag(currentPosition, cdMax, rho);
+
+ // Get target surface percentage
+ const float cdRef = getCD(currentPosition, chosenTrajectory->extension);
+ const float dragRef = getDrag(currentPosition, cdRef, rho);
+
+ // PI update
+ const float error = currentPosition.vz - setPoint.vz;
+ const float dragPi =
+ pi.antiWindUp(pi.update(error) + dragRef, dragMin, dragMax);
+
+ return dragPi;
+}
+
+float AirBrakes::getSurface(const TimedTrajectoryPoint ¤tPosition,
+ float rho, float targetDrag)
+{
+ float bestDDrag = std::numeric_limits<float>::infinity();
+ float bestSurface = 0;
+
+ // TODO: Drags are monotone, here the algorithm can be more efficient
+ for (uint8_t step = 0; step < config.DRAG_STEPS; step++)
+ {
+ float surface = (step / (config.DRAG_STEPS - 1)) * config.SURFACE;
+
+ float extension = getExtension(surface);
+ float cd = getCD(currentPosition, extension);
+ float drag = getDrag(currentPosition, cd, rho);
+ float dDrag = abs(targetDrag - drag);
+
+ if (dDrag < bestDDrag)
+ {
+ bestDDrag = dDrag;
+ bestSurface = surface;
+ }
+ }
+
+ return bestSurface;
+}
+
+float AirBrakes::getMach(TimedTrajectoryPoint currentPosition)
+{
+ return currentPosition.vMod /
+ (Constants::CO + Constants::ALPHA * currentPosition.z);
+}
+
+float AirBrakes::getExtension(float surface)
+{
+ // clang-format off
+ return
+ config.EXT_POL_1 * powf(surface, 4) +
+ config.EXT_POL_2 * powf(surface, 3) +
+ config.EXT_POL_3 * powf(surface, 2) +
+ config.EXT_POL_4 * surface;
+ // clang-format on
+}
+
+float AirBrakes::getCD(TimedTrajectoryPoint currentPosition, float extension)
+{
+ const float mach1 = currentPosition.getMac();
+ const float mach2 = powf(mach1, 2);
+ const float mach3 = powf(mach1, 3);
+ const float mach4 = powf(mach1, 4);
+ const float mach5 = powf(mach1, 5);
+ const float mach6 = powf(mach1, 6);
+
+ const float extension2 = powf(extension, 2);
+
+ // clang-format off
+ return
+ config.N000 +
+ config.N100 * mach1 +
+ config.N200 * mach2 +
+ config.N300 * mach3 +
+ config.N400 * mach4 +
+ config.N500 * mach5 +
+ config.N600 * mach6 +
+ config.N010 * extension +
+ config.N020 * extension2 +
+ config.N110 * extension * mach1 +
+ config.N120 * extension2 * mach1 +
+ config.N210 * extension * mach2 +
+ config.N220 * extension2 * mach2 +
+ config.N310 * extension * mach3 +
+ config.N320 * extension2 * mach3 +
+ config.N410 * extension * mach4 +
+ config.N420 * extension2 * mach4 +
+ config.N510 * extension * mach5 +
+ config.N520 * extension2 * mach5 +
+ config.N001 * currentPosition.z;
+ // clang-format on
+}
+
+float AirBrakes::getDrag(TimedTrajectoryPoint currentPosition, float cd,
+ float rho)
+{
+ return 0.5 * rho * config.S0 * cd * currentPosition.vz *
+ currentPosition.vMod;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/AirBrakes.h b/src/shared/algorithms/AirBrakes/AirBrakes.h
new file mode 100644
index 0000000000000000000000000000000000000000..9af39d4d26638dadceb5536b6026c9ff2414967c
--- /dev/null
+++ b/src/shared/algorithms/AirBrakes/AirBrakes.h
@@ -0,0 +1,153 @@
+/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco, 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 <actuators/Servo/Servo.h>
+#include <algorithms/Algorithm.h>
+#include <algorithms/PIController.h>
+
+#include <functional>
+#include <vector>
+
+#include "AirBrakesConfig.h"
+#include "AirBrakesData.h"
+#include "TrajectorySet.h"
+
+namespace Boardcore
+{
+
+class AirBrakes : public Algorithm
+{
+public:
+ AirBrakes(std::function<TimedTrajectoryPoint()> getCurrentPosition,
+ const TrajectorySet &trajectorySet, const AirBrakesConfig &config,
+ std::function<void(float)> setActuator);
+
+ bool init() override;
+
+ /**
+ * @brief This method chooses the trajectory the rocket will follow and
+ * starts the algorithm.
+ */
+ void begin();
+
+ /**
+ * @brief Looks for nearest point in the current chosen trajectory and moves
+ * the airbraks according to the current rocket speed and the prediction.
+ */
+ void step() override;
+
+private:
+ /**
+ * @brief Searched all the trajectories and find the neares point to the
+ * given position. The trajectory of this point is the one choosen.
+ */
+ void chooseTrajectory(TrajectoryPoint currentPosition);
+
+ /**
+ * @brief Searches, in the choosen trajectory, the point neares to the given
+ * one. This method considers the Euclidean distance between altitude and
+ * vertical speed.
+ */
+ TrajectoryPoint getSetpoint(TrajectoryPoint currentPosition);
+
+ /**
+ * @brief Returns the air density at the current altitude using the basic
+ * atmosphere model.
+ *
+ * @param z The current altitude [m].
+ * @return The density of air according to current altitude [Kg/m^3]
+ */
+ float getRho(float z);
+
+ /**
+ * @brief Update PI to compute the target drag froce.
+ *
+ * @returns Target drag force to generate [N].
+ */
+ float piStep(TimedTrajectoryPoint currentPosition,
+ TrajectoryPoint reference, float rho);
+
+ /**
+ * @brief Compute the necessary airbrakes surface to match the
+ * given drag force from the Pid as closely as possible.
+ *
+ * @param currentPosition Current rocket position.
+ * @param rho Air density [kg/m^2].
+ * @param drag Target drag force.
+ * @return AirBrakes surface [m];
+ */
+ float getSurface(const TimedTrajectoryPoint ¤tPosition, float rho,
+ float drag);
+
+ /**
+ * @brief Computes the speed in Mach unit for the given position.
+ *
+ * @return Mach speed [M].
+ */
+ float getMach(TimedTrajectoryPoint currentPosition);
+
+ /**
+ * @brief Computes the airbrakes extension given the desired area.
+ *
+ * @param surface Desired airbrakes surface [m^2].
+ * @return The radial extension [m].
+ */
+ float getExtension(float surface);
+
+ /**
+ * @brief Returns the coefficient of drag for the airbrakes at the given
+ * position and with the given extension.
+ *
+ * @param currentPosition Current rocket position.
+ * @param extension AirBrakes extension [m].
+ * @return The coefficient drag [1].
+ */
+ float getCD(TimedTrajectoryPoint currentPosition, float extension);
+
+ /**
+ * @brief Return the drag generated from the AirBrakes in the given
+ * conditions.
+ *
+ * @param currentPosition Current position of the rocket.
+ * @param cd Coefficient of drag [1].
+ * @param rho Air density [kg/m^2].
+ * @return Generated drag [N].
+ */
+ float getDrag(TimedTrajectoryPoint currentPosition, float cd, float rho);
+
+private:
+ std::function<TimedTrajectoryPoint()> getCurrentPosition;
+ const TrajectorySet &trajectorySet;
+ const AirBrakesConfig &config;
+ std::function<void(float)> setActuator;
+
+ TimedTrajectoryPoint lastPosition;
+ uint32_t lastSelectedPointIndex = 0;
+
+ PIController pi;
+
+ Trajectory *chosenTrajectory = nullptr;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesConfig.h b/src/shared/algorithms/AirBrakes/AirBrakesConfig.h
new file mode 100644
index 0000000000000000000000000000000000000000..8294310a556dceaaef69f17e86bd056b5997e6e7
--- /dev/null
+++ b/src/shared/algorithms/AirBrakes/AirBrakesConfig.h
@@ -0,0 +1,69 @@
+/* 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
+
+namespace Boardcore
+{
+
+struct AirBrakesConfig
+{
+ // Coefficient of drag coefficients.
+ float N000;
+ float N100;
+ float N200;
+ float N300;
+ float N400;
+ float N500;
+ float N600;
+ float N010;
+ float N020;
+ float N110;
+ float N120;
+ float N210;
+ float N220;
+ float N310;
+ float N320;
+ float N410;
+ float N420;
+ float N510;
+ float N520;
+ float N001;
+
+ // Aibrakes extension.
+ float EXTENSION; ///< [m]
+ uint8_t DRAG_STEPS;
+ float EXT_POL_1;
+ float EXT_POL_2;
+ float EXT_POL_3;
+ float EXT_POL_4;
+
+ float S0; ///< Rocket surface [m^2]
+ float SURFACE; ///< AirBrakes max surface [m^2]
+
+ // PI parameters
+ float KP;
+ float KI;
+ float TS;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesData.h b/src/shared/algorithms/AirBrakes/AirBrakesData.h
new file mode 100644
index 0000000000000000000000000000000000000000..1e9ee5c9f152a46731c4379c55d9f8c33e322cb8
--- /dev/null
+++ b/src/shared/algorithms/AirBrakes/AirBrakesData.h
@@ -0,0 +1,41 @@
+/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco, 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 <stdint.h>
+
+#include <iostream>
+
+namespace Boardcore
+{
+
+struct AirBrakesChosenTrajectory
+{
+ uint8_t trajectory;
+
+ static std::string header() { return "trajectory\n"; }
+
+ void print(std::ostream& os) const { os << (int)trajectory << "\n"; }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/Trajectory.h b/src/shared/algorithms/AirBrakes/Trajectory.h
new file mode 100644
index 0000000000000000000000000000000000000000..0f8d1774089ad6ca215bba360f633dc31deaab0e
--- /dev/null
+++ b/src/shared/algorithms/AirBrakes/Trajectory.h
@@ -0,0 +1,45 @@
+/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco, 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 "TrajectoryPoint.h"
+
+namespace Boardcore
+{
+
+class Trajectory
+{
+public:
+ float extension; ///< AirBrakes target extension for this trajectory [m].
+ TrajectoryPoint *points;
+ uint16_t trjSize;
+
+ Trajectory(float extension, TrajectoryPoint points[], uint16_t trjSize)
+ : extension(extension), points(points), trjSize(trjSize)
+ {
+ }
+
+ uint32_t size() { return trjSize; }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/TrajectoryPoint.h b/src/shared/algorithms/AirBrakes/TrajectoryPoint.h
new file mode 100644
index 0000000000000000000000000000000000000000..da4adfb069e08f6d50691a1fd3e148f251ac3da1
--- /dev/null
+++ b/src/shared/algorithms/AirBrakes/TrajectoryPoint.h
@@ -0,0 +1,89 @@
+/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco, 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 <algorithms/NAS/NASState.h>
+#include <math.h>
+#include <utils/Constants.h>
+
+#include <Eigen/Eigen>
+
+namespace Boardcore
+{
+
+class TrajectoryPoint
+{
+public:
+ float z; ///< Vertical position [m].
+ float vz; ///< Vertical velocity [m/s].
+
+ TrajectoryPoint() : TrajectoryPoint(0, 0) {}
+
+ TrajectoryPoint(float z, float vz) : z(z), vz(vz) {}
+
+ /**
+ * @brief Returns the distance squared between the two points.
+ */
+ static float distanceSquared(TrajectoryPoint a, TrajectoryPoint b)
+ {
+ return powf(a.z - b.z, 2) + powf(a.vz - b.vz, 2);
+ }
+
+ /**
+ * @brief Returns the distance in height between the two given points.
+ */
+ static float zDistance(TrajectoryPoint a, TrajectoryPoint b)
+ {
+ return abs(a.z - b.z);
+ }
+
+ /**
+ * @brief Returns the distance in vertical speed between the two points.
+ */
+ static float vzDistance(TrajectoryPoint a, TrajectoryPoint b)
+ {
+ return abs(a.vz - b.vz);
+ }
+};
+
+/**
+ * @brief Trajectory point with timestamp and velocity module.
+ */
+class TimedTrajectoryPoint : public TrajectoryPoint
+{
+public:
+ uint64_t timestamp;
+ float vMod;
+
+ TimedTrajectoryPoint() : TrajectoryPoint(), timestamp(0), vMod(0) {}
+
+ explicit TimedTrajectoryPoint(NASState state)
+ : TrajectoryPoint(-state.d, -state.vd), timestamp(state.timestamp),
+ vMod(Eigen::Vector3f{state.vn, state.ve, state.vd}.norm())
+ {
+ }
+
+ float getMac() { return vMod / (Constants::CO + Constants::ALPHA * z); }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/TrajectorySet.h b/src/shared/algorithms/AirBrakes/TrajectorySet.h
new file mode 100644
index 0000000000000000000000000000000000000000..64075e6b7f16a6fa1f7667b680032df7fed9a85e
--- /dev/null
+++ b/src/shared/algorithms/AirBrakes/TrajectorySet.h
@@ -0,0 +1,44 @@
+/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
+ * Author: Vincenzo Santomarco, 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 "Trajectory.h"
+
+namespace Boardcore
+{
+
+class TrajectorySet
+{
+public:
+ Trajectory* trajectories;
+ uint16_t trjSize;
+
+ TrajectorySet(Trajectory trajectories[], uint16_t trjSize)
+ : trajectories(trajectories), trjSize(trjSize)
+ {
+ }
+
+ uint32_t length() const { return trjSize; }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/Algorithm.h b/src/shared/algorithms/Algorithm.h
index 56d31830cdc7218ecd795ab34e003e57261a13d8..441f9116a221724878630c89760dda8b2ef2c4f6 100644
--- a/src/shared/algorithms/Algorithm.h
+++ b/src/shared/algorithms/Algorithm.h
@@ -53,9 +53,7 @@ public:
void update()
{
if (running)
- {
step();
- }
}
protected:
diff --git a/src/shared/algorithms/Kalman/Kalman.h b/src/shared/algorithms/Kalman/Kalman.h
index 204311d7532230955459247fcc4ece54e2777785..3488e295362507074be95b223243da2cacf0f56f 100644
--- a/src/shared/algorithms/Kalman/Kalman.h
+++ b/src/shared/algorithms/Kalman/Kalman.h
@@ -28,24 +28,22 @@ namespace Boardcore
{
/**
- * @brief Class representing a Kalman filter using the Eigen library for
- * matrix computations
+ * @brief Implementation of a generic Kalman filter using the Eigen library.
*
- * WARNING : This class uses templates in order to know the size of each matrix
- * at compile-time. This way we avoid Eigen to allocate memory
- * dynamically.
+ * This class uses templates in order to know the size of each matrix at
+ * compile-time. This way we avoid Eigen to allocate memory dynamically.
*/
-template <typename t, uint8_t n, uint8_t p>
+template <typename T, int N_size, int P_size>
class Kalman
{
- using MatrixNN = Eigen::Matrix<t, n, n>;
- using MatrixPN = Eigen::Matrix<t, p, n>;
- using MatrixNP = Eigen::Matrix<t, n, p>;
- using MatrixPP = Eigen::Matrix<t, p, p>;
- using CVectorN = Eigen::Matrix<t, n, 1>;
- using CVectorP = Eigen::Matrix<t, p, 1>;
-
public:
+ using MatrixNN = Eigen::Matrix<T, N_size, N_size>;
+ using MatrixPN = Eigen::Matrix<T, P_size, N_size>;
+ using MatrixNP = Eigen::Matrix<T, N_size, P_size>;
+ using MatrixPP = Eigen::Matrix<T, P_size, P_size>;
+ using CVectorN = Eigen::Vector<T, N_size>;
+ using CVectorP = Eigen::Vector<T, P_size>;
+
/**
* @brief Configuration struct for the Kalman class.
*/
@@ -60,52 +58,51 @@ public:
};
/**
- * @param config configuration object containing all the initialized
- * matrices
+ * @brief Creates a Kalman filter object.
+ *
+ * @param config Configuration parameters.
*/
Kalman(const KalmanConfig& config)
: F(config.F), H(config.H), Q(config.Q), R(config.R), P(config.P),
- S(MatrixPP::Zero(p, p)), K(MatrixNP::Zero(n, p)), x(config.x)
+ S(MatrixPP::Zero(P_size, P_size)), K(MatrixNP::Zero(N_size, P_size)),
+ x(config.x)
{
I.setIdentity();
}
/**
- * @brief Prediction step.
+ * @brief Prediction step with previous F matrix.
*/
void predict()
{
- P = F * P * F.transpose() + Q;
x = F * x;
+ P = F * P * F.transpose() + Q;
}
/**
* @brief Prediction step.
*
- * @param F_new updated F matrix
+ * @param F_new updated F matrix.
*/
void predict(const MatrixNN& F_new)
{
- this->F = F_new;
- this->predict();
+ F = F_new;
+ predict();
}
/**
- * @brief Correction step (correct the estimate).
+ * @brief Correction step.
*
- * @param y The measurement vector
+ * @param y The measurement vector.
*/
bool correct(const CVectorP& y)
{
S = H * P * H.transpose() + R;
- // here the determinant is computed and
- // then the inverse recomputes it,
- // this passage could be optimized
+ // TODO: The determinant is computed here and when S is inverted, it
+ // could be optimized
if (S.determinant() < 1e-3)
- {
return false;
- }
K = P * H.transpose() * S.inverse();
P = (I - K * H) * P;
@@ -137,24 +134,23 @@ public:
const CVectorP getResidual() { return res; }
/**
- * @brief Predicts k steps ahead the output
- */
- const CVectorP predictOutput(uint32_t k) { return H * predictState(k); }
-
- /**
- * @brief Predicts k steps ahead the state
+ * @brief Predicts k steps ahead the state.
*/
const CVectorN predictState(uint32_t k)
{
CVectorN xHat = x;
for (uint32_t i = 0; i < k; i++)
- {
xHat = F * xHat;
- }
+
return xHat;
}
+ /**
+ * @brief Predicts k steps ahead the output.
+ */
+ const CVectorP predictOutput(uint32_t k) { return H * predictState(k); }
+
private:
MatrixNN F; /**< State propagation matrix (n x n) */
MatrixPN H; /**< Output matrix (p x n) */
diff --git a/src/shared/algorithms/NAS/NAS.cpp b/src/shared/algorithms/NAS/NAS.cpp
index 1296b639b48483d3a0309d5136e77c5a97c5fc7e..464ce4c41a69b9365e51cd087598f7d46588446e 100644
--- a/src/shared/algorithms/NAS/NAS.cpp
+++ b/src/shared/algorithms/NAS/NAS.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
+/* Copyright (c) 2020-2022 Skyward Experimental Rocketry
* Authors: Alessandro Del Duca, Luca Conterio, Marco Cella
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -100,7 +100,7 @@ NAS::NAS(NASConfig config) : config(config)
void NAS::predictAcc(const Vector3f& acceleration)
{
- Matrix3f A = body2ned(x.block<4, 1>(IDX_QUAT, 0));
+ Matrix3f A = SkyQuaternion::quat2rotationMatrix(x.block<4, 1>(IDX_QUAT, 0));
Vector3f pos = x.block<3, 1>(IDX_POS, 0);
Vector3f vel = x.block<3, 1>(IDX_VEL, 0);
@@ -122,6 +122,12 @@ void NAS::predictAcc(const Vector3f& acceleration)
P.block<6, 6>(0, 0) = F_lin * Pl * F_lin_tr + Q_lin;
}
+void NAS::predictAcc(const AccelerometerData& acceleration)
+{
+ predictAcc(Vector3f{acceleration.accelerationX, acceleration.accelerationY,
+ acceleration.accelerationZ});
+}
+
void NAS::predictGyro(const Vector3f& angularVelocity)
{
Vector3f bias = x.block<3, 1>(IDX_BIAS, 0);
@@ -151,17 +157,23 @@ void NAS::predictGyro(const Vector3f& angularVelocity)
P.block<6, 6>(IDX_QUAT, IDX_QUAT) = Pq;
}
-void NAS::correctBaro(const float pressure, const float mslPress,
- const float mslTemp)
+void NAS::predictGyro(const GyroscopeData& angularVelocity)
+{
+ predictGyro(Vector3f{angularVelocity.angularVelocityX,
+ angularVelocity.angularVelocityY,
+ angularVelocity.angularVelocityZ});
+}
+
+void NAS::correctBaro(const float pressure)
{
Matrix<float, 1, 6> H = Matrix<float, 1, 6>::Zero();
// Temperature at current altitude. Since in NED the altitude is negative,
// mslTemperature returns temperature at current altitude and not at msl
- float temp = Aeroutils::mslTemperature(mslTemp, x(2));
+ float temp = Aeroutils::mslTemperature(reference.mslTemperature, x(2));
// Compute gradient of the altitude-pressure function
- H[2] = Constants::a * Constants::n * mslPress *
+ H[2] = Constants::a * Constants::n * reference.mslPressure *
powf(1 - Constants::a * x(2) / temp, -Constants::n - 1) / temp;
Eigen::Matrix<float, 6, 6> Pl = P.block<6, 6>(0, 0);
@@ -170,7 +182,8 @@ void NAS::correctBaro(const float pressure, const float mslPress,
Matrix<float, 6, 1> K = Pl * H.transpose() * S.inverse();
P.block<6, 6>(0, 0) = (Matrix<float, 6, 6>::Identity() - K * H) * Pl;
- float y_hat = Aeroutils::mslPressure(mslPress, mslTemp, x(2));
+ float y_hat = Aeroutils::mslPressure(reference.mslPressure,
+ reference.mslTemperature, x(2));
// Update the state
x.head<6>() = x.head<6>() + K * (pressure - y_hat);
@@ -193,10 +206,23 @@ void NAS::correctGPS(const Vector4f& gps)
x.head<6>() = x.head<6>() + K * (gps - H);
}
+void NAS::correctGPS(const GPSData& gps)
+{
+ if (!gps.fix)
+ return;
+
+ auto gpsPos = Aeroutils::geodetic2NED(
+ {gps.latitude, gps.longitude},
+ {reference.startLatitude, reference.startLongitude});
+
+ correctGPS(
+ Vector4f{gpsPos(0), gpsPos(1), gps.velocityNorth, gps.velocityEast});
+}
+
void NAS::correctMag(const Vector3f& mag)
{
Vector4f q = x.block<4, 1>(IDX_QUAT, 0);
- Matrix3f A = body2ned(q).transpose();
+ Matrix3f A = SkyQuaternion::quat2rotationMatrix(q).transpose();
// Rotate the NED magnetic field in the relative reference frame
Vector3f mEst = A * config.NED_MAG;
@@ -226,10 +252,17 @@ void NAS::correctMag(const Vector3f& mag)
P.block<6, 6>(IDX_QUAT, IDX_QUAT) = Pq;
}
+void NAS::correctMag(const MagnetometerData& mag)
+{
+ Vector3f magV = {mag.magneticFieldX, mag.magneticFieldY,
+ mag.magneticFieldZ};
+ correctMag(magV.normalized());
+}
+
void NAS::correctAcc(const Eigen::Vector3f& acc)
{
Vector4f q = x.block<4, 1>(IDX_QUAT, 0);
- Matrix3f A = body2ned(q).transpose();
+ Matrix3f A = SkyQuaternion::quat2rotationMatrix(q).transpose();
// Rotate the NED magnetic field in the relative reference frame
Vector3f aEst = A * gravityNed;
@@ -264,6 +297,12 @@ void NAS::correctAcc(const Eigen::Vector3f& acc)
P.block<6, 6>(IDX_QUAT, IDX_QUAT) = Pq;
}
+void NAS::correctAcc(const AccelerometerData& acc)
+{
+ Vector3f accV = {acc.accelerationX, acc.accelerationY, acc.accelerationZ};
+ correctAcc(accV.normalized());
+}
+
void NAS::correctPitot(const float deltaP, const float staticP)
{
if (deltaP >= 0)
@@ -303,7 +342,7 @@ void NAS::correctPitot(const float deltaP, const float staticP)
NASState NAS::getState() const
{
- return NASState(TimestampTimer::getInstance().getTimestamp(), x);
+ return NASState(TimestampTimer::getTimestamp(), x);
}
Eigen::Matrix<float, 13, 1> NAS::getX() const { return x; }
@@ -312,27 +351,11 @@ void NAS::setState(const NASState& state) { this->x = state.getX(); }
void NAS::setX(const Eigen::Matrix<float, 13, 1>& x) { this->x = x; }
-Matrix3f NAS::body2ned(const Vector4f& q)
+void NAS::setReferenceValues(const ReferenceValues reference)
{
- // clang-format off
- return Matrix3f{
- {
- q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3],
- 2.0f * (q[0] * q[1] - q[2] * q[3]),
- 2.0f * (q[0] * q[2] + q[1] * q[3]),
- },
- {
- 2.0f * (q[0] * q[1] + q[2] * q[3]),
- - q[0] * q[0] + q[1] * q[1] - q[2] * q[2] + q[3] * q[3],
- 2.0f * (q[1] * q[2] - q[0] * q[3]),
- },
- {
- 2.0f * (q[0] * q[2] - q[1] * q[3]),
- 2.0f * (q[1] * q[2] + q[0] * q[3]),
- - q[0] * q[0] - q[1] * q[1] + q[2] * q[2] + q[3] * q[3]
- }
- };
- // clang-format on
+ this->reference = reference;
}
+ReferenceValues NAS::getReferenceValues() { return reference; }
+
} // namespace Boardcore
diff --git a/src/shared/algorithms/NAS/NAS.h b/src/shared/algorithms/NAS/NAS.h
index d232f4beb6f6951c1d8ecded27b3aea6c2c9a77f..c515ea41c741736c9b975d3cf686596db567cadd 100644
--- a/src/shared/algorithms/NAS/NAS.h
+++ b/src/shared/algorithms/NAS/NAS.h
@@ -22,6 +22,8 @@
#pragma once
+#include <algorithms/ReferenceValues.h>
+#include <sensors/SensorData.h>
#include <utils/AeroUtils/AeroUtils.h>
#include <utils/Constants.h>
@@ -53,56 +55,87 @@ public:
/**
* @brief Prediction with accelerometer data.
*
- * @param u Vector with acceleration data [x y z][m/s^2]
+ * @param acceleration Vector with acceleration data [x y z][m/s^2].
*/
void predictAcc(const Eigen::Vector3f& acceleration);
+ /**
+ * @brief Prediction with accelerometer data.
+ *
+ * @param acceleration Accelerometer data [m/s^2].
+ */
+ void predictAcc(const AccelerometerData& acceleration);
+
/**
* @brief Prediction with gyroscope data.
*
- * @param u Vector with angular velocity data [x y z]
+ * @param angularVelocity Vector with angular velocity data [x y z][rad/s].
*/
void predictGyro(const Eigen::Vector3f& angularVelocity);
+ /**
+ * @brief Prediction with gyroscope data.
+ *
+ * @param angularVelocity Gyroscope data [rad/s].
+ */
+ void predictGyro(const GyroscopeData& angularVelocity);
+
/**
* @brief Correction with barometer data.
*
- * @param pressure Pressure read from the barometer [Pa]
- * @param mslPress Pressure at sea level [Pa]
- * @param mslTemp Temperature at sea level [Kelvin]
+ * @param pressure Pressure read from the barometer [Pa].
*/
- void correctBaro(const float pressure, const float mslPress,
- const float mslTemp);
+ void correctBaro(const float pressure);
/**
* @brief Correction with gps data.
*
- * @param gps Vector of the gps readings [n e vn ve][m m m/s m/s]
- * @param sats_num Number of satellites available
+ * @param gps Vector of the gps readings [n e vn ve][m m m/s m/s].
*/
void correctGPS(const Eigen::Vector4f& gps);
+ /**
+ * @brief Correction with gps data only if fix is acquired.
+ *
+ * @param gps GPS data.
+ */
+ void correctGPS(const GPSData& gps);
+
/**
* @brief Correction with magnetometer data.
*
- * @param mag Normalized vector of the magnetometer readings [x y z]
+ * @param mag Normalized vector of the magnetometer readings [x y z][uT].
*/
void correctMag(const Eigen::Vector3f& mag);
+ /**
+ * @brief Correction with magnetometer data.
+ *
+ * @param mag Magnetometer data [uT].
+ */
+ void correctMag(const MagnetometerData& mag);
+
+ /**
+ * @brief Correction with accelerometer data.
+ *
+ * @param u Normalized vector with acceleration data [x y z][m/s^2].
+ */
+ void correctAcc(const Eigen::Vector3f& acc);
+
/**
* @brief Correction with accelerometer data.
*
- * @param u Normaliezed vector with acceleration data [x y z]
+ * @param u Acceleration data [m/s^2].
*/
- void correctAcc(const Eigen::Vector3f& acceleration);
+ void correctAcc(const AccelerometerData& acc);
/**
* @brief Correction with pitot pressure.
*
* Do not call this function after apogee!
*
- * @param deltaP Delta pressure measured by the differential sensor [Pa]
- * @param staticP Static pressure [Pa]
+ * @param deltaP Delta pressure measured by the differential sensor [Pa].
+ * @param staticP Static pressure [Pa].
*/
void correctPitot(const float deltaP, const float staticP);
@@ -126,25 +159,31 @@ public:
*/
void setX(const Eigen::Matrix<float, 13, 1>& x);
-private:
/**
- * @brief Return a rotation matrix from body from to NED frame;
- *
- * TODO: Move to SkyQuaternion utilities
+ * @brief Changes the reference values.
*/
- Eigen::Matrix3f body2ned(const Eigen::Vector4f& q);
+ void setReferenceValues(const ReferenceValues reference);
- ///< Extended Kalman filter configuration parameters
+ /**
+ * @brief Returns the current reference values.
+ */
+ ReferenceValues getReferenceValues();
+
+private:
+ ///< Extended Kalman filter configuration parameters.
NASConfig config;
- ///< State vector [n e d vn ve vd qx qy qz qw bx by bz]
+ ///< Reference values used for altitude and gps position.
+ ReferenceValues reference;
+
+ ///< State vector [n e d vn ve vd qx qy qz qw bx by bz].
Eigen::Matrix<float, 13, 1> x;
- ///< Covariance matrix
+ ///< Covariance matrix.
Eigen::Matrix<float, 12, 12> P;
- ///< NED gravity vector [m/s^2]
- Eigen::Vector3f gravityNed{0.0f, 0.0f, -Constants::g};
+ ///< NED gravity vector [m/s^2].
+ const Eigen::Vector3f gravityNed{0.0f, 0.0f, -Constants::g};
// Utility matrixes used for the gps
Eigen::Matrix<float, 4, 6> H_gps;
diff --git a/src/shared/algorithms/NAS/NASConfig.h b/src/shared/algorithms/NAS/NASConfig.h
index b73b2f8f8b3bdf6a5eb1d48194d81f9a8ad0ad75..289be22616cd5a6562bccdf36856dd415a1f0e38 100644
--- a/src/shared/algorithms/NAS/NASConfig.h
+++ b/src/shared/algorithms/NAS/NASConfig.h
@@ -39,11 +39,11 @@ struct NASConfig
float SIGMA_VEL; ///< [(m/s)^2] Estimated variance of the velocity noise
float SIGMA_PITOT; ///< [Pa^2] Estimated variance of the pitot velocity
- float P_POS; ///< Position prediction covariance
- float P_POS_VERTICAL;
+ float P_POS; ///< Position prediction covariance horizontal
+ float P_POS_VERTICAL; ///< Position prediction covariance vertical
- float P_VEL; ///< Velocity prediction covariance
- float P_VEL_VERTICAL;
+ float P_VEL; ///< Velocity prediction covariance horizontal
+ float P_VEL_VERTICAL; ///< Velocity prediction covariance vertical
float P_ATT; ///< Attitude prediction covariance
float P_BIAS; ///< Bias prediction covariance
diff --git a/src/shared/algorithms/NAS/StateInitializer.cpp b/src/shared/algorithms/NAS/StateInitializer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d1c590432ee91a55f632725f838c8cae3d048693
--- /dev/null
+++ b/src/shared/algorithms/NAS/StateInitializer.cpp
@@ -0,0 +1,97 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Marco Cella, 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 "StateInitializer.h"
+
+namespace Boardcore
+{
+StateInitializer::StateInitializer() { x_init << Eigen::MatrixXf::Zero(13, 1); }
+
+void StateInitializer::eCompass(const Eigen::Vector3f acc,
+ const Eigen::Vector3f mag)
+{
+ // ndr: since this method runs only when the rocket is stationary, there's
+ // no need to add the gravity vector because the accelerometers already
+ // measure it. This is not true if we consider the flying rocket.
+
+ Eigen::Vector3f am(acc.cross(mag));
+
+ Eigen::Matrix3f R;
+ // cppcheck-suppress constStatement
+ R << am.cross(acc), am, acc;
+ R.col(0).normalize();
+ R.col(1).normalize();
+ R.col(2).normalize();
+
+ Eigen::Vector4f x_quat = SkyQuaternion::rotationMatrix2quat(R);
+
+ x_init(NAS::IDX_QUAT) = x_quat(0);
+ x_init(NAS::IDX_QUAT + 1) = x_quat(1);
+ x_init(NAS::IDX_QUAT + 2) = x_quat(2);
+ x_init(NAS::IDX_QUAT + 3) = x_quat(3);
+}
+
+void StateInitializer::triad(Eigen::Vector3f& acc, Eigen::Vector3f& mag,
+ Eigen::Vector3f& nedMag)
+{
+ // The gravity vector is expected to be read inversely because
+ // accelerometers read the binding reaction
+ Eigen::Vector3f nedAcc(0.0f, 0.0f, -1.0f);
+
+ // Compute the reference triad
+ Eigen::Vector3f R1 = nedAcc;
+ Eigen::Vector3f R2 = nedAcc.cross(nedMag).normalized();
+ Eigen::Vector3f R3 = R1.cross(R2);
+
+ // Compute the measured triad
+ Eigen::Vector3f r1 = acc;
+ Eigen::Vector3f r2 = acc.cross(mag).normalized();
+ Eigen::Vector3f r3 = r1.cross(r2);
+
+ // Compose the reference and measured matrixes
+ Eigen::Matrix3f M;
+ // cppcheck-suppress constStatement
+ M << R1, R2, R3;
+ Eigen::Matrix3f m;
+ // cppcheck-suppress constStatement
+ m << r1, r2, r3;
+
+ // Compute the rotation matrix and the corresponding quaternion
+ Eigen::Matrix3f A = M * m.transpose();
+ Eigen::Vector4f q = SkyQuaternion::rotationMatrix2quat(A);
+
+ // Save the orientation in the state
+ x_init.block<4, 1>(NAS::IDX_QUAT, 0) = q;
+}
+
+void StateInitializer::positionInit(const float pressure,
+ const float pressureRef,
+ const float temperatureRef)
+{
+ x_init(0) = 0.0;
+ x_init(1) = 0.0;
+ // msl altitude (in NED, so negative)
+ x_init(2) = -Aeroutils::relAltitude(pressure, pressureRef, temperatureRef);
+}
+
+Eigen::Matrix<float, 13, 1> StateInitializer::getInitX() { return x_init; }
+} // namespace Boardcore
diff --git a/src/shared/algorithms/NAS/StateInitializer.h b/src/shared/algorithms/NAS/StateInitializer.h
index 959597beb70db8e4b2133eacf12df22d90f10add..8b72cad89b4300e623a849bae9a0d6e29d8d5b5e 100644
--- a/src/shared/algorithms/NAS/StateInitializer.h
+++ b/src/shared/algorithms/NAS/StateInitializer.h
@@ -97,73 +97,4 @@ private:
PrintLogger log = Logging::getLogger("initstates");
};
-
-StateInitializer::StateInitializer() { x_init << Eigen::MatrixXf::Zero(13, 1); }
-
-void StateInitializer::eCompass(const Eigen::Vector3f acc,
- const Eigen::Vector3f mag)
-{
- // ndr: since this method runs only when the rocket is stationary, there's
- // no need to add the gravity vector because the accelerometers already
- // measure it. This is not true if we consider the flying rocket.
-
- Eigen::Vector3f am(acc.cross(mag));
-
- Eigen::Matrix3f R;
- R << am.cross(acc), am, acc;
- R.col(0).normalize();
- R.col(1).normalize();
- R.col(2).normalize();
-
- Eigen::Vector4f x_quat = SkyQuaternion::rotationMatrix2quat(R);
-
- x_init(NAS::IDX_QUAT) = x_quat(0);
- x_init(NAS::IDX_QUAT + 1) = x_quat(1);
- x_init(NAS::IDX_QUAT + 2) = x_quat(2);
- x_init(NAS::IDX_QUAT + 3) = x_quat(3);
-}
-
-void StateInitializer::triad(Eigen::Vector3f& acc, Eigen::Vector3f& mag,
- Eigen::Vector3f& nedMag)
-{
- // The gravity vector is expected to be read inversely because
- // accelerometers read the binding reaction
- Eigen::Vector3f nedAcc(0.0f, 0.0f, -1.0f);
-
- // Compute the reference triad
- Eigen::Vector3f R1 = nedAcc;
- Eigen::Vector3f R2 = nedAcc.cross(nedMag).normalized();
- Eigen::Vector3f R3 = R1.cross(R2);
-
- // Compute the measured triad
- Eigen::Vector3f r1 = acc;
- Eigen::Vector3f r2 = acc.cross(mag).normalized();
- Eigen::Vector3f r3 = r1.cross(r2);
-
- // Compose the reference and measured matrixes
- Eigen::Matrix3f M;
- M << R1, R2, R3;
- Eigen::Matrix3f m;
- m << r1, r2, r3;
-
- // Compute the rotation matrix and the corresponding quaternion
- Eigen::Matrix3f A = M * m.transpose();
- Eigen::Vector4f q = SkyQuaternion::rotationMatrix2quat(A);
-
- // Save the orientation in the state
- x_init.block<4, 1>(NAS::IDX_QUAT, 0) = q;
-}
-
-void StateInitializer::positionInit(const float pressure,
- const float pressureRef,
- const float temperatureRef)
-{
- x_init(0) = 0.0;
- x_init(1) = 0.0;
- // msl altitude (in NED, so negative)
- x_init(2) = -Aeroutils::relAltitude(pressure, pressureRef, temperatureRef);
-}
-
-Eigen::Matrix<float, 13, 1> StateInitializer::getInitX() { return x_init; }
-
} // namespace Boardcore
diff --git a/src/shared/algorithms/PID.h b/src/shared/algorithms/PIController.h
similarity index 71%
rename from src/shared/algorithms/PID.h
rename to src/shared/algorithms/PIController.h
index 5f460f4381ee7e9e9e9aa16886dda6850ca620b6..c30e3e4099eeb9bf3b0bb55400e91cf394f34dd2 100644
--- a/src/shared/algorithms/PID.h
+++ b/src/shared/algorithms/PIController.h
@@ -34,9 +34,9 @@ class PIController
{
public:
- PIController(double Kp, double Ki, double Ts = 1,
- double uMin = -std::numeric_limits<double>::infinity(),
- double uMax = std::numeric_limits<double>::infinity())
+ PIController(float Kp, float Ki, float Ts = 1,
+ float uMin = -std::numeric_limits<float>::infinity(),
+ float uMax = std::numeric_limits<float>::infinity())
: Kp(Kp), Ki(Ki), Ts(Ts), uMin(uMin), uMax(uMax)
{
}
@@ -44,26 +44,23 @@ public:
/**
* @brief Update the PI internal state.
* */
- double update(double error)
+ float update(float error)
{
-
- lastP = Kp * error;
-
if (!saturation)
- {
i = i + Ki * Ts * error;
- }
- double u = lastP + i;
+ float u = Kp * error + i;
lastOutput = antiWindUp(u);
return lastOutput;
}
+ float antiWindUp(float u) { return antiWindUp(u, uMin, uMax); }
+
/**
* @brief Anti-windup mechanism.
*/
- double antiWindUp(double u)
+ float antiWindUp(float u, float uMin, float uMax)
{
if (u < uMin)
{
@@ -83,23 +80,20 @@ public:
return u;
}
- double getI() { return i; }
-
- double getLastP() { return lastP; }
+ float getI() { return i; }
- double getLastOutput() { return lastOutput; }
+ float getLastOutput() { return lastOutput; }
bool isSaturated() { return saturation; }
- double Kp; // Proportional factor.
- double Ki; // Integral factor.
- double Ts; // Sampling period.
- double uMin, uMax; // Anti-windup limits.
+ float Kp; // Proportional factor.
+ float Ki; // Integral factor.
+ float Ts; // Sampling period.
+ float uMin, uMax; // Anti-windup limits.
private:
- double i = 0; // Integral contribution.
- double lastP = 0; // Last computer proportional contribution.
- double lastOutput; // Last computed controller output.
+ float i = 0; // Integral contribution.
+ float lastOutput; // Last computed controller output.
bool saturation = false;
};
diff --git a/src/shared/algorithms/ReferenceValues.h b/src/shared/algorithms/ReferenceValues.h
new file mode 100644
index 0000000000000000000000000000000000000000..fcd4de5df92ae22adb817d1938c8464fdbf89147
--- /dev/null
+++ b/src/shared/algorithms/ReferenceValues.h
@@ -0,0 +1,93 @@
+/* Copyright (c) 2018-2021 Skyward Experimental Rocketry
+ * Authors: Luca Mozzarelli, Luca Conterio, 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 <utils/Constants.h>
+
+#include <Eigen/Eigen>
+#include <ostream>
+
+namespace Boardcore
+{
+
+/**
+ * @brief Reference values for the Apogee Detection Algorithm.
+ */
+struct ReferenceValues
+{
+ // Launch site parameters
+ float altitude;
+ float pressure;
+ float temperature;
+
+ // Start position
+ float startLatitude;
+ float startLongitude;
+
+ // Pressure and temperature at mean sea level for altitude calculation
+ float mslPressure = Constants::MSL_PRESSURE;
+ float mslTemperature = Constants::MSL_TEMPERATURE;
+
+ ReferenceValues(){};
+
+ ReferenceValues(float altitude, float pressure, float temperature,
+ float startLatitude = Constants::B21_LATITUDE,
+ float startLongitude = Constants::B21_LONGITUDE,
+ float mslPressure = Constants::MSL_PRESSURE,
+ float mslTemperature = Constants::MSL_TEMPERATURE)
+ : altitude(altitude), pressure(pressure), temperature(temperature),
+ startLatitude(startLatitude), startLongitude(startLongitude),
+ mslPressure(mslPressure), mslTemperature(mslTemperature)
+ {
+ }
+
+ static std::string header()
+ {
+ return "altitude,pressure,temperature,startLatitude,startLongitude,"
+ "mslPressure,mslTemperature\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << altitude << "," << pressure << "," << temperature << ","
+ << startLatitude << "," << startLongitude << "," << mslPressure
+ << "," << mslTemperature << "\n";
+ }
+
+ bool operator==(const ReferenceValues& other) const
+ {
+ return altitude == other.altitude && pressure == other.pressure &&
+ temperature == other.temperature &&
+ startLatitude == other.startLatitude &&
+ startLongitude == other.startLongitude &&
+ mslPressure == other.mslPressure &&
+ mslTemperature == other.mslTemperature;
+ }
+
+ bool operator!=(const ReferenceValues& other) const
+ {
+ return !(*this == other);
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/diagnostic/CpuMeter.cpp b/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
similarity index 73%
rename from src/shared/diagnostic/CpuMeter.cpp
rename to src/shared/diagnostic/CpuMeter/CpuMeter.cpp
index e9c5bfcf2791535e95aaf0299bfcf334aa749a45..57990c49ff064d0d5ae08ddf6c703c0c1e87a2c9 100644
--- a/src/shared/diagnostic/CpuMeter.cpp
+++ b/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
@@ -24,20 +24,35 @@
#include <diagnostic/SkywardStack.h>
#include <diagnostic/StackLogger.h>
+#include <drivers/timer/TimestampTimer.h>
using namespace miosix;
namespace Boardcore
{
+namespace CpuMeter
+{
+
const int period = 100;
const int gap = 100;
const int watchdogPeriod = 20 * period;
-static volatile float utilization = 0.f;
+static FastMutex utilizationMutex;
+static Stats utilization;
static volatile unsigned int update = 0;
-float averageCpuUtilization() { return utilization; }
+CpuMeterData getCpuStats()
+{
+ Lock<FastMutex> l(utilizationMutex);
+ return CpuMeterData(TimestampTimer::getTimestamp(), utilization.getStats(),
+ MemoryProfiling::getAbsoluteFreeHeap(),
+ MemoryProfiling::getCurrentFreeHeap(),
+ MemoryProfiling::getAbsoluteFreeStack(),
+ MemoryProfiling::getCurrentFreeStack());
+}
+
+void resetCpuStats() { utilization.reset(); }
#ifdef ENABLE_CPU_METER
@@ -51,7 +66,10 @@ static void cpuMeterThread(void*)
update++;
float delta = t2 - t1;
- utilization = 100.f * (1.f - static_cast<float>(period) / delta);
+ {
+ Lock<FastMutex> l(utilizationMutex);
+ utilization.add(100.f * (1.f - static_cast<float>(period) / delta));
+ }
Thread::sleep(gap);
@@ -65,7 +83,10 @@ static void watchdogThread(void*)
{
Thread::sleep(watchdogPeriod);
if (previous == update)
- utilization = 100.f;
+ {
+ Lock<FastMutex> l(utilizationMutex);
+ utilization.add(100.0);
+ }
StackLogger::getInstance().updateStack(THID_CPU_WD);
}
@@ -87,4 +108,6 @@ static CpuMeterLauncher launcher;
#endif // ENABLE_CPU_METER
+} // namespace CpuMeter
+
} // namespace Boardcore
diff --git a/src/shared/diagnostic/CpuMeter.h b/src/shared/diagnostic/CpuMeter/CpuMeter.h
similarity index 85%
rename from src/shared/diagnostic/CpuMeter.h
rename to src/shared/diagnostic/CpuMeter/CpuMeter.h
index 17056473afe6c5fe2cf1a246b0786e9a6bc6ebb1..0787fc156066a5c058b04e22453999624fefcdf8 100644
--- a/src/shared/diagnostic/CpuMeter.h
+++ b/src/shared/diagnostic/CpuMeter/CpuMeter.h
@@ -22,9 +22,16 @@
#pragma once
+#include <utils/Stats/Stats.h>
+
+#include "CpuMeterData.h"
+
namespace Boardcore
{
+namespace CpuMeter
+{
+
/*
* This CPU meter works like this.
* It creates a thread with the minimum priority that is (almost) always active
@@ -40,16 +47,23 @@ namespace Boardcore
* idle thread from running and thus it prevents the CPU from going into deep
* sleep.
*
- * NOTE: for this to work, no other thread with the lowest priority has to be
+ * NOTE: For this to work, no other thread with the lowest priority has to be
* created, otherwise its time will not be accounted.
*/
-/// If defined, the CPU meter is active
+/// If defined, the CPU meter is activated
#define ENABLE_CPU_METER
/**
- * \return the average CPU utilization
+ * \return The average CPU utilization
*/
-float averageCpuUtilization();
+CpuMeterData getCpuStats();
+
+/**
+ * @brief Resets the cpu utilization statistics.
+ */
+void resetCpuStats();
+
+} // namespace CpuMeter
} // namespace Boardcore
diff --git a/src/shared/diagnostic/CpuMeter/CpuMeterData.h b/src/shared/diagnostic/CpuMeter/CpuMeterData.h
new file mode 100644
index 0000000000000000000000000000000000000000..a28b62a3a270284e38e808cdaae6f2fe2c1b8af6
--- /dev/null
+++ b/src/shared/diagnostic/CpuMeter/CpuMeterData.h
@@ -0,0 +1,68 @@
+/* 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 <utils/Stats/Stats.h>
+
+namespace Boardcore
+{
+
+struct CpuMeterData
+{
+ uint64_t timestamp = 0;
+ float minValue = 0; ///< Min value found so far.
+ float maxValue = 0; ///< Max value found so far.
+ float mean = 0; ///< Mean of dataset.
+ 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,
+ 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), minFreeHeap(minFreeHeap),
+ freeHeap(freeHeap), minFreeStack(minFreeStack), freeStack(freeStack)
+ {
+ }
+
+ static std::string header()
+ {
+ return "timestamp,minValue,maxValue,mean,stdDev,nSamples\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << minValue << "," << maxValue << "," << mean
+ << "," << stdDev << "," << nSamples << "\n";
+ }
+};
+
+} // namespace Boardcore
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 f87b6c91c63d6af58b9a9a6e4cfdbfddc222eb54..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;
@@ -168,7 +155,53 @@ bool InternalADC::enableChannel(Channel channel, SampleTime sampleTime)
return true;
}
-ADCData InternalADC::getVoltage(Channel channel)
+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;
@@ -177,7 +210,7 @@ ADCData InternalADC::getVoltage(Channel channel)
voltage = values[indexMap[channel]] * supplyVoltage / RESOLUTION;
}
- return ADCData{timestamp, (uint8_t)channel, voltage};
+ return InternalADCData{timestamp, (uint8_t)channel, voltage};
}
bool InternalADC::selfTest()
@@ -193,7 +226,7 @@ bool InternalADC::selfTest()
return true;
}
-ADCData InternalADC::sampleImpl()
+InternalADCData InternalADC::sampleImpl()
{
if (!isUsingDMA)
{
@@ -219,14 +252,14 @@ ADCData 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)
{
@@ -239,11 +272,13 @@ ADCData InternalADC::sampleImpl()
}
}
- timestamp = TimestampTimer::getInstance().getTimestamp();
+ timestamp = TimestampTimer::getTimestamp();
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 cc9a4ce025dba27666e020cc3d3cb393b28087c2..ab0498619a7447080ab2efa4c6c6b7c53438e73b 100644
--- a/src/shared/drivers/adc/InternalADC.h
+++ b/src/shared/drivers/adc/InternalADC.h
@@ -66,7 +66,7 @@ namespace Boardcore
* timers and multi adc mode.
* This features are not implemented to keep the driver simple.
*/
-class InternalADC : public Sensor<ADCData>
+class InternalADC : public Sensor<InternalADCData>
{
public:
/**
@@ -90,6 +90,9 @@ public:
CH13,
CH14,
CH15,
+ CH16,
+ CH17,
+ CH18,
CH_NUM
};
@@ -127,15 +130,22 @@ 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);
- ADCData getVoltage(Channel channel);
+ InternalADCData getVoltage(Channel channel);
bool selfTest() override;
- ADCData sampleImpl() override;
+ 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/drivers/canbus/BusLoadEstimation.h b/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
similarity index 98%
rename from src/shared/drivers/canbus/BusLoadEstimation.h
rename to src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
index 66bf37394c23a1fc14617028d1b350e0c830a968..d635553acec07638bffa7aa20876123429fbe2de 100644
--- a/src/shared/drivers/canbus/BusLoadEstimation.h
+++ b/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
@@ -27,7 +27,7 @@
#include <cstdint>
-#include "CanData.h"
+#include "CanDriverData.h"
using miosix::FastMutex;
using miosix::Lock;
diff --git a/src/shared/drivers/canbus/Canbus.cpp b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
similarity index 94%
rename from src/shared/drivers/canbus/Canbus.cpp
rename to src/shared/drivers/canbus/CanDriver/CanDriver.cpp
index b7d70591a2b90d79f7ba675bd98c6858e89192ad..dc9469bddda098bdeac1b050a113bc04e734128c 100644
--- a/src/shared/drivers/canbus/Canbus.cpp
+++ b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
@@ -20,7 +20,7 @@
* THE SOFTWARE.
*/
-#include "Canbus.h"
+#include "CanDriver.h"
#include <kernel/scheduler/scheduler.h>
#include <utils/ClockUtils.h>
@@ -53,26 +53,23 @@ CanbusDriver::CanbusDriver(CAN_TypeDef* can, CanbusConfig config,
ClockUtils::enablePeripheralClock(can);
// Enter init mode
- can->MCR &= (~CAN_MCR_SLEEP);
+ can->MCR &= ~CAN_MCR_SLEEP;
can->MCR |= CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK) == 0)
;
+ // Automatic wakeup when a new packet is available
if (config.awum)
- {
- can->MCR |=
- CAN_MCR_AWUM; // Automatic wakeup when a new packet is available
- }
+ can->MCR |= CAN_MCR_AWUM;
+ // Automatically recover from Bus-Off mode
if (config.abom)
- {
- can->MCR |= CAN_MCR_ABOM; // Automatically recover from Bus-Off mode
- }
+ can->MCR |= CAN_MCR_ABOM;
+
+ // Disable automatic retransmission
if (config.nart)
- {
- can->MCR |= CAN_MCR_NART; // Disable automatic retransmission
- }
+ can->MCR |= CAN_MCR_NART;
// Bit timing configuration
can->BTR &= ~CAN_BTR_BRP;
@@ -86,21 +83,15 @@ CanbusDriver::CanbusDriver(CAN_TypeDef* can, CanbusConfig config,
can->BTR |= ((bitTiming.SJW - 1) & 0x3) << 24;
if (config.loopback)
- {
can->BTR |= CAN_BTR_LBKM;
- }
// Enter filter initialization mode
can->FMR |= CAN_FMR_FINIT;
if (can == CAN1)
- {
canDrivers[0] = this;
- }
else
- {
canDrivers[1] = this;
- }
// Enable interrupts
can->IER |= CAN_IER_FMPIE0 | CAN_IER_FMPIE1 | CAN_IER_TMEIE;
@@ -139,7 +130,7 @@ CanbusDriver::BitTiming CanbusDriver::calcBitTiming(AutoBitTiming autoBt)
1 << 10),
1);
- // Given N, calculate BS1 and BS2 that statusult in a sample time as
+ // Given N, calculate BS1 and BS2 that result in a sample time as
// close as possible to the target one
cfgIter.BS1 =
std::min(std::max((int)roundf(autoBt.samplePoint * N - 1), 1),
@@ -190,9 +181,7 @@ CanbusDriver::BitTiming CanbusDriver::calcBitTiming(AutoBitTiming autoBt)
void CanbusDriver::init()
{
if (isInit)
- {
return;
- }
PrintLogger ls = l.getChild("init");
@@ -203,9 +192,7 @@ void CanbusDriver::init()
LOG_DEBUG(ls, "Waiting for canbus synchronization...");
while ((can->MSR & CAN_MSR_INAK) > 0)
- {
Thread::sleep(1);
- }
LOG_INFO(ls, "Canbus synchronized! Init done!");
@@ -221,6 +208,7 @@ bool CanbusDriver::addFilter(FilterBank filter)
LOG_ERR(ls, "Cannot add filter: canbus already initialized");
return false;
}
+
if (filterIndex == NUM_FILTER_BANKS)
{
LOG_ERR(ls, "Cannot add filter: no more filter banks available");
@@ -256,6 +244,7 @@ uint32_t CanbusDriver::send(CanPacket packet)
{
miosix::FastInterruptDisableLock d;
+
// Wait until there is an empty mailbox available to use
while ((can->TSR & CAN_TSR_TME) == 0)
{
@@ -312,13 +301,9 @@ uint32_t CanbusDriver::send(CanPacket packet)
for (uint8_t i = 0; i < packet.length; ++i)
{
if (i < 4)
- {
mailbox->TDLR |= packet.data[i] << i * 8;
- }
else
- {
mailbox->TDHR |= packet.data[i] << (i - 4) * 8;
- }
}
// Finally send the packet
@@ -336,13 +321,9 @@ void CanbusDriver::handleRXInterrupt(int fifo)
mailbox = &can->sFIFOMailBox[fifo];
if (fifo == 0)
- {
RFR = &can->RF0R;
- }
else
- {
RFR = &can->RF1R;
- }
status.fifoOverrun = (*RFR & CAN_RF0R_FOVR0) > 0;
status.fifoFull = (*RFR & CAN_RF0R_FULL0) > 0;
@@ -365,25 +346,18 @@ void CanbusDriver::handleRXInterrupt(int fifo)
p.rtr = (mailbox->RIR & CAN_RI0R_RTR) > 0;
if (p.ext)
- {
p.id = (mailbox->RIR >> 3) & 0x1FFFFFFF;
- }
else
- {
p.id = (mailbox->RIR >> 21) & 0x7FF;
- }
+
p.length = mailbox->RDTR & CAN_RDT0R_DLC;
for (uint8_t i = 0; i < p.length; i++)
{
if (i < 4) // Low register
- {
p.data[i] = (mailbox->RDLR >> (i * 8)) & 0xFF;
- }
else // High register
- {
p.data[i] = (mailbox->RDHR >> ((i - 4) * 8)) & 0xFF;
- }
}
*RFR |= CAN_RF0R_RFOM0;
diff --git a/src/shared/drivers/canbus/Canbus.h b/src/shared/drivers/canbus/CanDriver/CanDriver.h
similarity index 91%
rename from src/shared/drivers/canbus/Canbus.h
rename to src/shared/drivers/canbus/CanDriver/CanDriver.h
index 96a686b9206069d6fac893ef38efb5c643769acb..ed845f5f52b5f4748e0f2247d876783c8801eb63 100644
--- a/src/shared/drivers/canbus/Canbus.h
+++ b/src/shared/drivers/canbus/CanDriver/CanDriver.h
@@ -26,7 +26,7 @@
#include <miosix.h>
#include <utils/collections/IRQCircularBuffer.h>
-#include "CanData.h"
+#include "CanDriverData.h"
#include "Filters.h"
using miosix::Thread;
@@ -38,8 +38,8 @@ namespace Canbus
{
/**
- * @brief Low level canbus driver, with support for both peripherals (CAN1 and
- * CAN2) on stm32f4 micros.
+ * @brief Low level CanBus driver, with support for both peripherals (CAN1 and
+ * CAN2) on stm32f4 microcontrollers.
*/
class CanbusDriver
{
@@ -56,7 +56,7 @@ class CanbusDriver
public:
/**
- * @brief Configuration struct for basic canbus operation.
+ * @brief Configuration struct for basic CanBus operation.
*/
struct CanbusConfig
{
@@ -64,13 +64,13 @@ public:
uint8_t awum = 1; // Automatic wakeup (1: automatic wakeup upon new
// message received)
uint8_t nart =
- 0; // No auto retransmission (0: packets are retrasmitted until
+ 0; // No auto retransmission (0: packets are retransmitted until
// success, 1: only one transfer attempt)
uint8_t abom = 1; // Automatic bus off management (1: automatically
// recovers from bus-off state)
uint8_t rflm = 1; // Receive fifo locked (0: new messages overwrite
// last ones, 1: new message discarded)
- uint8_t txfp = 0; // TX Fifo priority (0: identifier, 1: chronological)
+ uint8_t txfp = 1; // TX Fifo priority (0: identifier, 1: chronological)
};
/**
@@ -81,7 +81,7 @@ public:
{
/**
* @brief Canbus baud rate in bps (BITS PER SECOND). CANOpen standard
- * values are preferred but not mandatory: 1000 kpbs, 500 kbps, 250
+ * values are preferred but not mandatory: 1000 kbps, 500 kbps, 250
* kbps, 125 kbps, 100 kbps, 83.333 kbps, 50 kbps, 25 kbps and 10 kbps.
*/
uint32_t baudRate;
@@ -93,7 +93,7 @@ public:
};
/**
- * @brief Struct specifing exact bit timing registers values.
+ * @brief Struct specifying exact bit timing registers values.
*/
struct BitTiming
{
@@ -133,13 +133,14 @@ public:
~CanbusDriver();
/**
- * @brief Exits initialization mode and starts canbus operation.
+ * @brief Exits initialization mode and starts CanBus operation.
*/
void init();
/**
* @brief Adds a new filter to the bus, or returns false if there are no
* more filter banks available.
+ *
* @warning Can only be called before init().
*
* @param filter Filter to be added
@@ -173,7 +174,7 @@ public:
}
/**
- * @brief Returns the canbus peripheral assigned to this instance.
+ * @brief Returns the CanBus peripheral assigned to this instance.
*/
CAN_TypeDef* getCAN() { return can; }
diff --git a/src/shared/drivers/canbus/CanData.h b/src/shared/drivers/canbus/CanDriver/CanDriverData.h
similarity index 96%
rename from src/shared/drivers/canbus/CanData.h
rename to src/shared/drivers/canbus/CanDriver/CanDriverData.h
index 8123c8514b1e25e58ea88eb04d453bb742c7b509..97e583073d3f823b35b79ea7dde0df4c7e2c599d 100644
--- a/src/shared/drivers/canbus/CanData.h
+++ b/src/shared/drivers/canbus/CanDriver/CanDriverData.h
@@ -54,7 +54,7 @@ struct CanPacket
uint32_t timestamp = 0;
uint32_t id;
- bool ext = false;
+ bool ext = false; ///< Whether to use extended packet id
bool rtr = false;
diff --git a/src/shared/drivers/canbus/CanInterrupt.cpp b/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
similarity index 99%
rename from src/shared/drivers/canbus/CanInterrupt.cpp
rename to src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
index e0312b326dc917837e84f4faca875d6f22fa62c8..4ed47a191f8c8afa1a0716b7f1b0bfc08642cf47 100644
--- a/src/shared/drivers/canbus/CanInterrupt.cpp
+++ b/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
@@ -26,7 +26,7 @@
#include <kernel/scheduler/scheduler.h>
#include <miosix.h>
-#include "Canbus.h"
+#include "CanDriver.h"
namespace Boardcore
{
@@ -98,9 +98,7 @@ void __attribute__((used)) CAN_RXIRQHandlerImpl(int canDev, int fifo)
(void)canDev;
if (canDrivers[canDev])
- {
canDrivers[canDev]->handleRXInterrupt(fifo);
- }
}
void __attribute__((used)) CAN_TXIRQHandlerImpl(int canDev)
diff --git a/src/shared/drivers/canbus/CanInterrupt.h b/src/shared/drivers/canbus/CanDriver/CanInterrupt.h
similarity index 100%
rename from src/shared/drivers/canbus/CanInterrupt.h
rename to src/shared/drivers/canbus/CanDriver/CanInterrupt.h
diff --git a/src/shared/drivers/canbus/Filters.h b/src/shared/drivers/canbus/CanDriver/Filters.h
similarity index 100%
rename from src/shared/drivers/canbus/Filters.h
rename to src/shared/drivers/canbus/CanDriver/Filters.h
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..64c6a27bdaaf0cc92de58915d63f46ac21503ff6
--- /dev/null
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
@@ -0,0 +1,318 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Federico Mandelli
+ *
+ * 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 "CanProtocol.h"
+
+using namespace miosix;
+
+namespace Boardcore
+{
+
+namespace Canbus
+{
+
+CanProtocol::CanProtocol(CanbusDriver* can, MsgHandler onReceive)
+ : can(can), onReceive(onReceive)
+{
+}
+
+bool CanProtocol::start()
+{
+ stopFlag = false;
+
+ if (can == nullptr)
+ return false;
+
+ // Start sender (joinable thread)
+ if (!sndStarted)
+ {
+ sndThread = miosix::Thread::create(
+ sndLauncher, skywardStack(4 * 1024), miosix::MAIN_PRIORITY,
+ reinterpret_cast<void*>(this), miosix::Thread::JOINABLE);
+
+ if (sndThread != nullptr)
+ sndStarted = true;
+ else
+ LOG_ERR(logger, "Could not start sender!");
+ }
+
+ // Start receiver
+ if (!rcvStarted)
+ {
+ rcvThread = miosix::Thread::create(rcvLauncher, skywardStack(4 * 1024),
+ miosix::MAIN_PRIORITY,
+ reinterpret_cast<void*>(this));
+
+ if (rcvThread != nullptr)
+ rcvStarted = true;
+ else
+ LOG_ERR(logger, "Could not start receiver!");
+ }
+
+ if (sndStarted && rcvStarted)
+ LOG_DEBUG(logger, "Sender and receiver started");
+
+ return sndStarted && rcvStarted;
+}
+
+bool CanProtocol::isStarted() { return sndStarted && rcvStarted; }
+
+void CanProtocol::stop()
+{
+ stopFlag = true;
+
+ // Wait for sender to stop
+ sndThread->join();
+}
+
+bool CanProtocol::enqueueMsg(const CanMessage& msg)
+{
+ // Append the message to the queue
+ outQueue.put(msg);
+
+ // Update stats
+ // updateQueueStats(appended);
+
+ // Return always true because the circular buffer overrides current packets
+ // and can't get full.
+ return true;
+}
+
+bool CanProtocol::addFilter(uint8_t src, uint64_t dst)
+{
+ if (src > 0xF || dst > 0xF)
+ return false;
+
+ // The filter mask will cover only the source and destination bits
+ uint32_t mask = static_cast<uint32_t>(CanProtocolIdMask::SOURCE) |
+ static_cast<uint32_t>(CanProtocolIdMask::DESTINATION);
+
+ uint32_t id =
+ src << static_cast<uint8_t>(CanProtocolShiftInformation::SOURCE) |
+ dst << static_cast<uint8_t>(CanProtocolShiftInformation::DESTINATION);
+
+ Mask32FilterBank filterBank(id, mask, 1, 1, 0, 0, 0);
+
+ if (can == nullptr)
+ return false;
+ else
+ return can->addFilter(filterBank);
+}
+
+void CanProtocol::sendMessage(const CanMessage& msg)
+{
+ CanPacket packet = {};
+ uint32_t leftToSend = msg.length - 1;
+
+ // Create the id for the first packet
+ packet.ext = true; // Use extended packet id
+
+ // The number of left to send packets
+ packet.id = static_cast<uint32_t>(msg.id) |
+ ((static_cast<uint32_t>(0x3F) - leftToSend) &
+ static_cast<uint32_t>(CanProtocolIdMask::LEFT_TO_SEND));
+ packet.length = byteForUint64(msg.payload[0]);
+
+ // Splits payload[0] in the right number of uint8_t
+ for (int i = 0; i < packet.length; i++)
+ packet.data[i] = msg.payload[0] >> (8 * i);
+
+ // Send the first packet
+ can->send(packet);
+ leftToSend--;
+
+ // Prepare the remaining packets
+ for (int i = 1; i < msg.length; i++)
+ {
+ packet.id =
+ static_cast<uint32_t>(msg.id) |
+ static_cast<uint32_t>(CanProtocolIdMask::FIRST_PACKET_FLAG) |
+ ((static_cast<uint32_t>(0x3F) - leftToSend) &
+ static_cast<uint32_t>(CanProtocolIdMask::LEFT_TO_SEND));
+ packet.length = byteForUint64(msg.payload[i]);
+
+ // Splits payload[i] in the right number of uint8_t
+ for (int k = 0; k < packet.length; k++)
+ packet.data[k] = msg.payload[i] >> (8 * k);
+
+ can->send(packet);
+ leftToSend--;
+ }
+}
+
+bool CanProtocol::enqueueEvent(uint8_t priority, uint8_t primaryType,
+ uint8_t source, uint8_t destination,
+ uint8_t secondaryType)
+{
+ if (priority > 0xF || primaryType > 0x3F || source > 0xF ||
+ destination > 0xF || secondaryType > 0xF)
+ return false;
+
+ CanMessage msg{};
+
+ // Length set to a minumum of 1 even if there is no payload
+ msg.length = 1;
+ msg.payload[0] = 0xFF;
+
+ // clang-format off
+ msg.id = priority << static_cast<uint32_t>(CanProtocolShiftInformation::PRIORITY);
+ msg.id |= primaryType << static_cast<uint32_t>(CanProtocolShiftInformation::PRIMARY_TYPE);
+ msg.id |= source << static_cast<uint32_t>(CanProtocolShiftInformation::SOURCE);
+ msg.id |= destination << static_cast<uint32_t>(CanProtocolShiftInformation::DESTINATION);
+ msg.id |= secondaryType << static_cast<uint32_t>(CanProtocolShiftInformation::SECONDARY_TYPE);
+ // clang-format off
+
+ LOG_DEBUG(logger, "Sending message with id: {:x}", msg.id);
+
+ return enqueueMsg(msg);
+}
+
+void CanProtocol::runReceiver()
+{
+ CanMessage msg;
+ uint8_t nReceived = 0;
+
+ while (!stopFlag)
+ {
+ // Wait for the next packet
+ can->getRXBuffer().waitUntilNotEmpty();
+
+ // If the buffer is not empty retrieve the packet
+ if (!can->getRXBuffer().isEmpty())
+ {
+ CanPacket pkt = can->getRXBuffer().pop().packet;
+
+ uint8_t leftToReceive =
+ static_cast<uint32_t>(0x3F) -
+ (pkt.id &
+ static_cast<uint32_t>(CanProtocolIdMask::LEFT_TO_SEND));
+
+ // Check if the packet is the first in the sequence, if this is the
+ // case then the previous message is overriden
+ if ((pkt.id & static_cast<uint32_t>(
+ CanProtocolIdMask::FIRST_PACKET_FLAG)) == 0)
+ {
+ // If it is we save the id (without the sequence number) and the
+ // message length
+ msg.id = pkt.id & static_cast<uint32_t>(
+ CanProtocolIdMask::MESSAGE_INFORMATION);
+ msg.length = leftToReceive + 1;
+
+ // Reset the number of received packets
+ nReceived = 0;
+ }
+
+ // Accept the packet only if it has the expected id
+ // clang-format off
+ if (msg.id != -1 &&
+ (pkt.id & static_cast<uint32_t>(CanProtocolIdMask::MESSAGE_INFORMATION)) ==
+ (msg.id & static_cast<uint32_t>(CanProtocolIdMask::MESSAGE_INFORMATION)))
+ // clang-format on
+ {
+ // Check if the packet is expected in the sequence. The received
+ // packet must have the expected left to send value
+
+ if (msg.length - nReceived - 1 == leftToReceive)
+ {
+ uint64_t payload = 0;
+
+ // Assemble the packet data into a uint64_t
+ for (uint8_t i = 0; i < pkt.length; i++)
+ payload |= pkt.data[i] << (i * 8);
+
+ // Add the data to the message
+ msg.payload[pkt.length - leftToReceive - 1] = payload;
+ nReceived++;
+ }
+ }
+
+ // If we have received the right number of packet call onReceive and
+ // reset the message
+ if (nReceived == msg.length && nReceived != 0)
+ {
+ LOG_DEBUG(logger, "Message ready with id: {:x}", msg.id);
+
+ onReceive(msg);
+
+ // Reset the packet
+ msg.id = -1;
+ msg.length = 0;
+ }
+ }
+ }
+}
+
+void CanProtocol::runSender()
+{
+ LOG_DEBUG(logger, "Sender is running");
+ CanMessage msg;
+
+ while (!stopFlag)
+ {
+ outQueue.waitUntilNotEmpty();
+
+ if (!outQueue.isEmpty())
+ {
+ // Get the first packet in the queue, without removing it
+ msg = outQueue.pop();
+
+ LOG_DEBUG(logger, "Sending message, length: {}", msg.length);
+
+ sendMessage(msg);
+
+ // updateSenderStats();
+ }
+ else
+ {
+ // Wait before sending something else
+ miosix::Thread::sleep(50);
+ }
+ }
+}
+
+void CanProtocol::rcvLauncher(void* arg)
+{
+ reinterpret_cast<CanProtocol*>(arg)->runReceiver();
+}
+
+void CanProtocol::sndLauncher(void* arg)
+{
+ reinterpret_cast<CanProtocol*>(arg)->runSender();
+}
+
+uint8_t CanProtocol::byteForUint64(uint64_t number)
+{
+ uint8_t i;
+
+ for (i = 1; i <= 8; i++)
+ {
+ number >>= 8;
+ if (number == 0)
+ return i;
+ }
+
+ return i;
+}
+
+} // namespace Canbus
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
new file mode 100644
index 0000000000000000000000000000000000000000..fc79de55e28f26e80d359a7f1d875f807c6a02dc
--- /dev/null
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
@@ -0,0 +1,204 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Federico Mandelli
+ *
+ * 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/PrintLogger.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
+#include <utils/Debug.h>
+#include <utils/collections/SyncCircularBuffer.h>
+
+#include "CanProtocolData.h"
+#include "CanProtocolTypes.h"
+
+namespace Boardcore
+{
+
+namespace Canbus
+{
+
+/**
+ * @brief Canbus protocol implementation.
+ *
+ * Given a can interface this class takes care of sending messages segmented
+ * into multiple packets, and receiving single packets that are then reframed
+ * into messages.
+ *
+ * This driver has been implemented following the MavlinkDriver.
+ */
+class CanProtocol
+{
+ using MsgHandler = std::function<void(CanMessage data)>;
+
+public:
+ /**
+ * @brief Construct a new CanProtocol object.
+ *
+ * @param can Pointer to a CanbusDriver object.
+ */
+ CanProtocol(CanbusDriver* can, MsgHandler onReceive);
+
+ /**
+ * @brief Start the receiving and sending threads.
+ *
+ * @return False if at least one could not start.
+ */
+ bool start();
+
+ /**
+ * @brief Tells whether the driver was started.
+ */
+ bool isStarted();
+
+ /**
+ * @brief Stops sender and receiver threads.
+ */
+ void stop();
+
+ /**
+ * @brief Adds a filter to the can peripheral to receive only messages from
+ * the given source and targeted to the given destination.
+ *
+ * @param src Message source.
+ * @param dst Message destination.
+ * @return True if the filter was added successfully.
+ */
+ bool addFilter(uint8_t src, uint64_t dst);
+
+ /**
+ * @brief Non-blocking send function, puts the messages in a queue.
+ * Message is discarded if the queue is full.
+ *
+ * @param msg Message to send (CanMessage struct).
+ * @return True if the message could be enqueued.
+ */
+ bool enqueueMsg(const CanMessage& msg);
+
+ /**
+ * @brief Non-blocking send function for an event (a message without
+ * payload).
+ */
+ bool enqueueEvent(uint8_t priority, uint8_t primaryType, uint8_t source,
+ uint8_t destination, uint8_t secondaryType);
+
+ /**
+ * @brief Non-blocking send function for a generic data type.
+ *
+ * @warning There must be a function called with this prototype:
+ * CanMessage toCanMessage(const T& t);
+ *
+ * @param t The class to be logged.
+ */
+ template <typename T>
+ bool enqueueData(uint8_t priority, uint8_t primaryType, uint8_t source,
+ uint8_t destination, uint8_t secondaryType, const T& t);
+
+private:
+ /**
+ * @brief Blocking send function, puts the CanMessage object on the bus.
+ *
+ * Takes a CanMessage object, splits it into multiple CanPackets with the
+ * correct sequential id.
+ *
+ * @param msg Contains the id and the data of the packet to send.
+ */
+ void sendMessage(const CanMessage& msg);
+
+ /**
+ * @brief Receiver thread: waits for one packet at a time from the can
+ * driver and tries to parse a message.
+ *
+ * If the message is successfully parsed, the onReceive function is
+ * executed.
+ *
+ * For now if a packet is received in the wrong order or if a packet with a
+ * different id is received, the current (incomplete) message will be lost.
+ * Once we receive a new first packet, currently saved data are reset.
+ */
+ void runReceiver();
+
+ /**
+ * @brief Sender Thread: Periodically flushes the message queue and sends
+ * all the enqueued messages.
+ */
+ void runSender();
+
+ /**
+ * @brief Calls the run member function.
+ *
+ * @param arg The object pointer cast to void*.
+ */
+ static void rcvLauncher(void* arg);
+
+ /**
+ * @brief Calls the run member function.
+ *
+ * @param arg The object pointer cast to void*.
+ */
+ static void sndLauncher(void* arg);
+
+ /**
+ * @brief Count the number of bytes needed to encode a uint64_t number.
+ */
+ uint8_t byteForUint64(uint64_t number);
+
+ CanbusDriver* can; ///< Device used to send and receive packets.
+ MsgHandler onReceive; ///< Function executed when a message is ready.
+
+ // Threads
+ bool stopFlag = false;
+ bool sndStarted = false;
+ bool rcvStarted = false;
+
+ miosix::Thread* sndThread = nullptr;
+ miosix::Thread* rcvThread = nullptr;
+
+ SyncCircularBuffer<CanMessage, 10> outQueue;
+
+ PrintLogger logger = Logging::getLogger("canprotocol");
+};
+
+template <typename T>
+bool CanProtocol::enqueueData(uint8_t priority, uint8_t primaryType,
+ uint8_t source, uint8_t destination,
+ uint8_t secondaryType, const T& t)
+{
+ if (priority > 0xF || primaryType > 0x3F || source > 0xF ||
+ destination > 0xF || secondaryType > 0xF)
+ return false;
+
+ CanMessage msg = toCanMessage(t);
+
+ // clang-format off
+ msg.id = priority << static_cast<uint32_t>(CanProtocolShiftInformation::PRIORITY);
+ msg.id |= primaryType << static_cast<uint32_t>(CanProtocolShiftInformation::PRIMARY_TYPE);
+ msg.id |= source << static_cast<uint32_t>(CanProtocolShiftInformation::SOURCE);
+ msg.id |= destination << static_cast<uint32_t>(CanProtocolShiftInformation::DESTINATION);
+ msg.id |= secondaryType << static_cast<uint32_t>(CanProtocolShiftInformation::SECONDARY_TYPE);
+ // clang-format off
+
+ return enqueueMsg(msg);
+}
+
+} // namespace Canbus
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolData.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolData.h
new file mode 100644
index 0000000000000000000000000000000000000000..b73b40ca8535cf0f5bfacffc48d703ede106ed66
--- /dev/null
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolData.h
@@ -0,0 +1,185 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Federico Mandelli
+ *
+ * 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 <stdint.h>
+
+namespace Boardcore
+{
+
+namespace Canbus
+{
+
+/**
+ * The CanProtocol allows to transmit arbitrarily sized messages over the CanBus
+ * overcoming the 8 byte limitation of each single packet.
+ *
+ * Our CanProtocol uses the extended can packet, the 29 bits id is divided such
+ * as:
+ * - Priority 4 bit \
+ * - Primary type 6 bit |
+ * - Source 4 bit | 22 bits - Message informations
+ * - Destination 4 bit |
+ * - Secondary type 4 bit /
+ * - First packet flag 1 bit \ 7 bits - Sequential informations
+ * - Remaining packets 6 bit /
+ * shiftNameOfField the number of shift needed to reach that field
+ *
+ * The id is split into 2 parts:
+ * - Message information: Common to every packet of a given message
+ * - Sequential information: Used to distinguish between packets
+ *
+ * The sender splits into multiple packets a message that is then recomposed on
+ * the receiver end. The message informations are encoded into the packets id,
+ * therefore they have an effect on packets priorities.
+ */
+/**
+ * The CanProtocol allows to transmit arbitrarily sized messages over the CanBus
+ * overcoming the 8 byte limitation of each single packet.
+ *
+ * Our CanProtocol uses the extended can packet, the 29 bits id is divided such
+ * as:
+ * - Priority 4 bit \
+ * - Primary type 6 bit |
+ * - Source 4 bit | 22 bits - Message informations
+ * - Destination 4 bit |
+ * - Secondary type 4 bit /
+ * - First packet flag 1 bit \ 7 bits - Sequential informations
+ * - Remaining packets 6 bit /
+ * shiftNameOfField the number of shift needed to reach that field
+ *
+ * The id is split into 2 parts:
+ * - Message information: Common to every packet of a given message
+ * - Sequential information: Used to distinguish between packets
+ *
+ * The sender splits into multiple packets a message that is then recomposed on
+ * the receiver end. The message informations are encoded into the packets id,
+ * therefore they have an effect on packets priorities.
+ */
+
+/**
+ * @brief Masks of the elements composing can packets ids.
+ */
+enum class CanProtocolIdMask : uint32_t
+{
+ PRIORITY = 0x1E000000,
+ PRIMARY_TYPE = 0x01F80000,
+ SOURCE = 0x00078000,
+ DESTINATION = 0x00007800,
+ SECONDARY_TYPE = 0x00000780,
+
+ MESSAGE_INFORMATION = 0x1FFFFF80,
+
+ FIRST_PACKET_FLAG = 0x00000040,
+ LEFT_TO_SEND = 0x0000003F,
+
+ SEQUENTIAL_INFORMATION = 0x0000007F
+};
+
+enum CanProtocolShiftInformation : uint8_t
+{
+ // Shift values for message informations
+ PRIORITY = 25,
+ PRIMARY_TYPE = 19,
+ SOURCE = 15,
+ DESTINATION = 11,
+ SECONDARY_TYPE = 7,
+
+ // Shift values for sequential informations
+ FIRST_PACKET_FLAG = 6,
+ LEFT_TO_SEND = 0,
+
+ // Position of the message infos relative to the entire can packet id
+ SEQUENTIAL_INFORMATION = 7
+};
+
+/**
+ * @brief Generic struct that contains a can protocol message.
+ *
+ * For example an accelerometer message could have:
+ * - 4 bytes for the timestamp
+ * - 3x4 bytes for float values
+ * This message would be divided into 2 can packets.
+ *
+ * Note that the maximum size for a message is 520 bytes since the remaining
+ * packet information is 6 bit wide.
+ */
+struct CanMessage
+{
+ int32_t id = -1; ///< Id of the message without sequential infos.
+ uint8_t length = 0; ///< Length of the message content.
+ uint64_t payload[65];
+
+ uint8_t getPriority() const
+ {
+ return id >>
+ static_cast<uint8_t>(CanProtocolShiftInformation::PRIORITY);
+ }
+
+ uint8_t getPrimaryType() const
+ {
+ return (id & static_cast<uint32_t>(CanProtocolIdMask::PRIMARY_TYPE)) >>
+ static_cast<uint8_t>(CanProtocolShiftInformation::PRIMARY_TYPE);
+ }
+
+ uint8_t getSource() const
+ {
+ return (id & static_cast<uint32_t>(CanProtocolIdMask::SOURCE)) >>
+ static_cast<uint8_t>(CanProtocolShiftInformation::SOURCE);
+ }
+
+ uint8_t getDestination() const
+ {
+ return (id & static_cast<uint32_t>(CanProtocolIdMask::DESTINATION)) >>
+ static_cast<uint8_t>(CanProtocolShiftInformation::DESTINATION);
+ }
+
+ uint8_t getSecondaryType() const
+ {
+ return (id &
+ static_cast<uint32_t>(CanProtocolIdMask::SECONDARY_TYPE)) >>
+ static_cast<uint8_t>(
+ CanProtocolShiftInformation::SECONDARY_TYPE);
+ }
+};
+
+inline bool operator==(const CanMessage& lhs, const CanMessage& rhs)
+{
+ if (lhs.id != rhs.id || lhs.length != rhs.length)
+ return false;
+
+ for (int i = 0; i < lhs.length; i++)
+ if (lhs.payload[i] != rhs.payload[i])
+ return false;
+
+ return true;
+}
+
+inline bool operator!=(const CanMessage& lhs, const CanMessage& rhs)
+{
+ return !(lhs == rhs);
+}
+
+} // namespace Canbus
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
new file mode 100644
index 0000000000000000000000000000000000000000..b84db80a9c1e530dc9666af6c2e9951a7e3ed7f6
--- /dev/null
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
@@ -0,0 +1,49 @@
+/* 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/analog/Pitot/PitotData.h>
+
+#include <cstring>
+
+#include "CanProtocolData.h"
+
+namespace Boardcore
+{
+
+inline Canbus::CanMessage toCanMessage(const PitotData& data)
+{
+ Canbus::CanMessage message;
+
+ uint32_t tmp;
+ memcpy(&tmp, &(data.airspeed), sizeof(tmp));
+
+ message.id = -1;
+ message.length = 1;
+ message.payload[0] = (data.timestamp & ~0x3) << 30;
+ message.payload[0] |= tmp;
+
+ return message;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/interrupt/external_interrupts.cpp b/src/shared/drivers/interrupt/external_interrupts.cpp
index a00631d4624bfd6725933c2d70caec86d8032987..56aad8e2b5d9b7bb85664635f735b7de60b2101e 100644
--- a/src/shared/drivers/interrupt/external_interrupts.cpp
+++ b/src/shared/drivers/interrupt/external_interrupts.cpp
@@ -23,6 +23,9 @@
#include "external_interrupts.h"
#include <miosix.h>
+
+#include "kernel/logging.h"
+
using namespace miosix;
/**
@@ -62,46 +65,95 @@ using namespace miosix;
// All unused interrupts call this function.
extern void unexpectedInterrupt();
-extern "C" void Default_EXTI_Handler() { unexpectedInterrupt(); }
+extern "C" void Default_EXTI_Handler()
+{
+ IRQerrorLog("\r\n***Unexpected Peripheral interrupt [Boardcore]\r\n");
+}
/**
* Declaration of a separate IRQHandler for each external
- * interrupt. If no further implementatio is provided, the
+ * interrupt. If no further implementation is provided, the
* Default_Handler will be called.
*/
-void __attribute__((weak)) EXTI0_IRQHandlerImpl();
-void __attribute__((weak)) EXTI1_IRQHandlerImpl();
-void __attribute__((weak)) EXTI2_IRQHandlerImpl();
-void __attribute__((weak)) EXTI3_IRQHandlerImpl();
-void __attribute__((weak)) EXTI4_IRQHandlerImpl();
-void __attribute__((weak)) EXTI5_IRQHandlerImpl();
-void __attribute__((weak)) EXTI6_IRQHandlerImpl();
-void __attribute__((weak)) EXTI7_IRQHandlerImpl();
-void __attribute__((weak)) EXTI8_IRQHandlerImpl();
-void __attribute__((weak)) EXTI9_IRQHandlerImpl();
-void __attribute__((weak)) EXTI10_IRQHandlerImpl();
-void __attribute__((weak)) EXTI11_IRQHandlerImpl();
-void __attribute__((weak)) EXTI12_IRQHandlerImpl();
-void __attribute__((weak)) EXTI13_IRQHandlerImpl();
-void __attribute__((weak)) EXTI14_IRQHandlerImpl();
-void __attribute__((weak)) EXTI15_IRQHandlerImpl();
-
-#pragma weak EXTI0_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI1_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI2_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI3_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI4_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI5_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI6_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI7_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI8_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI9_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI10_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI11_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI12_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI13_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI14_IRQHandlerImpl = Default_EXTI_Handler
-#pragma weak EXTI15_IRQHandlerImpl = Default_EXTI_Handler
+void __attribute__((weak)) EXTI0_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI0\r\n");
+}
+
+void __attribute__((weak)) EXTI1_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI1\r\n");
+}
+
+void __attribute__((weak)) EXTI2_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI2\r\n");
+}
+
+void __attribute__((weak)) EXTI3_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI3\r\n");
+}
+
+void __attribute__((weak)) EXTI4_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI4\r\n");
+}
+
+void __attribute__((weak)) EXTI5_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI5\r\n");
+}
+
+void __attribute__((weak)) EXTI6_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI6\r\n");
+}
+
+void __attribute__((weak)) EXTI7_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI7\r\n");
+}
+
+void __attribute__((weak)) EXTI8_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI8\r\n");
+}
+
+void __attribute__((weak)) EXTI9_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI9\r\n");
+}
+
+void __attribute__((weak)) EXTI10_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI10\r\n");
+}
+
+void __attribute__((weak)) EXTI11_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI11\r\n");
+}
+
+void __attribute__((weak)) EXTI12_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI12\r\n");
+}
+
+void __attribute__((weak)) EXTI13_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI13\r\n");
+}
+
+void __attribute__((weak)) EXTI14_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI14\r\n");
+}
+
+void __attribute__((weak)) EXTI15_IRQHandlerImpl()
+{
+ IRQerrorLog("\r\nUnexpected Peripheral interrupt EXTI15\r\n");
+}
/**
* Implementation of the IRQHandler that is triggered when
@@ -266,7 +318,7 @@ void __attribute__((used)) EXTI15_10_IRQHandlerImpl()
}
}
-constexpr unsigned ConvertGPIO_BASEtoUnsiged(unsigned P)
+constexpr unsigned ConvertGPIO_BASEtoUnsigned(unsigned P)
{
// clang-format off
return P == GPIOA_BASE? 0 :
@@ -303,7 +355,7 @@ constexpr unsigned GetEXTI_IRQn(unsigned N)
constexpr unsigned GetEXTICR_register_value(unsigned P, unsigned N)
{
- return (ConvertGPIO_BASEtoUnsiged(P) << ((N % 4) * 4));
+ return (ConvertGPIO_BASEtoUnsigned(P) << ((N % 4) * 4));
}
void enableExternalInterrupt(unsigned int gpioPort, unsigned int gpioNumber,
diff --git a/src/shared/drivers/spi/SPI.h b/src/shared/drivers/spi/SPI.h
index 8d2077fca048d27085f7f3f64447ac7ca5222663..3d74a7722956f952d1abeec7eb3a8096305549e3 100644
--- a/src/shared/drivers/spi/SPI.h
+++ b/src/shared/drivers/spi/SPI.h
@@ -30,7 +30,7 @@
using SPIType = SPI_TypeDef;
#else
#include <utils/TestUtils/FakeSpiTypedef.h>
-using SPIType = FakeSpiTypedef;
+using SPIType = Boardcore::FakeSpiTypedef;
#endif
namespace Boardcore
@@ -51,7 +51,7 @@ namespace Boardcore
* - Full-duplex synchronous transfers on three lines
* - 8- or 16-bit transfer frame format selection
* - Master or slave operation
- * - 8 master mode baud rate prescales (f_PCLK/2 max.)
+ * - 8 master mode baud rate prescaler (f_PCLK/2 max.)
* - Programmable clock polarity and phase
* - Programmable data order with MSB-first or LSB-first shifting
* - Hardware CRC feature for reliable communication
@@ -485,10 +485,12 @@ inline uint16_t SPI::transfer(uint16_t data)
inline void SPI::transfer(uint8_t *data, size_t nBytes)
{
- // Cleaer the RX buffer
+ miosix::FastInterruptDisableLock lock;
+
+ // Clear the RX buffer
(void)spi->DR;
- // Write the first data item to transmit
+ // Write the first data item to transmitted
spi->DR = data[0];
for (size_t i = 1; i < nBytes; i++)
@@ -508,26 +510,32 @@ inline void SPI::transfer(uint8_t *data, size_t nBytes)
data[i - 1] = static_cast<uint8_t>(spi->DR);
}
- // Wait until data is received
- // while ((spi->SR & SPI_SR_RXNE) == 0)
- // ;
- while (spi->SR & SPI_SR_BSY)
+ // Wait until the last data item is received
+ while ((spi->SR & SPI_SR_RXNE) == 0)
;
// Read the last received data item
data[nBytes - 1] = static_cast<uint8_t>(spi->DR);
+
+ // Wait until TXE=1 and then wait until BSY=0 before concluding
+ while ((spi->SR & SPI_SR_TXE) == 0)
+ ;
+ while (spi->SR & SPI_SR_BSY)
+ ;
}
inline void SPI::transfer(uint16_t *data, size_t nBytes)
{
- // Cleaer the RX buffer
+ miosix::FastInterruptDisableLock lock;
+
+ // Clear the RX buffer
(void)spi->DR;
// Set 16 bit frame format
set16BitFrameFormat();
- // Write the first data item to transmit
- spi->DR = data[0];
+ // Write the first data item to transmitted
+ spi->DR = static_cast<uint16_t>(data[0]);
for (size_t i = 1; i < nBytes / 2; i++)
{
@@ -546,15 +554,19 @@ inline void SPI::transfer(uint16_t *data, size_t nBytes)
data[i - 1] = static_cast<uint16_t>(spi->DR);
}
- // Wait until data is received
- // while ((spi->SR & SPI_SR_RXNE) == 0)
- // ;
- while (spi->SR & SPI_SR_BSY)
+ // Wait until the last data item is received
+ while ((spi->SR & SPI_SR_RXNE) == 0)
;
// Read the last received data item
data[nBytes / 2 - 1] = static_cast<uint16_t>(spi->DR);
+ // Wait until TXE=1 and then wait until BSY=0 before concluding
+ while ((spi->SR & SPI_SR_TXE) == 0)
+ ;
+ while (spi->SR & SPI_SR_BSY)
+ ;
+
// Go back to 8 bit frame format
set8BitFrameFormat();
}
diff --git a/src/shared/drivers/spi/SPIBus.h b/src/shared/drivers/spi/SPIBus.h
index 0d5b0c0b7faeb8c166fd55b8e454a1409ba22aac..e5865b0511bae4e6750b0908eba08074b6e7d2b3 100644
--- a/src/shared/drivers/spi/SPIBus.h
+++ b/src/shared/drivers/spi/SPIBus.h
@@ -29,8 +29,8 @@
#ifndef USE_MOCK_PERIPHERALS
using SPIType = SPI_TypeDef;
#else
-#include <test/FakeSpiTypedef.h>
-using SPIType = FakeSpiTypedef;
+#include <utils/TestUtils/FakeSpiTypedef.h>
+using SPIType = Boardcore::FakeSpiTypedef;
#endif
namespace Boardcore
diff --git a/src/shared/drivers/spi/SPIBusInterface.h b/src/shared/drivers/spi/SPIBusInterface.h
index f10a7e33228d5b43bf701e5e8178cead2abf8411..1cbdd05ffe6c9a8ba86b82307fe776f1d079a645 100644
--- a/src/shared/drivers/spi/SPIBusInterface.h
+++ b/src/shared/drivers/spi/SPIBusInterface.h
@@ -30,7 +30,7 @@
using GpioType = miosix::GpioPin;
#else
#include <utils/TestUtils/MockGpioPin.h>
-using GpioType = MockGpioPin;
+using GpioType = Boardcore::MockGpioPin;
#endif
namespace Boardcore
@@ -46,16 +46,16 @@ struct SPIBusConfig
///< Peripheral clock division
SPI::ClockDivider clockDivider;
- ///< Clock polarity and phace configuration
+ ///< Clock polarity and phase configuration
SPI::Mode mode;
///< MSB or LSB first
SPI::BitOrder bitOrder;
- ///< How long to wait before starting a trasmission after CS is set (us)
+ ///< How long to wait before starting a tranmission after CS is set (us)
unsigned int csSetupTimeUs;
- ///< How long to hold cs after the end of a trasmission (us)
+ ///< How long to hold cs after the end of a tranmission (us)
unsigned int csHoldTimeUs;
SPIBusConfig(SPI::ClockDivider clockDivider = SPI::ClockDivider::DIV_256,
@@ -67,9 +67,6 @@ struct SPIBusConfig
{
}
- /**
- * @brief Custom comparison operator.
- */
bool operator==(const SPIBusConfig& other) const
{
return clockDivider == other.clockDivider && mode == other.mode &&
@@ -92,7 +89,7 @@ class SPIBusInterface
public:
SPIBusInterface() {}
- ///< Delete copy/move contructors/operators.
+ ///< Delete copy/move constructors/operators.
SPIBusInterface(const SPIBusInterface&) = delete;
SPIBusInterface& operator=(const SPIBusInterface&) = delete;
SPIBusInterface(SPIBusInterface&&) = delete;
diff --git a/src/shared/drivers/spi/SPITransaction.cpp b/src/shared/drivers/spi/SPITransaction.cpp
index 8f557ca944a32909c9be63b803666dc1d455c633..faa330d96f5c8e5cc268863a5b72f51f933ffac0 100644
--- a/src/shared/drivers/spi/SPITransaction.cpp
+++ b/src/shared/drivers/spi/SPITransaction.cpp
@@ -134,9 +134,7 @@ void SPITransaction::transfer(uint16_t* data, size_t size)
uint8_t SPITransaction::readRegister(uint8_t reg)
{
if (writeBit == WriteBit::NORMAL)
- {
reg |= 0x80;
- }
bus.select(cs);
bus.write(reg);
@@ -148,9 +146,7 @@ uint8_t SPITransaction::readRegister(uint8_t reg)
void SPITransaction::readRegisters(uint8_t reg, uint8_t* data, size_t size)
{
if (writeBit == WriteBit::NORMAL)
- {
reg |= 0x80;
- }
bus.select(cs);
bus.write(reg);
@@ -161,9 +157,7 @@ void SPITransaction::readRegisters(uint8_t reg, uint8_t* data, size_t size)
void SPITransaction::writeRegister(uint8_t reg, uint8_t data)
{
if (writeBit == WriteBit::INVERTED)
- {
reg |= 0x80;
- }
bus.select(cs);
bus.write(reg);
@@ -174,9 +168,7 @@ void SPITransaction::writeRegister(uint8_t reg, uint8_t data)
void SPITransaction::writeRegisters(uint8_t reg, uint8_t* data, size_t size)
{
if (writeBit == WriteBit::INVERTED)
- {
reg |= 0x80;
- }
bus.select(cs);
bus.write(reg);
diff --git a/src/shared/drivers/timer/TimestampTimer.cpp b/src/shared/drivers/timer/TimestampTimer.cpp
index 8faa0167753afc9907b8d245aeeda165f5fb4971..993949a8d38d79a077671bec6f9afb1ee4c8726e 100644
--- a/src/shared/drivers/timer/TimestampTimer.cpp
+++ b/src/shared/drivers/timer/TimestampTimer.cpp
@@ -27,21 +27,21 @@
namespace Boardcore
{
-TimestampTimer::TimestampTimer()
+#ifndef COMPILE_FOR_HOST
+
+namespace TimestampTimer
{
- initTimestampTimer();
- enableTimestampTimer();
-}
-#ifndef COMPILE_FOR_HOST
+GP32bitTimer timestampTimer = initTimestampTimer();
-TIM_TypeDef *TimestampTimer::getTimer() { return timer.getTimer(); }
+} // namespace TimestampTimer
-void TimestampTimer::resetTimestamp() { timer.setCounter(0); }
+void TimestampTimer::resetTimestamp() { timestampTimer.setCounter(0); }
// TODO: Keep support for STM32F103
-void TimestampTimer::initTimestampTimer()
+GP32bitTimer TimestampTimer::initTimestampTimer()
{
+ GP32bitTimer timer = GP32bitTimer{TIM2};
{
miosix::FastInterruptDisableLock dLock;
// Enable TIM2 peripheral clock
@@ -55,34 +55,18 @@ void TimestampTimer::initTimestampTimer()
// Generate an update event to apply the new prescaler value
timer.generateUpdate();
+ timestampTimer.enable();
+
PrintLogger logger = Logging::getLogger("timestamptimer");
LOG_INFO(logger, "Initialized timestamp timer");
-}
-
-void TimestampTimer::enableTimestampTimer()
-{
- timer.enable();
- PrintLogger logger = Logging::getLogger("timestamptimer");
- LOG_INFO(logger, "Enabled timestamp timer");
+ return timer;
}
#else
void TimestampTimer::resetTimestamp() {}
-void TimestampTimer::initTimestampTimer()
-{
- PrintLogger logger = Logging::getLogger("timestamptimer");
- LOG_INFO(logger, "Initialized timestamp timer [COMPILE_FOR_HOST]");
-}
-
-void TimestampTimer::enableTimestampTimer()
-{
- PrintLogger logger = Logging::getLogger("timestamptimer");
- LOG_INFO(logger, "Enabled timestamp timer [COMPILE_FOR_HOST]");
-}
-
#endif
} // namespace Boardcore
diff --git a/src/shared/drivers/timer/TimestampTimer.h b/src/shared/drivers/timer/TimestampTimer.h
index 8b2bc6f2f445bc0a21f3fd32bd754be102759e25..f3da4e2c861e6631d3e37fc6afba8adeefb37dda 100644
--- a/src/shared/drivers/timer/TimestampTimer.h
+++ b/src/shared/drivers/timer/TimestampTimer.h
@@ -48,55 +48,44 @@ namespace Boardcore
* For timer resolution and duration refer to :
* https://docs.google.com/spreadsheets/d/1FiNDVU7Rg98yZzz1dZ4GDAq3-nEg994ziezCawJ-OK4/edit?usp=sharing
*/
-class TimestampTimer : public Singleton<TimestampTimer>
+namespace TimestampTimer
{
- friend class Singleton<TimestampTimer>;
-
-public:
- /**
- * @brief Preferred timer clock frequency.
- */
- static constexpr uint32_t TIMER_FREQUENCY = 250000;
-
- /**
- * @brief Resets the timestamp timer to 0.
- */
- void resetTimestamp();
-
- /**
- * @brief Compute the current timer value in microseconds.
- *
- * @return Current timestamp in microseconds.
- */
- uint64_t getTimestamp();
-#ifndef COMPILE_FOR_HOST
- TIM_TypeDef *getTimer();
-#endif
-
-private:
- TimestampTimer();
+/**
+ * @brief Preferred timer clock frequency.
+ */
+static constexpr uint32_t TIMER_FREQUENCY = 250000;
- /**
- * @brief Initialize the timer.
- *
- * Enables the timer clock, resets the timer registers and sets che correct
- * timer configuration.
- */
- void initTimestampTimer();
+/**
+ * @brief Resets the timestamp timer to 0.
+ */
+void resetTimestamp();
- /**
- * @brief Starts the timer peripheral.
- */
- void enableTimestampTimer();
+/**
+ * @brief Compute the current timer value in microseconds.
+ *
+ * @return Current timestamp in microseconds.
+ */
+uint64_t getTimestamp();
#ifndef COMPILE_FOR_HOST
- /**
- * @brief TimestampTimer defaults to TIM2.
- */
- GP32bitTimer timer = GP32bitTimer{TIM2};
+
+/**
+ * @brief Initialize the timer.
+ *
+ * Enables the timer clock, resets the timer registers and sets che correct
+ * timer configuration.
+ */
+GP32bitTimer initTimestampTimer();
+
+/**
+ * @brief TimestampTimer defaults to TIM2.
+ */
+extern GP32bitTimer timestampTimer;
+
#endif
-};
+
+}; // namespace TimestampTimer
inline uint64_t TimestampTimer::getTimestamp()
{
@@ -105,7 +94,7 @@ inline uint64_t TimestampTimer::getTimestamp()
#else
// With a timer frequency of 250KHz, the conversion from timer ticks to
// microseconds only take a 2 byte shift (x4)
- return static_cast<uint64_t>(timer.readCounter() << 2);
+ return static_cast<uint64_t>(timestampTimer.readCounter() << 2);
// If the timer frequency is not a multiple of 2 you must compute the value
// this way:
diff --git a/src/shared/drivers/usart/USART.cpp b/src/shared/drivers/usart/USART.cpp
index bc5612a0855997b158c2a1cc5f35c2b01248ce94..765b4dfcc828c6213a8d385822eb789ef40fa9ee 100644
--- a/src/shared/drivers/usart/USART.cpp
+++ b/src/shared/drivers/usart/USART.cpp
@@ -251,29 +251,6 @@ namespace Boardcore
USARTInterface::~USARTInterface() {}
-bool USARTInterface::initPins(miosix::GpioPin tx, int nAFtx, miosix::GpioPin rx,
- int nAFrx)
-{
- if (pinInitialized)
- {
- return false;
- }
-
- miosix::FastInterruptDisableLock dLock;
-
- this->tx = tx;
- this->rx = rx;
-
- tx.mode(miosix::Mode::ALTERNATE);
- tx.alternateFunction(nAFtx);
-
- rx.mode(miosix::Mode::ALTERNATE);
- rx.alternateFunction(nAFrx);
-
- pinInitialized = true;
- return true;
-}
-
void USART::IRQhandleInterrupt()
{
char c;
@@ -315,112 +292,44 @@ USART::USART(USARTType *usart, Baudrate baudrate, unsigned int queueLen)
{
case USART1_BASE:
this->id = 1;
- initPins(u1tx1::getPin(), 7, u1rx1::getPin(), 7);
- irqn = USART1_IRQn;
+ irqn = USART1_IRQn;
break;
case USART2_BASE:
this->id = 2;
- initPins(u2tx1::getPin(), 7, u2rx1::getPin(), 7);
- irqn = USART2_IRQn;
+ irqn = USART2_IRQn;
break;
case USART3_BASE:
this->id = 3;
- initPins(u3tx1::getPin(), 7, u3rx1::getPin(), 7);
- irqn = USART3_IRQn;
+ irqn = USART3_IRQn;
break;
case UART4_BASE:
this->id = 4;
- initPins(u4tx1::getPin(), 8, u4rx1::getPin(), 8);
- irqn = UART4_IRQn;
+ irqn = UART4_IRQn;
break;
case UART5_BASE:
this->id = 5;
- initPins(u5tx::getPin(), 8, u5rx::getPin(), 8);
- irqn = UART5_IRQn;
+ irqn = UART5_IRQn;
break;
case USART6_BASE:
this->id = 6;
- initPins(u6tx1::getPin(), 8, u6rx1::getPin(), 8);
- irqn = USART6_IRQn;
+ irqn = USART6_IRQn;
break;
#ifdef STM32F429xx
case UART7_BASE:
this->id = 7;
- initPins(u7tx1::getPin(), 8, u7rx1::getPin(), 8);
- irqn = UART7_IRQn;
+ irqn = UART7_IRQn;
break;
case UART8_BASE:
this->id = 8;
- initPins(u8tx::getPin(), 8, u8rx::getPin(), 8);
- irqn = UART8_IRQn;
+ irqn = UART8_IRQn;
break;
#endif // STM32F429xx
}
- commonConstructor(usart, baudrate);
-}
-
-USART::USART(USARTType *usart, Baudrate baudrate, miosix::GpioPin tx,
- miosix::GpioPin rx, unsigned int queueLen)
- : rxQueue(queueLen)
-{
- // Setting the id of the serial port
- switch (reinterpret_cast<uint32_t>(usart))
- {
- case USART1_BASE:
- this->id = 1;
- initPins(tx, 7, rx, 7);
- irqn = USART1_IRQn;
- break;
- case USART2_BASE:
- this->id = 2;
- initPins(tx, 7, rx, 7);
- irqn = USART2_IRQn;
- break;
- case USART3_BASE:
- this->id = 3;
- initPins(tx, 7, rx, 7);
- irqn = USART3_IRQn;
- break;
- case UART4_BASE:
- this->id = 4;
- initPins(tx, 8, rx, 8);
- irqn = UART4_IRQn;
- break;
- case UART5_BASE:
- this->id = 5;
- initPins(tx, 8, rx, 8);
- irqn = UART5_IRQn;
- break;
- case USART6_BASE:
- this->id = 6;
- initPins(tx, 8, rx, 8);
- irqn = USART6_IRQn;
- break;
-#ifdef STM32F429xx
- case UART7_BASE:
- this->id = 7;
- initPins(tx, 8, rx, 8);
- irqn = UART7_IRQn;
- break;
- case UART8_BASE:
- this->id = 8;
- initPins(tx, 8, rx, 8);
- irqn = UART8_IRQn;
- break;
-#endif // STM32F429xx
- }
-
- commonConstructor(usart, baudrate);
-}
-
-void USART::commonConstructor(USARTType *usart, Baudrate baudrate)
-{
this->usart = usart;
- // Enabling the peripehral on the right APB
+ // Enabling the peripheral on the right APB
ClockUtils::enablePeripheralClock(usart);
- RCC_SYNC();
// Enabling the usart peripheral
{
@@ -440,25 +349,23 @@ void USART::commonConstructor(USARTType *usart, Baudrate baudrate)
USART::~USART()
{
- {
- miosix::FastInterruptDisableLock dLock;
+ miosix::FastInterruptDisableLock dLock;
- // Take out the usart object we are going to destruct
- USART::ports[this->id - 1] = nullptr;
+ // Take out the usart object we are going to destruct
+ USART::ports[this->id - 1] = nullptr;
- // Disabling the usart
- usart->CR1 &= ~(USART_CR1_UE | USART_CR1_TE | USART_CR1_RE);
+ // Disabling the usart
+ usart->CR1 &= ~(USART_CR1_UE | USART_CR1_TE | USART_CR1_RE);
- // Disabling the interrupt of the serial port
- NVIC_DisableIRQ(irqn);
- }
+ // Disabling the interrupt of the serial port
+ NVIC_DisableIRQ(irqn);
}
bool USART::init()
{
- if (id < 1 || id > MAX_SERIAL_PORTS || !pinInitialized)
+ if (id < 1 || id > MAX_SERIAL_PORTS)
{
- TRACE("Not supported USART id or pins not initialized\n");
+ TRACE("Not supported USART id\n");
return false;
}
@@ -606,7 +513,7 @@ int USART::write(void *buffer, size_t nBytes)
// TODO: Use the send complete interrupt in order not to have a busy while
// loop waiting
const char *buf = reinterpret_cast<const char *>(buffer);
- size_t i = 0;
+ size_t i;
for (i = 0; i < nBytes; i++)
{
while ((usart->SR & USART_SR_TXE) == 0)
@@ -663,6 +570,11 @@ STM32SerialWrapper::STM32SerialWrapper(USARTType *usart, Baudrate baudrate)
initPins(u3tx1::getPin(), 7, u3rx1::getPin(), 7);
this->serialPortName = std::string("usart3");
break;
+ case UART4_BASE:
+ this->id = 4;
+ initPins(u4tx1::getPin(), 8, u4rx1::getPin(), 8);
+ this->serialPortName = std::string("uart4");
+ break;
}
initialized = false;
fd = -1;
@@ -687,8 +599,17 @@ STM32SerialWrapper::STM32SerialWrapper(USARTType *usart, Baudrate baudrate,
this->id = 3;
this->serialPortName = std::string("usart3");
break;
+ case UART4_BASE:
+ this->id = 4;
+ this->serialPortName = std::string("uart4");
+ break;
}
- initPins(tx, 7, rx, 7);
+
+ if (id < 4)
+ initPins(tx, 7, rx, 7);
+ else
+ initPins(tx, 8, rx, 8);
+
initialized = false;
fd = -1;
}
@@ -703,7 +624,7 @@ STM32SerialWrapper::~STM32SerialWrapper()
bool STM32SerialWrapper::init()
{
- if (id > 3)
+ if (id > 4)
{
TRACE(
"[STM32SerialWrapper] USART id greater than 3 is not supported\n");
@@ -761,6 +682,27 @@ bool STM32SerialWrapper::serialCommSetup()
return true;
}
+bool STM32SerialWrapper::initPins(miosix::GpioPin tx, int nAFtx,
+ miosix::GpioPin rx, int nAFrx)
+{
+ if (pinInitialized)
+ return false;
+
+ miosix::FastInterruptDisableLock dLock;
+
+ this->tx = tx;
+ this->rx = rx;
+
+ tx.mode(miosix::Mode::ALTERNATE);
+ tx.alternateFunction(nAFtx);
+
+ rx.mode(miosix::Mode::ALTERNATE);
+ rx.alternateFunction(nAFrx);
+
+ pinInitialized = true;
+ return true;
+}
+
int STM32SerialWrapper::writeString(const char *data)
{
// strlen + 1 in order to send the '/0' terminated string
diff --git a/src/shared/drivers/usart/USART.h b/src/shared/drivers/usart/USART.h
index 05cee3a1662984393fc8790c31dab329eb1f201c..b06b19ea903b9ad6abd6d830ca7862e4c411a2e3 100644
--- a/src/shared/drivers/usart/USART.h
+++ b/src/shared/drivers/usart/USART.h
@@ -34,6 +34,7 @@
using USARTType = USART_TypeDef;
#else
// TODO: Create test utils
+using USARTType = USART_TypeDef;
#endif
#ifdef STM32F429xx
@@ -101,6 +102,7 @@ typedef miosix::Gpio<GPIOE_BASE, 0> u8rx;
namespace Boardcore
{
+
/**
* @brief Abstract class that implements the interface for the USART/UART serial
* communication.
@@ -155,24 +157,11 @@ public:
int getId() { return id; };
protected:
- /**
- * @brief Initializes the pins with the appropriate alternate functions.
- *
- * @param tx Tranmission pin.
- * @param nAFtx Tranmission pin alternate function.
- * @param rx Reception pin.
- * @param nAFrx Reception pin alternate function.
- */
- bool initPins(miosix::GpioPin tx, int nAFtx, miosix::GpioPin rx, int nAFrx);
-
- ///< True if initPins() already called successfully, false otherwise
- bool pinInitialized = false;
-
miosix::GpioPin tx{GPIOA_BASE, 0};
miosix::GpioPin rx{GPIOA_BASE, 0};
USARTType *usart;
- int id = 1; ///< Can be 1, 2, 3, 4, 5, 6, 7, 8
+ int id = -1; ///< Can be from 1 to 8, -1 is invalid
bool initialized = false;
Baudrate baudrate; ///< Baudrate of the serial communication
};
@@ -214,15 +203,7 @@ public:
*
* Sets the default values for all the parameters (1 stop bit, 8 bit data,
* no control flow and no oversampling).
- * Initializes the serial port using the default pins, which are:
- * - USART1: tx=PA9 rx=PA10
- * - USART2: tx=PA2 rx=PA3
- * - USART3: tx=PB10 rx=PB11
- * - UART4: tx=PA0 rx=PA1
- * - UART5: tx=PC12 rx=PD2
- * - USART6: tx=PC6 rx=PC7
- * - UART7: tx=PE8 rx=PE7
- * - UART8: tx=PE1 rx=PE0
+ * Requires that the gpios are configured for the choosen uart.
*
* @param usart structure that represents the usart peripheral [accepted
* are: USART1, USART2, USART3, UART4, UART5, USART6, UART7, UART8].
@@ -232,30 +213,12 @@ public:
USART(USARTType *usart, Baudrate baudrate,
unsigned int queueLen = usart_queue_default_capacity);
- /**
- * @brief Automatically enables the peripheral and timer peripheral clock.
- *
- * Sets the default values for all the parameters (1 stop bit, 8 bit data,
- * no control flow and no oversampling).
- * Initializes the serial port using custom pins.
- *
- * @param usart Structure that represents the usart peripheral [accepted
- * are: USART1, USART2, USART3, UART4, UART5, USART6, UART7, UART8].
- * @param baudrate Member of the enum Baudrate that represents the baudrate
- * with which the communication will take place.
- * @param tx Tranmission pin.
- * @param rx Reception pin.
- */
- USART(USARTType *usart, Baudrate baudrate, miosix::GpioPin tx,
- miosix::GpioPin rx,
- unsigned int queueLen = usart_queue_default_capacity);
-
/**
* @brief Disables the flags for the generation of the interrupts, the IRQ
* from the NVIC, the peripheral and removes his pointer from the ports
* list.
*/
- ~USART();
+ ~USART() override;
/**
* @brief Initializes the peripheral enabling his interrupts, the interrupts
@@ -265,23 +228,23 @@ public:
* All the setup phase must be done before the initialization of the
* peripheral. The pins must be initialized before calling this function.
*/
- bool init();
+ bool init() override;
/**
* @brief Blocking read operation to read nBytes or till the data transfer
* is complete.
*/
- int read(void *buffer, size_t nBytes);
+ int read(void *buffer, size_t nBytes) override;
/**
* @brief Blocking write operation.
*/
- int write(void *buf, size_t nChars);
+ int write(void *buf, size_t nChars) override;
/**
* @brief Write a string to the serial, comprising the '\0' character.
*/
- int writeString(const char *buffer);
+ int writeString(const char *buffer) override;
/**
* @brief Set the length of the word to 8 or to 9.
@@ -326,8 +289,6 @@ public:
void clearQueue();
private:
- void commonConstructor(USARTType *usart, Baudrate baudrate);
-
IRQn_Type irqn;
miosix::FastMutex rxMutex; ///< mutex for receiving on serial
miosix::FastMutex txMutex; ///< mutex for transmitting on serial
@@ -408,12 +369,25 @@ public:
int writeString(const char *buffer);
private:
+ /**
+ * @brief Initializes the pins with the appropriate alternate functions.
+ *
+ * @param tx Tranmission pin.
+ * @param nAFtx Tranmission pin alternate function.
+ * @param rx Reception pin.
+ * @param nAFrx Reception pin alternate function.
+ */
+ bool initPins(miosix::GpioPin tx, int nAFtx, miosix::GpioPin rx, int nAFrx);
+
/**
* @brief Creates a device that represents the serial port, adds it to the
* file system and opens the file that represents the device.
*/
bool serialCommSetup();
+ ///< True if initPins() already called successfully, false otherwise
+ bool pinInitialized = false;
+
miosix::STM32Serial *serial; ///< Pointer to the serial object
//< Port name of the port that has to be created for the communication
diff --git a/src/shared/events/EventBroker.cpp b/src/shared/events/EventBroker.cpp
index b748fc1e91393133da2709cab2a761fe341ed442..b7029ee58d1c8d662344995825137b5fd0e791fb 100644
--- a/src/shared/events/EventBroker.cpp
+++ b/src/shared/events/EventBroker.cpp
@@ -29,6 +29,7 @@ namespace Boardcore
{
EventBroker::EventBroker() {}
+
void EventBroker::post(const Event& ev, uint8_t topic)
{
#ifdef TRACE_EVENTS
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
index 4df3ac83cf0921490e029d276f9e26510322d316..309457505c60765b646868eed17381dc376ed5fc 100644
--- a/src/shared/logger/LogTypes.h
+++ b/src/shared/logger/LogTypes.h
@@ -23,7 +23,9 @@
#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>
#include <drivers/adc/InternalADCData.h>
#include <events/EventData.h>
@@ -46,16 +48,19 @@
#include <sensors/MPU9250/MPU9250Data.h>
#include <sensors/MS5803/MS5803Data.h>
#include <sensors/SensorData.h>
-#include <sensors/UbloxGPS/UbloxGPSData.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/MPXHZ6130A/MPXHZ6130AData.h>
#include <sensors/analog/pressure/honeywell/HSCMAND015PAData.h>
#include <sensors/analog/pressure/honeywell/HSCMRNN030PAData.h>
#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>
#include <iostream>
@@ -75,7 +80,9 @@ namespace LogTypes
void registerTypes(Deserializer& ds)
{
ds.registerType<ServoData>();
+ ds.registerType<ADAState>();
ds.registerType<NASState>();
+ ds.registerType<CpuMeterData>();
ds.registerType<LoggingString>();
ds.registerType<InternalADCData>();
ds.registerType<EventData>();
@@ -88,6 +95,8 @@ void registerTypes(Deserializer& ds)
ds.registerType<BME280Data>();
ds.registerType<BMP280Data>();
ds.registerType<BMX160Data>();
+ ds.registerType<BMX160Temperature>();
+ ds.registerType<BMX160FifoStats>();
ds.registerType<BMX160WithCorrectionData>();
ds.registerType<HX711Data>();
ds.registerType<L3GD20Data>();
@@ -97,16 +106,19 @@ void registerTypes(Deserializer& ds)
ds.registerType<MPU9250Data>();
ds.registerType<MS5803Data>();
ds.registerType<TemperatureData>();
- ds.registerType<UbloxGPSData>();
+ 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 dbb750e96abf5343305b6592145644a5ede1884b..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");
@@ -124,6 +122,8 @@ void Logger::stop()
fclose(file);
+ stats = {};
+
fileNumber = -1; // Reset the fileNumber to an invalid value
}
@@ -138,21 +138,33 @@ int Logger::getCurrentLogNumber() { return fileNumber; }
string Logger::getCurrentFileName() { return getFileName(fileNumber); }
-LoggerStats Logger::getLoggerStats()
+LoggerStats Logger::getStats()
{
- stats.timestamp = TimestampTimer::getInstance().getTimestamp();
+ stats.timestamp = TimestampTimer::getTimestamp();
stats.logNumber = fileNumber;
return stats;
}
+void Logger::resetStats()
+{
+ // Keep some of the statistics persistent
+ int buffersWritten = stats.buffersWritten;
+ int writesFailed = stats.writesFailed;
+
+ // Reset
+ stats = {};
+
+ // Put back
+ stats.buffersWritten = buffersWritten;
+ stats.writesFailed = writesFailed;
+}
+
bool Logger::isStarted() const { return started; }
void Logger::logStats()
{
- log(getLoggerStats());
-
- // Reset the logger stats after they have been logger
- stats = LoggerStats();
+ log(getStats());
+ resetStats();
}
Logger::Logger()
@@ -290,8 +302,9 @@ void Logger::writeThread()
stats.buffersWritten++;
timer.stop();
- stats.writeTime = timer.interval();
- stats.maxWriteTime = max(stats.maxWriteTime, stats.writeTime);
+ stats.averageWriteTime = timer.interval();
+ stats.maxWriteTime =
+ max(stats.maxWriteTime, stats.averageWriteTime);
{
Lock<FastMutex> l(mutex);
diff --git a/src/shared/logger/Logger.h b/src/shared/logger/Logger.h
index 33e9067a9b9a04c7d4c7f64d0e31028eef45a4d1..7d404ae83eb064d15f9ef793e0f3cac9867eb11b 100644
--- a/src/shared/logger/Logger.h
+++ b/src/shared/logger/Logger.h
@@ -59,15 +59,15 @@ public:
/**
* @brief Call this function to start the logger.
*
- * The function tryies to start the logger. It first opens the log file and
- * then create the pack and write threads. If it fails on one of this
- * operation, the logger is not started.
+ * Tries to start the logger, first opens the log file and then create the
+ * pack and write threads. If it fails on one of this operation, the logger
+ * is not started.
*
* Use getCurrentLogNumber to retrieve the log file number.
*
* Blocking call. May take a long time.
*
- * \return true if the logger was started correctly.
+ * \return True if the logger was started correctly.
*/
bool start();
@@ -91,7 +91,9 @@ public:
std::string getCurrentFileName();
- LoggerStats getLoggerStats();
+ LoggerStats getStats();
+
+ void resetStats();
bool isStarted() const;
@@ -117,6 +119,8 @@ public:
/**
* @brief Log logger stats using the logger itself.
+ *
+ * The stats are reset after being logged.
*/
void logStats();
@@ -149,10 +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/logger/LoggerStats.h b/src/shared/logger/LoggerStats.h
index 269cebe36411d28330bce4f13e3b7da2704f7327..3879d894f9c483af6a18ca0f9dfe8462afedd000 100644
--- a/src/shared/logger/LoggerStats.h
+++ b/src/shared/logger/LoggerStats.h
@@ -40,20 +40,20 @@ struct LoggerStats
///< Number of dropped samples because they where too large.
int tooLargeSamples = 0;
- int droppedSamples = 0; ///< Number of dropped samples due to fifo full.
- int queuedSamples = 0; ///< Number of samples written to buffer.
- int buffersFilled = 0; ///< Number of buffers filled.
- int buffersWritten = 0; ///< Number of buffers written to disk.
- int writesFailed = 0; ///< Number of fwrite() that failed.
- int lastWriteError = 0; ///< Error of the last fwrite() that failed.
- int writeTime = 0; ///< Time to perform an fwrite() of a buffer.
- int maxWriteTime = 0; ///< Max time to perform an fwrite() of a buffer.
+ int droppedSamples = 0; ///< Number of dropped samples due to fifo full.
+ int queuedSamples = 0; ///< Number of samples written to buffer.
+ int buffersFilled = 0; ///< Number of buffers filled.
+ int buffersWritten = 0; ///< Number of buffers written to disk.
+ int writesFailed = 0; ///< Number of fwrite() that failed.
+ int lastWriteError = 0; ///< Error of the last fwrite() that failed.
+ int averageWriteTime = 0; ///< Average time for an fwrite() of a buffer.
+ int maxWriteTime = 0; ///< Max time for an fwrite() of a buffer.
static std::string header()
{
- return "timestamp,log_number,too_large_samples,dropped_samples,"
- "queued_samples,buffers_filled,buffers_written,writes_failed,"
- "last_write_error,write_time,max_write_time\n";
+ return "timestamp,logNumber,tooLargeSamples,droppedSamples,"
+ "queuedSamples,buffersFilled,buffersWritten,writesFailed,"
+ "lastWriteError,averageWriteTime,maxWriteTime\n";
}
void print(std::ostream& os) const
@@ -61,7 +61,8 @@ struct LoggerStats
os << timestamp << "," << logNumber << "," << tooLargeSamples << ","
<< droppedSamples << "," << queuedSamples << "," << buffersFilled
<< "," << buffersWritten << "," << writesFailed << ","
- << lastWriteError << "," << writeTime << "," << maxWriteTime << "\n";
+ << lastWriteError << "," << averageWriteTime << "," << maxWriteTime
+ << "\n";
}
};
diff --git a/src/shared/radio/MavlinkDriver/MavlinkDriver.h b/src/shared/radio/MavlinkDriver/MavlinkDriver.h
index af6b337a838ae3d117de774606bebb47f62c016f..81607862cfe14f10b7de94b1faf00bd2fcce23bb 100644
--- a/src/shared/radio/MavlinkDriver/MavlinkDriver.h
+++ b/src/shared/radio/MavlinkDriver/MavlinkDriver.h
@@ -22,15 +22,12 @@
#pragma once
-#include <diagnostic/PrintLogger.h>
-
#include <vector>
/**
* This object includes only the protocol header (`protocol.h`). To use this
* driver, you should include YOUR OWN implementation of the messages definition
- * (`mavlink.h`) before including this header. To create your implementation you
- * can use Skyward's *Mavlink Editor*.
+ * (`mavlink.h`) before including this header.
*/
#ifndef MAVLINK_H
#error \
@@ -38,6 +35,7 @@
implementation before including MavlinkDriver.h"
#endif
+#include <diagnostic/PrintLogger.h>
#include <diagnostic/SkywardStack.h>
#include <diagnostic/StackLogger.h>
#include <mavlink_lib/mavlink_types.h>
@@ -58,14 +56,14 @@ namespace Boardcore
* @tparam PktLength Maximum length in bytes of each transceiver packet.
* @tparam OutQueueSize Max number of transceiver packets in the output queue.
* @tparam MavMsgLength Max length of a mavlink message. By default is 255 the
- * maximun possible but can be replaces with MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
+ * maximum possible but can be replaces with MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
* for a specific protocol.
*/
template <unsigned int PktLength, unsigned int OutQueueSize,
unsigned int MavMsgLength = MAVLINK_MAX_PAYLOAD_LEN>
class MavlinkDriver
{
- ///< Alias of the function to be executed on message reception.
+ /// Alias of the function to be executed on message reception.
using MavHandler = std::function<void(MavlinkDriver* channel,
const mavlink_message_t& msg)>;
@@ -84,10 +82,16 @@ public:
/**
* @brief Start the receiving and sending threads.
- * @return false if at least one could not start.
+ *
+ * @return False if at least one could not start.
*/
bool start();
+ /**
+ * @brief Tells whether the driver was started.
+ */
+ bool isStarted();
+
/**
* @brief Stops sender and receiver threads.
*/
@@ -98,10 +102,30 @@ public:
* Message is discarded if the queue is full.
*
* @param msg Message to send (mavlink struct).
- * @return true if the message could be enqueued (queue not full).
+ * @return True if the message could be enqueued.
*/
bool enqueueMsg(const mavlink_message_t& msg);
+ /**
+ * @brief Enqueue a raw packet message into the sync packet queue.
+ *
+ * @param msg Message to send.
+ * @param size Length in bytes.
+ * @return True if the message was enqueued.
+ */
+ bool enqueueRaw(uint8_t* msg, size_t size);
+
+ /**
+ * @brief Synchronized status getter.
+ */
+ MavlinkStatus getStatus();
+
+ /**
+ * @brief Setter for the sleep after send value.
+ */
+ void setSleepAfterSend(uint16_t newSleepTime);
+
+private:
/**
* @brief Receiver thread: reads one char at a time from the transceiver and
* tries to parse a mavlink message.
@@ -110,28 +134,20 @@ public:
* executed.
*/
void runReceiver();
+
/**
* @brief Sender Thread: Periodically flushes the message queue and sends
* all the enqueued messages.
+ *
* After every send, the thread sleeps to guarantee some silence on the
* channel.
*/
void runSender();
/**
- * @brief Synchronized status getter
- */
- MavlinkStatus getStatus();
-
- /**
- * @brief Setter for the sleep after send value.
- */
- void setSleepAfterSend(uint16_t newSleepTime);
-
-private:
- /**
- * @brief Calls the run member function
- * @param arg the object pointer cast to void*
+ * @brief Calls the run member function.
+ *
+ * @param arg The object pointer cast to void*.
*/
static void rcvLauncher(void* arg)
{
@@ -139,20 +155,21 @@ private:
}
/**
- * @brief Calls the run member function
- * @param arg the object pointer cast to void*
+ * @brief Calls the run member function.
+ *
+ * @param arg The object pointer cast to void*.
*/
static void sndLauncher(void* arg)
{
reinterpret_cast<MavlinkDriver*>(arg)->runSender();
}
- void updateQueueStats(int dropped);
+ void updateQueueStats(bool appended);
void updateSenderStats(size_t msgCount, bool sent);
- Transceiver* device; // transceiver used to send and receive
- MavHandler onReceive; // function executed on message rcv
+ Transceiver* device; ///< Transceiver used to send and receive packets.
+ MavHandler onReceive; ///< Function executed when a message is ready.
// Tweakable params
uint16_t sleepAfterSend;
@@ -224,9 +241,16 @@ bool MavlinkDriver<PktLength, OutQueueSize, MavMsgLength>::start()
}
if (sndStarted && rcvStarted)
- LOG_DEBUG(logger, "Start ok (sender and receiver)\n");
+ LOG_DEBUG(logger, "Sender and receiver started");
+
+ return sndStarted && rcvStarted;
+}
- return (sndStarted && rcvStarted);
+template <unsigned int PktLength, unsigned int OutQueueSize,
+ unsigned int MavMsgLength>
+bool MavlinkDriver<PktLength, OutQueueSize, MavMsgLength>::isStarted()
+{
+ return sndStarted && rcvStarted;
}
template <unsigned int PktLength, unsigned int OutQueueSize,
@@ -245,27 +269,42 @@ bool MavlinkDriver<PktLength, OutQueueSize, MavMsgLength>::enqueueMsg(
const mavlink_message_t& msg)
{
// Convert mavlink message to a byte array
- uint8_t msgtempBuf[MAVLINK_NUM_NON_PAYLOAD_BYTES + MavMsgLength];
- int msgLen = mavlink_msg_to_send_buffer(msgtempBuf, &msg);
+ uint8_t msgTempBuf[MAVLINK_NUM_NON_PAYLOAD_BYTES + MavMsgLength];
+ int msgLen = mavlink_msg_to_send_buffer(msgTempBuf, &msg);
+
+ // Append the message to the queue
+ bool appended = outQueue.put(msgTempBuf, msgLen);
+
+ // Update stats
+ updateQueueStats(appended);
+
+ // Return ok even if a packet was discarded
+ return appended;
+}
+template <unsigned int PktLength, unsigned int OutQueueSize,
+ unsigned int MavMsgLength>
+bool MavlinkDriver<PktLength, OutQueueSize, MavMsgLength>::enqueueRaw(
+ uint8_t* msg, size_t size)
+{
// Append message to the queue
- int dropped = outQueue.put(msgtempBuf, msgLen);
+ bool appended = outQueue.put(msg, size);
// Update stats
- updateQueueStats(dropped);
+ updateQueueStats(appended);
- // return ok even if a packet was discarded
- return dropped != -1;
+ // Return ok even if a packet was discarded
+ return appended;
}
template <unsigned int PktLength, unsigned int OutQueueSize,
unsigned int MavMsgLength>
void MavlinkDriver<PktLength, OutQueueSize, MavMsgLength>::updateQueueStats(
- int dropped)
+ bool appended)
{
miosix::Lock<miosix::FastMutex> l(mtxStatus);
- if (dropped != 0)
+ if (!appended)
{
LOG_ERR(logger, "Buffer full, the oldest message has been discarded");
status.nDroppedPackets++;
@@ -345,8 +384,7 @@ void MavlinkDriver<PktLength, OutQueueSize, MavMsgLength>::runSender()
pkt = outQueue.get();
// If the packet is ready or too old, send it
- uint64_t age = TimestampTimer::getInstance().getTimestamp() -
- pkt.getTimestamp();
+ uint64_t age = TimestampTimer::getTimestamp() - pkt.getTimestamp();
if (pkt.isReady() || age >= outBufferMaxAge * 1e3)
{
outQueue.pop(); // Remove the packet from queue
@@ -392,7 +430,7 @@ template <unsigned int PktLength, unsigned int OutQueueSize,
MavlinkStatus MavlinkDriver<PktLength, OutQueueSize, MavMsgLength>::getStatus()
{
miosix::Lock<miosix::FastMutex> l(mtxStatus);
- status.timestamp = miosix::getTick();
+ status.timestamp = TimestampTimer::getTimestamp();
return status;
}
diff --git a/src/shared/radio/MavlinkDriver/MavlinkStatus.h b/src/shared/radio/MavlinkDriver/MavlinkStatus.h
index 863aa7daba9c27e61c24fd02ddeb2601670dab09..e10e8cf34fa17451075a3953e6dab4738bde2137 100644
--- a/src/shared/radio/MavlinkDriver/MavlinkStatus.h
+++ b/src/shared/radio/MavlinkDriver/MavlinkStatus.h
@@ -33,21 +33,19 @@ namespace Boardcore
struct MavlinkStatus
{
uint64_t timestamp;
- uint16_t nSendQueue; // current len of the occupied portion of the queue
- uint16_t maxSendQueue; // max occupied len of the queue
- uint16_t nSendErrors; // Number of failed sends
- uint16_t nDroppedPackets; // number of packet drops
+ uint16_t nSendQueue; ///< Current len of the occupied portion of the queue
+ uint16_t maxSendQueue; ///< Max occupied len of the queue
+ uint16_t nSendErrors; ///< Number of failed sends
+ uint16_t nDroppedPackets; ///< Number of packet drops
mavlink_status_t mavStats;
static std::string header()
{
return "timestamp,n_send_queue,max_send_queue,n_send_errors,n_dropped_"
- "packets,mav_stats."
- "buffer_overrun,mav_stats.msg_received,mav_stats.parse_error,"
- "mav_stats.parse_state, "
- "mav_stats.packet_idx,mav_stats.current_rx_seq,mav_stats."
- "current_tx_seq,mav_stats.packet_rx_success_count,mav_stats."
- "packet_rx_drop_count\n";
+ "packets,mav_stats.buffer_overrun,mav_stats.msg_received,mav_"
+ "stats.parse_error,mav_stats.parse_state,mav_stats.packet_idx,"
+ "mav_stats.current_rx_seq,mav_stats.current_tx_seq,mav_stats."
+ "packet_rx_success_count,mav_stats.packet_rx_drop_count\n";
}
void print(std::ostream& os) const
diff --git a/src/shared/radio/SX1278/SX1278.cpp b/src/shared/radio/SX1278/SX1278.cpp
index bed1ae549d6daf57f3b77e8f6f0787c3efa9b5d9..f2765db503a1b78ce70c86e7b1af9d914a8a861f 100644
--- a/src/shared/radio/SX1278/SX1278.cpp
+++ b/src/shared/radio/SX1278/SX1278.cpp
@@ -156,15 +156,16 @@ SX1278::SX1278(SPIBusInterface &bus, miosix::GpioPin cs) : bus_mgr(bus, cs) {}
SX1278::Error SX1278::init(Config config)
{
- // Lock the bus
- bus_mgr.lock(Mode::MODE_STDBY);
- bus_mgr.waitForIrq(RegIrqFlags::MODE_READY);
-
+ // Do an early version check to avoid stalling on non-working device
if (getVersion() != 0x12)
{
return Error::BAD_VERSION;
}
+ // Lock the bus
+ bus_mgr.lock(Mode::MODE_STDBY);
+ bus_mgr.waitForIrq(RegIrqFlags::MODE_READY);
+
setBitrate(config.bitrate);
setFreqDev(config.freq_dev);
setFreqRF(config.freq_rf);
@@ -200,7 +201,7 @@ SX1278::Error SX1278::init(Config config)
spi.writeRegister(REG_RX_TIMEOUT_3, 0x00);
spi.writeRegister(REG_PACKET_CONFIG_1,
RegPacketConfig1::PACKET_FORMAT_VARIABLE_LENGTH |
- RegPacketConfig1::DC_FREE_NONE |
+ RegPacketConfig1::DC_FREE_MANCHESTER |
RegPacketConfig1::CRC_ON |
RegPacketConfig1::ADDRESS_FILTERING_NONE |
RegPacketConfig1::CRC_WHITENING_TYPE_CCITT_CRC);
diff --git a/src/shared/radio/SX1278/SX1278Defs.h b/src/shared/radio/SX1278/SX1278Defs.h
index 06954099644e8a7b6d6b6566e0ad7d2ef1118f3b..e573f1bfff65211a6574c3b03c44903d8e2f0c45 100644
--- a/src/shared/radio/SX1278/SX1278Defs.h
+++ b/src/shared/radio/SX1278/SX1278Defs.h
@@ -60,7 +60,7 @@ inline SPIBusConfig spiConfig()
// FIXME(davide.mor): This depends on the device
config.clockDivider = SPI::ClockDivider::DIV_64;
- config.mode = SPI::Mode::MODE_1;
+ config.mode = SPI::Mode::MODE_0;
config.bitOrder = SPI::BitOrder::MSB_FIRST;
// config.cs_setup_time_us = 30;
// config.cs_hold_time_us = 100;
diff --git a/src/shared/radio/SerialTransceiver/SerialTransceiver.h b/src/shared/radio/SerialTransceiver/SerialTransceiver.h
index 6d49174699d56e0431467c9c09a042be9ba9fcbd..f5e0ae00b22a814f475341a31626bf1548bb6bcf 100644
--- a/src/shared/radio/SerialTransceiver/SerialTransceiver.h
+++ b/src/shared/radio/SerialTransceiver/SerialTransceiver.h
@@ -22,6 +22,7 @@
#pragma once
+#include <drivers/usart/USART.h>
#include <radio/Transceiver.h>
#include <iostream>
@@ -33,19 +34,21 @@ namespace Boardcore
class SerialTransceiver : public Transceiver
{
public:
+ SerialTransceiver(USARTInterface& usart) : usart(usart) {}
+
bool send(uint8_t* packet, size_t packetLength)
{
- for (size_t i = 0; i < packetLength; i++)
- std::cout << packet[i];
- std::cout << "\n";
+ usart.write(packet, packetLength);
return true;
}
ssize_t receive(uint8_t* packet, size_t packetLength)
{
- std::cin.read(reinterpret_cast<char*>(packet), packetLength);
- return packetLength;
+ return usart.read(packet, packetLength);
}
+
+private:
+ USARTInterface& usart;
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/radio/Xbee/Xbee.cpp b/src/shared/radio/Xbee/Xbee.cpp
index 0c5b04ff9d37ca8a5a9af4012f6f0d254b777ac9..35553d134b2a3598838e5c728cc9f327c08f7e55 100644
--- a/src/shared/radio/Xbee/Xbee.cpp
+++ b/src/shared/radio/Xbee/Xbee.cpp
@@ -56,18 +56,18 @@ Xbee::Xbee(SPIBusInterface& bus, SPIBusConfig config, GpioType cs,
Xbee::~Xbee() { wakeReceiver(true); }
-bool Xbee::send(uint8_t* pkt, size_t packeLength)
+bool Xbee::send(uint8_t* pkt, size_t packetLength)
{
- if (packeLength > MAX_PACKET_PAYLOAD_LENGTH || packeLength == 0)
+ if (packetLength > MAX_PACKET_PAYLOAD_LENGTH || packetLength == 0)
{
- LOG_ERR(logger, "Invalid packet length (0< {} <= {})", packeLength,
+ LOG_ERR(logger, "Invalid packet length (0< {} <= {})", packetLength,
MAX_PACKET_PAYLOAD_LENGTH);
return false;
}
long long startTick = miosix::getTick();
TXRequestFrame txReq;
- uint8_t txFrameId = buildTXRequestFrame(txReq, pkt, packeLength);
+ uint8_t txFrameId = buildTXRequestFrame(txReq, pkt, packetLength);
bool success = false;
bool statusTimeout = true;
{
@@ -99,9 +99,8 @@ bool Xbee::send(uint8_t* pkt, size_t packeLength)
// If there is more data to receive, wake the receive() thread
if (attn.value() == 0)
- {
wakeReceiver();
- }
+
if (statusTimeout)
{
++status.txTimeoutCount;
@@ -120,9 +119,8 @@ ssize_t Xbee::receive(uint8_t* buf, size_t bufMaxSize)
{
// We have data in the buffer pending to be returned
if (!rxFramesBuffer.isEmpty() || currRxPayloadPointer >= 0)
- {
return fillReceiveBuf(buf, bufMaxSize);
- }
+
// No data in the buffer, but the xbee has data to return via SPI
else if (attn.value() == 0)
{
@@ -199,9 +197,7 @@ void Xbee::reset()
handleFrame(parsingApiFrame);
if (parsingApiFrame.frameType == FTYPE_MODEM_STATUS)
- {
break;
- }
}
miosix::Thread::sleep(5);
} while (miosix::getTick() < timeout);
@@ -226,9 +222,8 @@ void Xbee::handleATTNInterrupt()
receiveThread->IRQwakeup();
if (receiveThread->IRQgetPriority() >
miosix::Thread::IRQgetCurrentThread()->IRQgetPriority())
- {
miosix::Scheduler::IRQfindNextThread();
- }
+
receiveThread = 0;
}
}
@@ -290,9 +285,7 @@ bool Xbee::readRXFrame()
handleFrame(parsingApiFrame);
if (parsingApiFrame.frameType == FTYPE_RX_PACKET_FRAME)
- {
return true;
- }
}
}
return false;
@@ -313,9 +306,7 @@ void Xbee::writeFrame(APIFrame& frame)
// Pass the frame we just sent to the listener
if (frameListener)
- {
frameListener(frame);
- }
// Full duplex spi transfer: we may have received valid data while we
// were sending the frame.
@@ -323,9 +314,7 @@ void Xbee::writeFrame(APIFrame& frame)
{
ParseResult res = parser.parse(txBuf[i], &parsingApiFrame);
if (res == ParseResult::SUCCESS)
- {
handleFrame(parsingApiFrame);
- }
}
}
@@ -341,9 +330,7 @@ bool Xbee::waitForFrame(uint8_t frameType, unsigned int pollInterval,
handleFrame(parsingApiFrame);
if (parsingApiFrame.frameType == frameType)
- {
return true;
- }
}
}
else
@@ -356,10 +343,10 @@ bool Xbee::waitForFrame(uint8_t frameType, unsigned int pollInterval,
}
uint8_t Xbee::buildTXRequestFrame(TXRequestFrame& txReq, uint8_t* pkt,
- size_t packeLength)
+ size_t packetLength)
{
- memcpy(txReq.getRFDataPointer(), pkt, packeLength);
- txReq.setRFDataLength(packeLength);
+ memcpy(txReq.getRFDataPointer(), pkt, packetLength);
+ txReq.setRFDataLength(packetLength);
uint8_t txFrameId = getNewFrameID();
@@ -459,14 +446,12 @@ void Xbee::handleFrame(APIFrame& frame)
Lock<FastMutex> l(mutexRxFrames);
if (rxFramesBuffer.isFull())
- {
++status.rxDroppedBuffers;
- }
+
rxFramesBuffer.put(*pf);
+
if (rxFramesBuffer.count() > status.frameBufMaxLength)
- {
status.frameBufMaxLength = rxFramesBuffer.count();
- }
}
wakeReceiver();
break;
@@ -490,10 +475,10 @@ void Xbee::handleFrame(APIFrame& frame)
{
TXStatusFrame* ts = frame.toFrameType<TXStatusFrame>();
status.lastTxStatus = ts->getDeliveryStatus();
+
if (status.lastTxStatus != DELS_SUCCESS)
- {
status.lastTxStatusError = status.lastTxStatus;
- }
+
switch (status.lastTxStatus)
{
case DELS_SUCCESS:
@@ -513,9 +498,7 @@ void Xbee::handleFrame(APIFrame& frame)
// Pass the frame to the listener
if (frameListener)
- {
frameListener(frame);
- }
}
void Xbee::setOnFrameReceivedListener(OnFrameReceivedListener listener)
diff --git a/src/shared/radio/Xbee/Xbee.h b/src/shared/radio/Xbee/Xbee.h
index abb1be5015ba548258ab5207dd6abccff0bbd00a..fde68bbaccbf98a75a1f6d270a26959fcb2fbf15 100644
--- a/src/shared/radio/Xbee/Xbee.h
+++ b/src/shared/radio/Xbee/Xbee.h
@@ -94,19 +94,19 @@ public:
* not wait for an ACK or send confirmation from the Xbee. Thus, it always
* returns true.
*
- * @param pkt Pointer to the packet (needs to be at least packetLength
+ * @param pkt Pointer to the packet (needs to be at least packetLength
* bytes).
- * @param packetLength Lenght of the packet to be sent.
- * @return Always true
+ * @param packetLength Length of the packet to be sent.
+ * @return Always true
*/
bool send(uint8_t* pkt, size_t packetLength) override;
/**
* @brief Waits until a new packet is received.
*
- * @param buf Buffer to store the received packet into.
- * @param bufferMaxSize Maximum length of the received data.
- * @return Size of the data received or -1 if failure
+ * @param buf Buffer to store the received packet into.
+ * @param bufferMaxSize Maximum length of the received data.
+ * @return Size of the data received or -1 if failure
*/
ssize_t receive(uint8_t* buf, size_t bufferMaxSize) override;
@@ -117,8 +117,8 @@ public:
/**
* @brief Signals the receive() function that there is new data available.
- * Call this from the ATTN pin interrupt servirce routine, and nowhere else
- * plese.
+ * Call this from the ATTN pin interrupt service routine, and nowhere else
+ * please.
*
*/
void handleATTNInterrupt();
@@ -231,7 +231,7 @@ private:
/**
* @brief Waits until an APIFrame with frame type \p frameType is received
* on the SPI or until the timeouts expires. The frame is then stored in the
- * parsingApiFrame local class varibale. Any frame received by this
+ * parsingApiFrame local class variable. Any frame received by this
* function is automatically passed to the handleFrame() function
* @attention mutexXbeeCommunication must be locked before calling this
* function.
diff --git a/src/shared/scheduler/TaskScheduler.cpp b/src/shared/scheduler/TaskScheduler.cpp
index 0518b34d9e8b23c4a65efc67804e1b1edbd87125..06ad343544bc8afedb9ff66dd2d34648743da71d 100644
--- a/src/shared/scheduler/TaskScheduler.cpp
+++ b/src/shared/scheduler/TaskScheduler.cpp
@@ -46,6 +46,9 @@ bool TaskScheduler::addTask(function_t function, uint32_t period, uint8_t id,
Task task = {function, period, id, policy, -1, {}, {}, {}, 0, 0};
auto result = tasks.insert({id, task});
+ if (policy == Policy::ONE_SHOT)
+ startTick += period;
+
if (result.second)
{
// Add the task first event in the agenda
@@ -66,6 +69,7 @@ bool TaskScheduler::addTask(function_t function, uint32_t period, Policy policy,
{
uint8_t id = 1;
+ // Find a suitable id for the new task
auto it = tasks.cbegin(), end = tasks.cend();
for (; it != end && id == it->first; ++it, ++id)
;
diff --git a/src/shared/scheduler/TaskScheduler.h b/src/shared/scheduler/TaskScheduler.h
index 6eb0664158761b6cbc2b1eae124244429d890d94..24808780d2e2d4df751219e7dc9f2c550344a3c1 100644
--- a/src/shared/scheduler/TaskScheduler.h
+++ b/src/shared/scheduler/TaskScheduler.h
@@ -97,7 +97,8 @@ public:
* Therefore, if a task already exists with the same id, the function will
* fail and return false.
*
- * For one shot tasks, the period is useless and not used.
+ * For one shot tasks, the period is used as a delay. If 0 the task will be
+ * executed immediately, otherwise after the given period.
*
* @param function Function to be called periodically.
* @param period Inter call period.
@@ -117,7 +118,8 @@ public:
* Therefore, if a task already exists with the same id, the function will
* fail and return false.
*
- * For one shot tasks, the period is useless and not used.
+ * For one shot tasks, the period is used as a delay. If 0 the task will be
+ * executed immediately, otherwise after the given period.
*
* @param function Function to be called periodically.
* @param period Inter call period.
@@ -207,6 +209,7 @@ private:
const std::pair<const uint8_t, Boardcore::TaskScheduler::Task>& task)
{
return TaskStatsResult{task.second.id,
+ task.second.period,
task.second.activationStats.getStats(),
task.second.periodStats.getStats(),
task.second.workloadStats.getStats(),
diff --git a/src/shared/scheduler/TaskSchedulerData.h b/src/shared/scheduler/TaskSchedulerData.h
index 0cbe3865763d3d144b304ce2af5e26ea62dcb070..f1c43d31f10ff54c1b2a6d26bf9932647a3a4769 100644
--- a/src/shared/scheduler/TaskSchedulerData.h
+++ b/src/shared/scheduler/TaskSchedulerData.h
@@ -44,6 +44,7 @@ namespace Boardcore
struct TaskStatsResult
{
uint8_t id;
+ uint32_t period;
StatsResult activationStats;
StatsResult periodStats;
StatsResult workloadStats;
@@ -52,7 +53,7 @@ struct TaskStatsResult
static std::string header()
{
- return "id,actMin,actMax,actMean,actStddev,actNsamples,"
+ return "id,period,actMin,actMax,actMean,actStddev,actNSamples,"
"periodMin,periodMax,periodMean,period_stddev,"
"periodNSamples,workloadMin,workloadMax,workloadMean,"
"workload_stddev,workloadNSample,missedEvents,failedEvents\n";
@@ -60,7 +61,7 @@ struct TaskStatsResult
void print(std::ostream& os) const
{
- os << (int)id << "," << activationStats.minValue << ","
+ os << (int)id << "," << period << "," << activationStats.minValue << ","
<< activationStats.maxValue << "," << activationStats.mean << ","
<< activationStats.stdDev << "," << activationStats.nSamples << ","
<< periodStats.minValue << "," << periodStats.maxValue << ","
diff --git a/src/shared/sensors/ADS1118/ADS1118.cpp b/src/shared/sensors/ADS1118/ADS1118.cpp
index b49ceb3c61a1da619856134ae200177a034ffb4d..d9778c6f11e21bf7400c388bd123cddfc90805e2 100644
--- a/src/shared/sensors/ADS1118/ADS1118.cpp
+++ b/src/shared/sensors/ADS1118/ADS1118.cpp
@@ -242,8 +242,7 @@ void ADS1118::readChannel(int8_t nextChannel, int8_t prevChannel)
// TODO: the timestamp should be taken when the configuration is
// written, now we could be reading the value after some time!
- values[prevChannel].voltageTimestamp =
- TimestampTimer::getInstance().getTimestamp();
+ values[prevChannel].voltageTimestamp = TimestampTimer::getTimestamp();
if (prevChannel != 8) // Voltage value
{
diff --git a/src/shared/sensors/ADS1118/ADS1118.h b/src/shared/sensors/ADS1118/ADS1118.h
index 7a945166bf926962aed19263291d1b4c174e4e8e..dfdb2bab87f1431518c45a121c4540fde5aac831 100644
--- a/src/shared/sensors/ADS1118/ADS1118.h
+++ b/src/shared/sensors/ADS1118/ADS1118.h
@@ -44,21 +44,21 @@ namespace Boardcore
* value while writing the configuration.
*
* Data rate between 8Hz and 860Hz can be programmed and an internal
- * programmable gain aplifier can be set with a sensitivity range from ±0.256V
+ * programmable gain amplifier can be set with a sensitivity range from ±0.256V
* to ±6.144V (note that the inputs must remain between VCC or GND).
*
* The data rate should be choosen as low as possible to allow the delta-sigma
* adc to average the input voltage (this allows a less noisy reading).
*
* The device can work in two modes:
- * - CONTIN_CONV_MODE: Continuosly read the last configured channel, when you
- * make a read you'll obtain the lates reading
+ * - CONTINUOUS_CONV_MODE: Continuously read the last configured channel, when
+ * you make a read you'll obtain the lates reading
* - SINGLE_SHOT_MODE: A single conversion is performed when the configuration
* is written
*
* The ADS1118 is a simple device, it has a single data register where it can
* store the reading, therefore it can sample a single input at a time. sample()
- * cylces through the enabled channels one at a time and writes it's
+ * cycles through the enabled channels one at a time and writes it's
* configuration while reading the value of the previous written one.
*
* As an example if you need to read 4 inputs at 50Hz you should set all the
@@ -95,9 +95,9 @@ public:
enum ADS1118Mode
{
- CONTIN_CONV_MODE = 0x0, ///< Continuous-conversion mode
- SINGLE_SHOT_MODE = 0x1 ///< Power-down and single-shot mode (default)
- }; ///< Conversione mode values
+ CONTINUOUS_CONV_MODE = 0x0, ///< Continuous-conversion mode
+ SINGLE_SHOT_MODE = 0x1 ///< Power-down and single-shot mode (default)
+ }; ///< Conversion mode values
enum ADS1118DataRate
{
@@ -115,7 +115,7 @@ public:
{
ADC_MODE = 0x0, ///< ADC mode (default)
TEMP_SENSOR_MODE = 0x1 ///< Temperature sensor mode
- }; ///< Temeprature or ADC mode values
+ }; ///< Temperature or ADC mode values
enum ADS1118PullUp
{
@@ -166,7 +166,7 @@ public:
static constexpr int8_t INVALID_CHANNEL = -1;
/**
- * @brief Construct a new ADS1118 object specifing spi bus, spi config and
+ * @brief Construct a new ADS1118 object specifying spi bus, spi config and
* cs pin as well as device configuration.
*/
ADS1118(SPIBusInterface &bus, miosix::GpioPin cs, ADS1118Config config_,
@@ -302,7 +302,7 @@ private:
void readChannel(int8_t nextChannel, int8_t prevChannel);
/**
- * @brief Reads on the fly the speficied channel.
+ * @brief Reads on the fly the specified channel.
*/
void readChannel(int8_t channel);
@@ -341,7 +341,7 @@ private:
/**
* This masks excludes 2 bits from the configuration, the reserved bit and
- * the sigle shot bit
+ * the single shot bit.
*/
static constexpr uint16_t CONFIG_MASK = 0xFE7F;
};
diff --git a/src/shared/sensors/ADS131M04/ADS131M04.cpp b/src/shared/sensors/ADS131M04/ADS131M04.cpp
index 32c9c1c5fa430d3607a8ec8a7a0f648d6587b9c5..8c7a46e2dbf5abb3255917fd13b0f450eb69376b 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.cpp
+++ b/src/shared/sensors/ADS131M04/ADS131M04.cpp
@@ -227,6 +227,12 @@ void ADS131M04::disableGlobalChopMode()
ADS131M04RegisterBitMasks::REG_CFG_GC_EN);
}
+ADCData ADS131M04::getVoltage(Channel channel)
+{
+ return {lastSample.timestamp, static_cast<uint8_t>(channel),
+ lastSample.voltage[static_cast<uint8_t>(channel)]};
+}
+
bool ADS131M04::selfTest()
{
// TODO
@@ -283,7 +289,7 @@ ADS131M04Data ADS131M04::sampleImpl()
// Convert values
ADS131M04Data adcData;
- adcData.timestamp = TimestampTimer::getInstance().getTimestamp();
+ adcData.timestamp = TimestampTimer::getTimestamp();
for (int i = 0; i < 4; i++)
{
adcData.voltage[i] =
diff --git a/src/shared/sensors/ADS131M04/ADS131M04.h b/src/shared/sensors/ADS131M04/ADS131M04.h
index 70b97b5f83dcccd4df364ea15d0302fd19ae2ddb..9d948a2886550e06e5ae0e7c37e4261cf80ed9bb 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.h
+++ b/src/shared/sensors/ADS131M04/ADS131M04.h
@@ -108,7 +108,7 @@ public:
PGA_128 = 0x7 ///< Full scale resolution is ±9.375mV
};
- enum class Channel : int
+ enum class Channel : uint8_t
{
CHANNEL_0 = 0,
CHANNEL_1 = 1,
@@ -155,7 +155,7 @@ public:
* The ADS131M04 corrects for gain errors by multiplying the ADC conversion
* result using the gain calibration registers.
* The gain calibration value is interpreted as a 24bit unsigned. The values
- * corresponds to n * (1/2^23), rainging from 0 to 2 - (1/2^23).
+ * corresponds to n * (1/2^23), ranging from 0 to 2 - (1/2^23).
*
* This function accepts a value between 0 and 2, it then compute the
* correct gain register value.
@@ -172,6 +172,8 @@ public:
void disableGlobalChopMode();
+ ADCData getVoltage(Channel channel);
+
bool selfTest() override;
protected:
diff --git a/src/shared/sensors/BME280/BME280.cpp b/src/shared/sensors/BME280/BME280.cpp
index c8fd6e5400f5209f54a43a2897d990a0505d585a..80ab597f187c771a6e69c4febbef423d0f2b1b66 100644
--- a/src/shared/sensors/BME280/BME280.cpp
+++ b/src/shared/sensors/BME280/BME280.cpp
@@ -175,7 +175,7 @@ HumidityData BME280::readHumidity()
adc_H |= buffer[1];
// Compensate humidity
- lastSample.humidityTimestamp = TimestampTimer::getInstance().getTimestamp();
+ lastSample.humidityTimestamp = TimestampTimer::getTimestamp();
lastSample.humidity =
(float)compensateHumidity(adc_H) / 1024; // Converto to %RH
@@ -198,7 +198,7 @@ PressureData BME280::readPressure()
adc_P |= (buffer[2] >> 4) & 0x0F;
// Compensate pressure
- lastSample.pressureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ lastSample.pressureTimestamp = TimestampTimer::getTimestamp();
lastSample.pressure =
(float)compensatePressure(adc_P) / 256; // Convert to Pa
@@ -221,9 +221,8 @@ TemperatureData BME280::readTemperature()
adcTemperature |= (buffer[2] >> 4) & 0x0F;
// Compensate temperature
- fineTemperature = computeFineTemperature(adcTemperature);
- lastSample.temperatureTimestamp =
- TimestampTimer::getInstance().getTimestamp();
+ fineTemperature = computeFineTemperature(adcTemperature);
+ lastSample.temperatureTimestamp = TimestampTimer::getTimestamp();
lastSample.temperature = (float)compensateTemperature(fineTemperature) /
100; // Converto to DegC
@@ -274,16 +273,16 @@ BME280Data BME280::sampleImpl()
// Compensate temperature
fineTemperature = computeFineTemperature(adcTemperature);
- data.temperatureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.temperatureTimestamp = TimestampTimer::getTimestamp();
data.temperature = (float)compensateTemperature(fineTemperature) /
100; // Converto to DegC
// Compensate pressure
- data.pressureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.pressureTimestamp = TimestampTimer::getTimestamp();
data.pressure = (float)compensatePressure(adc_P) / 256; // Convert to Pa
// Compensate humidity
- data.humidityTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.humidityTimestamp = TimestampTimer::getTimestamp();
data.humidity = (float)compensateHumidity(adc_H) / 1024; // Converto to %RH
return data;
diff --git a/src/shared/sensors/BMP280/BMP280.cpp b/src/shared/sensors/BMP280/BMP280.cpp
index 35ad4ee5fddbd32667e6b361bd80f76d364094dc..45dcc1db2e050fb297e486fcc09e0ea95487e153 100644
--- a/src/shared/sensors/BMP280/BMP280.cpp
+++ b/src/shared/sensors/BMP280/BMP280.cpp
@@ -140,7 +140,7 @@ PressureData BMP280::readPressure()
adc_P |= (buffer[2] >> 4) & 0x0F;
// Compensate pressure
- lastSample.pressureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ lastSample.pressureTimestamp = TimestampTimer::getTimestamp();
lastSample.pressure =
(float)compensatePressure(adc_P) / 256; // Convert to Pa
@@ -163,9 +163,8 @@ TemperatureData BMP280::readTemperature()
adcTemperature |= (buffer[2] >> 4) & 0x0F;
// Compensate temperature
- fineTemperature = computeFineTemperature(adcTemperature);
- lastSample.temperatureTimestamp =
- TimestampTimer::getInstance().getTimestamp();
+ fineTemperature = computeFineTemperature(adcTemperature);
+ lastSample.temperatureTimestamp = TimestampTimer::getTimestamp();
lastSample.temperature = (float)compensateTemperature(fineTemperature) /
100; // Converto to DegC
@@ -213,12 +212,12 @@ BMP280Data BMP280::sampleImpl()
// Compensate temperature
fineTemperature = computeFineTemperature(adcTemperature);
- data.temperatureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.temperatureTimestamp = TimestampTimer::getTimestamp();
data.temperature = (float)compensateTemperature(fineTemperature) /
100; // Converto to DegC
// Compensate pressure
- data.pressureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.pressureTimestamp = TimestampTimer::getTimestamp();
data.pressure = (float)compensatePressure(adc_P) / 256; // Convert to Pa
return data;
diff --git a/src/shared/sensors/BMP280/BMP280.h b/src/shared/sensors/BMP280/BMP280.h
index 8b3263dfaa376c6108bec7bf03ef154bace53423..5786a0c4854d033077e8f91249c6fec5b740e0d0 100644
--- a/src/shared/sensors/BMP280/BMP280.h
+++ b/src/shared/sensors/BMP280/BMP280.h
@@ -242,7 +242,7 @@ private:
*/
bool checkWhoAmI();
- enum BMP280Registers : uint8_t
+ enum Registers : uint8_t
{
REG_CALIB_0 = 0x88,
// Calibration register 1-25
diff --git a/src/shared/sensors/BMX160/BMX160.cpp b/src/shared/sensors/BMX160/BMX160.cpp
index 287f9b5231dc7a08d87240f595a291b75a13089e..7af3062c544d4afe33fb08a6a83ec8ae329701a4 100644
--- a/src/shared/sensors/BMX160/BMX160.cpp
+++ b/src/shared/sensors/BMX160/BMX160.cpp
@@ -73,6 +73,9 @@ bool BMX160::init()
initGyr();
initMag();
+ // sleep in order to let the sensors initialize correctly
+ miosix::Thread::sleep(30);
+
initFifo();
initInt();
@@ -159,7 +162,7 @@ BMX160Data BMX160::sampleImpl()
BMX160Temperature BMX160::getTemperature()
{
BMX160Temperature t;
- t.temperatureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ t.temperatureTimestamp = TimestampTimer::getTimestamp();
t.temperature = temperature;
return t;
}
@@ -614,9 +617,10 @@ GyroscopeData BMX160::buildGyrData(BMX160Defs::GyrRaw data, uint64_t timestamp)
return GyroscopeData{timestamp, data.x * gyrSensibility,
data.y * gyrSensibility, data.z * gyrSensibility};
else
- return GyroscopeData{timestamp, data.x * gyrSensibility * g,
- data.y * gyrSensibility * g,
- data.z * gyrSensibility * g};
+ return GyroscopeData{timestamp,
+ data.x * gyrSensibility * DEGREES_TO_RADIANS,
+ data.y * gyrSensibility * DEGREES_TO_RADIANS,
+ data.z * gyrSensibility * DEGREES_TO_RADIANS};
}
const char* BMX160::debugErr(SPITransaction& spi)
@@ -846,9 +850,9 @@ void BMX160::readFifo(bool headerless)
}
// Update fifo statistics
- stats.timestamp = TimestampTimer::getInstance().getTimestamp();
- stats.watermarkTimestamp = watermarkTimestamp;
- stats.fifoDuration = timestamp;
+ stats.timestamp = TimestampTimer::getTimestamp();
+ stats.watermarkTimestamp = watermarkTimestamp;
+ stats.fifoDuration = timestamp;
stats.interruptTimestampDelta = interruptTimestampDelta;
stats.len = len;
diff --git a/src/shared/sensors/BMX160/BMX160Config.h b/src/shared/sensors/BMX160/BMX160Config.h
index 455dc14e6dd09a79c275a312cc57b66ca374a838..514b1cfe753c7bbc147af27282ffa4469427f82d 100644
--- a/src/shared/sensors/BMX160/BMX160Config.h
+++ b/src/shared/sensors/BMX160/BMX160Config.h
@@ -154,7 +154,7 @@ struct BMX160Config
* in the BMX160 datasheet, for more informations consult the BMM150
* datasheet, chapter 4.2.4 Active mode.
*
- * This are the reccomended presets:
+ * This are the recommended presets:
* - 0x01, RMS Noise (x/y/z) 1.0/1.0/1.4, Current: 0.17mA (Low power)
* - 0x04, RMS Noise (x/y/z) 0.6/0.6/0.6, Current: 0.5mA (Regular)
* (Default)
@@ -168,11 +168,11 @@ struct BMX160Config
* @brief Repetitions for the Z axis.
*
* Repetitions represent how many internal samples are averaged in order to
- * get the final outputted sample, these presets are the ones reccomended
+ * get the final outputted sample, these presets are the ones recommended
* in the BMX160 datasheet, for more informations consult the BMM150
* datasheet, chapter 4.2.4 Active mode.
*
- * This are the reccomended presets:
+ * This are the recommended presets:
* - 0x02, RMS Noise (x/y/z) 1.0/1.0/1.4, Current: 0.17mA (Low power)
* - 0x0E, RMS Noise (x/y/z) 0.6/0.6/0.6, Current: 0.5mA (Regular)
* (Default)
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
index f5e1216f8ca9e6533a628f14f70fee8de6cf135b..9ea0958044be239707d47f53a3ea2aab294efc6b 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
+++ b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
@@ -26,20 +26,22 @@
#include <fstream>
+using namespace miosix;
+using namespace Eigen;
+
namespace Boardcore
{
BMX160CorrectionParameters::BMX160CorrectionParameters()
{
- accelParams << 0, 0, 0, 0, 0, 0; // cppcheck-suppress constStatement
+ accelParams << 1, 0, 1, 0, 1, 0; // cppcheck-suppress constStatement
magnetoParams << 0, 0, 0, 0, 0, 0; // cppcheck-suppress constStatement
}
std::string BMX160CorrectionParameters::header()
{
- return "accel_p1,accel_p2,accel_p3,accel_q1,accel_q2,accel_q3,mag_p1,"
- "mag_p2,mag_p3,mag_q1,mag_q2,mag_q3,"
- "minGyroSamplesForCalibration";
+ return "accAx,accAy,accAz,accbx,accby,accbz,"
+ "magAx,magAy,magAz,magbx,magby,magbz";
}
void BMX160CorrectionParameters::read(std::istream& inputStream)
@@ -63,9 +65,6 @@ void BMX160CorrectionParameters::read(std::istream& inputStream)
inputStream.ignore(1, ',');
}
}
-
- // Read gyroscope correction samples
- inputStream >> minGyroSamplesForCalibration;
}
void BMX160CorrectionParameters::print(std::ostream& outputStream) const
@@ -79,113 +78,53 @@ void BMX160CorrectionParameters::print(std::ostream& outputStream) const
outputStream << magnetoParams(0, 0) << "," << magnetoParams(1, 0) << ","
<< magnetoParams(2, 0) << "," << magnetoParams(0, 1) << ","
<< magnetoParams(1, 1) << "," << magnetoParams(2, 1) << ",";
-
- // Print gyroscope correction samples
- outputStream << minGyroSamplesForCalibration << "\n";
}
BMX160WithCorrection::BMX160WithCorrection(
- BMX160* bmx160_, BMX160CorrectionParameters correctionParameters,
- AxisOrthoOrientation rotation_)
- : bmx160(bmx160_), minGyroSamplesForCalibration(
- correctionParameters.minGyroSamplesForCalibration),
- rotation(rotation_)
+ BMX160* bmx160, BMX160CorrectionParameters correctionParameters,
+ AxisOrthoOrientation rotation)
+ : bmx160(bmx160), rotation(rotation)
{
accelerometerCorrector << correctionParameters.accelParams;
magnetometerCorrector << correctionParameters.magnetoParams;
}
BMX160WithCorrection::BMX160WithCorrection(
- BMX160* bmx160_, BMX160CorrectionParameters correctionParameters)
- : bmx160(bmx160_), minGyroSamplesForCalibration(
- correctionParameters.minGyroSamplesForCalibration)
+ BMX160* bmx160, BMX160CorrectionParameters correctionParameters)
+ : bmx160(bmx160)
{
accelerometerCorrector << correctionParameters.accelParams;
magnetometerCorrector << correctionParameters.magnetoParams;
}
-BMX160WithCorrection::BMX160WithCorrection(BMX160* bmx160_) : bmx160(bmx160_) {}
+BMX160WithCorrection::BMX160WithCorrection(BMX160* bmx160) : bmx160(bmx160) {}
bool BMX160WithCorrection::init() { return true; }
bool BMX160WithCorrection::selfTest() { return true; }
-bool BMX160WithCorrection::calibrate()
+void BMX160WithCorrection::startCalibration()
{
- if (!bmx160)
- {
- LOG_ERR(logger, "Driver doesn't point to valid sensor");
- return false;
- }
-
- int samplesCounter = 0;
- BiasCalibration<GyroscopeData> gyroscopeCalibrator;
- BMX160Data fifoElement;
- uint8_t fifoSize;
- uint64_t gyroTimestamp = 0;
-
- // Set reference vector
- gyroscopeCalibrator.setReferenceVector({0, 0, 0});
-
- // Read the fifo and feed the gyroscope data to the calibrator
- fifoSize = bmx160->getLastFifoSize();
- for (uint8_t i = 0; i < fifoSize; i++)
- {
- fifoElement = bmx160->getFifoElement(i);
-
- if (fifoElement.angularVelocityTimestamp > gyroTimestamp)
- {
- gyroTimestamp = fifoElement.angularVelocityTimestamp;
- gyroscopeCalibrator.feed(fifoElement);
-
- samplesCounter++;
- }
- }
-
- // Continues until the averaged samples are at least the amount specified in
- // the configuration
- while (samplesCounter < minGyroSamplesForCalibration)
- {
- // Wait for another sample
- miosix::Thread::sleep(100);
-
- // Read the fifo and feed the gyroscope data to the calibrator
- fifoSize = bmx160->getLastFifoSize();
- for (uint8_t i = 0; i < fifoSize; i++)
- {
- fifoElement = bmx160->getFifoElement(i);
-
- if (fifoElement.angularVelocityTimestamp > gyroTimestamp)
- {
- gyroTimestamp = fifoElement.angularVelocityTimestamp;
- gyroscopeCalibrator.feed(fifoElement);
+ gyroscopeCalibrator.reset();
+ calibrating = true;
+}
- samplesCounter++;
- }
- }
- }
+void BMX160WithCorrection::stopCalibration()
+{
+ calibrating = false;
- // Compute and save the calibration results
{
- miosix::PauseKernelLock lock;
+ PauseKernelLock lock;
gyroscopeCorrector = gyroscopeCalibrator.computeResult();
}
- // Print the calibraton data
+ // Print the calibrator data
+ Vector3f gyroscopeCorrectionParameters;
gyroscopeCorrector >> gyroscopeCorrectionParameters;
LOG_INFO(logger, "Gyroscope bias vector from calibration\n");
LOG_INFO(logger, "b = [ {: >2.5f} {: >2.5f} {: >2.5f} ]\n\n",
gyroscopeCorrectionParameters(0), gyroscopeCorrectionParameters(1),
gyroscopeCorrectionParameters(2));
-
- return true;
-}
-
-BMX160GyroscopeCalibrationBiases BMX160WithCorrection::getGyroscopeBiases()
-{
- return BMX160GyroscopeCalibrationBiases{gyroscopeCorrectionParameters(0),
- gyroscopeCorrectionParameters(1),
- gyroscopeCorrectionParameters(2)};
}
BMX160CorrectionParameters
@@ -275,22 +214,19 @@ BMX160WithCorrectionData BMX160WithCorrection::sampleImpl()
static_cast<GyroscopeData&>(result) << avgGyro;
// Correct the averaged measurements
- AccelerometerData acc = accelerometerCorrector.correct(result);
- result = acc;
- MagnetometerData mag = magnetometerCorrector.correct(result);
- result = mag;
- GyroscopeData gyro;
- gyro = gyroscopeCorrector.correct(result);
- result = gyro;
+ result = accelerometerCorrector.correct(result);
+ result = magnetometerCorrector.correct(result);
+ result = gyroscopeCorrector.correct(result);
// Get the timestamp of the newest value in fifo
result.accelerationTimestamp = fifoElement.accelerationTimestamp;
result.magneticFieldTimestamp = fifoElement.accelerationTimestamp;
result.angularVelocityTimestamp = fifoElement.accelerationTimestamp;
- result = rotateAxis(result);
+ if (calibrating)
+ gyroscopeCalibrator.feed(result);
- return result;
+ return rotateAxis(result);
}
BMX160WithCorrectionData BMX160WithCorrection::rotateAxis(
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrection.h b/src/shared/sensors/BMX160/BMX160WithCorrection.h
index fa139ef6bca95e2b6296a97be26185c050fedfd4..99f05cda17257b92e87d56eac646b4bebbb0979c 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrection.h
+++ b/src/shared/sensors/BMX160/BMX160WithCorrection.h
@@ -27,6 +27,7 @@
#include <sensors/calibration/AxisOrientation.h>
#include <sensors/calibration/BiasCalibration.h>
#include <sensors/calibration/SixParameterCalibration.h>
+#include <utils/Stats/Stats.h>
#include "BMX160WithCorrectionData.h"
@@ -39,7 +40,6 @@ namespace Boardcore
struct BMX160CorrectionParameters
{
Eigen::Matrix<float, 3, 2> accelParams, magnetoParams;
- int minGyroSamplesForCalibration = 0;
BMX160CorrectionParameters();
@@ -60,44 +60,50 @@ class BMX160WithCorrection : public Sensor<BMX160WithCorrectionData>
{
public:
/**
- * @param bmx160_ already initialized bmx.
- * @param correctionParameters correction parameter to apply.
- * @param rotation_ axis rotation.
+ * @param bmx160 Already initialized bmx.
+ * @param correctionParameters Correction parameter to apply.
+ * @param rotation Axis rotation.
*/
- BMX160WithCorrection(BMX160* bmx160_,
+ BMX160WithCorrection(BMX160* bmx160,
BMX160CorrectionParameters correctionParameters,
- AxisOrthoOrientation rotation_);
+ AxisOrthoOrientation rotation);
/**
- * Constructor without rotation, no rotation will be applied.
+ * @brief Constructor without rotation, no rotation will be applied.
*
- * @param bmx160_ already initialized bmx.
- * @param correctionParameters correction parameter to apply.
+ * @param bmx160 Already initialized bmx.
+ * @param correctionParameters Correction parameter to apply.
*/
- BMX160WithCorrection(BMX160* bmx160_,
+ BMX160WithCorrection(BMX160* bmx160,
BMX160CorrectionParameters correctionParameters);
/**
- * @brief Constructor without correction nor rotation, no correciton and
+ * @brief Constructor without correction nor rotation, no correction and
* rotation will be applied.
*
- * @param bmx160_ correction parameter to apply.
+ * @param bmx160 Correction parameter to apply.
*/
- explicit BMX160WithCorrection(BMX160* bmx160_);
+ explicit BMX160WithCorrection(BMX160* bmx160);
bool init() override;
bool selfTest() override;
/**
- * @brief Performs the gyroscope calibration.
+ * @brief Starts collecting calibration data for the gyroscope.
*
* The gyroscope calibration consists in averaging some samples to measure
- * the bias.
- * This function is intended to run while another thread samples the bmx at
- * at least 10Hz.
+ * the bias. This function is intended to run while another thread samples
+ * the bmx.
+ *
+ * Call stopCalibration() to end collection and finalizing the offset.
*/
- bool calibrate();
+ void startCalibration();
+
+ /**
+ * @brief Stops the data collection and finalizes the calibration.
+ */
+ void stopCalibration();
/**
* @brief Utility function to read correction parameters from file.
@@ -120,8 +126,6 @@ private:
BMX160* bmx160;
- int minGyroSamplesForCalibration = 200;
-
AxisOrthoOrientation rotation = {Direction::POSITIVE_X,
Direction::POSITIVE_Y};
@@ -129,7 +133,8 @@ private:
SixParameterCorrector<MagnetometerData> magnetometerCorrector;
BiasCorrector<GyroscopeData> gyroscopeCorrector{};
- Eigen::Vector3f gyroscopeCorrectionParameters;
+ bool calibrating = false;
+ BiasCalibration<GyroscopeData> gyroscopeCalibrator;
PrintLogger logger = Logging::getLogger("bmx160withcorrection");
};
diff --git a/src/shared/sensors/HX711/HX711.cpp b/src/shared/sensors/HX711/HX711.cpp
index 8e3fa92694daa960e71db8a1463147e11bdd3e9d..0fb1c87653fe972bf2fc43f229ce4bfa67e81e76 100644
--- a/src/shared/sensors/HX711/HX711.cpp
+++ b/src/shared/sensors/HX711/HX711.cpp
@@ -68,7 +68,7 @@ HX711Data HX711::sampleImpl()
if (sample == static_cast<int32_t>(0xFFFFFFFF))
return lastSample;
- return {TimestampTimer::getInstance().getTimestamp(),
+ return {TimestampTimer::getTimestamp(),
static_cast<float>(sample - offset) * scale};
}
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 32dd4548fa0d551a33819eef7fe0615ed88e31f8..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()
{
@@ -365,7 +366,7 @@ private:
{ // bit 7 of status set to 1 (some data overwritten)
accelData.accelerationTimestamp =
- TimestampTimer::getInstance().getTimestamp();
+ TimestampTimer::getTimestamp();
// read acceleration on X
int8_t accel_L = spi.readRegister(OUT_X_L);
@@ -409,7 +410,7 @@ private:
int8_t t = spi.readRegister(OUT_T);
return TemperatureData{
- TimestampTimer::getInstance().getTimestamp(),
+ TimestampTimer::getTimestamp(),
t + TEMPERATURE_REF}; // add the 'zero' of the temperature sensor
}
diff --git a/src/shared/sensors/LIS3MDL/LIS3MDL.cpp b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..095a2fee3cba11eb6134fe4732407432edf60abd
--- /dev/null
+++ b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
@@ -0,0 +1,315 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Author: Riccardo Musso
+ *
+ * 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 "LIS3MDL.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+namespace Boardcore
+{
+
+LIS3MDL::LIS3MDL(SPIBusInterface& bus, miosix::GpioPin pin,
+ SPIBusConfig spiConfig, Config config)
+ : mSlave(bus, pin, spiConfig), mConfig(config), currDiv(0),
+ isInitialized(false)
+{
+}
+
+bool LIS3MDL::init()
+{
+ if (isInitialized)
+ {
+ LOG_ERR(logger, "Attempted to initialized sensor twice but failed");
+ lastError = ALREADY_INIT;
+ return false;
+ }
+
+ {
+ SPITransaction spi(mSlave);
+ uint8_t res = spi.readRegister(WHO_AM_I);
+
+ if (res != WHO_AM_I_VALUE)
+ {
+ LOG_ERR(logger,
+ "WHO_AM_I value differs from expectation: read 0x{02x} "
+ "but expected 0x{02x}",
+ res, WHO_AM_I_VALUE);
+ lastError = INVALID_WHOAMI;
+ return false;
+ }
+ }
+
+ isInitialized = true;
+ return applyConfig(mConfig);
+}
+
+bool LIS3MDL::selfTest()
+{
+ if (!isInitialized)
+ {
+ LOG_ERR(logger, "Invoked selfTest() but sensor was uninitialized");
+ lastError = NOT_INIT;
+ return false;
+ }
+
+ constexpr int NUM_SAMPLES = 5;
+ constexpr int SLEEP_TIME = 50;
+
+ // Absolute value of extra tolerance
+ constexpr float t = 0.1f;
+
+ // Range which delta must be between, one for axis and expressed as {min,
+ // max}. The unit is gauss.
+ constexpr float deltaRange[3][2] = {{1.f, 3.f}, {1.f, 3.f}, {0.1f, 1.f}};
+
+ float avgX = 0.f, avgY = 0.f, avgZ = 0.f;
+
+ {
+ SPITransaction spi(mSlave);
+ spi.writeRegister(CTRL_REG2, FS_12_GAUSS);
+ }
+ updateUnit(FS_12_GAUSS);
+
+ for (int i = 0; i < NUM_SAMPLES; ++i)
+ {
+ miosix::Thread::sleep(SLEEP_TIME);
+
+ LIS3MDLData lastData = sampleImpl();
+ avgX += lastData.magneticFieldX;
+ avgY += lastData.magneticFieldY;
+ avgZ += lastData.magneticFieldZ;
+ }
+
+ avgX /= NUM_SAMPLES;
+ avgY /= NUM_SAMPLES;
+ avgZ /= NUM_SAMPLES;
+
+ // Setting up the sensor settings for proper usage of the self test mode.
+ {
+ SPITransaction spi(mSlave);
+
+ spi.writeRegister(CTRL_REG1, ODR_20_HZ | ENABLE_SELF_TEST |
+ (OM_ULTRA_HIGH_POWER << 4));
+ spi.writeRegister(CTRL_REG2, FS_12_GAUSS);
+ spi.writeRegister(CTRL_REG4, OM_ULTRA_HIGH_POWER << 2);
+ }
+
+ // Deltas: absolute difference between the values measured before and after
+ float deltas[3];
+
+ miosix::Thread::sleep(SLEEP_TIME);
+
+ LIS3MDLData lastData = sampleImpl();
+ deltas[0] = std::abs(lastData.magneticFieldX - avgX);
+ deltas[1] = std::abs(lastData.magneticFieldY - avgY);
+ deltas[2] = std::abs(lastData.magneticFieldZ - avgZ);
+
+ bool passed = true;
+ for (int j = 0; j < 3; ++j)
+ if (deltas[j] < (deltaRange[j][0] - t) ||
+ deltas[j] > (deltaRange[j][1] + t))
+ passed = false;
+
+ if (!passed)
+ {
+ // reset configuration, then return
+ applyConfig(mConfig);
+
+ lastError = SELF_TEST_FAIL;
+ return false;
+ }
+
+ return applyConfig(mConfig);
+}
+
+bool LIS3MDL::applyConfig(Config config)
+{
+
+ SPITransaction spi(mSlave);
+ uint8_t reg = 0, err = 0;
+
+ mConfig = config;
+ currDiv = 0;
+
+ // CTRL_REG1
+ if (config.enableTemperature)
+ {
+ reg = ENABLE_TEMPERATURE;
+ }
+ reg |= config.odr;
+
+ // odr <= 80Hz
+ if (!(config.odr & FAST_ODR_BIT))
+ reg |= config.xyMode << 4;
+ spi.writeRegister(CTRL_REG1, reg);
+ err |= spi.readRegister(CTRL_REG1) != reg;
+
+ // CTRL_REG2
+ reg = config.scale;
+ spi.writeRegister(CTRL_REG2, reg);
+ err |= spi.readRegister(CTRL_REG2) != reg;
+
+ // CTRL_REG3
+ reg = CONTINUOS_CONVERSION;
+ spi.writeRegister(CTRL_REG3, reg);
+ err |= spi.readRegister(CTRL_REG3) != reg;
+
+ // CTRL_REG4
+ reg = config.zMode << 2;
+ spi.writeRegister(CTRL_REG4, reg);
+ err |= spi.readRegister(CTRL_REG4) != reg;
+
+ // CTRL_REG5
+ if (config.doBlockDataUpdate)
+ reg = ENABLE_BDU;
+ else
+ reg = 0;
+
+ spi.writeRegister(CTRL_REG5, reg);
+ err |= spi.readRegister(CTRL_REG5) != reg;
+
+ // INT_CFG
+ if (config.enableInterrupt[0])
+ reg = ENABLE_INT_X;
+ else
+ reg = 0;
+
+ if (config.enableInterrupt[1])
+ reg |= ENABLE_INT_Y;
+ if (config.enableInterrupt[2])
+ reg |= ENABLE_INT_Z;
+
+ // The interrupt of at least one axis is enabled
+ if (reg)
+ reg |= ENABLE_INT_PIN;
+
+ reg |= 0x08;
+ spi.writeRegister(INT_CFG, reg);
+ err |= spi.readRegister(INT_CFG) != reg;
+
+ // INT_THS
+ uint16_t val = static_cast<uint16_t>(std::abs(config.threshold / mUnit));
+ reg = static_cast<uint8_t>(0xff & val);
+ spi.writeRegister(INT_THS_L, reg);
+ err |= spi.readRegister(INT_THS_L) != reg;
+
+ reg = static_cast<uint8_t>(val >> 8);
+ reg &= 0x7f; // Remove MSB (according to the datasheet, it must be zero)
+ spi.writeRegister(INT_THS_H, reg);
+ err |= spi.readRegister(INT_THS_H) != reg;
+
+ // Set mUnit according to scale
+ updateUnit(config.scale);
+
+ if (err)
+ {
+ LOG_ERR(logger, "Spi error");
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ return true;
+}
+
+LIS3MDLData LIS3MDL::sampleImpl()
+{
+ if (!isInitialized)
+ {
+ LOG_ERR(logger, "Invoked sampleImpl() but sensor was uninitialized");
+ lastError = NOT_INIT;
+ return lastSample;
+ }
+
+ SPITransaction spi(mSlave);
+
+ if (!spi.readRegister(STATUS_REG))
+ {
+ lastError = NO_NEW_DATA;
+ return lastSample;
+ }
+
+ // Reset any error
+ lastError = SensorErrors::NO_ERRORS;
+
+ int16_t val;
+ LIS3MDLData newData{};
+
+ if (mConfig.enableTemperature)
+ {
+ if (currDiv == 0)
+ {
+ val = spi.readRegister(TEMP_OUT_L);
+ val |= spi.readRegister(TEMP_OUT_H) << 8;
+
+ newData.temperatureTimestamp = TimestampTimer::getTimestamp();
+ newData.temperature = static_cast<float>(val) / LSB_PER_CELSIUS +
+ REFERENCE_TEMPERATURE;
+ }
+ else
+ {
+ // Keep old value
+ newData.temperature = lastSample.temperature;
+ }
+
+ currDiv = (currDiv + 1) % mConfig.temperatureDivider;
+ }
+
+ newData.magneticFieldTimestamp = TimestampTimer::getTimestamp();
+
+ val = spi.readRegister(OUT_X_L);
+ val |= spi.readRegister(OUT_X_H) << 8;
+ newData.magneticFieldX = mUnit * val;
+
+ val = spi.readRegister(OUT_Y_L);
+ val |= spi.readRegister(OUT_Y_H) << 8;
+ newData.magneticFieldY = mUnit * val;
+
+ val = spi.readRegister(OUT_Z_L);
+ val |= spi.readRegister(OUT_Z_H) << 8;
+ newData.magneticFieldZ = mUnit * val;
+
+ return newData;
+}
+
+void LIS3MDL::updateUnit(FullScale fs)
+{
+ switch (fs)
+ {
+ case FS_4_GAUSS:
+ mUnit = 1.f / LSB_PER_GAUSS_FS_4;
+ break;
+
+ case FS_8_GAUSS:
+ mUnit = 1.f / LSB_PER_GAUSS_FS_8;
+ break;
+
+ case FS_12_GAUSS:
+ mUnit = 1.f / LSB_PER_GAUSS_FS_12;
+ break;
+
+ case FS_16_GAUSS:
+ mUnit = 1.f / LSB_PER_GAUSS_FS_16;
+ break;
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LIS3MDL/LIS3MDL.h b/src/shared/sensors/LIS3MDL/LIS3MDL.h
index 5038c79167cf32e0a4c3f3cf60b1a2182acb6f9f..698432e934826d9c7358fa81adbbcd2b151dbd22 100644
--- a/src/shared/sensors/LIS3MDL/LIS3MDL.h
+++ b/src/shared/sensors/LIS3MDL/LIS3MDL.h
@@ -24,11 +24,9 @@
#include <diagnostic/PrintLogger.h>
#include <drivers/spi/SPIDriver.h>
-#include <drivers/timer/TimestampTimer.h>
#include <sensors/Sensor.h>
#include "LIS3MDLData.h"
-#include "miosix.h"
namespace Boardcore
{
@@ -40,12 +38,11 @@ class LIS3MDL : public Sensor<LIS3MDLData>
{
public:
/**
- * Constants for Output Data Rate configuration.
+ * @brief Constants for Output Data Rate configuration.
*
- * Note: constants values already include
- * axis operative mode selection and FAST_ODR
- * options, so they are ready to be put inside
- * CTRL_REG1 along with TEMP_EN and ST
+ * Note: constants values already include axis operative mode selection and
+ * FAST_ODR options, so they are ready to be put inside CTRL_REG1 along with
+ * TEMP_EN and ST.
*/
enum ODR : uint8_t
{
@@ -72,17 +69,17 @@ public:
enum FullScale : uint8_t
{
- FS_4_GAUSS = 0x00, //!< +/- 4 gauss
- FS_8_GAUSS = 0x20, //!< +/- 8 gauss
- FS_12_GAUSS = 0x40, //!< +/- 12 gauss
- FS_16_GAUSS = 0x60, //!< +/- 16 gauss
+ FS_4_GAUSS = 0x00, ///< +/- 4 gauss
+ FS_8_GAUSS = 0x20, ///< +/- 8 gauss
+ FS_12_GAUSS = 0x40, ///< +/- 12 gauss
+ FS_16_GAUSS = 0x60, ///< +/- 16 gauss
};
/**
- * @brief Operative mode constants
+ * @brief Operative mode constants.
*
- * Operative mode (that is power consumpion) options.
- * Higher power implies better performance.
+ * Operative mode (that is power consumption) options. Higher power implies
+ * better performance.
*/
enum OperativeMode : uint8_t
{
@@ -102,14 +99,11 @@ public:
*/
struct Config
{
- /**
- * @brief Constructor
- * Creates an instance with the default settings.
- */
Config() {}
/**
- * Full scale setting
+ * @brief Full scale setting.
+ *
* @see LIS3MDL::FullScale
*/
FullScale scale = FS_8_GAUSS;
@@ -119,21 +113,18 @@ public:
*
* Default: 40 Hz
*
- * Important: if ODR is set more than 80 Hz,
- * operative mode of x and y axis will be set
- * accordingly.
+ * Important: if ODR is set more than 80 Hz, operative mode of x and y
+ * axis will be set accordingly.
*
* @see LIS3MDL::ODR
*/
ODR odr = ODR_40_HZ;
/**
- * Operative mode for x and y axis.
- * Note: if ODR is greater than 80 Hz,
- * this setting will be ignored and actual
- * operative mode will be set depending of
- * the chosen frequency.
- * Default: ultra high performance
+ * @brief Operative mode for x and y axis.
+ *
+ * Note: if ODR is greater than 80 Hz, this setting will be ignored and
+ * actual operative mode will be set depending of the chosen frequency.
*
* @see LIS3MDL::OperativeMode
*/
@@ -141,7 +132,6 @@ public:
/**
* Operative mode for z axis.
- * Default: ultra high performance
*
* @see LIS3MDL::OM
*/
@@ -162,404 +152,60 @@ public:
* to sampleImpl(), so for example:
* 2 -> updated half the times,
* 1 -> updated every time.
- * By default the divider is set to 1
- *
*/
unsigned temperatureDivider = 1;
/**
* @brief Enables interrupts
*
- * Whether are interrupts enabled respectively
- * on the x, y and z axis. If it is set to true
- * on at least one axis, the interrupts will be
- * generated otherwise, they will be completely
- * disabled by the driver.
- *
- * Default: disabled on all axis.
+ * Whether are interrupts enabled respectively on the x, y and z axis.
+ * If it is set to true on at least one axis, the interrupts will be
+ * generated otherwise, they will be completely disabled by the driver.
*/
bool enableInterrupt[3] = {false, false, false};
/**
* Absolute value of the threshold that triggers the interrupt
- * (expressed in gauss). Default: 0
+ * (expressed in gauss).
*/
float threshold = 0;
/**
* @brief BDU setting
*
- * If set to true, the sensor won't update the data
- * until it is read, if false the sensor data will be
- * continously updated. Default: false
+ * If set to true, the sensor won't update the data until it is read, if
+ * false the sensor data will be continuously updated.
*/
bool doBlockDataUpdate = false;
};
- /**
- * Constructs the default config for SPI Bus.
- *
- * @returns the default SPIBusConfig
- */
- static SPIBusConfig getDefaultSPIConfig()
- {
- SPIBusConfig config{};
- config.clockDivider = SPI::ClockDivider::DIV_32;
- return config;
- }
-
- /**
- * @brief The constructor.
- *
- * Takes all relevant SPI info and the settings
- * for the sensor. If no SPIBusConfig is given, it will
- * be used the default configuration.
- *
- * @param bus The SPI interface
- * @param pin The CS pin
- * @param spiConfig SPI configuration, optional
- * @param config Driver configuration, optional
- *
- * @see LIS3MDL::Config
- */
LIS3MDL(SPIBusInterface& bus, miosix::GpioPin pin,
- SPIBusConfig spiConfig = getDefaultSPIConfig(), Config config = {})
- : mSlave{bus, pin, spiConfig}, mConfig(config), currDiv(0),
- isInitialized(false)
- {
- }
-
- bool init() override
- {
- if (isInitialized)
- {
- LOG_ERR(logger, "Attempted to initialized sensor twice but failed");
- lastError = ALREADY_INIT;
- return false;
- }
-
- {
- SPITransaction spi(mSlave);
- uint8_t res = spi.readRegister(WHO_AM_I);
-
- if (res != WHO_AM_I_VALUE)
- {
- LOG_ERR(logger,
- "WHO_AM_I value differs from expectation: read 0x{02x} "
- "but expected 0x{02x}",
- res, WHO_AM_I_VALUE);
- lastError = INVALID_WHOAMI;
- return false;
- }
- }
-
- isInitialized = true;
- return applyConfig(mConfig);
- }
-
- /**
- * @brief Executes self test
- *
- * The init() method must have been called before.
- *
- * @returns false if the sensor failed the self test, true otherwise.
- */
- bool selfTest() override
- {
- if (!isInitialized)
- {
- LOG_ERR(logger, "Invoked selfTest() but sensor was unitialized");
- lastError = NOT_INIT;
- return false;
- }
-
- /*
- * NUM_SAMPLES: number of samples used
- * to take the average value before tests.
- * NUM_TESTS: number of actual tests.
- * SLEEP_TIME: millis between samples/tests
- */
- constexpr int NUM_SAMPLES = 5, NUM_TESTS = 5, SLEEP_TIME = 50;
+ SPIBusConfig spiConfig = {}, Config config = {});
- /*
- * Absolute value of extra tolerance
- */
- constexpr float t = 0.1f;
-
- /*
- * Range which delta must be between, one for
- * axis and expressed as {min, max}. The unit is gauss
- */
- constexpr float r[3][2] = {{1.f, 3.f}, {1.f, 3.f}, {0.1f, 1.f}};
+ bool init() override;
- float avgX = 0.f, avgY = 0.f, avgZ = 0.f;
-
- {
- SPITransaction spi(mSlave);
- spi.writeRegister(CTRL_REG2, FS_12_GAUSS);
- }
- updateUnit(FS_12_GAUSS);
-
- for (int i = 0; i < NUM_SAMPLES; ++i)
- {
- miosix::Thread::sleep(SLEEP_TIME);
-
- LIS3MDLData lastData = sampleImpl();
- avgX += lastData.magneticFieldX;
- avgY += lastData.magneticFieldY;
- avgZ += lastData.magneticFieldZ;
- }
-
- avgX /= NUM_SAMPLES;
- avgY /= NUM_SAMPLES;
- avgZ /= NUM_SAMPLES;
-
- /*
- * Setting up the sensor settings for
- * proper usage of the self test mode.
- */
- {
- SPITransaction spi(mSlave);
-
- spi.writeRegister(CTRL_REG1, ODR_20_HZ | ENABLE_SELF_TEST |
- (OM_ULTRA_HIGH_POWER << 4));
- spi.writeRegister(CTRL_REG2, FS_12_GAUSS);
- spi.writeRegister(CTRL_REG4, OM_ULTRA_HIGH_POWER << 2);
- }
-
- /*
- * Deltas: absolute difference between
- * the values measured before and during
- * selftest
- */
- float d[3];
-
- for (int i = 0; i < NUM_TESTS; ++i)
- {
- miosix::Thread::sleep(SLEEP_TIME);
-
- LIS3MDLData lastData = sampleImpl();
- d[0] = std::abs(lastData.magneticFieldX - avgX);
- d[1] = std::abs(lastData.magneticFieldY - avgY);
- d[2] = std::abs(lastData.magneticFieldZ - avgZ);
-
- bool passed = true;
- for (int j = 0; j < 3; ++j)
- {
- if (d[j] < (r[j][0] - t) || d[j] > (r[j][1] + t))
- passed = false;
- }
-
- if (!passed)
- {
- // reset configuration, then return
- applyConfig(mConfig);
-
- lastError = SELF_TEST_FAIL;
- return false;
- }
- }
-
- return applyConfig(mConfig);
- }
+ bool selfTest() override;
/**
* @brief Overwrites the sensor settings.
*
- * Writes a certain config to the sensor
- * registers. This method is automatically
- * called in LIS3MDL::init() using as parameter
- * the configuration given in the constructor.
+ * Writes a certain config to the sensor registers. This method is
+ * automatically called in LIS3MDL::init() using as parameter the
+ * configuration given in the constructor.
*
- * This method checks if the values were actually
- * written in the sensor's registers and returns false
- * if at least one of them was not as expected.
+ * This method checks if the values were actually written in the sensor's
+ * registers and returns false if at least one of them was not as expected.
*
- * @param config The configuration to be applied
- * @returns true if the configuration was applied successfully,
+ * @param config The configuration to be applied.
+ * @returns True if the configuration was applied successfully,
* false otherwise.
*/
- bool applyConfig(Config config)
- {
-
- SPITransaction spi(mSlave);
- uint8_t reg = 0, err = 0;
-
- mConfig = config;
- currDiv = 0;
-
- /* -- CTRL_REG1 -- */
- if (config.enableTemperature)
- {
- reg = ENABLE_TEMPERATURE;
- }
- reg |= config.odr;
-
- // odr <= 80Hz
- if (!(config.odr & FAST_ODR_BIT))
- reg |= config.xyMode << 4;
- spi.writeRegister(CTRL_REG1, reg);
- err |= spi.readRegister(CTRL_REG1) != reg;
-
- /* -- CTRL_REG2 -- */
- reg = config.scale;
- spi.writeRegister(CTRL_REG2, reg);
- err |= spi.readRegister(CTRL_REG2) != reg;
-
- /* -- CTRL_REG3 -- */
- reg = CONTINOUS_CONVERSION;
- spi.writeRegister(CTRL_REG3, reg);
- err |= spi.readRegister(CTRL_REG3) != reg;
-
- /* -- CTRL_REG4 -- */
- reg = config.zMode << 2;
- spi.writeRegister(CTRL_REG4, reg);
- err |= spi.readRegister(CTRL_REG4) != reg;
-
- /* -- CTRL_REG5 -- */
- if (config.doBlockDataUpdate)
- {
- reg = ENABLE_BDU;
- }
- else
- {
- reg = 0;
- }
-
- spi.writeRegister(CTRL_REG5, reg);
- err |= spi.readRegister(CTRL_REG5) != reg;
-
- /* -- INT_CFG -- */
- if (config.enableInterrupt[0])
- {
- reg = ENABLE_INT_X;
- }
- else
- {
- reg = 0;
- }
- if (config.enableInterrupt[1])
- {
- reg |= ENABLE_INT_Y;
- }
- if (config.enableInterrupt[2])
- {
- reg |= ENABLE_INT_Z;
- }
-
- // the interrupt of at least one axis is enabled
- if (reg)
- {
- reg |= ENABLE_INT_PIN;
- }
-
- reg |= 0x08;
- spi.writeRegister(INT_CFG, reg);
- err |= spi.readRegister(INT_CFG) != reg;
-
- /** INT_THS */
- uint16_t val =
- static_cast<uint16_t>(std::abs(config.threshold / mUnit));
- reg = static_cast<uint8_t>(0xff & val);
- spi.writeRegister(INT_THS_L, reg);
- err |= spi.readRegister(INT_THS_L) != reg;
-
- reg = static_cast<uint8_t>(val >> 8);
- reg &=
- 0x7f; // remove MSB (according to the datasheet, it must be zero)
- spi.writeRegister(INT_THS_H, reg);
- err |= spi.readRegister(INT_THS_H) != reg;
-
- /* Set mUnit according to scale */
- updateUnit(config.scale);
-
- if (err)
- {
- LOG_ERR(logger, "Spi error");
- lastError = BUS_FAULT;
- return false;
- }
-
- return true;
- }
+ bool applyConfig(Config config);
private:
- /**
- * @brief Reads data from the sensor
- *
- * The init method must have been called before.
- * Output data can be fetched with the methods
- * compassDataPtr() and tempDataPtr inherited respectevely
- * from CompassSensor and TemperatureSensor classes.
- * Important: the temperature will be taken only once in a while
- * according to the value of `temperatureDivider`
- *
- * @returns false if the sensor was unitialized, true otherwise.
- */
- LIS3MDLData sampleImpl() override
- {
- if (!isInitialized)
- {
- LOG_ERR(logger,
- "Invoked sampleImpl() but sensor was "
- "unitialized");
- lastError = NOT_INIT;
- return lastSample;
- }
-
- SPITransaction spi(mSlave);
-
- if (!spi.readRegister(STATUS_REG))
- {
- lastError = NO_NEW_DATA;
- return lastSample;
- }
-
- // Reset any error
- lastError = SensorErrors::NO_ERRORS;
-
- int16_t val;
- LIS3MDLData newData{};
-
- if (mConfig.enableTemperature)
- {
- if (currDiv == 0)
- {
- val = spi.readRegister(TEMP_OUT_L);
- val |= spi.readRegister(TEMP_OUT_H) << 8;
-
- newData.temperatureTimestamp =
- TimestampTimer::getInstance().getTimestamp();
- newData.temperature =
- static_cast<float>(val) / LSB_PER_CELSIUS +
- REFERENCE_TEMPERATURE;
- }
- else
- {
- // Keep old value
- newData.temperature = lastSample.temperature;
- }
-
- currDiv = (currDiv + 1) % mConfig.temperatureDivider;
- }
-
- newData.magneticFieldTimestamp =
- TimestampTimer::getInstance().getTimestamp();
-
- val = spi.readRegister(OUT_X_L);
- val |= spi.readRegister(OUT_X_H) << 8;
- newData.magneticFieldX = mUnit * val;
-
- val = spi.readRegister(OUT_Y_L);
- val |= spi.readRegister(OUT_Y_H) << 8;
- newData.magneticFieldY = mUnit * val;
-
- val = spi.readRegister(OUT_Z_L);
- val |= spi.readRegister(OUT_Z_H) << 8;
- newData.magneticFieldZ = mUnit * val;
-
- return newData;
- }
+ LIS3MDLData sampleImpl() override;
+
+ void updateUnit(FullScale fs);
SPISlave mSlave;
Config mConfig;
@@ -568,32 +214,7 @@ private:
bool isInitialized;
float mUnit = 0;
- void updateUnit(FullScale fs)
- {
- switch (fs)
- {
- case FS_4_GAUSS:
- mUnit = 1.f / LSB_PER_GAUSS_FS_4;
- break;
-
- case FS_8_GAUSS:
- mUnit = 1.f / LSB_PER_GAUSS_FS_8;
- break;
-
- case FS_12_GAUSS:
- mUnit = 1.f / LSB_PER_GAUSS_FS_12;
- break;
-
- case FS_16_GAUSS:
- mUnit = 1.f / LSB_PER_GAUSS_FS_16;
- break;
- }
- };
-
- /**
- * List of addresses of sensor registers
- */
- enum Reg : uint8_t
+ enum Registers : uint8_t
{
WHO_AM_I = 0x0f,
@@ -619,15 +240,11 @@ private:
INT_THS_H = 0x33,
};
- /**
- * Misc. constants used by the driver. They are not
- * particularly useful to the user.
- */
enum Constants : unsigned
{
WHO_AM_I_VALUE = 0x3d,
- CONTINOUS_CONVERSION = 0x0,
+ CONTINUOS_CONVERSION = 0x0,
REFERENCE_TEMPERATURE = 25,
LSB_PER_CELSIUS = 8,
diff --git a/src/shared/sensors/MAX31855/MAX31855.cpp b/src/shared/sensors/MAX31855/MAX31855.cpp
index b6f820bca946d87f43a41234e4232b8ac6758c03..ee52dd7ab70af2d83e150a60b8b322e490ba1fcd 100644
--- a/src/shared/sensors/MAX31855/MAX31855.cpp
+++ b/src/shared/sensors/MAX31855/MAX31855.cpp
@@ -76,7 +76,7 @@ TemperatureData MAX31855::sampleImpl()
}
TemperatureData result{};
- result.temperatureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ result.temperatureTimestamp = TimestampTimer::getTimestamp();
// Convert the integer and decimal part separately
result.temperature = static_cast<float>(sample >> 2) * 0.25;
@@ -94,7 +94,7 @@ TemperatureData MAX31855::readInternalTemperature()
}
TemperatureData result{};
- result.temperatureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ result.temperatureTimestamp = TimestampTimer::getTimestamp();
// Extract data bits
sample[1] = sample[1] >> 4;
diff --git a/src/shared/sensors/MAX31855/MAX31855.h b/src/shared/sensors/MAX31855/MAX31855.h
index 89aa3484f0dc2e589c35f96329bfac0536d22896..4eb7368651024fc5490404ee61a65835559384ee 100644
--- a/src/shared/sensors/MAX31855/MAX31855.h
+++ b/src/shared/sensors/MAX31855/MAX31855.h
@@ -29,7 +29,7 @@
namespace Boardcore
{
/**
- * @brief MAX31855 termocouple sensor driver.
+ * @brief MAX31855 thermocouple sensor driver.
*/
class MAX31855 : public Sensor<TemperatureData>
{
@@ -54,9 +54,9 @@ public:
bool init();
/**
- * @brief Checks wheter the termocouple is open.
+ * @brief Checks whether the thermocouple is open.
*
- * @return True if the termocouple is connected.
+ * @return True if the thermocouple is connected.
*/
bool selfTest();
diff --git a/src/shared/sensors/MAX6675/MAX6675.cpp b/src/shared/sensors/MAX6675/MAX6675.cpp
index ae7be61ba8ab3f6bfa4bae88ffce398d4b9eb390..e12ecccb25331a72d0e80ebf420f7083b50833a4 100644
--- a/src/shared/sensors/MAX6675/MAX6675.cpp
+++ b/src/shared/sensors/MAX6675/MAX6675.cpp
@@ -75,7 +75,7 @@ TemperatureData MAX6675::sampleImpl()
}
TemperatureData result{};
- result.temperatureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ result.temperatureTimestamp = TimestampTimer::getTimestamp();
// Extract bits 14-3
sample &= 0x7FF8;
diff --git a/src/shared/sensors/MPU9250/MPU9250.cpp b/src/shared/sensors/MPU9250/MPU9250.cpp
index 0348e7afe5ae76c272fc2cbea109439f795dbcea..dba378e31dc922af052f91881fd753fc0016ab3d 100644
--- a/src/shared/sensors/MPU9250/MPU9250.cpp
+++ b/src/shared/sensors/MPU9250/MPU9250.cpp
@@ -116,9 +116,9 @@ MPU9250Data MPU9250::sampleImpl()
spiSlave.config.clockDivider = clockDivider;
// Save timestamps
- uint64_t timestamp = TimestampTimer::getInstance().getTimestamp();
- data.accelerationTimestamp = timestamp;
- data.temperatureTimestamp = timestamp;
+ uint64_t timestamp = TimestampTimer::getTimestamp();
+ data.accelerationTimestamp = timestamp;
+ data.temperatureTimestamp = timestamp;
data.angularVelocityTimestamp = timestamp;
data.magneticFieldTimestamp = timestamp;
diff --git a/src/shared/sensors/MS5803/MS5803.cpp b/src/shared/sensors/MS5803/MS5803.cpp
index 52eec1bb6c3f0c15e833b75eaea66205c26b56e2..7387f6e9981dc87f5fc205ee7955b1631e02cb71 100644
--- a/src/shared/sensors/MS5803/MS5803.cpp
+++ b/src/shared/sensors/MS5803/MS5803.cpp
@@ -36,25 +36,21 @@ MS5803::MS5803(SPIBusInterface& spiBus, miosix::GpioPin cs,
bool MS5803::init()
{
- SPITransaction transaction{spiSlave};
+ SPITransaction transaction{spiSlave, SPITransaction::WriteBit::DISABLED};
// Read calibration data
- calibrationData.sens =
- readReg(transaction, REG_PROM_READ_MASK | REG_PROM_SENS_MASK);
- calibrationData.off =
- readReg(transaction, REG_PROM_READ_MASK | REG_PROM_OFF_MASK);
- calibrationData.tcs =
- readReg(transaction, REG_PROM_READ_MASK | REG_PROM_TCS_MASK);
- calibrationData.tco =
- readReg(transaction, REG_PROM_READ_MASK | REG_PROM_TCO_MASK);
- calibrationData.tref =
- readReg(transaction, REG_PROM_READ_MASK | REG_PROM_TREF_MASK);
- calibrationData.tempsens =
- readReg(transaction, REG_PROM_READ_MASK | REG_PROM_TEMPSENS_MASK);
-
- LOG_INFO(logger, "Init: off={}, tcs={}, tco={}, tref={}, tsens={}",
- calibrationData.off, calibrationData.tcs, calibrationData.tco,
- calibrationData.tref, calibrationData.tempsens);
+ calibrationData.sens = readReg(transaction, REG_PROM_SENS_MASK);
+ calibrationData.off = readReg(transaction, REG_PROM_OFF_MASK);
+ calibrationData.tcs = readReg(transaction, REG_PROM_TCS_MASK);
+ calibrationData.tco = readReg(transaction, REG_PROM_TCO_MASK);
+ calibrationData.tref = readReg(transaction, REG_PROM_TREF_MASK);
+ calibrationData.tempsens = readReg(transaction, REG_PROM_TEMPSENS_MASK);
+
+ LOG_INFO(
+ logger,
+ "sens={:X}, off={:X}, tcs={:X}, tco={:X}, tref={:X}, tempsens={:X}",
+ calibrationData.sens, calibrationData.off, calibrationData.tcs,
+ calibrationData.tco, calibrationData.tref, calibrationData.tempsens);
return true;
}
@@ -63,7 +59,7 @@ bool MS5803::selfTest() { return true; }
MS5803Data MS5803::sampleImpl()
{
- SPITransaction transaction{spiSlave};
+ SPITransaction transaction{spiSlave, SPITransaction::WriteBit::DISABLED};
uint8_t buffer[3];
@@ -79,23 +75,18 @@ MS5803Data MS5803::sampleImpl()
case STATE_SAMPLED_TEMP:
{
// Read back the sampled temperature
- transaction.writeRegisters(REG_ADC_READ, buffer, 3);
+ transaction.readRegisters(REG_ADC_READ, buffer, 3);
uint32_t tmpRawTemperature = (uint32_t)buffer[2] |
((uint32_t)buffer[1] << 8) |
((uint32_t)buffer[0] << 16);
- lastTemperatureTimestamp =
- TimestampTimer::getInstance().getTimestamp();
+ lastTemperatureTimestamp = TimestampTimer::getTimestamp();
// Check if the value is valid
if (tmpRawTemperature != 0)
- {
rawTemperature = tmpRawTemperature;
- }
else
- {
LOG_ERR(logger, "The read raw temperature isn't valid");
- }
// Begin pressure sampling
transaction.write(static_cast<uint8_t>(REG_CONVERT_D1_4096));
@@ -113,16 +104,11 @@ MS5803Data MS5803::sampleImpl()
// Check if the value is valid
if (tmpRawPressure != 0)
- {
rawPressure = tmpRawPressure;
- }
else
- {
LOG_ERR(logger, "The read raw pressure isn't valid");
- }
lastSample = updateData();
-
// Check whether to read the pressure or the temperature
tempCounter++;
if (tempCounter % temperatureDivider == 0)
@@ -166,9 +152,7 @@ MS5803Data MS5803::updateData()
sens2 = (7 * (temp - 2000) * (temp - 2000)) >> 3;
if (temp < -1500)
- {
sens2 = sens2 + 2 * (temp + 1500) * (temp + 1500);
- }
}
else if (temp >= 4500)
{
@@ -185,7 +169,7 @@ MS5803Data MS5803::updateData()
// Pressure in Pascal
float temp_ = temp / 100.0f;
- return MS5803Data(TimestampTimer::getInstance().getTimestamp(), pressure,
+ return MS5803Data(TimestampTimer::getTimestamp(), pressure,
lastTemperatureTimestamp, temp_);
}
diff --git a/src/shared/sensors/MS5803/MS5803.h b/src/shared/sensors/MS5803/MS5803.h
index 6065ebcbab862231cf4fcd37e12d857cb4119198..490d620d1e564e547b4c831ecd30e554709e957d 100644
--- a/src/shared/sensors/MS5803/MS5803.h
+++ b/src/shared/sensors/MS5803/MS5803.h
@@ -24,9 +24,9 @@
#include <diagnostic/PrintLogger.h>
#include <drivers/spi/SPIDriver.h>
-#include <sensors/MS5803/MS5803Data.h>
#include <sensors/Sensor.h>
-#include <utils/Debug.h>
+
+#include "MS5803Data.h"
namespace Boardcore
{
@@ -62,13 +62,12 @@ public:
// Read command for adc output
REG_ADC_READ = 0x00,
- REG_PROM_READ_MASK = 0xA0,
- REG_PROM_SENS_MASK = 0x02,
- REG_PROM_OFF_MASK = 0x04,
- REG_PROM_TCS_MASK = 0x06,
- REG_PROM_TCO_MASK = 0x08,
- REG_PROM_TREF_MASK = 0x0A,
- REG_PROM_TEMPSENS_MASK = 0x0C,
+ REG_PROM_SENS_MASK = 0xA2,
+ REG_PROM_OFF_MASK = 0xA4,
+ REG_PROM_TCS_MASK = 0xA6,
+ REG_PROM_TCO_MASK = 0xA8,
+ REG_PROM_TREF_MASK = 0xAA,
+ REG_PROM_TEMPSENS_MASK = 0xAC,
};
static constexpr uint8_t TIMEOUT = 5;
diff --git a/src/shared/sensors/SensorData.h b/src/shared/sensors/SensorData.h
index d40024e73622d384aacdd9bddf89b3a76307e217..2a2a2ecb08270a9b4e107871e0480b4bb7b42f79 100644
--- a/src/shared/sensors/SensorData.h
+++ b/src/shared/sensors/SensorData.h
@@ -134,16 +134,17 @@ struct MagnetometerData
struct GPSData
{
uint64_t gpsTimestamp;
- float latitude; /**< [deg] */
- float longitude; /**< [deg] */
- float height; /**< [m] */
- float velocityNorth; /**< [m/s] */
- float velocityEast; /**< [m/s] */
- float velocityDown; /**< [m/s] */
- float speed; /**< [m/s] */
- float track; /**< [deg] */
- uint8_t satellites; /**< [1] */
- bool fix;
+ float latitude; // [deg]
+ float longitude; // [deg]
+ float height; // [m]
+ float velocityNorth; // [m/s]
+ float velocityEast; // [m/s]
+ float velocityDown; // [m/s]
+ float speed; // [m/s]
+ float track; // [deg]
+ float positionDOP; // [?]
+ uint8_t satellites; // [1]
+ uint8_t fix; // 0 = no fix
};
/**
diff --git a/src/shared/sensors/SensorInfo.h b/src/shared/sensors/SensorInfo.h
index 2fc741efec5baaf58f12ec0d862dd16fcb11d3a2..804c0b0a863adfd8b97003e5563613e5d3716b6c 100644
--- a/src/shared/sensors/SensorInfo.h
+++ b/src/shared/sensors/SensorInfo.h
@@ -33,7 +33,7 @@ namespace Boardcore
*
* This structure contains the sampling period of a sensor,
* the function to be called after the sampling (callback) and
- * oneboolean indicating if the sensor has to be sampled (is enabled).
+ * one boolean indicating if the sensor has to be sampled (is enabled).
*/
struct SensorInfo
{
diff --git a/src/shared/sensors/SensorManager.h b/src/shared/sensors/SensorManager.h
index 3f6cd41900795f9ebcee5c4a26ca9b0891598177..890116fb12216a6115b5e000a8d40efdbe9ca48f 100644
--- a/src/shared/sensors/SensorManager.h
+++ b/src/shared/sensors/SensorManager.h
@@ -108,7 +108,7 @@ private:
* @brief Initializes samplers vector and sensorsMap with the given sensors
* map, giving incremental IDs to SensorSampler objects.
*
- * In case a TaskScheduler was passed in the costructor, the SensorManager
+ * In case a TaskScheduler was passed in the constructor, the SensorManager
* will assign to SensorSamplers incremental IDs starting from the maximum
* among the tasks already existing in the TaskScheduler.
*
diff --git a/src/shared/sensors/UBXGPS/UBXFrame.h b/src/shared/sensors/UBXGPS/UBXFrame.h
new file mode 100644
index 0000000000000000000000000000000000000000..9f1593baaa01a1ce8b3d7be31488e9ba12cfd05d
--- /dev/null
+++ b/src/shared/sensors/UBXGPS/UBXFrame.h
@@ -0,0 +1,308 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Damiano Amatruda, 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 <stdint.h>
+
+#include <algorithm>
+#include <cstring>
+
+namespace Boardcore
+{
+
+/**
+ * @brief UBX messages enumeration.
+ */
+enum class UBXMessage : uint16_t
+{
+ UBX_NAV_PVT = 0x0701, // Navigation position velocity time solution
+ UBX_ACK_NAK = 0x0005, // Message acknowledged
+ UBX_ACK_ACK = 0x0105, // Message not acknowledged
+ UBX_CFG_PRT = 0x0006, // Port configuration
+ UBX_CFG_MSG = 0x0106, // Set message rate
+ UBX_CFG_RST = 0x0406, // Reset receiver
+ UBX_CFG_RATE = 0x0806, // Navigation/measurement rate settings
+ UBX_CFG_NAV5 = 0x2406, // Navigation engine settings
+};
+
+/**
+ * @brief Generic UBX frame.
+ */
+struct UBXFrame
+{
+ static constexpr uint16_t MAX_PAYLOAD_LENGTH = 92;
+ static constexpr uint16_t MAX_FRAME_LENGTH = MAX_PAYLOAD_LENGTH + 8;
+ static constexpr uint8_t PREAMBLE[] = {0xb5, 0x62};
+ static constexpr uint8_t WAIT = 0xff;
+
+ uint8_t preamble[2];
+ uint16_t message;
+ uint16_t payloadLength;
+ uint8_t payload[MAX_PAYLOAD_LENGTH];
+ uint8_t checksum[2];
+
+ UBXFrame() = default;
+
+ /**
+ * @brief Construct a new UBXFrame with the specified message and given
+ * payload.
+ */
+ UBXFrame(UBXMessage message, const uint8_t* payload,
+ uint16_t payloadLength);
+
+ /**
+ * @brief Return the total frame length.
+ */
+ uint16_t getLength() const;
+
+ /**
+ * @brief Return the stored payload length.
+ */
+ uint16_t getRealPayloadLength() const;
+
+ UBXMessage getMessage() const;
+
+ /**
+ * @brief Tells whether the current frame is valid or not. Checks the
+ * preamble and the checksum.
+ */
+ bool isValid() const;
+
+ /**
+ * @brief Writes the current message into the given array.
+ *
+ * @param frame Must be an array of the proper length.
+ */
+ void writePacked(uint8_t* frame) const;
+
+ /**
+ * @brief Reads a raw frame.
+ *
+ * Note that the frame bytes are assumed to start with the preamble.
+ *
+ * @param frame An array of length at least MAX_FRAME_LENGTH.
+ */
+ void readPacked(const uint8_t* frame);
+
+ /**
+ * @brief Computes the frame checksum.
+ *
+ * @param checksum Array of 2 elements where to store the checksum
+ */
+ void calcChecksum(uint8_t* checksum) const;
+};
+
+/**
+ * @brief UBX frames UBX-ACK-ACK and UBX-ACK-NAK.
+ */
+struct UBXAckFrame : public UBXFrame
+{
+ /**
+ * @brief Payload of UBX frames UBX-ACK-ACK and UBX-ACK-NAK.
+ */
+ struct __attribute__((packed)) Payload
+ {
+ uint16_t ackMessage;
+ };
+
+ Payload& getPayload() const;
+
+ UBXMessage getAckMessage() const;
+
+ /**
+ * @brief Tells whether the frame is an ack.
+ */
+ bool isAck() const;
+
+ /**
+ * @brief Tells whether the frame is a nak.
+ */
+ bool isNack() const;
+
+ /**
+ * @brief Tells whether the frame is an ack frame.
+ */
+ bool isValid() const;
+};
+
+/**
+ * @brief UBX frame UBX-NAV-PVT.
+ */
+struct UBXPvtFrame : public UBXFrame
+{
+public:
+ /**
+ * @brief Payload of UBX frame UBX-NAV-PVT.
+ */
+ struct __attribute__((packed)) Payload
+ {
+ uint32_t iTOW; // GPS time of week of the navigation epoch [ms]
+ uint16_t year; // Year (UTC) [y]
+ uint8_t month; // Month, range 1..12 (UTC) [month]
+ uint8_t day; // Day of month, range 1..31 (UTC) [d]
+ uint8_t hour; // Hour of day, range 0..23 (UTC) [h]
+ uint8_t min; // Minute of hour, range 0..59 (UTC) [min]
+ uint8_t sec; // Seconds of minute, range 0..60 (UTC) [s]
+ uint8_t valid; // Validity flags
+ uint32_t tAcc; // Time accuracy estimate (UTC) [ns]
+ int32_t nano; // Fraction of second, range -1e9 .. 1e9 (UTC) [ns]
+ uint8_t fixType; // GNSS fix Type
+ uint8_t flags; // Fix status flags
+ uint8_t flags2; // Additional flags
+ uint8_t numSV; // Number of satellites used in Nav Solution
+ int32_t lon; // Longitude {1e-7} [deg]
+ int32_t lat; // Latitude {1e-7} [deg]
+ int32_t height; // Height above ellipsoid [mm]
+ int32_t hMSL; // Height above mean sea level [mm]
+ uint32_t hAcc; // Horizontal accuracy estimate [mm]
+ uint32_t vAcc; // Vertical accuracy estimate [mm]
+ int32_t velN; // NED north velocity [mm/s]
+ int32_t velE; // NED east velocity [mm/s]
+ int32_t velD; // NED down velocity [mm/s]
+ int32_t gSpeed; // Ground Speed (2-D) [mm/s]
+ int32_t headMot; // Heading of motion (2-D) {1e-5} [deg]
+ uint32_t sAcc; // Speed accuracy estimate [mm/s]
+ uint32_t headAcc; // Heading accuracy estimate (both motion and
+ // vehicle) {1e-5} [deg]
+ uint16_t pDOP; // Position DOP {0.01}
+ uint16_t flags3; // Additional flags
+ uint8_t reserved0[4]; // Reserved
+ int32_t headVeh; // Heading of vehicle (2-D) {1e-5} [deg]
+ int16_t magDec; // Magnetic declination {1e-2} [deg]
+ uint16_t magAcc; // Magnetic declination accuracy {1e-2} [deg]
+ };
+
+ Payload& getPayload() const;
+
+ /**
+ * @brief Tells whether the frame is an ack frame.
+ */
+ bool isValid() const;
+};
+
+inline UBXFrame::UBXFrame(UBXMessage message, const uint8_t* payload,
+ uint16_t payloadLength)
+ : message(static_cast<uint16_t>(message)), payloadLength(payloadLength)
+{
+ memcpy(preamble, PREAMBLE, 2);
+ if (payload != nullptr)
+ memcpy(this->payload, payload, getRealPayloadLength());
+ calcChecksum(checksum);
+}
+
+inline uint16_t UBXFrame::getLength() const { return payloadLength + 8; }
+
+inline uint16_t UBXFrame::getRealPayloadLength() const
+{
+ return std::min(payloadLength, MAX_PAYLOAD_LENGTH);
+}
+
+inline UBXMessage UBXFrame::getMessage() const
+{
+ return static_cast<UBXMessage>(message);
+}
+
+inline bool UBXFrame::isValid() const
+{
+ if (memcmp(preamble, PREAMBLE, 2) != 0)
+ return false;
+
+ if (payloadLength > MAX_PAYLOAD_LENGTH)
+ return false;
+
+ uint8_t validChecksum[2];
+ calcChecksum(validChecksum);
+ return memcmp(checksum, validChecksum, 2) == 0;
+}
+
+inline void UBXFrame::writePacked(uint8_t* frame) const
+{
+ memcpy(frame, preamble, 2);
+ memcpy(&frame[2], &message, 2);
+ memcpy(&frame[4], &payloadLength, 2);
+ memcpy(&frame[6], payload, getRealPayloadLength());
+ memcpy(&frame[6 + payloadLength], checksum, 2);
+}
+
+inline void UBXFrame::readPacked(const uint8_t* frame)
+{
+ memcpy(preamble, frame, 2);
+ memcpy(&message, &frame[2], 2);
+ memcpy(&payloadLength, &frame[4], 2);
+ memcpy(payload, &frame[6], getRealPayloadLength());
+ memcpy(checksum, &frame[6 + payloadLength], 2);
+}
+
+inline void UBXFrame::calcChecksum(uint8_t* checksum) const
+{
+ uint8_t data[getRealPayloadLength() + 4];
+ memcpy(data, &message, 2);
+ memcpy(&data[2], &payloadLength, 2);
+ memcpy(&data[4], payload, getRealPayloadLength());
+
+ checksum[0] = 0;
+ checksum[1] = 0;
+
+ for (size_t i = 0; i < sizeof(data); ++i)
+ {
+ checksum[0] += data[i];
+ checksum[1] += checksum[0];
+ }
+}
+
+inline UBXAckFrame::Payload& UBXAckFrame::getPayload() const
+{
+ return (Payload&)payload;
+}
+
+inline UBXMessage UBXAckFrame::getAckMessage() const
+{
+ return static_cast<UBXMessage>(getPayload().ackMessage);
+}
+
+inline bool UBXAckFrame::isAck() const
+{
+ return getMessage() == UBXMessage::UBX_ACK_ACK;
+}
+
+inline bool UBXAckFrame::isNack() const
+{
+ return getMessage() == UBXMessage::UBX_ACK_NAK;
+}
+
+inline bool UBXAckFrame::isValid() const
+{
+ return UBXFrame::isValid() && (isAck() || isNack());
+}
+
+inline UBXPvtFrame::Payload& UBXPvtFrame::getPayload() const
+{
+ return (Payload&)payload;
+}
+
+inline bool UBXPvtFrame::isValid() const
+{
+ return UBXFrame::isValid() && getMessage() == UBXMessage::UBX_NAV_PVT;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/UbloxGPS/UbloxGPSData.h b/src/shared/sensors/UBXGPS/UBXGPSData.h
similarity index 79%
rename from src/shared/sensors/UbloxGPS/UbloxGPSData.h
rename to src/shared/sensors/UBXGPS/UBXGPSData.h
index 7f5570000b78b915a956b96e754d784e08f7611f..ed734d258bd1c0dd79206b8d392562b7009a22bf 100644
--- a/src/shared/sensors/UbloxGPS/UbloxGPSData.h
+++ b/src/shared/sensors/UBXGPS/UBXGPSData.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
- * Author: Davide Bonomini
+/* Copyright (c) 2020-2022 Skyward Experimental Rocketry
+ * Authors: Davide Bonomini, Damiano Amatruda
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -27,20 +27,21 @@
namespace Boardcore
{
-struct UbloxGPSData : public GPSData
+struct UBXGPSData : public GPSData
{
static std::string header()
{
- return "gps_timestamp,latitude,longitude,height,velocity_north,"
- "velocity_east,velocity_down,speed,track,num_satellites,fix\n";
+ return "gpsTimestamp,latitude,longitude,height,velocityNorth,"
+ "velocityEast,velocityDown,speed,track,positionDOP,satellites,"
+ "fix\n";
}
void print(std::ostream &os) const
{
os << gpsTimestamp << "," << latitude << "," << longitude << ","
<< height << "," << velocityNorth << "," << velocityEast << ","
- << velocityDown << "," << speed << "," << track << ","
- << (int)satellites << "," << (int)fix << "\n";
+ << velocityDown << "," << speed << "," << track << "," << positionDOP
+ << "," << (int)satellites << "," << (int)fix << "\n";
}
};
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d8a4502929c73ab4c46462f2a7d36f5004a02942
--- /dev/null
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
@@ -0,0 +1,430 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Davide Bonomini, Davide Mor, 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 "UBXGPSSerial.h"
+
+#include <diagnostic/StackLogger.h>
+#include <drivers/serial.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <fcntl.h>
+#include <filesystem/file_access.h>
+
+using namespace miosix;
+
+namespace Boardcore
+{
+
+UBXGPSSerial::UBXGPSSerial(int baudrate, uint8_t sampleRate, int serialPortNum,
+ const char* serialPortName, int defaultBaudrate)
+ : baudrate(baudrate), sampleRate(sampleRate),
+ serialPortNumber(serialPortNum), serialPortName(serialPortName),
+ defaultBaudrate(defaultBaudrate)
+{
+ // Prepare the gps file path with the specified name
+ strcpy(gpsFilePath, "/dev/");
+ strcat(gpsFilePath, serialPortName);
+}
+
+bool UBXGPSSerial::init()
+{
+ LOG_DEBUG(logger, "Changing device baudrate...");
+
+ if (!setSerialCommunication())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Error while setting serial communication");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Resetting the device...");
+
+ // if (!reset())
+ // {
+ // lastError = SensorErrors::INIT_FAIL;
+ // LOG_ERR(logger, "Could not reset the device");
+ // return false;
+ // }
+
+ LOG_DEBUG(logger, "Setting the UBX protocol...");
+
+ if (!setBaudrateAndUBX())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the UBX protocol");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Setting the dynamic model...");
+
+ if (!setDynamicModelToAirborne4g())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the dynamic model");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Setting the sample rate...");
+
+ if (!setSampleRate())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the sample rate");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Setting the PVT message rate...");
+
+ if (!setPVTMessageRate())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the PVT message rate");
+ return false;
+ }
+
+ this->start();
+
+ return true;
+}
+
+bool UBXGPSSerial::selfTest() { return true; }
+
+UBXGPSData UBXGPSSerial::sampleImpl()
+{
+ Lock<FastMutex> l(mutex);
+ return threadSample;
+}
+
+bool UBXGPSSerial::reset()
+{
+ uint8_t payload[] = {
+ 0x00, 0x00, // Hot start
+ 0x00, // Hardware reset
+ 0x00 // Reserved
+ };
+
+ UBXFrame frame{UBXMessage::UBX_CFG_RST, payload, sizeof(payload)};
+
+ // The reset message will not be followed by an acknowledgment
+ if (!writeUBXFrame(frame))
+ return false;
+
+ // Do not interact with the module while it is resetting
+ miosix::Thread::sleep(RESET_SLEEP_TIME);
+
+ return true;
+}
+
+bool UBXGPSSerial::setBaudrateAndUBX(bool safe)
+{
+ uint8_t payload[] = {
+ 0x01, // UART port
+ 0x00, // Reserved
+ 0x00, 0x00, // txReady
+ 0xc0, 0x08, 0x00, 0x00, // 8bit, no parity, 1 stop bit
+ 0x00, 0x00, 0x00, 0x00, // Baudrate
+ 0x01, 0x00, // inProtoMask = UBX
+ 0x01, 0x00, // outProtoMask = UBX
+ 0x00, 0x00, // flags
+ 0x00, 0x00 // reserved2
+ };
+
+ // Prepare baudrate
+ payload[8] = baudrate;
+ payload[9] = baudrate >> 8;
+ payload[10] = baudrate >> 16;
+ payload[11] = baudrate >> 24;
+
+ UBXFrame frame{UBXMessage::UBX_CFG_PRT, payload, sizeof(payload)};
+
+ if (safe)
+ return safeWriteUBXFrame(frame);
+ else
+ return writeUBXFrame(frame);
+}
+
+bool UBXGPSSerial::setSerialCommunication()
+{
+ intrusive_ref_ptr<DevFs> devFs = FilesystemManager::instance().getDevFs();
+
+ // Change the baudrate only if it is different than the default
+ if (baudrate != defaultBaudrate)
+ {
+ // Close the gps file if already opened
+ devFs->remove(serialPortName);
+
+ // Open the serial port device with the default baudrate
+ if (!devFs->addDevice(serialPortName,
+ intrusive_ref_ptr<Device>(new STM32Serial(
+ serialPortNumber, defaultBaudrate))))
+ {
+ LOG_ERR(logger,
+ "Failed to open serial port {0} with baudrate {1} as "
+ "file {2}",
+ serialPortNumber, defaultBaudrate, serialPortName);
+ return false;
+ }
+
+ // Open the gps file
+ if ((gpsFile = open(gpsFilePath, O_RDWR)) < 0)
+ {
+ LOG_ERR(logger, "Failed to open gps file {}", gpsFilePath);
+ return false;
+ }
+
+ // Change baudrate
+ if (!setBaudrateAndUBX(false))
+ {
+ return false;
+ };
+
+ // Close the gps file
+ if (close(gpsFile) < 0)
+ {
+ LOG_ERR(logger, "Failed to close gps file {}", gpsFilePath);
+ return false;
+ }
+
+ // Close the serial port
+ if (!devFs->remove(serialPortName))
+ {
+ LOG_ERR(logger, "Failed to close serial port {} as file {}",
+ serialPortNumber, serialPortName);
+ return false;
+ }
+ }
+
+ // Reopen the serial port with the configured baudrate
+ if (!devFs->addDevice(serialPortName,
+ intrusive_ref_ptr<Device>(
+ new STM32Serial(serialPortNumber, baudrate))))
+ {
+ LOG_ERR(logger,
+ "Failed to open serial port {} with baudrate {} as file {}\n",
+ serialPortNumber, defaultBaudrate, serialPortName);
+ return false;
+ }
+
+ // Reopen the gps file
+ if ((gpsFile = open(gpsFilePath, O_RDWR)) < 0)
+ {
+ LOG_ERR(logger, "Failed to open gps file {}", gpsFilePath);
+ return false;
+ }
+
+ return true;
+}
+
+bool UBXGPSSerial::setDynamicModelToAirborne4g()
+{
+ uint8_t payload[] = {
+ 0x01, 0x00, // Parameters bitmask, apply dynamic model configuration
+ 0x08, // Dynamic model = airborne 4g
+ 0x00, // Fix mode
+ 0x00, 0x00, 0x00, 0x00, // Fixed altitude for 2D mode
+ 0x00, 0x00, 0x00, 0x00, // Fixed altitude variance for 2D mode
+ 0x00, // Minimum elevation for a GNSS satellite to be used
+ 0x00, // Reserved
+ 0x00, 0x00, // Position DOP mask to use
+ 0x00, 0x00, // Time DOP mask to use
+ 0x00, 0x00, // Position accuracy mask
+ 0x00, 0x00, // Time accuracy mask
+ 0x00, // Static hold threshold
+ 0x00, // DGNSS timeout
+ 0x00, // C/NO threshold number SVs
+ 0x00, // C/NO threshold
+ 0x00, 0x00, // Reserved
+ 0x00, 0x00, // Static hold distance threshold
+ 0x00, // UTC standard to be used
+ 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
+ };
+
+ UBXFrame frame{UBXMessage::UBX_CFG_NAV5, payload, sizeof(payload)};
+
+ return safeWriteUBXFrame(frame);
+}
+
+bool UBXGPSSerial::setSampleRate()
+{
+ uint8_t payload[] = {
+ 0x00, 0x00, // Measurement rate
+ 0x01, 0x00, // One navigation solution per measurement
+ 0x01, 0x01 // GPS time
+ };
+
+ uint16_t sampleRateMs = 1000 / sampleRate;
+ payload[0] = sampleRateMs;
+ payload[1] = sampleRateMs >> 8;
+
+ UBXFrame frame{UBXMessage::UBX_CFG_RATE, payload, sizeof(payload)};
+
+ return safeWriteUBXFrame(frame);
+}
+
+bool UBXGPSSerial::setPVTMessageRate()
+{
+ uint8_t payload[] = {
+ 0x01, 0x07, // PVT message
+ 0x01 // Rate = 1 navigation solution update
+ };
+
+ UBXFrame frame{UBXMessage::UBX_CFG_MSG, payload, sizeof(payload)};
+
+ return safeWriteUBXFrame(frame);
+}
+
+bool UBXGPSSerial::readUBXFrame(UBXFrame& frame)
+{
+ // Search UBX frame preamble byte by byte
+ size_t i = 0;
+ while (i < 2)
+ {
+ uint8_t c;
+ if (read(gpsFile, &c, 1) <= 0) // No more data available
+ return false;
+
+ if (c == UBXFrame::PREAMBLE[i])
+ {
+ frame.preamble[i++] = c;
+ }
+ else if (c == UBXFrame::PREAMBLE[0])
+ {
+ i = 0;
+ frame.preamble[i++] = c;
+ }
+ else
+ {
+ i = 0;
+ // LOG_DEBUG(logger, "Received unexpected byte: {:02x} {:#c}", c,
+ // c);
+ }
+ }
+
+ if (read(gpsFile, &frame.message, 2) <= 0 ||
+ read(gpsFile, &frame.payloadLength, 2) <= 0 ||
+ read(gpsFile, frame.payload, frame.getRealPayloadLength()) <= 0 ||
+ read(gpsFile, frame.checksum, 2) <= 0)
+ return false;
+
+ if (!frame.isValid())
+ {
+ LOG_ERR(logger, "Received invalid UBX frame");
+ return false;
+ }
+
+ return true;
+}
+
+bool UBXGPSSerial::writeUBXFrame(const UBXFrame& frame)
+{
+ if (!frame.isValid())
+ {
+ LOG_ERR(logger, "Trying to send an invalid UBX frame");
+ return false;
+ }
+
+ uint8_t packedFrame[frame.getLength()];
+ frame.writePacked(packedFrame);
+
+ if (write(gpsFile, packedFrame, frame.getLength()) < 0)
+ {
+ LOG_ERR(logger, "Failed to write ubx message");
+ return false;
+ }
+
+ return true;
+}
+
+bool UBXGPSSerial::safeWriteUBXFrame(const UBXFrame& frame)
+{
+ for (unsigned int i = 0; i < MAX_TRIES; i++)
+ {
+ if (i > 0)
+ LOG_DEBUG(logger, "Retrying (attempt {:#d} of {:#d})...", i + 1,
+ MAX_TRIES);
+
+ if (!writeUBXFrame(frame))
+ return false;
+
+ UBXAckFrame ack;
+
+ if (!readUBXFrame(ack))
+ continue;
+
+ if (ack.isNack())
+ {
+ if (ack.getAckMessage() == frame.getMessage())
+ LOG_DEBUG(logger, "Received NAK");
+ else
+ LOG_DEBUG(logger, "Received NAK for different UBX frame {:04x}",
+ static_cast<uint16_t>(ack.getPayload().ackMessage));
+ continue;
+ }
+
+ if (ack.isAck() && ack.getAckMessage() != frame.getMessage())
+ {
+ LOG_DEBUG(logger, "Received ACK for different UBX frame {:04x}",
+ static_cast<uint16_t>(ack.getPayload().ackMessage));
+ continue;
+ }
+
+ return true;
+ }
+
+ LOG_ERR(logger, "Gave up after {:#d} tries", MAX_TRIES);
+ return false;
+}
+
+void UBXGPSSerial::run()
+{
+ while (!shouldStop())
+ {
+ UBXPvtFrame pvt;
+
+ // Try to read the message
+ if (!readUBXFrame(pvt))
+ {
+ LOG_DEBUG(logger, "Unable to read a UBX message");
+ continue;
+ }
+
+ UBXPvtFrame::Payload& pvtP = pvt.getPayload();
+
+ // Lock the mutex
+ Lock<FastMutex> l(mutex);
+ threadSample.gpsTimestamp = TimestampTimer::getTimestamp();
+ threadSample.latitude = (float)pvtP.lat / 1e7;
+ threadSample.longitude = (float)pvtP.lon / 1e7;
+ threadSample.height = (float)pvtP.height / 1e3;
+ threadSample.velocityNorth = (float)pvtP.velN / 1e3;
+ threadSample.velocityEast = (float)pvtP.velE / 1e3;
+ threadSample.velocityDown = (float)pvtP.velD / 1e3;
+ threadSample.speed = (float)pvtP.gSpeed / 1e3;
+ threadSample.track = (float)pvtP.headMot / 1e5;
+ threadSample.positionDOP = (float)pvtP.pDOP / 1e2;
+ threadSample.satellites = pvtP.numSV;
+ threadSample.fix = pvtP.fixType;
+
+ StackLogger::getInstance().updateStack(THID_GPS);
+ }
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.h b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
new file mode 100644
index 0000000000000000000000000000000000000000..4785778c2beab52185b2b614f06db7ab2c0e4769
--- /dev/null
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
@@ -0,0 +1,179 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Davide Bonomini, Davide Mor, 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 <ActiveObject.h>
+#include <diagnostic/PrintLogger.h>
+#include <miosix.h>
+#include <sensors/Sensor.h>
+
+#include "UBXFrame.h"
+#include "UBXGPSData.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Driver for Ublox GPSs
+ *
+ * This driver handles communication and setup with Ublox GPSs. It uses the
+ * binary UBX protocol to retrieve and parse navigation data quicker than using
+ * the string based NMEA.
+ *
+ * At initialization it configures the device with the specified baudrate, reset
+ * the configuration and sets up UBX messages and GNSS parameters.
+ *
+ * Communication with the device is performed through a file, the driver opens
+ * the serial port under the filepath /dev/<serialPortName>.
+ * There is no need for the file to be setted up beforhand.
+ *
+ * This driver was written for a NEO-M9N gps with the latest version of UBX.
+ */
+class UBXGPSSerial : public Sensor<UBXGPSData>, public ActiveObject
+{
+public:
+ /**
+ * @brief Construct a new UBXGPSSerial object.
+ *
+ * @param baudrate Baudrate to communicate with the device (max: 921600,
+ * min: 4800 for NEO-M9N).
+ * @param sampleRate GPS sample rate (max: 25 for NEO-M9N).
+ * @param serialPortNumber Number of the serial port connected to the GPS.
+ * @param serialPortName Name of the file for the gps device.
+ * @param defaultBaudrate Startup baudrate (38400 for NEO-M9N).
+ */
+ UBXGPSSerial(int baudrate = 921600, uint8_t sampleRate = 10,
+ int serialPortNumber = 2, const char *serialPortName = "gps",
+ int defaultBaudrate = 38400);
+
+ /**
+ * @brief Sets up the serial port baudrate, disables the NMEA messages,
+ * configures GNSS options and enables UBX-PVT message.
+ *
+ * @return True if the operation succeeded.
+ */
+ bool init() override;
+
+ /**
+ * @brief Read a single message form the GPS, waits 2 sample cycle.
+ *
+ * @return True if a message was sampled.
+ */
+ bool selfTest() override;
+
+private:
+ UBXGPSData sampleImpl() override;
+
+ /**
+ * @brief Resets the device to its default configuration.
+ *
+ * @return True if the device reset succeeded.
+ */
+ bool reset();
+
+ /**
+ * @brief Sets the UART port baudrate and enables UBX and disables NMEA on
+ * the UART port.
+ *
+ * @param safe Whether to expect an ack after the command.
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setBaudrateAndUBX(bool safe = true);
+
+ /**
+ * @brief Sets up the serial port with the correct baudrate.
+ *
+ * Opens the serial port with the default baudrate and changes it to the
+ * value specified in the constructor, then it reopens the serial port. If
+ * the device is already using the correct baudrate this won't have effect.
+ * However if the gps is using a different baudrate the diver won't be able
+ * to communicate.
+ */
+ bool setSerialCommunication();
+
+ /**
+ * @brief Configures the dynamic model to airborn 4g.
+ *
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setDynamicModelToAirborne4g();
+
+ /**
+ * @brief Configures the navigation solution sample rate.
+ *
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setSampleRate();
+
+ /**
+ * @brief Configures the PVT message output rate.
+ *
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setPVTMessageRate();
+
+ /**
+ * @brief Reads a UBX frame.
+ *
+ * @param frame The received frame.
+ * @return True if a valid frame was read.
+ */
+ bool readUBXFrame(UBXFrame &frame);
+
+ /**
+ * @brief Writes a UBX frame.
+ *
+ * @param frame The frame to write.
+ * @return True if the frame is valid.
+ */
+ bool writeUBXFrame(const UBXFrame &frame);
+
+ /**
+ * @brief Writes a UBX frame and waits for its acknowledgement.
+ *
+ * @param frame The frame to write.
+ * @return True if the frame is valid and acknowledged.
+ */
+ bool safeWriteUBXFrame(const UBXFrame &frame);
+
+ void run() override;
+
+ const int baudrate; // [baud]
+ const uint8_t sampleRate; // [Hz]
+ const int serialPortNumber;
+ const char *serialPortName;
+ const int defaultBaudrate; // [baud]
+
+ char gpsFilePath[16]; ///< Allows for a filename of up to 10 characters
+ int gpsFile = -1;
+
+ mutable miosix::FastMutex mutex;
+ UBXGPSData threadSample{};
+
+ PrintLogger logger = Logging::getLogger("ubloxgps");
+
+ static constexpr unsigned int RESET_SLEEP_TIME = 5000; // [ms]
+ static constexpr unsigned int MAX_TRIES = 5; // [1]
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d5a556b5cfc86f679625cd88ee8007558f23dcea
--- /dev/null
+++ b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
@@ -0,0 +1,358 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Davide Bonomini, Davide Mor, Alberto Nidasio, Damiano Amatruda
+ *
+ * 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 "UBXGPSSpi.h"
+
+#include <drivers/timer/TimestampTimer.h>
+#include <interfaces/endianness.h>
+
+namespace Boardcore
+{
+
+constexpr uint16_t UBXFrame::MAX_PAYLOAD_LENGTH;
+constexpr uint16_t UBXFrame::MAX_FRAME_LENGTH;
+constexpr uint8_t UBXFrame::PREAMBLE[];
+constexpr uint8_t UBXFrame::WAIT;
+
+constexpr float UBXGPSSpi::MS_TO_TICK;
+
+constexpr unsigned int UBXGPSSpi::RESET_SLEEP_TIME;
+constexpr unsigned int UBXGPSSpi::READ_TIMEOUT;
+constexpr unsigned int UBXGPSSpi::MAX_TRIES;
+
+UBXGPSSpi::UBXGPSSpi(SPIBusInterface& spiBus, miosix::GpioPin spiCs,
+ SPIBusConfig spiConfig, uint8_t sampleRate)
+ : spiSlave(spiBus, spiCs, spiConfig), sampleRate(sampleRate)
+{
+}
+
+SPIBusConfig UBXGPSSpi::getDefaultSPIConfig()
+{
+ /* From data sheet of series NEO-M8:
+ * "Minimum initialization time" (setup time): 10 us
+ * "Minimum deselect time" (hold time): 1 ms */
+ return SPIBusConfig{SPI::ClockDivider::DIV_32, SPI::Mode::MODE_0,
+ SPI::BitOrder::MSB_FIRST, 10, 1000};
+}
+
+uint8_t UBXGPSSpi::getSampleRate() { return sampleRate; }
+
+bool UBXGPSSpi::init()
+{
+ LOG_DEBUG(logger, "Resetting the device...");
+
+ if (!reset())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not reset the device");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Setting the UBX protocol...");
+
+ if (!setUBXProtocol())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the UBX protocol");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Setting the dynamic model...");
+
+ if (!setDynamicModelToAirborne4g())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the dynamic model");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Setting the sample rate...");
+
+ if (!setSampleRate())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the sample rate");
+ return false;
+ }
+
+ LOG_DEBUG(logger, "Setting the PVT message rate...");
+
+ if (!setPVTMessageRate())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Could not set the PVT message rate");
+ return false;
+ }
+
+ return true;
+}
+
+bool UBXGPSSpi::selfTest() { return true; }
+
+UBXGPSData UBXGPSSpi::sampleImpl()
+{
+ UBXPvtFrame pvt;
+
+ if (!readUBXFrame(pvt))
+ return lastSample;
+
+ UBXPvtFrame::Payload& pvtP = pvt.getPayload();
+
+ UBXGPSData sample;
+ sample.gpsTimestamp = TimestampTimer::getTimestamp();
+ sample.latitude = (float)pvtP.lat / 1e7;
+ sample.longitude = (float)pvtP.lon / 1e7;
+ sample.height = (float)pvtP.height / 1e3;
+ sample.velocityNorth = (float)pvtP.velN / 1e3;
+ sample.velocityEast = (float)pvtP.velE / 1e3;
+ sample.velocityDown = (float)pvtP.velD / 1e3;
+ sample.speed = (float)pvtP.gSpeed / 1e3;
+ sample.track = (float)pvtP.headMot / 1e5;
+ sample.positionDOP = (float)pvtP.pDOP / 1e2;
+ sample.satellites = pvtP.numSV;
+ sample.fix = pvtP.fixType;
+
+ return sample;
+}
+
+bool UBXGPSSpi::reset()
+{
+ uint8_t payload[] = {
+ 0x00, 0x00, // Hot start
+ 0x00, // Hardware reset
+ 0x00 // Reserved
+ };
+
+ UBXFrame frame{UBXMessage::UBX_CFG_RST, payload, sizeof(payload)};
+
+ // The reset message will not be followed by an acknowledgment
+ if (!writeUBXFrame(frame))
+ return false;
+
+ // Do not interact with the module while it is resetting
+ miosix::Thread::sleep(RESET_SLEEP_TIME);
+
+ return true;
+}
+
+bool UBXGPSSpi::setUBXProtocol()
+{
+ uint8_t payload[] = {
+ 0x04, // SPI port
+ 0x00, // reserved0
+ 0x00, 0x00, // txReady
+ 0x00, 0x00, 0x00, 0x00, // spiMode = 0, ffCnt = 0 (mechanism off)
+ 0x00, 0x00, 0x00, 0x00, // reserved1
+ 0x01, 0x00, // inProtoMask = UBX
+ 0x01, 0x00, // outProtoMask = UBX
+ 0x00, 0x00, // flags
+ 0x00, 0x00 // reserved2
+ };
+
+ UBXFrame frame{UBXMessage::UBX_CFG_PRT, payload, sizeof(payload)};
+
+ return safeWriteUBXFrame(frame);
+}
+
+bool UBXGPSSpi::setDynamicModelToAirborne4g()
+{
+ uint8_t payload[] = {
+ 0x01, 0x00, // Parameters bitmask, apply dynamic model configuration
+ 0x08, // Dynamic model = airbone 4g
+ 0x00, // Fix mode
+ 0x00, 0x00, 0x00, 0x00, // Fixed altitude for 2D mode
+ 0x00, 0x00, 0x00, 0x00, // Fixed altitude variance for 2D mode
+ 0x00, // Minimun elevation for a GNSS satellite to be used
+ 0x00, // Reserved
+ 0x00, 0x00, // Position DOP mask to use
+ 0x00, 0x00, // Time DOP mask to use
+ 0x00, 0x00, // Position accuracy mask
+ 0x00, 0x00, // Time accuracy mask
+ 0x00, // Static hold threshold
+ 0x00, // DGNSS timeout
+ 0x00, // C/NO threshold number SVs
+ 0x00, // C/NO threshold
+ 0x00, 0x00, // Reserved
+ 0x00, 0x00, // Static hold distance threshold
+ 0x00, // UTC standard to be used
+ 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
+ };
+
+ UBXFrame frame{UBXMessage::UBX_CFG_NAV5, payload, sizeof(payload)};
+
+ return safeWriteUBXFrame(frame);
+}
+
+bool UBXGPSSpi::setSampleRate()
+{
+ uint8_t payload[] = {
+ 0x00, 0x00, // Measurement rate
+ 0x01, 0x00, // One navigation solution per measurement
+ 0x01, 0x01 // GPS time
+ };
+
+ uint16_t sampleRateMs = 1000 / sampleRate;
+ payload[0] = sampleRateMs;
+ payload[1] = sampleRateMs >> 8;
+
+ UBXFrame frame{UBXMessage::UBX_CFG_RATE, payload, sizeof(payload)};
+
+ return safeWriteUBXFrame(frame);
+}
+
+bool UBXGPSSpi::setPVTMessageRate()
+{
+ uint8_t payload[] = {
+ 0x01, 0x07, // PVT message
+ 0x01 // Rate = 1 navigation solution update
+ };
+
+ UBXFrame frame{UBXMessage::UBX_CFG_MSG, payload, sizeof(payload)};
+
+ return safeWriteUBXFrame(frame);
+}
+
+bool UBXGPSSpi::readUBXFrame(UBXFrame& frame)
+{
+ long long start = miosix::getTick();
+ long long end = start + READ_TIMEOUT * MS_TO_TICK;
+
+ {
+ SPITransaction spi{spiSlave};
+
+ // Search UBX frame preamble byte by byte
+ size_t i = 0;
+ bool waiting = false;
+ while (i < 2)
+ {
+ if (miosix::getTick() >= end)
+ {
+ LOG_ERR(logger, "Timeout for read expired");
+ return false;
+ }
+
+ uint8_t c = spi.read();
+
+ if (c == UBXFrame::PREAMBLE[i])
+ {
+ waiting = false;
+ frame.preamble[i++] = c;
+ }
+ else if (c == UBXFrame::PREAMBLE[0])
+ {
+ i = 0;
+ waiting = false;
+ frame.preamble[i++] = c;
+ }
+ else if (c == UBXFrame::WAIT)
+ {
+ i = 0;
+ if (!waiting)
+ {
+ waiting = true;
+ // LOG_DEBUG(logger, "Device is waiting...");
+ }
+ }
+ else
+ {
+ i = 0;
+ waiting = false;
+ LOG_DEBUG(logger, "Received unexpected byte: {:02x} {:#c}", c,
+ c);
+ }
+ }
+
+ frame.message = swapBytes16(spi.read16());
+ frame.payloadLength = swapBytes16(spi.read16());
+ spi.read(frame.payload, frame.getRealPayloadLength());
+ spi.read(frame.checksum, 2);
+ }
+
+ if (!frame.isValid())
+ {
+ LOG_ERR(logger, "Received invalid UBX frame");
+ return false;
+ }
+
+ return true;
+}
+
+bool UBXGPSSpi::writeUBXFrame(const UBXFrame& frame)
+{
+ if (!frame.isValid())
+ {
+ LOG_ERR(logger, "Trying to send an invalid UBX frame");
+ return false;
+ }
+
+ uint8_t packedFrame[frame.getLength()];
+ frame.writePacked(packedFrame);
+
+ {
+ SPITransaction spi{spiSlave};
+ spi.write(packedFrame, frame.getLength());
+ }
+
+ return true;
+}
+
+bool UBXGPSSpi::safeWriteUBXFrame(const UBXFrame& frame)
+{
+ for (unsigned int i = 0; i < MAX_TRIES; i++)
+ {
+ if (i > 0)
+ LOG_DEBUG(logger, "Retrying (attempt {:#d} of {:#d})...", i + 1,
+ MAX_TRIES);
+
+ if (!writeUBXFrame(frame))
+ return false;
+
+ UBXAckFrame ack;
+
+ if (!readUBXFrame(ack))
+ continue;
+
+ if (ack.isNack())
+ {
+ if (ack.getAckMessage() == frame.getMessage())
+ LOG_DEBUG(logger, "Received NAK");
+ else
+ LOG_DEBUG(logger, "Received NAK for different UBX frame {:04x}",
+ static_cast<uint16_t>(ack.getPayload().ackMessage));
+ continue;
+ }
+
+ if (ack.isAck() && ack.getAckMessage() != frame.getMessage())
+ {
+ LOG_DEBUG(logger, "Received ACK for different UBX frame {:04x}",
+ static_cast<uint16_t>(ack.getPayload().ackMessage));
+ continue;
+ }
+
+ return true;
+ }
+
+ LOG_ERR(logger, "Gave up after {:#d} tries", MAX_TRIES);
+ return false;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSpi.h b/src/shared/sensors/UBXGPS/UBXGPSSpi.h
new file mode 100644
index 0000000000000000000000000000000000000000..e20bc3bfcec2c8b36e69093291be5af048d80ce6
--- /dev/null
+++ b/src/shared/sensors/UBXGPS/UBXGPSSpi.h
@@ -0,0 +1,151 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Davide Bonomini, Davide Mor, Alberto Nidasio, Damiano Amatruda
+ *
+ * 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/PrintLogger.h>
+#include <drivers/spi/SPIDriver.h>
+#include <sensors/Sensor.h>
+
+#include "UBXFrame.h"
+#include "UBXGPSData.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Sensor for UBlox GPS.
+ *
+ * This sensor handles communication and setup with UBlox GPSs. It uses the
+ * binary UBX protocol to retrieve and parse navigation data faster than using
+ * the string-based NMEA.
+ *
+ * At initialization it resets the device, sets the configuration and sets up
+ * UBX messages and GNSS parameters.
+ *
+ * Communication with the device is performed through SPI.
+ *
+ * This sensor is compatible with series NEO-M8 and NEO-M9.
+ */
+class UBXGPSSpi : public Sensor<UBXGPSData>
+{
+public:
+ /**
+ * @brief Constructor.
+ *
+ * @param spiBus The SPI bus.
+ * @param spiCs The CS pin to lower when we need to sample.
+ * @param spiConfig The SPI configuration.
+ * @param sampleRate The GPS sample rate [kHz].
+ */
+ UBXGPSSpi(SPIBusInterface& spiBus, miosix::GpioPin spiCs,
+ SPIBusConfig spiConfig = getDefaultSPIConfig(),
+ uint8_t sampleRate = 5);
+
+ /**
+ * @brief Constructs the default config for the SPI bus.
+ *
+ * @return The default SPIBusConfig object.
+ */
+ static SPIBusConfig getDefaultSPIConfig();
+
+ uint8_t getSampleRate();
+
+ bool init() override;
+
+ bool selfTest() override;
+
+private:
+ UBXGPSData sampleImpl() override;
+
+ /**
+ * @brief Resets the device to its default configuration.
+ *
+ * @return True if the device reset succeeded.
+ */
+ bool reset();
+
+ /**
+ * @brief Enables UBX and disables NMEA on the SPI port.
+ *
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setUBXProtocol();
+
+ /**
+ * @brief Configures the dynamic model to airborn 4g.
+ *
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setDynamicModelToAirborne4g();
+
+ /**
+ * @brief Configures the navigation solution sample rate.
+ *
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setSampleRate();
+
+ /**
+ * @brief Configures the PVT message output rate.
+ *
+ * @return True if the configuration received an acknowledgement.
+ */
+ bool setPVTMessageRate();
+
+ /**
+ * @brief Reads a UBX frame.
+ *
+ * @param frame The received frame.
+ * @return True if a valid frame was read.
+ */
+ bool readUBXFrame(UBXFrame& frame);
+
+ /**
+ * @brief Writes a UBX frame.
+ *
+ * @param frame The frame to write.
+ * @return True if the frame is valid.
+ */
+ bool writeUBXFrame(const UBXFrame& frame);
+
+ /**
+ * @brief Writes a UBX frame and waits for its acknowledgement.
+ *
+ * @param frame The frame to write.
+ * @return True if the frame is valid and acknowledged.
+ */
+ bool safeWriteUBXFrame(const UBXFrame& frame);
+
+ SPISlave spiSlave;
+ uint8_t sampleRate;
+
+ PrintLogger logger = Logging::getLogger("ubxgps");
+
+ static constexpr float MS_TO_TICK = miosix::TICK_FREQ / 1000.f;
+
+ static constexpr unsigned int RESET_SLEEP_TIME = 5000; // [ms]
+ static constexpr unsigned int READ_TIMEOUT = 5000; // [ms]
+ static constexpr unsigned int MAX_TRIES = 5; // [1]
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/UbloxGPS/UbloxGPS.cpp b/src/shared/sensors/UbloxGPS/UbloxGPS.cpp
deleted file mode 100644
index dff24046dfefeca63f88c4499f1d0b2bf4c9f9ce..0000000000000000000000000000000000000000
--- a/src/shared/sensors/UbloxGPS/UbloxGPS.cpp
+++ /dev/null
@@ -1,537 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Davide Bonomini, Davide Mor, 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 "UbloxGPS.h"
-
-#include <diagnostic/StackLogger.h>
-#include <drivers/serial.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <fcntl.h>
-#include <filesystem/file_access.h>
-
-using namespace miosix;
-
-namespace Boardcore
-{
-
-UbloxGPS::UbloxGPS(int baudrate_, uint8_t sampleRate_, int serialPortNum_,
- const char* serialPortName_, int defaultBaudrate_)
- : baudrate(baudrate_), sampleRate(sampleRate_),
- serialPortNumber(serialPortNum_), serialPortName(serialPortName_),
- defaultBaudrate(defaultBaudrate_)
-{
- // Prepare the gps file path with the specified name
- strcpy(gpsFilePath, "/dev/");
- strcat(gpsFilePath, serialPortName);
-}
-
-bool UbloxGPS::init()
-{
- // Change the baud rate from the default value
- if (!serialCommuinicationSetup())
- {
- return false;
- }
-
- Thread::sleep(10);
-
- // Reset configuration to default
- // TODO: maybe move this on serial communication setup
- if (!resetConfiguration())
- {
- return false;
- }
-
- // Disable NMEA messages
- if (!disableNMEAMessages())
- {
- return false;
- }
-
- Thread::sleep(100);
-
- // Set GNSS configuration
- if (!setGNSSConfiguration())
- {
- return false;
- }
-
- Thread::sleep(100);
-
- // Enable UBX messages
- if (!enableUBXMessages())
- {
- return false;
- }
-
- Thread::sleep(100);
-
- // Set rate
- if (!setRate())
- {
- return false;
- }
-
- return true;
-}
-
-bool UbloxGPS::selfTest() { return true; }
-
-UbloxGPSData UbloxGPS::sampleImpl()
-{
- Lock<FastMutex> l(mutex);
- return threadSample;
-}
-
-void UbloxGPS::run()
-{
- /**
- * UBX message structure:
- * - 2B: Preamble
- * - 1B: Message class
- * - 1B: Message id
- * - 2B: Payload length
- * - lB: Payload
- * - 2B: Checksum
- */
- uint8_t message[6 + UBX_MAX_PAYLOAD_LENGTH + 2];
- uint16_t payloadLength;
-
- while (!shouldStop())
- {
- StackLogger::getInstance().updateStack(THID_GPS);
-
- // Try to read the message
- if (!readUBXMessage(message, payloadLength))
- {
- LOG_DEBUG(logger, "Unable to read a UBX message");
- continue;
- }
-
- // Parse the message
- if (!parseUBXMessage(message))
- {
- LOG_DEBUG(logger,
- "UBX message not recognized (class:0x{02x}, id: 0x{02x})",
- message[2], message[3]);
- }
- }
-}
-
-void UbloxGPS::ubxChecksum(uint8_t* msg, int len)
-{
- uint8_t ck_a = 0, ck_b = 0;
-
- // The length must be valid, at least 8 bytes (preamble, msg, length,
- // checksum)
- if (len <= 8)
- {
- return;
- }
-
- // Checksum calculation from byte 2 to end of payload
- for (int i = 2; i < len - 2; i++)
- {
- ck_a = ck_a + msg[i];
- ck_b = ck_b + ck_a;
- }
-
- msg[len - 2] = ck_a;
- msg[len - 1] = ck_b;
-}
-
-bool UbloxGPS::writeUBXMessage(uint8_t* message, int length)
-{
- // Compute the checksum
- ubxChecksum(message, length);
-
- // Write configuration
- if (write(gpsFile, message, length) < 0)
- {
- LOG_ERR(logger,
- "Failed to write ubx message (class:0x{02x}, id: 0x{02x})",
- message[2], message[3]);
- return false;
- }
-
- return true;
-}
-
-bool UbloxGPS::serialCommuinicationSetup()
-{
- intrusive_ref_ptr<DevFs> devFs = FilesystemManager::instance().getDevFs();
-
- // Change the baudrate only if it is different than the default
- if (baudrate != defaultBaudrate)
- {
- // Close the gps file if already opened
- devFs->remove(serialPortName);
-
- // Open the serial port device with the default boudrate
- if (!devFs->addDevice(serialPortName,
- intrusive_ref_ptr<Device>(new STM32Serial(
- serialPortNumber, defaultBaudrate))))
- {
- LOG_ERR(logger,
- "[gps] Faild to open serial port {0} with baudrate {1} as "
- "file {2}",
- serialPortNumber, defaultBaudrate, serialPortName);
- return false;
- }
-
- // Open the gps file
- if ((gpsFile = open(gpsFilePath, O_RDWR)) < 0)
- {
- LOG_ERR(logger, "Failed to open gps file {}", gpsFilePath);
- return false;
- }
-
- // Change boudrate
- if (!setBaudrate())
- {
- return false;
- };
-
- // Close the gps file
- if (close(gpsFile) < 0)
- {
- LOG_ERR(logger, "Failed to close gps file {}", gpsFilePath);
- return false;
- }
-
- // Close the serial port
- if (!devFs->remove(serialPortName))
- {
- LOG_ERR(logger, "Failed to close serial port {} as file {}",
- serialPortNumber, serialPortName);
- return false;
- }
- }
-
- // Reopen the serial port with the configured boudrate
- if (!devFs->addDevice(serialPortName,
- intrusive_ref_ptr<Device>(
- new STM32Serial(serialPortNumber, baudrate))))
- {
- LOG_ERR(logger,
- "Faild to open serial port {} with baudrate {} as file {}\n",
- serialPortNumber, defaultBaudrate, serialPortName);
- return false;
- }
-
- // Reopen the gps file
- if ((gpsFile = open(gpsFilePath, O_RDWR)) < 0)
- {
- LOG_ERR(logger, "Failed to open gps file {}", gpsFilePath);
- return false;
- }
-
- return true;
-}
-
-bool UbloxGPS::resetConfiguration()
-{
- uint8_t ubx_cfg_prt[RESET_CONFIG_MSG_LEN] = {
- 0Xb5, 0x62, // Preamble
- 0x06, 0x04, // Message UBX-CFG-RST
- 0x04, 0x00, // Length
- 0x00, 0x00, // navBbrMask (Hot start)
- 0x00, // Hardware reset immediately
- 0x00, // Reserved
- 0xff, 0xff // Checksum
- };
-
- return writeUBXMessage(ubx_cfg_prt, RESET_CONFIG_MSG_LEN);
-}
-
-bool UbloxGPS::setBaudrate()
-{
- uint8_t ubx_cfg_prt[SET_BAUDRATE_MSG_LEN] = {
- 0Xb5, 0x62, // Preamble
- 0x06, 0x8a, // Message UBX-CFG-VALSET
- 0x0c, 0x00, // Length
- 0x00, // Version
- 0xff, // All layers
- 0x00, 0x00, // Reserved
- 0x01, 0x00, 0x52, 0x40, // Configuration item key ID
- 0xff, 0xff, 0xff, 0xff, // Value
- 0xff, 0xff // Checksum
- };
-
- // Prepare boud rate
- ubx_cfg_prt[14] = baudrate;
- ubx_cfg_prt[15] = baudrate >> 8;
- ubx_cfg_prt[16] = baudrate >> 16;
- ubx_cfg_prt[17] = baudrate >> 24;
-
- return writeUBXMessage(ubx_cfg_prt, SET_BAUDRATE_MSG_LEN);
-}
-
-bool UbloxGPS::disableNMEAMessages()
-{
- uint8_t ubx_cfg_valset[DISABLE_NMEA_MESSAGES_MSG_LEN] = {
- 0Xb5, 0x62, // Preamble
- 0x06, 0x8a, // Message UBX-CFG-VALSET
- 0x22, 0x00, // Length
- 0x00, // Version
- 0xff, // All layers
- 0x00, 0x00, // Reserved
- 0xbb, 0x00, 0x91, 0x20, // CFG-MSGOUT-NMEA_ID_GGA_UART1 key ID
- 0x00, // CFG-MSGOUT-NMEA_ID_GGA_UART1 value
- 0xca, 0x00, 0x91, 0x20, // CFG-MSGOUT-NMEA_ID_GLL_UART1 key ID
- 0x00, // CFG-MSGOUT-NMEA_ID_GLL_UART1 value
- 0xc0, 0x00, 0x91, 0x20, // CFG-MSGOUT-NMEA_ID_GSA_UART1 key ID
- 0x00, // CFG-MSGOUT-NMEA_ID_GSA_UART1 value
- 0xc5, 0x00, 0x91, 0x20, // CFG-MSGOUT-NMEA_ID_GSV_UART1 key ID
- 0x00, // CFG-MSGOUT-NMEA_ID_GSV_UART1 value
- 0xac, 0x00, 0x91, 0x20, // CFG-MSGOUT-NMEA_ID_RMC_UART1 key ID
- 0x00, // CFG-MSGOUT-NMEA_ID_RMC_UART1 value
- 0xb1, 0x00, 0x91, 0x20, // CFG-MSGOUT-NMEA_ID_VTG_UART1 key ID
- 0x00, // CFG-MSGOUT-NMEA_ID_VTG_UART1 value
- 0xff, 0xff // Checksum
- };
-
- return writeUBXMessage(ubx_cfg_valset, DISABLE_NMEA_MESSAGES_MSG_LEN);
-}
-
-bool UbloxGPS::setGNSSConfiguration()
-{
- uint8_t ubx_cfg_valset[SET_GNSS_CONF_LEN] = {
- 0Xb5, 0x62, // Preamble
- 0x06, 0x8a, // Message UBX-CFG-VALSET
- 0x09, 0x00, // Length
- 0x00, // Version
- 0x07, // All layers
- 0x00, 0x00, // Reserved
- 0x21, 0x00, 0x11, 0x20, // CFG-NAVSPG-DYNMODEL key ID
- 0x08, // CFG-NAVSPG-DYNMODEL value
- 0xff, 0xff // Checksum
- };
-
- return writeUBXMessage(ubx_cfg_valset, SET_GNSS_CONF_LEN);
-}
-
-bool UbloxGPS::enableUBXMessages()
-{
- uint8_t ubx_cfg_valset[ENABLE_UBX_MESSAGES_MSG_LEN] = {
- 0Xb5, 0x62, // Preamble
- 0x06, 0x8a, // Message UBX-CFG-VALSET
- 0x09, 0x00, // Length
- 0x00, // Version
- 0xff, // All layers
- 0x00, 0x00, // Reserved
- 0x07, 0x00, 0x91, 0x20, // CFG-MSGOUT-UBX_NAV_PVT_UART1 key ID
- 0x01, // CFG-MSGOUT-UBX_NAV_PVT_UART1 value
- 0xff, 0xff // Checksum
- };
-
- return writeUBXMessage(ubx_cfg_valset, ENABLE_UBX_MESSAGES_MSG_LEN);
-}
-
-bool UbloxGPS::setRate()
-{
- uint16_t rate = 1000 / sampleRate;
- LOG_DEBUG(logger, "Rate: {}", rate);
-
- uint8_t ubx_cfg_valset[SET_RATE_MSG_LEN] = {
- 0Xb5, 0x62, // Preamble
- 0x06, 0x8a, // Message UBX-CFG-VALSET
- 0x0a, 0x00, // Length
- 0x00, // Version
- 0x07, // All layers
- 0x00, 0x00, // Reserved
- 0x01, 0x00, 0x21, 0x30, // CFG-RATE-MEAS key ID
- 0xff, 0xff, // CFG-RATE-MEAS value
- 0xff, 0xff // Checksum
- };
-
- // Prepare rate
- ubx_cfg_valset[14] = rate;
- ubx_cfg_valset[15] = rate >> 8;
-
- return writeUBXMessage(ubx_cfg_valset, SET_RATE_MSG_LEN);
-}
-
-bool UbloxGPS::readUBXMessage(uint8_t* message, uint16_t& payloadLength)
-{
- // Read preamble
- do
- {
- // Read util the first byte of the preamble
- do
- {
- if (read(gpsFile, &message[0], 1) <= 0) // No more data available
- {
- return false;
- }
- } while (message[0] != PREAMBLE[0]);
-
- // Read the next byte
- if (read(gpsFile, &message[1], 1) <= 0) // No more data available
- {
- return false;
- }
- } while (message[1] != PREAMBLE[1]); // Continue
-
- // Read message class and ID
- if (read(gpsFile, &message[2], 1) <= 0)
- {
- return false;
- }
- if (read(gpsFile, &message[3], 1) <= 0)
- {
- return false;
- }
-
- // Read length
- if (read(gpsFile, &message[4], 2) <= 0)
- {
- return false;
- }
- payloadLength = message[4] | (message[5] << 8);
- if (payloadLength > UBX_MAX_PAYLOAD_LENGTH)
- {
- return false;
- }
-
- // Read paylaod and checksum
- for (auto i = 0; i < payloadLength + 2; i++)
- {
- if (read(gpsFile, &message[6 + i], 1) <= 0)
- {
- return false;
- }
- }
-
- // Verify the checksum
- uint8_t msgChecksum1 = message[6 + payloadLength];
- uint8_t msgChecksum2 = message[6 + payloadLength + 1];
- ubxChecksum(message, 6 + payloadLength + 2);
- if (msgChecksum1 != message[6 + payloadLength] ||
- msgChecksum2 != message[6 + payloadLength + 1])
- {
- LOG_ERR(logger, "Message checksum verification failed");
- return false;
- }
-
- return true;
-}
-
-bool UbloxGPS::parseUBXMessage(uint8_t* message)
-{
- switch (message[2]) // Message class
- {
- case 0x01: // UBX-NAV
- return parseUBXNAVMessage(message);
- case 0x05: // UBX-ACK
- return parseUBXACKMessage(message);
- }
- return false;
-}
-
-bool UbloxGPS::parseUBXNAVMessage(uint8_t* message)
-{
- switch (message[3]) // Message id
- {
- case 0x07: // UBX-NAV-PVT
- // Lock the threadSample variable
- Lock<FastMutex> l(mutex);
-
- // Latitude
- int32_t rawLatitude = message[6 + 28] | message[6 + 29] << 8 |
- message[6 + 30] << 16 | message[6 + 31] << 24;
- threadSample.latitude = (float)rawLatitude / 1e7;
-
- // Longitude
- int32_t rawLongitude = message[6 + 24] | message[6 + 25] << 8 |
- message[6 + 26] << 16 |
- message[6 + 27] << 24;
- threadSample.longitude = (float)rawLongitude / 1e7;
-
- // Height
- int32_t rawHeight = message[6 + 32] | message[6 + 33] << 8 |
- message[6 + 34] << 16 | message[6 + 35] << 24;
- threadSample.height = (float)rawHeight / 1e3;
-
- // Velocity north
- int32_t rawVelocityNorth = message[6 + 48] | message[6 + 49] << 8 |
- message[6 + 50] << 16 |
- message[6 + 51] << 24;
- threadSample.velocityNorth = (float)rawVelocityNorth / 1e3;
-
- // Velocity east
- int32_t rawVelocityEast = message[6 + 52] | message[6 + 53] << 8 |
- message[6 + 54] << 16 |
- message[6 + 55] << 24;
- threadSample.velocityEast = (float)rawVelocityEast / 1e3;
-
- // Velocity down
- int32_t rawVelocityDown = message[6 + 56] | message[6 + 57] << 8 |
- message[6 + 58] << 16 |
- message[6 + 59] << 24;
- threadSample.velocityDown = (float)rawVelocityDown / 1e3;
-
- // Speed
- int32_t rawSpeed = message[6 + 60] | message[6 + 61] << 8 |
- message[6 + 62] << 16 | message[6 + 63] << 24;
- threadSample.speed = (float)rawSpeed / 1e3;
-
- // Track (heading of motion)
- int32_t rawTrack = message[6 + 64] | message[6 + 65] << 8 |
- message[6 + 66] << 16 | message[6 + 67] << 24;
- threadSample.track = (float)rawTrack / 1e5;
-
- // Number of satellite
- threadSample.satellites = (uint8_t)message[6 + 23];
-
- // Fix (every type of fix accepted)
- threadSample.fix = message[6 + 20] != 0;
-
- // Timestamp
- threadSample.gpsTimestamp =
- TimestampTimer::getInstance().getTimestamp();
-
- return true;
- }
-
- return false;
-}
-
-bool UbloxGPS::parseUBXACKMessage(uint8_t* message)
-{
- switch (message[3]) // Message id
- {
- case 0x00: // UBX-ACK-NAC
- LOG_DEBUG(logger,
- "Received NAC for message (class:0x{02x}, id: 0x{02x})",
- message[6], message[7]);
- return true;
- case 0x01: // UBX-ACK-ACK
- LOG_DEBUG(logger,
- "Received ACK for message (class:0x{02x}, id: 0x{02x})",
- message[6], message[7]);
- return true;
- }
- return false;
-}
-
-} // namespace Boardcore
diff --git a/src/shared/sensors/UbloxGPS/UbloxGPS.h b/src/shared/sensors/UbloxGPS/UbloxGPS.h
deleted file mode 100644
index 9495bc6f5fe792774f0bb9a59c32f35c6e97e5b8..0000000000000000000000000000000000000000
--- a/src/shared/sensors/UbloxGPS/UbloxGPS.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Davide Bonomini, Davide Mor, 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 <ActiveObject.h>
-#include <diagnostic/PrintLogger.h>
-#include <miosix.h>
-#include <sensors/Sensor.h>
-
-#include "UbloxGPSData.h"
-
-namespace Boardcore
-{
-
-/**
- * @brief Driver for Ublox GPSs
- *
- * This driver handles communication and setup with Ublox GPSs. It uses the
- * binary UBX protocol to retrieve and parse navigation data quicker than using
- * the string based NMEA.
- *
- * At initialization it configures the device with the specified baudrate, reset
- * the configuration and sets up UBX messages and GNSS parameters.
- *
- * Communication with the device is performed through a file, the driver opens
- * the serial port under the filepath /dev/<serialPortName>.
- * There is no need for the file to be setted up beforhand.
- *
- * This driver was written for a NEO-M9N gps with the latest version of UBX.
- */
-class UbloxGPS : public Sensor<UbloxGPSData>, public ActiveObject
-{
-public:
- /**
- * @brief Construct a new UbloxGPS object
- *
- * @param boudrate_ Baudrate to communicate with the device (max: 921600,
- * min: 4800 for NEO-M9N)
- * @param sampleRate_ GPS sample rate (max: 25 for NEO-M9N)
- * @param serialPortName_ Name of the file for the gps device
- * @param defaultBaudrate_ Startup baudrate (38400 for NEO-M9N)
- */
- UbloxGPS(int boudrate_ = 921600, uint8_t sampleRate_ = 10,
- int serialPortNumber_ = 2, const char *serialPortName_ = "gps",
- int defaultBaudrate_ = 38400);
-
- /**
- * @brief Sets up the serial port baudrate, disables the NMEA messages,
- * configures GNSS options and enables UBX-PVT message
- *
- * @return True if the operation succeeded
- */
- bool init() override;
-
- /**
- * @brief Read a single message form the GPS, waits 2 sample cycle
- *
- * @return True if a message was sampled
- */
- bool selfTest() override;
-
-private:
- UbloxGPSData sampleImpl() override;
-
- void run() override;
-
- void ubxChecksum(uint8_t *msg, int len);
-
- /**
- * @brief Compute the checksum and write the message to the device
- */
- bool writeUBXMessage(uint8_t *message, int length);
-
- /**
- * @brief Sets up the serial port with the correct baudrate
- *
- * Opens the serial port with the defaul baudrate and changes it to
- * the value specified in the constructor, then it reopens the serial port.
- * If the device is already using the correct baudrate this won't have
- * effect. However if the gps is using a different baudrate the diver won't
- * be able to communicate.
- */
- bool serialCommuinicationSetup();
-
- bool resetConfiguration();
-
- bool setBaudrate();
-
- bool disableNMEAMessages();
-
- bool setGNSSConfiguration();
-
- bool enableUBXMessages();
-
- bool setRate();
-
- bool readUBXMessage(uint8_t *message, uint16_t &payloadLength);
-
- bool parseUBXMessage(uint8_t *message);
-
- bool parseUBXNAVMessage(uint8_t *message);
-
- bool parseUBXACKMessage(uint8_t *message);
-
- const int baudrate; // [baud]
- const uint8_t sampleRate; // [Hz]
- const int serialPortNumber;
- const char *serialPortName;
- const int defaultBaudrate; // [baud]
-
- char gpsFilePath[16]; ///< Allows for a filename of up to 10 characters
- int gpsFile = -1;
-
- mutable miosix::FastMutex mutex;
- UbloxGPSData threadSample{};
-
- static constexpr int SET_BAUDRATE_MSG_LEN = 20;
- static constexpr int RESET_CONFIG_MSG_LEN = 12;
- static constexpr int DISABLE_NMEA_MESSAGES_MSG_LEN = 42;
- static constexpr int SET_GNSS_CONF_LEN = 17;
- static constexpr int ENABLE_UBX_MESSAGES_MSG_LEN = 17;
- static constexpr int SET_RATE_MSG_LEN = 18;
-
- static constexpr uint8_t PREAMBLE[] = {0xb5, 0x62};
-
- static constexpr int UBX_MAX_PAYLOAD_LENGTH = 92;
-
- PrintLogger logger = Logging::getLogger("ubloxgps");
-};
-
-} // namespace Boardcore
diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index eb9d3e9043d62522ec566c40e501d139403ee1d4..7adcaac53c171d73c6c87ded7f0b29210d997c19 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -468,7 +468,7 @@ QuaternionData VN100::sampleQuaternion()
}
// Parse the data
- data.quatTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.quatTimestamp = TimestampTimer::getTimestamp();
data.quatX = strtod(recvString + indexStart + 1, &nextNumber);
data.quatY = strtod(nextNumber + 1, &nextNumber);
data.quatZ = strtod(nextNumber + 1, &nextNumber);
@@ -496,7 +496,7 @@ MagnetometerData VN100::sampleMagnetometer()
}
// Parse the data
- data.magneticFieldTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.magneticFieldTimestamp = TimestampTimer::getTimestamp();
data.magneticFieldX = strtod(recvString + indexStart + 1, &nextNumber);
data.magneticFieldY = strtod(nextNumber + 1, &nextNumber);
data.magneticFieldZ = strtod(nextNumber + 1, NULL);
@@ -523,7 +523,7 @@ AccelerometerData VN100::sampleAccelerometer()
}
// Parse the data
- data.accelerationTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.accelerationTimestamp = TimestampTimer::getTimestamp();
data.accelerationX = strtod(recvString + indexStart + 1, &nextNumber);
data.accelerationY = strtod(nextNumber + 1, &nextNumber);
data.accelerationZ = strtod(nextNumber + 1, NULL);
@@ -550,8 +550,7 @@ GyroscopeData VN100::sampleGyroscope()
}
// Parse the data
- data.angularVelocityTimestamp =
- TimestampTimer::getInstance().getTimestamp();
+ data.angularVelocityTimestamp = TimestampTimer::getTimestamp();
data.angularVelocityX = strtod(recvString + indexStart + 1, &nextNumber);
data.angularVelocityY = strtod(nextNumber + 1, &nextNumber);
data.angularVelocityZ = strtod(nextNumber + 1, NULL);
@@ -577,7 +576,7 @@ TemperatureData VN100::sampleTemperature()
}
// Parse the data
- data.temperatureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.temperatureTimestamp = TimestampTimer::getTimestamp();
data.temperature = strtod(recvString + indexStart + 1, NULL);
return data;
@@ -601,7 +600,7 @@ PressureData VN100::samplePressure()
}
// Parse the data
- data.pressureTimestamp = TimestampTimer::getInstance().getTimestamp();
+ data.pressureTimestamp = TimestampTimer::getTimestamp();
data.pressure = strtod(recvString + indexStart + 1, NULL);
return data;
diff --git a/src/shared/sensors/analog/AnalogLoadCell.h b/src/shared/sensors/analog/AnalogLoadCell.h
index f554bee330b2595a382b9c5cddc7bb7a44699282..53d0dc42430fc7e4f37528941039c666e15d26a2 100644
--- a/src/shared/sensors/analog/AnalogLoadCell.h
+++ b/src/shared/sensors/analog/AnalogLoadCell.h
@@ -34,9 +34,8 @@ namespace Boardcore
class AnalogLoadCell : public Sensor<AnalogLoadCellData>
{
public:
- AnalogLoadCell(std::function<std::pair<uint64_t, float>()> getVoltage,
- const float mVtoV, const unsigned int fullScale,
- const float supplyVoltage = 5)
+ AnalogLoadCell(std::function<ADCData()> getVoltage, const float mVtoV,
+ const unsigned int fullScale, const float supplyVoltage = 5)
: getVoltage(getVoltage),
conversionCoeff(mVtoV * supplyVoltage / fullScale / 1e3)
{
@@ -46,20 +45,33 @@ public:
bool selfTest() override { return true; };
+ /**
+ * @brief Sets the offset that will be removed from the measured load.
+ */
+ void setOffset(const float offset) { this->offset = offset; }
+
AnalogLoadCellData sampleImpl() override
{
- AnalogLoadCellData data;
+ ADCData adcData = getVoltage();
- std::tie(data.loadTimestamp, data.voltage) = getVoltage();
+ AnalogLoadCellData data;
+ data.loadTimestamp = adcData.voltageTimestamp;
+ data.voltage = adcData.voltage;
- data.load = data.voltage / conversionCoeff;
+ if (data.voltage != 0)
+ data.load = data.voltage / conversionCoeff - offset;
+ else
+ data.load = -offset;
return data;
}
private:
- std::function<std::pair<uint64_t, float>()> getVoltage;
+ ///< Function that returns the sensor voltage.
+ std::function<ADCData()> getVoltage;
+
const float conversionCoeff;
+ float offset = 0;
};
} // namespace Boardcore
diff --git a/src/shared/sensors/analog/Pitot/Pitot.h b/src/shared/sensors/analog/Pitot/Pitot.h
new file mode 100644
index 0000000000000000000000000000000000000000..79ab00f76ab5e8ff0e1df0d882c9fc72ba73eb91
--- /dev/null
+++ b/src/shared/sensors/analog/Pitot/Pitot.h
@@ -0,0 +1,77 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Arturo Benedetti
+ *
+ * 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/Sensor.h>
+#include <utils/AeroUtils/AeroUtils.h>
+
+#include <functional>
+
+#include "PitotData.h"
+
+namespace Boardcore
+{
+
+class Pitot : public Sensor<PitotData>
+{
+public:
+ Pitot(std::function<PressureData()> getPitotPressure,
+ std::function<float()> getStaticPressure)
+ : getPitotPressure(getPitotPressure),
+ getStaticPressure(getStaticPressure)
+ {
+ }
+
+ bool init() override { return true; }
+
+ bool selfTest() override { return true; }
+
+ PitotData sampleImpl() override
+ {
+ float airDensity =
+ Aeroutils::relDensity(getStaticPressure(), REFERENCE_PRESSURE,
+ REFERENCE_ALTITUDE, REFERENCE_TEMPERATURE);
+ if (airDensity != 0.0)
+ {
+ PitotData pitotSpeed;
+
+ pitotSpeed.timestamp = getPitotPressure().pressureTimestamp;
+ pitotSpeed.airspeed =
+ sqrtf(2 * fabs(getPitotPressure().pressure) / airDensity);
+
+ return pitotSpeed;
+ }
+
+ return lastSample;
+ }
+
+private:
+ std::function<PressureData()> getPitotPressure;
+ std::function<float()> getStaticPressure;
+
+ static constexpr float REFERENCE_PRESSURE = 100000.0; // Milan air pressure
+ static constexpr float REFERENCE_ALTITUDE = 130.0; // Milan altitude
+ static constexpr float REFERENCE_TEMPERATURE = 273.15 + 25.0; // 25°
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/Pitot/PitotData.h b/src/shared/sensors/analog/Pitot/PitotData.h
new file mode 100644
index 0000000000000000000000000000000000000000..7a3a05a87940a73bf335d7e8a9526cda03d3a3fb
--- /dev/null
+++ b/src/shared/sensors/analog/Pitot/PitotData.h
@@ -0,0 +1,43 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Arturo Benedetti
+ *
+ * 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 <ostream>
+
+namespace Boardcore
+{
+
+struct PitotData
+{
+ uint64_t timestamp;
+ float airspeed;
+
+ static std::string header() { return "timestamp,airspeed\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << airspeed << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/AnalogPressureSensor.h b/src/shared/sensors/analog/pressure/AnalogPressureSensor.h
index 3121fd80cb971e625e558e74ad5e277bea4f8316..7695aeb972f560f06e9a28450d4991596430131c 100644
--- a/src/shared/sensors/analog/pressure/AnalogPressureSensor.h
+++ b/src/shared/sensors/analog/pressure/AnalogPressureSensor.h
@@ -48,11 +48,15 @@ public:
{
}
- bool init() override { return true; };
+ bool init() override { return true; }
- bool selfTest() override { return true; };
+ bool selfTest() override { return true; }
+
+ /**
+ * @brief Sets the offset that will be removed from the measured pressure.
+ */
+ void setOffset(const float offset) { this->offset = offset; }
- ///< Converts the voltage value to pressure
AnalogPressureData sampleImpl() override
{
AnalogPressureData pressure;
@@ -70,19 +74,22 @@ public:
else if (pressure.pressure > maxPressure)
pressure.pressure = maxPressure;
+ pressure.pressure -= offset;
+
return pressure;
}
protected:
- ///< Conversion function from volts to pascals
+ ///< Conversion function from volts to pascals.
virtual float voltageToPressure(float voltage) = 0;
- ///< Function that returns the sensor voltage
+ ///< Function that returns the sensor voltage.
std::function<ADCData()> getVoltage;
const float supplyVoltage;
const float maxPressure;
const float minPressure;
+ float offset = 0;
};
} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h b/src/shared/sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h
deleted file mode 100644
index 9ab705349a7685e0acec5d45a4f08f1285de59ee..0000000000000000000000000000000000000000
--- a/src/shared/sensors/analog/pressure/MPXHZ6130A/MPXHZ6130A.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/* Copyright (c) 2020 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 "../AnalogPressureSensor.h"
-#include "MPXHZ6130AData.h"
-
-namespace Boardcore
-{
-
-/**
- * @brief Driver for NXP's MPXHZ6130A pressure sensor
- */
-class MPXHZ6130A final : public AnalogPressureSensor<MPXHZ6130AData>
-{
-public:
- MPXHZ6130A(std::function<ADCData()> getSensorVoltage,
- const float supplyVoltage = 5.0,
- const unsigned int num_calib_samples_ = 200,
- const float moving_avg_coeff_ = 1.0,
- const float ref_press_ = 101325.0f)
- : AnalogPressureSensor(getSensorVoltage, supplyVoltage, 130000),
- offset(0.0), num_calib_samples(num_calib_samples_),
- moving_avg_coeff(moving_avg_coeff_), ref_press(ref_press_)
- {
- }
-
- MPXHZ6130AData sampleImpl()
- {
- lastSample = AnalogPressureSensor<MPXHZ6130AData>::sampleImpl();
-
- if (calibrating)
- {
- press_stats.add(lastSample.pressure);
-
- if (press_stats.getStats().nSamples >= num_calib_samples)
- {
- calibrating = false;
- offset = ref_press - press_stats.getStats().mean;
-
- TRACE("MPXHZ6130A barometer offset : %.2f \n", offset);
- }
- }
-
- lastSample.pressure = lastSample.pressure + offset;
-
- lastSample.pressure = movingAverage(lastSample.pressure);
-
- return lastSample;
- }
-
- void setReferencePressure(float p) { ref_press = p; }
-
- void calibrate()
- {
- press_stats.reset();
- offset = 0.0f;
- calibrating = true;
- }
-
- bool isCalibrating() { return calibrating; }
-
-private:
- float voltageToPressure(float voltage) override
- {
- return (((voltage / supplyVoltage) + CONST_B) / CONST_A) * 1000;
- }
-
- float movingAverage(float new_value)
- {
- accumulator = (moving_avg_coeff * new_value) +
- (1.0 - moving_avg_coeff) * accumulator;
- return accumulator;
- }
-
- // Constants from datasheet
- static constexpr float CONST_A = 0.007826;
- static constexpr float CONST_B = 0.07739;
-
- bool calibrating = false;
- float offset;
- Stats press_stats;
- unsigned int num_calib_samples;
-
- // moving average
- const float moving_avg_coeff;
- float accumulator = 0.0;
-
- float ref_press;
-};
-
-} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/honeywell/SSCDRRN015PDA.h b/src/shared/sensors/analog/pressure/honeywell/SSCDRRN015PDA.h
index 1e2785023c487613b58f094d19113e9d5fe51c6f..b144f93344813b9a9a60f18b6d7cdd2fefc30ba1 100644
--- a/src/shared/sensors/analog/pressure/honeywell/SSCDRRN015PDA.h
+++ b/src/shared/sensors/analog/pressure/honeywell/SSCDRRN015PDA.h
@@ -37,50 +37,11 @@ class SSCDRRN015PDA final : public HoneywellPressureSensor<SSCDRRN015PDAData>
{
public:
SSCDRRN015PDA(std::function<ADCData()> getSensorVoltage,
- const float supplyVoltage = 5.0,
- const unsigned int num_calib_samples_ = 200)
+ const float supplyVoltage = 5.0)
: HoneywellPressureSensor(getSensorVoltage, supplyVoltage, 103421.3594,
- -103421.3594),
- offset(0.0), num_calib_samples(num_calib_samples_)
+ -103421.3594)
{
}
-
- SSCDRRN015PDAData sampleImpl() override
- {
- lastSample = HoneywellPressureSensor<SSCDRRN015PDAData>::sampleImpl();
-
- if (calibrating)
- {
- press_stats.add(lastSample.pressure);
-
- if (press_stats.getStats().nSamples >= num_calib_samples)
- {
- calibrating = false;
- offset = press_stats.getStats().mean;
-
- TRACE("Differential barometer offset : %.2f \n", offset);
- }
- }
-
- lastSample.pressure = lastSample.pressure - offset;
-
- return lastSample;
- }
-
- void calibrate()
- {
- press_stats.reset();
- offset = 0.0f;
- calibrating = true;
- }
-
- bool isCalibrating() { return calibrating; }
-
-private:
- bool calibrating = false;
- float offset;
- Stats press_stats;
- unsigned int num_calib_samples;
};
} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/nxp/MPXH6115A.h b/src/shared/sensors/analog/pressure/nxp/MPXH6115A.h
new file mode 100644
index 0000000000000000000000000000000000000000..d72485d906ec4fbbd8d6d9a882b0ff5355b53e57
--- /dev/null
+++ b/src/shared/sensors/analog/pressure/nxp/MPXH6115A.h
@@ -0,0 +1,56 @@
+/* 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/analog/pressure/AnalogPressureSensor.h>
+#include <utils/Stats/Stats.h>
+
+#include "MPXH6115AData.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Driver for NXP's MPXH6115A pressure sensor
+ */
+class MPXH6115A final : public AnalogPressureSensor<MPXH6115AData>
+{
+public:
+ MPXH6115A(std::function<ADCData()> getVoltage,
+ const float supplyVoltage = 5.0)
+ : AnalogPressureSensor(getVoltage, supplyVoltage, 115000, 15000)
+ {
+ }
+
+private:
+ float voltageToPressure(float voltage) override
+ {
+ return (((voltage / supplyVoltage) + CONST_B) / CONST_A) * 1000.0;
+ }
+
+ // Constants from datasheet
+ static constexpr float CONST_A = 0.009;
+ static constexpr float CONST_B = 0.095;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/nxp/MPXH6115AData.h b/src/shared/sensors/analog/pressure/nxp/MPXH6115AData.h
new file mode 100644
index 0000000000000000000000000000000000000000..6737e9e989882f80af268d2c978d6d9ef846b222
--- /dev/null
+++ b/src/shared/sensors/analog/pressure/nxp/MPXH6115AData.h
@@ -0,0 +1,40 @@
+/* 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 MPXH6115AData : public PressureData
+{
+ static std::string header() { return "pressureTimestamp,pressure\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << pressureTimestamp << "," << pressure << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/nxp/MPXH6400A.h b/src/shared/sensors/analog/pressure/nxp/MPXH6400A.h
new file mode 100644
index 0000000000000000000000000000000000000000..ab136e27eddc8b19a92af746ec273d8340711aec
--- /dev/null
+++ b/src/shared/sensors/analog/pressure/nxp/MPXH6400A.h
@@ -0,0 +1,56 @@
+/* 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/analog/pressure/AnalogPressureSensor.h>
+#include <utils/Stats/Stats.h>
+
+#include "MPXH6400AData.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Driver for NXP's MPXHZ6130A pressure sensor
+ */
+class MPXH6400A final : public AnalogPressureSensor<MPXH6400AData>
+{
+public:
+ MPXH6400A(std::function<ADCData()> getVoltage,
+ const float supplyVoltage = 5.0)
+ : AnalogPressureSensor(getVoltage, supplyVoltage, 400000, 20000)
+ {
+ }
+
+private:
+ float voltageToPressure(float voltage) override
+ {
+ return (((voltage / supplyVoltage) + CONST_B) / CONST_A) * 1000.0;
+ }
+
+ // Constants from datasheet
+ static constexpr float CONST_A = 0.002421;
+ static constexpr float CONST_B = 0.00842;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/nxp/MPXH6400AData.h b/src/shared/sensors/analog/pressure/nxp/MPXH6400AData.h
new file mode 100644
index 0000000000000000000000000000000000000000..51416e4e0c7c6580f7913f5d134952656860e044
--- /dev/null
+++ b/src/shared/sensors/analog/pressure/nxp/MPXH6400AData.h
@@ -0,0 +1,40 @@
+/* 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 MPXH6400AData : public PressureData
+{
+ static std::string header() { return "pressureTimestamp,pressure\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << pressureTimestamp << "," << pressure << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/nxp/MPXHZ6130A.h b/src/shared/sensors/analog/pressure/nxp/MPXHZ6130A.h
new file mode 100644
index 0000000000000000000000000000000000000000..f2beffc5d4466bfed53d9ec5f2a719ac325a6947
--- /dev/null
+++ b/src/shared/sensors/analog/pressure/nxp/MPXHZ6130A.h
@@ -0,0 +1,56 @@
+/* Copyright (c) 2020 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/analog/pressure/AnalogPressureSensor.h>
+#include <utils/Stats/Stats.h>
+
+#include "MPXHZ6130AData.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Driver for NXP's MPXHZ6130A pressure sensor
+ */
+class MPXHZ6130A final : public AnalogPressureSensor<MPXHZ6130AData>
+{
+public:
+ MPXHZ6130A(std::function<ADCData()> getVoltage,
+ const float supplyVoltage = 5.0)
+ : AnalogPressureSensor(getVoltage, supplyVoltage, 130000, 15000)
+ {
+ }
+
+private:
+ float voltageToPressure(float voltage) override
+ {
+ return (((voltage / supplyVoltage) + CONST_B) / CONST_A) * 1000.0;
+ }
+
+ // Constants from datasheet
+ static constexpr float CONST_A = 0.007826;
+ static constexpr float CONST_B = 0.07739;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/pressure/MPXHZ6130A/MPXHZ6130AData.h b/src/shared/sensors/analog/pressure/nxp/MPXHZ6130AData.h
similarity index 100%
rename from src/shared/sensors/analog/pressure/MPXHZ6130A/MPXHZ6130AData.h
rename to src/shared/sensors/analog/pressure/nxp/MPXHZ6130AData.h
diff --git a/src/shared/sensors/calibration/AxisOrientation.h b/src/shared/sensors/calibration/AxisOrientation.h
index 7b6924e7f9ebb9878995dcec88e2cc65345b8fd4..9d6ec3faca36ec73663a2ca972e1cb24fa415cb5 100644
--- a/src/shared/sensors/calibration/AxisOrientation.h
+++ b/src/shared/sensors/calibration/AxisOrientation.h
@@ -31,13 +31,7 @@ namespace Boardcore
{
/**
- * This enum act like versors towards the chosen axis.
- *
- * X, Y and Z always set according to the right hand rule, so that:
- * X is the index
- * Y is the second finger
- * Z is the thumb
- *
+ * This enum is used to represent directions relative to X, Y and X.
*/
enum class Direction : uint8_t
{
@@ -53,9 +47,9 @@ constexpr const char* humanFriendlyDirection[]{
"North", "South", "East", "West", "Down", "Up",
};
-inline Eigen::Vector3f orientationToVector(Direction val)
+inline Eigen::Vector3f orientationToVector(Direction direction)
{
- switch (val)
+ switch (direction)
{
case Direction::POSITIVE_X:
return {1, 0, 0};
@@ -70,65 +64,43 @@ inline Eigen::Vector3f orientationToVector(Direction val)
case Direction::NEGATIVE_Z:
return {0, 0, -1};
default:
- /* never happens, added just to shut up the warnings */
+ // never happens, added just to shut up the warnings
return {0, 0, 0};
}
}
/**
- * This struct represents in the most general way any kind of transformation of
- * the reference frame (axis X, Y and Z).
- * This data type is intended to simplify the code, so you shouldn't instantiate
- * this struct directly, but rather use the structures AxisAngleOrientation or
- * AxisOrthoOrientation that will be automatically corrected to this one, thanks
- * to the implicit cast in favor of AxisOrientation.
- *
- * For example:
- *
- * AxisAngleOrientation angles ( PI/2, PI, 0);
- * AxisOrthoOrientation ortho ( Direction::NEGATIVE_X,
- * Direction::POSITIVE_Z );
- *
- * // The implicit cast is supported and recommended
- * AxisOrientation converted1 = angles;
- * AxisOrientation converted2 = ortho;
- *
- * // Now we can use the generated matrix:
- * Eigen::Vector3f zeta = convertedX.getMatrix() * Eigen::Vector3f { 0, 0, 1 }
+ * @brief This struct represents in the most general way any kind of
+ * transformation of the reference frame (axis X, Y and Z).
*
+ * This class is abstract, use AxisAngleOrientation, AxisOrthoOrientation or
+ * AxisRelativeOrientation.
*/
struct AxisOrientation
{
- Eigen::Matrix3f mat;
-
- AxisOrientation() : mat(Eigen::Matrix3f::Identity()) {}
-
- AxisOrientation(Eigen::Matrix3f _mat) : mat(_mat) {}
-
- void setMatrix(Eigen::Matrix3f _mat) { mat = _mat; }
-
- Eigen::Matrix3f getMatrix() const { return mat; }
+ virtual Eigen::Matrix3f getMatrix() const = 0;
};
/**
- * This struct uses the three angles yaw, pitch and roll to define the
- * transformation of the reference frame, so according to N.E.D standard we get:
+ * @brief This struct uses the three angles yaw, pitch and roll to define a
+ * transformation.
+ *
+ * According to N.E.D standard we get:
*
- * X (north)
+ * ^ X (north)
* /
* /
* .----> Y (east)
* |
* |
- * v
- * Z (down)
+ * v Z (down)
*
* Where:
- * Yaw is rotation of Z axis
- * Pitch is rotation of Y axis
- * Roll is rotation of X axis
+ *- Yaw is rotation of Z axis
+ * - Pitch is rotation of Y axis
+ * - Roll is rotation of X axis
*/
-struct AxisAngleOrientation
+struct AxisAngleOrientation : public AxisOrientation
{
float yaw, pitch, roll;
@@ -139,22 +111,21 @@ struct AxisAngleOrientation
{
}
- operator AxisOrientation() const { return AxisOrientation(getMatrix()); }
-
- Eigen::Matrix3f getMatrix() const
+ Eigen::Matrix3f getMatrix() const override
{
- return (Eigen::AngleAxisf(yaw, Eigen::Vector3f{0, 0, 1}) *
- Eigen::AngleAxisf(pitch, Eigen::Vector3f{0, 1, 0}) *
- Eigen::AngleAxisf(roll, Eigen::Vector3f{1, 0, 0}))
+ return (Eigen::AngleAxisf(yaw, Eigen::Vector3f::UnitZ()) *
+ Eigen::AngleAxisf(pitch, Eigen::Vector3f::UnitY()) *
+ Eigen::AngleAxisf(roll, Eigen::Vector3f::UnitX()))
.toRotationMatrix();
}
};
/**
- * This struct represents the orientation of the reference frame relative
- * to X, Y, Z in the start orientation.
- * If we know the orientation of the X and Y axis, using the right hand rule
- * we can infer the Z axis.
+ * @brief This struct represents orthogonal rotations.
+ *
+ * The orientation is specified by describing the X and Y axis position relative
+ * to the absolute frame. Then, using the right hand rule, we can infer the Z
+ * axis.
*
* For example, if the base reference is:
*
@@ -169,13 +140,12 @@ struct AxisAngleOrientation
* Then if we set x = NEGATIVE_Y, y = POSITIVE_Z, we get:
*
* y z
- * ^ ^
- * | /
+ * ^ ^
* | /
+ * |/
* x <----/
- *
*/
-struct AxisOrthoOrientation
+struct AxisOrthoOrientation : public AxisOrientation
{
Direction xAxis, yAxis;
@@ -189,9 +159,7 @@ struct AxisOrthoOrientation
{
}
- operator AxisOrientation() const { return AxisOrientation(getMatrix()); }
-
- Eigen::Matrix3f getMatrix() const
+ Eigen::Matrix3f getMatrix() const override
{
Eigen::Vector3f vx, vy, vz;
@@ -208,25 +176,25 @@ struct AxisOrthoOrientation
};
/**
- * This struct represents axis orientation relative to a reference system.
+ * @brief This struct represents axis orientation relative to a reference
+ * system.
+ *
* Operatively it simply combines two transformations. It is particularly useful
* to obtain an AxisOrientation from a reference system generally not N.E.D.
*/
-struct AxisRelativeOrientation
+struct AxisRelativeOrientation : public AxisOrientation
{
- AxisOrientation systemOrientation, orientation;
+ const AxisOrientation &orientationA, &orientationB;
- AxisRelativeOrientation(const AxisOrientation& _systemOrientation,
- const AxisOrientation& _orientation)
- : systemOrientation(_systemOrientation), orientation(_orientation)
+ AxisRelativeOrientation(const AxisOrientation& orientationA,
+ const AxisOrientation& orientationB)
+ : orientationA(orientationA), orientationB(orientationB)
{
}
- operator AxisOrientation() const { return {getMatrix()}; }
-
- Eigen::Matrix3f getMatrix() const
+ Eigen::Matrix3f getMatrix() const override
{
- return systemOrientation.getMatrix() * orientation.getMatrix();
+ return orientationA.getMatrix() * orientationB.getMatrix();
}
};
diff --git a/src/shared/sensors/calibration/BiasCalibration.h b/src/shared/sensors/calibration/BiasCalibration.h
index be84f860e0118b37dff9bc6e4b6c600ff74aa473..389804703ae186018314d22742b9ff84c922a4de 100644
--- a/src/shared/sensors/calibration/BiasCalibration.h
+++ b/src/shared/sensors/calibration/BiasCalibration.h
@@ -81,6 +81,8 @@ public:
Eigen::Vector3f getReferenceVector();
+ void reset();
+
bool feed(const T& measured, const AxisOrientation& transform) override;
bool feed(const T& measured);
@@ -88,7 +90,7 @@ public:
BiasCorrector<T> computeResult();
private:
- Eigen::Vector3f sum, ref;
+ Eigen::Vector3f mean, ref;
unsigned numSamples;
};
@@ -135,7 +137,7 @@ T BiasCorrector<T>::correct(const T& data) const
template <typename T>
BiasCalibration<T>::BiasCalibration()
- : sum(0, 0, 0), ref(0, 0, 0), numSamples(0)
+ : mean(0, 0, 0), ref(0, 0, 0), numSamples(0)
{
}
@@ -151,6 +153,12 @@ Eigen::Vector3f BiasCalibration<T>::getReferenceVector()
return ref;
}
+template <typename T>
+void BiasCalibration<T>::reset()
+{
+ mean = {0, 0, 0};
+}
+
/**
* BiasCalibration accepts an indefinite number of samples,
* so feed(...) never returns false.
@@ -162,8 +170,9 @@ bool BiasCalibration<T>::feed(const T& measured,
Eigen::Vector3f vec;
measured >> vec;
- sum += (transform.getMatrix().transpose() * ref) - vec;
numSamples++;
+ mean +=
+ (((transform.getMatrix().transpose() * ref) - vec) - mean) / numSamples;
return true;
}
@@ -178,8 +187,8 @@ template <typename T>
BiasCorrector<T> BiasCalibration<T>::computeResult()
{
if (numSamples == 0)
- return {Eigen::Vector3f{0, 0, 0}};
- return {sum / numSamples};
+ return {{0, 0, 0}};
+ return {mean};
}
} // namespace Boardcore
diff --git a/src/shared/sensors/calibration/SixParameterCalibration.h b/src/shared/sensors/calibration/SixParameterCalibration.h
index 8296a1ac974718cc02c0b174d1cd2c4f56a1482f..ae2c0449c948500f90e3a7d1d11aab97ca7ea2e0 100644
--- a/src/shared/sensors/calibration/SixParameterCalibration.h
+++ b/src/shared/sensors/calibration/SixParameterCalibration.h
@@ -48,8 +48,8 @@ class SixParameterCorrector : public ValuesCorrector<T>
public:
SixParameterCorrector() : SixParameterCorrector({1, 1, 1}, {0, 0, 0}) {}
- SixParameterCorrector(const Eigen::Vector3f& _p, const Eigen::Vector3f& _q)
- : p(_p), q(_q)
+ SixParameterCorrector(const Eigen::Vector3f& p, const Eigen::Vector3f& q)
+ : p(p), q(q)
{
}
@@ -110,7 +110,7 @@ public:
expected = transform.getMatrix() * ref;
/*
- * measered and expected are column vectors, we need to traspose them
+ * Measured and expected are column vectors, we need to transpose them
* to be row vectors
*/
samples.block(numSamples, 0, 1, 3) = measured.transpose();
diff --git a/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp b/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
index c4d49d703425c8ec7d84fb1052e135b0b655ae97..7157af57868288f8e56d1b38c660ee4762b7d320 100644
--- a/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
+++ b/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
@@ -133,15 +133,15 @@ SoftAndHardIronCorrector SoftAndHardIronCalibration::computeResult()
void operator<<(Eigen::Matrix<float, 3, 2>& lhs,
const SoftAndHardIronCorrector& rhs)
{
- lhs.col(0) = rhs.getOffset();
lhs.col(0) = rhs.getGain();
+ lhs.col(1) = rhs.getOffset();
}
void operator<<(SoftAndHardIronCorrector& lhs,
const Eigen::Matrix<float, 3, 2>& rhs)
{
- lhs.setOffset(rhs.col(0));
- lhs.setGain(rhs.col(1));
+ lhs.setGain(rhs.col(0));
+ lhs.setOffset(rhs.col(1));
}
void operator>>(const Eigen::Matrix<float, 3, 2>& lhs,
diff --git a/src/shared/utils/AeroUtils/AeroUtils.h b/src/shared/utils/AeroUtils/AeroUtils.h
index 80abb8dac650fc6054e359b34e65442bf1402d41..19e3a5a6bdd6f00bef4825bba4cd2b09667bf401 100644
--- a/src/shared/utils/AeroUtils/AeroUtils.h
+++ b/src/shared/utils/AeroUtils/AeroUtils.h
@@ -36,7 +36,7 @@ namespace Aeroutils
* given pressure, using International Standard Atmosphere model.
*
* @warning This function is valid for altitudes below 11000 meters above sea
- * level
+ * level.
* @warning This function provides a relative altitude from the reference
* altitude. It does not provide altitude above mean sea level unless the
* reference is, in fact, the sea level.
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/CSVReader/CSVReader.h b/src/shared/utils/CSVReader/CSVReader.h
index a8f59a5efae736e8de7fb31193163d7fb4964f16..0db89a16b7b00c7dfa804e6d2679668a47b39ddf 100644
--- a/src/shared/utils/CSVReader/CSVReader.h
+++ b/src/shared/utils/CSVReader/CSVReader.h
@@ -152,6 +152,8 @@ public:
CSVIterator<Data> end() { return CSVIterator<Data>(); }
+ void close() { fileStream.close(); }
+
std::vector<Data> collect()
{
std::vector<Data> fileData;
diff --git a/src/shared/utils/ClockUtils.h b/src/shared/utils/ClockUtils.h
index 3d671d9f48311aae9bae40d24b5f022e6d9d8e8e..addbdafb8c0bc54895f75fea3f8cb7294c257274 100644
--- a/src/shared/utils/ClockUtils.h
+++ b/src/shared/utils/ClockUtils.h
@@ -79,7 +79,7 @@ inline uint32_t ClockUtils::getAPBFrequency(APB bus)
// The position of the PPRE1 bit in RCC->CFGR is different in some stm32
#ifdef _ARCH_CORTEXM3_STM32
const uint32_t ppre1 = 8;
-#elif _ARCH_CORTEXM4_STM32F4
+#elif _ARCH_CORTEXM4_STM32F4 | _ARCH_CORTEXM3_STM32F2
const uint32_t ppre1 = 10;
#else
#error "Architecture not supported by TimerUtils"
@@ -95,7 +95,7 @@ inline uint32_t ClockUtils::getAPBFrequency(APB bus)
// The position of the PPRE2 bit in RCC->CFGR is different in some stm32
#ifdef _ARCH_CORTEXM3_STM32
const uint32_t ppre2 = 11;
-#elif _ARCH_CORTEXM4_STM32F4
+#elif _ARCH_CORTEXM4_STM32F4 | _ARCH_CORTEXM3_STM32F2
const uint32_t ppre2 = 13;
#else
#error "Architecture not supported by TimerUtils"
@@ -159,9 +159,11 @@ inline bool ClockUtils::enablePeripheralClock(void* peripheral)
case BKPSRAM_BASE:
RCC->AHB1ENR |= RCC_AHB1ENR_BKPSRAMEN;
break;
+#ifndef _ARCH_CORTEXM3_STM32F2
case CCMDATARAM_BASE:
RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN;
break;
+#endif
case DMA1_BASE:
RCC->AHB1ENR |= RCC_AHB1ENR_DMA1EN;
break;
@@ -173,9 +175,11 @@ inline bool ClockUtils::enablePeripheralClock(void* peripheral)
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2DEN;
break;
#endif
+#ifndef _ARCH_CORTEXM3_STM32F2
case ETH_MAC_BASE:
RCC->AHB1ENR |= RCC_AHB1ENR_ETHMACEN;
break;
+#endif
case USB_OTG_HS_PERIPH_BASE:
RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
break;
@@ -183,9 +187,11 @@ inline bool ClockUtils::enablePeripheralClock(void* peripheral)
// AHB2 peripherals
{
+#ifndef _ARCH_CORTEXM3_STM32F2
case DCMI_BASE:
RCC->AHB2ENR |= RCC_AHB2ENR_DCMIEN;
break;
+#endif
case RNG_BASE:
RCC->AHB2ENR |= RCC_AHB2ENR_RNGEN;
break;
@@ -395,9 +401,11 @@ inline bool ClockUtils::disablePeripheralClock(void* peripheral)
case BKPSRAM_BASE:
RCC->AHB1ENR &= ~RCC_AHB1ENR_BKPSRAMEN;
break;
+#ifndef _ARCH_CORTEXM3_STM32F2
case CCMDATARAM_BASE:
RCC->AHB1ENR &= ~RCC_AHB1ENR_CCMDATARAMEN;
break;
+#endif
case DMA1_BASE:
RCC->AHB1ENR &= ~RCC_AHB1ENR_DMA1EN;
break;
@@ -409,9 +417,11 @@ inline bool ClockUtils::disablePeripheralClock(void* peripheral)
RCC->AHB1ENR &= ~RCC_AHB1ENR_DMA2DEN;
break;
#endif
+#ifndef _ARCH_CORTEXM3_STM32F2
case ETH_MAC_BASE:
RCC->AHB1ENR &= ~RCC_AHB1ENR_ETHMACEN;
break;
+#endif
case USB_OTG_HS_PERIPH_BASE:
RCC->AHB1ENR &= ~RCC_AHB1ENR_OTGHSEN;
break;
@@ -419,9 +429,11 @@ inline bool ClockUtils::disablePeripheralClock(void* peripheral)
// AHB2 peripherals
{
+#ifndef _ARCH_CORTEXM3_STM32F2
case DCMI_BASE:
RCC->AHB2ENR &= ~RCC_AHB2ENR_DCMIEN;
break;
+#endif
case RNG_BASE:
RCC->AHB2ENR &= ~RCC_AHB2ENR_RNGEN;
break;
diff --git a/src/shared/utils/Constants.h b/src/shared/utils/Constants.h
index ddc1e810901159f6b92d95041a8a3606dd8ef939..ba2aafcde38ed05ac9a2fda8bae8f46148ded2da 100644
--- a/src/shared/utils/Constants.h
+++ b/src/shared/utils/Constants.h
@@ -28,19 +28,27 @@ namespace Boardcore
namespace Constants
{
-static constexpr const float PI = 3.14159265f; // [rad]
-static constexpr const float DEGREES_TO_RADIANS = PI / 180.0f;
-static constexpr const float RADIANS_TO_DEGREES = 180.0f / PI;
+static constexpr float PI = 3.14159265f; // [rad]
+static constexpr float DEGREES_TO_RADIANS = PI / 180.0f;
+static constexpr float RADIANS_TO_DEGREES = 180.0f / PI;
-static constexpr const float g = 9.80665f; // [m^s^2]
+static constexpr float g = 9.80665f; // [m^s^2]
static constexpr float a = 0.0065f; // Troposphere temperature gradient [deg/m]
static constexpr float R = 287.05f; // Air gas constant [J/Kg/K]
static constexpr float n = g / (R * a);
static constexpr float nInv = (R * a) / g;
-static constexpr const float MSL_PRESSURE = 101325.0f; // [Pa]
-static constexpr const float MSL_TEMPERATURE = 288.15f; // [Kelvin]
+static constexpr float CO = 340.3; // Sound speed at ground altitude [m/s]
+static constexpr float ALPHA = -3.871e-3; // Sound speed gradient [1/s]
+static constexpr float RHO_0 = 1.225; // Air density at sea level [kg/m^3]
+static constexpr float Hn = 10400.0; // Scale height [m]
+
+static constexpr float MSL_PRESSURE = 101325.0f; // [Pa]
+static constexpr float MSL_TEMPERATURE = 288.15f; // [Kelvin]
+
+static constexpr float B21_LATITUDE = 45.501141;
+static constexpr float B21_LONGITUDE = 9.156281;
} // namespace Constants
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/shared/utils/SkyQuaternion/SkyQuaternion.cpp b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
index 1af74a6b622c2c287b4e602167ac5d0d0e1335af..bdae72473ce712712e2aedcd309e63800110624c 100644
--- a/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
+++ b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
@@ -35,7 +35,7 @@ namespace Boardcore
namespace SkyQuaternion
{
-Vector4f eul2quat(Vector3f euler)
+Vector4f eul2quat(const Vector3f& euler)
{
// Euler angles are ZYX
float yaw = euler(0) * Constants::DEGREES_TO_RADIANS;
@@ -57,7 +57,7 @@ Vector4f eul2quat(Vector3f euler)
return Vector4f(qx, qy, qz, qw);
}
-Vector3f quat2eul(Vector4f quat)
+Vector3f quat2eul(const Vector4f& quat)
{
// Euler angles are ZYX
float qx = quat(0);
@@ -82,7 +82,7 @@ Vector3f quat2eul(Vector4f quat)
return Vector3f(roll, pitch, yaw) * Constants::RADIANS_TO_DEGREES;
}
-Vector4f rotationMatrix2quat(Matrix3f rtm)
+Vector4f rotationMatrix2quat(const Matrix3f& rtm)
{
float r11 = rtm(0, 0);
float r12 = rtm(0, 1);
@@ -156,6 +156,29 @@ Vector4f rotationMatrix2quat(Matrix3f rtm)
return Vector4f(qx, qy, qz, qw);
}
+Matrix3f quat2rotationMatrix(const Vector4f& q)
+{
+ // clang-format off
+ return Matrix3f{
+ {
+ q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3],
+ 2.0f * (q[0] * q[1] - q[2] * q[3]),
+ 2.0f * (q[0] * q[2] + q[1] * q[3]),
+ },
+ {
+ 2.0f * (q[0] * q[1] + q[2] * q[3]),
+ - q[0] * q[0] + q[1] * q[1] - q[2] * q[2] + q[3] * q[3],
+ 2.0f * (q[1] * q[2] - q[0] * q[3]),
+ },
+ {
+ 2.0f * (q[0] * q[2] - q[1] * q[3]),
+ 2.0f * (q[1] * q[2] + q[0] * q[3]),
+ - q[0] * q[0] - q[1] * q[1] + q[2] * q[2] + q[3] * q[3]
+ }
+ };
+ // clang-format on
+}
+
bool quatNormalize(Vector4f& quat)
{
float den = sqrt(powf(quat(0), 2) + powf(quat(1), 2) + powf(quat(2), 2) +
@@ -168,7 +191,7 @@ bool quatNormalize(Vector4f& quat)
return true;
}
-Vector4f quatProd(const Vector4f q1, const Vector4f q2)
+Vector4f quatProd(const Vector4f& q1, const Vector4f& q2)
{
Vector3f qv1 = q1.head<3>();
float qs1 = q1(3);
diff --git a/src/shared/utils/SkyQuaternion/SkyQuaternion.h b/src/shared/utils/SkyQuaternion/SkyQuaternion.h
index fecab90dcc1aa9e9541bc3ac8de59470a354ac18..884f1db3bc0bf1206e002241fe4fe04fde65b5df 100644
--- a/src/shared/utils/SkyQuaternion/SkyQuaternion.h
+++ b/src/shared/utils/SkyQuaternion/SkyQuaternion.h
@@ -30,7 +30,7 @@ namespace Boardcore
/**
* @brief Functions for managing quaternions.
*
- * Convention used: x, y, z, w (scalar element as last element)
+ * Convention used: [x, y, z, w] (scalar element as last element).
*/
namespace SkyQuaternion
{
@@ -38,43 +38,51 @@ namespace SkyQuaternion
/**
* @brief Transform a vector of euler angles (ZYX) to quaternion.
*
- * @param euler The vector of euler angles to be transformed [deg]
- * @return Transformed quaternion [x, y, z, w]
+ * @param euler The vector of euler angles to be transformed [deg].
+ * @return Transformed quaternion [x, y, z, w].
*/
-Eigen::Vector4f eul2quat(Eigen::Vector3f euler);
+Eigen::Vector4f eul2quat(const Eigen::Vector3f& euler);
/**
- * @brief Transform a quaternion to a vector of euler angles (ZYX).
+ * @brief Transform a quaternion into a vector of euler angles (ZYX).
*
- * @param quat The quaternion to be transformed [x, y, z, w]
- * @return Transformed vector of euler angles [deg]
+ * @param quat The quaternion to be transformed [x, y, z, w].
+ * @return Transformed vector of euler angles [deg].
*/
-Eigen::Vector3f quat2eul(Eigen::Vector4f quat);
+Eigen::Vector3f quat2eul(const Eigen::Vector4f& quat);
/**
- * @brief Transform a rotation matrix to a quaternion.
+ * @brief Transform a rotation matrix into a quaternion.
*
- * @param rtm The rotation matrix to be transformed (3x3)
- * @return Transformed quaternion [x, y, z, w]
+ * @param rtm The rotation matrix to be transformed (3x3).
+ * @return Transformed quaternion [x, y, z, w].
*/
-Eigen::Vector4f rotationMatrix2quat(Eigen::Matrix3f rtm);
+Eigen::Vector4f rotationMatrix2quat(const Eigen::Matrix3f& rtm);
+
+/**
+ * @brief Transform a quaternion into a rotation matrix.
+ *
+ * @param quat The quaternion to be transformed [x, y, z, w].
+ * @return Transformed rotation matrix.
+ */
+Eigen::Matrix3f quat2rotationMatrix(const Eigen::Vector4f& quat);
/**
* @brief Normalize a quaternion.
*
- * @param quat The quaternion to be normalized [x, y, z, w]
- * @return True if the operation succeeded or not
+ * @param quat The quaternion to be normalized [x, y, z, w].
+ * @return True if the operation succeeded or not.
*/
bool quatNormalize(Eigen::Vector4f& quat);
/**
* @brief Compute the product of two quaternions.
*
- * @param q1 First factor [x, y, z, w]
- * @param q2 Second factor [x, y, z, w]
- * @return The resulting quaternions product [x, y, z, w]
+ * @param q1 First factor [x, y, z, w].
+ * @param q2 Second factor [x, y, z, w].
+ * @return The resulting quaternions product [x, y, z, w].
*/
-Eigen::Vector4f quatProd(const Eigen::Vector4f q1, const Eigen::Vector4f q2);
+Eigen::Vector4f quatProd(const Eigen::Vector4f& q1, const Eigen::Vector4f& q2);
}; // namespace SkyQuaternion
diff --git a/src/shared/utils/Stats/Stats.h b/src/shared/utils/Stats/Stats.h
index 3d57492c1c5bdd1a82ef15a217ed5db9d97c23cc..72fa685b976293b14e55b1b098795bf49d59cf32 100644
--- a/src/shared/utils/Stats/Stats.h
+++ b/src/shared/utils/Stats/Stats.h
@@ -28,15 +28,15 @@ namespace Boardcore
{
/**
- * @brief Statisitics computed by the Stats class.
+ * @brief Statistics computed by the Stats class.
*/
struct StatsResult
{
- float minValue; ///< Min value found so far
- float maxValue; ///< Max value found so far
- float mean; ///< Mean of datased
- float stdDev; ///< Standard deviation of datset
- unsigned int nSamples; ///< Number of samples
+ float minValue; ///< Min value found so far.
+ float maxValue; ///< Max value found so far.
+ float mean; ///< Mean of dataset.
+ float stdDev; ///< Standard deviation of dataset.
+ uint32_t nSamples; ///< Number of samples.
};
/**
@@ -45,35 +45,27 @@ struct StatsResult
std::ostream& operator<<(std::ostream& os, const StatsResult& sr);
/**
- * @brief Computes on-line statisitics of a dataset. This class should
- * theoretically work with datasets of up to 2^32-1 elements
+ * @brief Computes on-line statistics of a dataset.
+ *
+ * This class should theoretically work with datasets of up to 2^32-1 elements.
*/
class Stats
{
public:
- /**
- * Constructor
- */
Stats();
- /**
- * Add an element
- */
void add(float data);
- /**
- * Reset all the stats
- */
void reset();
/**
- * Return statistics of the elements added so far
+ * @brief Return statistics of the elements added so far.
*/
StatsResult getStats() const;
private:
float minValue, maxValue, mean, m2;
- unsigned int n;
+ uint32_t n;
};
} // namespace Boardcore
diff --git a/src/shared/utils/TestUtils/FakeSpiTypedef.h b/src/shared/utils/TestUtils/FakeSpiTypedef.h
index dae48554ab5c4ac85e0d6e642f7e723a77b48be0..eccb4a17b5b5e50ded8434fdfdaf814b467ae1a5 100644
--- a/src/shared/utils/TestUtils/FakeSpiTypedef.h
+++ b/src/shared/utils/TestUtils/FakeSpiTypedef.h
@@ -86,6 +86,8 @@ struct FakeSpiTypedef
MockGpioPin cs;
FakeSpiTypedef() : DR(*this) { cs.high(); }
+
+ FakeSpiTypedef(SPI_TypeDef* spi) : DR(*this) { cs.high(); }
};
} // namespace Boardcore
diff --git a/src/shared/utils/collections/SyncPacketQueue.h b/src/shared/utils/collections/SyncPacketQueue.h
index 90d5c8ea266492977a4449fd428c538d04090f2e..4a28254b2d2803c5f79dad9f3feb3a115abde7a3 100644
--- a/src/shared/utils/collections/SyncPacketQueue.h
+++ b/src/shared/utils/collections/SyncPacketQueue.h
@@ -158,7 +158,7 @@ size_t Packet<len>::append(const uint8_t* msg, size_t msgLen)
{
// Set the packet's timestamp when the first message is inserted
if (content.size() == 0)
- timestamp = TimestampTimer::getInstance().getTimestamp();
+ timestamp = TimestampTimer::getTimestamp();
// Append the message to the packet
content.insert(content.end(), msg, msg + msgLen);
diff --git a/src/tests/algorithms/ADA/EuRoC-pressure-logs.h b/src/tests/algorithms/ADA/EuRoC-pressure-logs.h
new file mode 100644
index 0000000000000000000000000000000000000000..8ed8d02134d1dca8c42caee9141629f444c41140
--- /dev/null
+++ b/src/tests/algorithms/ADA/EuRoC-pressure-logs.h
@@ -0,0 +1,10028 @@
+/* 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>
+
+Boardcore::PressureData euRoCLogs[] = {
+ {0, 99731.2522966667}, {10000, 99731.1802409184},
+ {20000, 99730.9645527451}, {30000, 99730.8481615273},
+ {40000, 99731.3327877128}, {50000, 99732.3825483349},
+ {60000, 99732.7169921083}, {70000, 99732.0158314925},
+ {80000, 99731.0029631542}, {90000, 99730.4967793341},
+ {100000, 99730.4900197963}, {110000, 99730.349852717},
+ {120000, 99729.8954901112}, {130000, 99729.3493423525},
+ {140000, 99728.8295248688}, {150000, 99728.4218337112},
+ {160000, 99728.3038754502}, {170000, 99728.4640675585},
+ {180000, 99728.4733895779}, {190000, 99728.2241972271},
+ {200000, 99727.8440420633}, {210000, 99727.477074123},
+ {220000, 99727.1283473002}, {230000, 99726.8346342101},
+ {240000, 99726.6049849585}, {250000, 99726.4001323631},
+ {260000, 99726.1991753255}, {270000, 99726.0389349059},
+ {280000, 99725.9956728505}, {290000, 99726.0589666787},
+ {300000, 99725.9526860391}, {310000, 99725.6078176906},
+ {320000, 99725.1230618576}, {330000, 99724.6100275692},
+ {340000, 99724.0809943457}, {350000, 99723.7053579369},
+ {360000, 99723.5255693398}, {370000, 99723.3339919326},
+ {380000, 99723.0201457638}, {390000, 99722.609034374},
+ {400000, 99722.151721952}, {410000, 99721.6486969769},
+ {420000, 99721.0313348419}, {430000, 99720.2827530022},
+ {440000, 99719.507327987}, {450000, 99718.8231705235},
+ {460000, 99718.2277081137}, {470000, 99717.6482524521},
+ {480000, 99717.0666866517}, {490000, 99716.4553879552},
+ {500000, 99715.7997631179}, {510000, 99715.1283447269},
+ {520000, 99714.4999739238}, {530000, 99713.9081813627},
+ {540000, 99713.1623309895}, {550000, 99712.2148711858},
+ {560000, 99711.2011369129}, {570000, 99710.2742493691},
+ {580000, 99709.433458889}, {590000, 99708.5783027319},
+ {600000, 99707.680126101}, {610000, 99706.725522843},
+ {620000, 99705.7075081367}, {630000, 99704.6289022037},
+ {640000, 99703.495204366}, {650000, 99702.3122882901},
+ {660000, 99701.1669411549}, {670000, 99700.0809320785},
+ {680000, 99698.9751158993}, {690000, 99697.7599057533},
+ {700000, 99696.4395041044}, {710000, 99695.0550726795},
+ {720000, 99693.6131777077}, {730000, 99692.1294155028},
+ {740000, 99690.6121729627}, {750000, 99689.0561620938},
+ {760000, 99687.4502425221}, {770000, 99685.7953524483},
+ {780000, 99684.1197957055}, {790000, 99682.4307943679},
+ {800000, 99680.7461140025}, {810000, 99679.0858804603},
+ {820000, 99677.4471470906}, {830000, 99675.7789005816},
+ {840000, 99674.0686487432}, {850000, 99672.2618022151},
+ {860000, 99670.3295705182}, {870000, 99668.300179447},
+ {880000, 99666.2314586285}, {890000, 99664.1304801217},
+ {900000, 99662.0295905082}, {910000, 99659.9369551768},
+ {920000, 99657.8365722006}, {930000, 99655.7103110199},
+ {940000, 99653.5525581954}, {950000, 99651.3225400993},
+ {960000, 99649.0141230993}, {970000, 99646.670916497},
+ {980000, 99644.3161799847}, {990000, 99641.9335771142},
+ {1000000, 99639.4891853757}, {1010000, 99636.9827808274},
+ {1020000, 99634.4557241972}, {1030000, 99631.9185713089},
+ {1040000, 99629.3813444179}, {1050000, 99626.8554142424},
+ {1060000, 99624.3192535655}, {1070000, 99621.6418512615},
+ {1080000, 99618.8056960286}, {1090000, 99616.0043047304},
+ {1100000, 99613.3404531287}, {1110000, 99610.7542487207},
+ {1120000, 99608.1222916632}, {1130000, 99605.4337331701},
+ {1140000, 99602.6815120571}, {1150000, 99599.8640810433},
+ {1160000, 99596.9925627559}, {1170000, 99594.0795183505},
+ {1180000, 99591.1290473315}, {1190000, 99588.2125428165},
+ {1200000, 99585.3486920444}, {1210000, 99582.4028913887},
+ {1220000, 99579.3036929024}, {1230000, 99576.1153510696},
+ {1240000, 99572.9702215699}, {1250000, 99569.8735768534},
+ {1260000, 99566.725347408}, {1270000, 99563.5004403384},
+ {1280000, 99560.1845593244}, {1290000, 99556.7614482947},
+ {1300000, 99553.2362012944}, {1310000, 99549.7531026535},
+ {1320000, 99546.3532632064}, {1330000, 99542.8846242695},
+ {1340000, 99539.2664175493}, {1350000, 99535.5537993493},
+ {1360000, 99531.8604037585}, {1370000, 99528.1946353766},
+ {1380000, 99524.534415515}, {1390000, 99520.874139812},
+ {1400000, 99517.1738288285}, {1410000, 99513.3880958101},
+ {1420000, 99509.5174345398}, {1430000, 99505.5820703515},
+ {1440000, 99501.5875697843}, {1450000, 99497.5094483854},
+ {1460000, 99493.3348691468}, {1470000, 99489.1041409611},
+ {1480000, 99484.9003781868}, {1490000, 99480.7253839781},
+ {1500000, 99476.4905300129}, {1510000, 99472.1736247708},
+ {1520000, 99467.7441176904}, {1530000, 99463.167326768},
+ {1540000, 99458.4680408745}, {1550000, 99453.832095375},
+ {1560000, 99449.2879341141}, {1570000, 99444.7003384933},
+ {1580000, 99439.9974439209}, {1590000, 99435.2056236899},
+ {1600000, 99430.3789767781}, {1610000, 99425.5220872763},
+ {1620000, 99420.6311254827}, {1630000, 99415.7052496058},
+ {1640000, 99410.7668557683}, {1650000, 99405.84132397},
+ {1660000, 99400.9253395719}, {1670000, 99395.9076368835},
+ {1680000, 99390.7567332193}, {1690000, 99385.4857086947},
+ {1700000, 99380.1018033959}, {1710000, 99374.6403431825},
+ {1720000, 99369.1740150516}, {1730000, 99363.7025595615},
+ {1740000, 99358.1153868337}, {1750000, 99352.38495903},
+ {1760000, 99346.5875237532}, {1770000, 99340.8094702717},
+ {1780000, 99335.0529107748}, {1790000, 99329.3312159941},
+ {1800000, 99323.6481169232}, {1810000, 99317.9356972582},
+ {1820000, 99312.1578789489}, {1830000, 99306.2989371357},
+ {1840000, 99300.325893299}, {1850000, 99294.2329185891},
+ {1860000, 99287.9611507698}, {1870000, 99281.496354969},
+ {1880000, 99274.9584357172}, {1890000, 99268.4833797906},
+ {1900000, 99262.0702992972}, {1910000, 99255.6559576145},
+ {1920000, 99249.2239188206}, {1930000, 99242.7314252704},
+ {1940000, 99236.1558306549}, {1950000, 99229.5196105201},
+ {1960000, 99222.8689970571}, {1970000, 99216.205238366},
+ {1980000, 99209.4808576049}, {1990000, 99202.6840624341},
+ {2000000, 99195.7985995062}, {2010000, 99188.8059665358},
+ {2020000, 99181.7073044603}, {2030000, 99174.5324458593},
+ {2040000, 99167.2901926923}, {2050000, 99159.9836215406},
+ {2060000, 99152.6145209483}, {2070000, 99145.1773250005},
+ {2080000, 99137.6601361407}, {2090000, 99130.0639387451},
+ {2100000, 99122.4171133819}, {2110000, 99114.7270386922},
+ {2120000, 99106.9814443964}, {2130000, 99099.1663586878},
+ {2140000, 99091.281321106}, {2150000, 99083.3182876388},
+ {2160000, 99075.2755320395}, {2170000, 99067.196930594},
+ {2180000, 99059.1059795836}, {2190000, 99051.0065048657},
+ {2200000, 99042.9063859203}, {2210000, 99034.8029422703},
+ {2220000, 99026.6391792962}, {2230000, 99018.4008943053},
+ {2240000, 99010.0745197527}, {2250000, 99001.6446009399},
+ {2260000, 98993.1118466435}, {2270000, 98984.4799328481},
+ {2280000, 98975.7497940957}, {2290000, 98966.9847825495},
+ {2300000, 98958.2187850098}, {2310000, 98949.433011652},
+ {2320000, 98940.5884315996}, {2330000, 98931.6805388544},
+ {2340000, 98922.6857797486}, {2350000, 98913.5985151913},
+ {2360000, 98904.4397176636}, {2370000, 98895.2331507288},
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diff --git a/src/tests/algorithms/ADA/ValueFollower.h b/src/tests/algorithms/ADA/ValueFollower.h
new file mode 100644
index 0000000000000000000000000000000000000000..4b1b0ab765d2d0bd72fb08631c723e6427f7c6c9
--- /dev/null
+++ b/src/tests/algorithms/ADA/ValueFollower.h
@@ -0,0 +1,71 @@
+/* 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/timer/TimestampTimer.h>
+#include <sensors/SensorData.h>
+
+class ValueFollower
+{
+public:
+ ValueFollower(Boardcore::PressureData *data, size_t length,
+ uint64_t timestampOffset = 0, float pressureOffset = 0)
+ : data(data), length(length), timestampOffset(timestampOffset),
+ pressureOffset(pressureOffset)
+ {
+ dataDuration =
+ data[length - 1].pressureTimestamp - data[0].pressureTimestamp;
+ }
+
+ /**
+ * @brief Find the nearest data point with the specified timestamp.
+ */
+ float findNext(
+ uint64_t timestamp = Boardcore::TimestampTimer::getTimestamp())
+ {
+ timestamp = timestamp % dataDuration;
+ if (data[currentIndex].pressureTimestamp + timestampOffset > timestamp)
+ return data[currentIndex].pressure + pressureOffset;
+
+ for (; currentIndex < length; currentIndex++)
+ if (data[currentIndex + 1].pressureTimestamp + timestampOffset >
+ timestamp)
+ return data[currentIndex].pressure + pressureOffset;
+
+ return data[length - 1].pressure + pressureOffset;
+ }
+
+ size_t getSize() { return length; }
+
+ u_int64_t getDataDuration() { return dataDuration; }
+
+private:
+ Boardcore::PressureData *data;
+ size_t length;
+
+ uint64_t timestampOffset;
+ float pressureOffset;
+ uint64_t dataDuration; // Duration of reference data
+
+ size_t currentIndex = 0;
+};
diff --git a/src/tests/algorithms/ADA/test-ada.cpp b/src/tests/algorithms/ADA/test-ada.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..36cefa542eeae2cd1be9acf891e12af3f5e96682
--- /dev/null
+++ b/src/tests/algorithms/ADA/test-ada.cpp
@@ -0,0 +1,99 @@
+/* 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 <algorithms/ADA/ADA.h>
+#include <miosix.h>
+#include <scheduler/TaskScheduler.h>
+
+#include "EuRoC-pressure-logs.h"
+#include "ValueFollower.h"
+
+using namespace miosix;
+using namespace Boardcore;
+
+ValueFollower reference(euRoCLogs, sizeof(euRoCLogs) / sizeof(PressureData));
+
+static constexpr float DEFAULT_REFERENCE_ALTITUDE = 160.0f;
+static constexpr float DEFAULT_REFERENCE_PRESSURE = 100022.4f;
+static constexpr float KALMAN_INITIAL_ACCELERATION = -500;
+static constexpr float DEFAULT_REFERENCE_TEMPERATURE = 288.15f;
+
+uint64_t currentTimestamp = 0;
+constexpr uint64_t DELTA_T = 50 * 1e3; // 50ms = 20Hz
+constexpr float SAMPLING_PERIOD = 0.05;
+
+ADA *ada;
+
+void step()
+{
+ currentTimestamp += DELTA_T;
+ auto currentPressure = reference.findNext(currentTimestamp);
+
+ ada->update(currentPressure);
+}
+
+ReferenceValues getADAReferenceValues()
+{
+ return {DEFAULT_REFERENCE_ALTITUDE, DEFAULT_REFERENCE_PRESSURE,
+ DEFAULT_REFERENCE_TEMPERATURE};
+}
+
+ADA::KalmanFilter::KalmanConfig getADAKalmanConfig()
+{
+ ADA::KalmanFilter::MatrixNN F_INIT;
+ F_INIT << 1.0, SAMPLING_PERIOD, 0.5f * SAMPLING_PERIOD * SAMPLING_PERIOD,
+ // cppcheck-suppress constStatement
+ 0.0, 1.0, SAMPLING_PERIOD, 0.0, 0.0, 1.0;
+ ADA::KalmanFilter::MatrixPN H_INIT{1.0, 0.0, 0.0};
+ ADA::KalmanFilter::MatrixNN P_INIT;
+ // cppcheck-suppress constStatement
+ P_INIT << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0;
+ ADA::KalmanFilter::MatrixNN Q_INIT;
+ // cppcheck-suppress constStatement
+ Q_INIT << 30.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 2.5f;
+ ADA::KalmanFilter::MatrixPP R_INIT{4000.0f};
+
+ return {F_INIT,
+ H_INIT,
+ Q_INIT,
+ R_INIT,
+ P_INIT,
+ ADA::KalmanFilter::CVectorN(DEFAULT_REFERENCE_PRESSURE, 0,
+ KALMAN_INITIAL_ACCELERATION)};
+}
+
+int main()
+{
+ ada = new ADA(getADAReferenceValues(), getADAKalmanConfig());
+
+ printf("Starting, data duration: %f\n", reference.getDataDuration() / 1e6);
+
+ while (currentTimestamp < reference.getDataDuration())
+ {
+ step();
+
+ printf("%f, %f\n", currentTimestamp / 1e6, ada->getState().aglAltitude);
+ }
+
+ while (true)
+ Thread::sleep(1000);
+}
diff --git a/src/tests/algorithms/Kalman/test-kalman-eigen-benchmark.cpp b/src/tests/algorithms/Kalman/test-kalman-benchmark.cpp
similarity index 81%
rename from src/tests/algorithms/Kalman/test-kalman-eigen-benchmark.cpp
rename to src/tests/algorithms/Kalman/test-kalman-benchmark.cpp
index 7b47c1b28b1e716ed826ce55c6ae9787b6e9e106..52ca7e81c5ea91644604209d62d87c177f02ca6f 100644
--- a/src/tests/algorithms/Kalman/test-kalman-eigen-benchmark.cpp
+++ b/src/tests/algorithms/Kalman/test-kalman-benchmark.cpp
@@ -26,8 +26,7 @@
#define EIGEN_RUNTIME_NO_MALLOC
#include <algorithms/Kalman/Kalman.h>
-#include <drivers/timer/GeneralPurposeTimer.h>
-#include <drivers/timer/TimerUtils.h>
+#include <drivers/timer/TimestampTimer.h>
#include <kernel/kernel.h>
#include <util/util.h>
#include <utils/SkyQuaternion/SkyQuaternion.h>
@@ -44,9 +43,6 @@ int main()
{
printf("RUNNING...\n");
- // Timer for benchmarking purposes
- GP32bitTimer timer{TIM5};
-
const int n = 3;
const int p = 1;
@@ -83,8 +79,8 @@ int main()
float lastTime = 0.0; // Variable to save the time of the last sample
- timer.reset();
- timer.enable();
+ uint64_t startTime = TimestampTimer::getTimestamp();
+ bool apogeeDetected = false;
printf("%d %d \n", TIME.size(), INPUT.size());
@@ -92,8 +88,6 @@ int main()
{
float time; // Current time as read from csv file
float T; // Time elapsed between last sample and current one
- uint32_t tick1;
- uint32_t tick2;
time = TIME[i];
T = time - lastTime;
@@ -104,34 +98,23 @@ int main()
y(0) = INPUT[i];
- tick1 = timer.readCounter();
-
filter.predict(F);
if (!filter.correct(y))
- {
printf("Correction failed at iteration : %u \n", i);
- }
-
- tick2 = timer.readCounter();
-
- printf("%u : %f \n", i,
- TimerUtils::toMilliSeconds(timer.getTimer(), tick2 - tick1));
-
- // printf("%f, %f, %f;\n", filter.getState()(0), filter.getState()(1),
- // filter.getState()(2));
-
- // printf("%u \n", MemoryProfiling::getCurrentFreeStack());
lastTime = time;
- if (filter.getState()(1) < 0)
+ if (filter.getState()(1) < 0 && !apogeeDetected)
{
printf("APOGEE DETECTED at iteration %u ! \n", i);
+ apogeeDetected = true;
}
}
- // printf("Total time %d \n", timer.interval());
+ uint64_t endTime = TimestampTimer::getTimestamp();
+ printf("Total time %f \n", (endTime - startTime) / 1e6);
- return 0;
+ while (true)
+ Thread::sleep(1000);
}
diff --git a/src/tests/algorithms/NAS/test-nas-parafoil.cpp b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
index 57fd167c839ec3bdef2d24c69417ddb7f118aab1..e9d0918bd32f791f95d86a1f7ff9fc40ae88b6b7 100644
--- a/src/tests/algorithms/NAS/test-nas-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
@@ -26,7 +26,7 @@
#include <miosix.h>
#include <sensors/MPU9250/MPU9250.h>
#include <sensors/SensorManager.h>
-#include <sensors/UbloxGPS/UbloxGPS.h>
+#include <sensors/UBXGPS/UBXGPSSerial.h>
#include <utils/AeroUtils/AeroUtils.h>
#include <utils/SkyQuaternion/SkyQuaternion.h>
@@ -48,14 +48,15 @@ Vector2f startPos = Vector2f(45.501141, 9.156281);
NAS* nas;
SPIBus spi1(SPI1);
-MPU9250* imu = nullptr;
-UbloxGPS* gps = nullptr;
+MPU9250* imu = nullptr;
+UBXGPSSerial* gps = nullptr;
int main()
{
init();
nas = new NAS(getEKConfig());
+ nas->setReferenceValues({0, 0, 0, 110000, 20 + 273.5});
setInitialOrientation();
TaskScheduler scheduler;
@@ -110,7 +111,7 @@ void init()
imu = new MPU9250(spi1, sensors::mpu9250::cs::getPin());
imu->init();
- gps = new UbloxGPS(38400, 10, 2, "gps", 38400);
+ gps = new UBXGPSSerial(38400, 10, 2, "gps", 38400);
gps->init();
gps->start();
@@ -162,7 +163,7 @@ void step()
nas->correctAcc(acceleration);
if (gpsData.fix)
nas->correctGPS(gpsCorrection);
- nas->correctBaro(100000, 110000, 20 + 273.5);
+ nas->correctBaro(100000);
auto nasState = nas->getState();
Logger::getInstance().log(imuData);
diff --git a/src/tests/algorithms/NAS/test-nas-stack.cpp b/src/tests/algorithms/NAS/test-nas-stack.cpp
index e72a1c9830b63682cffff7968cbc27106b85a61f..5eaf14e31b0af562dcdc70b98cf9a6ff14a29107 100644
--- a/src/tests/algorithms/NAS/test-nas-stack.cpp
+++ b/src/tests/algorithms/NAS/test-nas-stack.cpp
@@ -27,7 +27,7 @@
#include <sensors/BMX160/BMX160.h>
#include <sensors/MS5803/MS5803.h>
#include <sensors/SensorManager.h>
-#include <sensors/UbloxGPS/UbloxGPS.h>
+#include <sensors/UBXGPS/UBXGPSSerial.h>
#include <utils/AeroUtils/AeroUtils.h>
#include <utils/Constants.h>
#include <utils/SkyQuaternion/SkyQuaternion.h>
@@ -50,9 +50,9 @@ Vector2f startPos = Vector2f(45.501141, 9.156281);
NAS* nas;
SPIBus spi1(SPI1);
-BMX160* imu = nullptr;
-UbloxGPS* gps = nullptr;
-MS5803* baro = nullptr;
+BMX160* imu = nullptr;
+UBXGPSSerial* gps = nullptr;
+MS5803* baro = nullptr;
int main()
{
@@ -134,7 +134,7 @@ void init()
new BMX160(spi1, sensors::bmx160::cs::getPin(), bmx_config, spiConfig);
imu->init();
- gps = new UbloxGPS(921600, 10, 2, "gps", 38400);
+ gps = new UBXGPSSerial(921600, 10, 2, "gps", 38400);
gps->init();
gps->start();
@@ -190,8 +190,7 @@ void step()
nas->correctAcc(acceleration);
if (gpsData.fix)
nas->correctGPS(gpsCorrection);
- nas->correctBaro(100000, Constants::MSL_PRESSURE,
- Constants::MSL_TEMPERATURE);
+ nas->correctBaro(100000);
auto nasState = nas->getState();
diff --git a/src/tests/algorithms/NAS/test-nas-with-triad.cpp b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
index 59baeb1d1e37a36035e2fe6208ec22617ea8ad2d..bb1e686a449746ac97d6faad99b405de2055303a 100644
--- a/src/tests/algorithms/NAS/test-nas-with-triad.cpp
+++ b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
@@ -59,7 +59,7 @@ int main()
nas = new NAS(getEKConfig());
// Logger::getInstance().start();
- TimestampTimer::getInstance().resetTimestamp();
+ TimestampTimer::resetTimestamp();
sensorManager->start();
while (true)
@@ -146,7 +146,7 @@ void bmxCallback()
if (calibrating)
{
- if (TimestampTimer::getInstance().getTimestamp() < CALIBRATION_TIMEOUT)
+ if (TimestampTimer::getTimestamp() < CALIBRATION_TIMEOUT)
{
accMean = (accMean * meanCount + acceleration) / (meanCount + 1);
magMean = (magMean * meanCount + acceleration) / (meanCount + 1);
@@ -200,7 +200,7 @@ void bmxCallback()
auto nasState = nas->getState();
- nasState.timestamp = TimestampTimer::getInstance().getTimestamp();
+ nasState.timestamp = TimestampTimer::getTimestamp();
data.accelerationTimestamp = nasState.timestamp;
data.magneticFieldTimestamp = nasState.timestamp;
data.angularVelocityTimestamp = nasState.timestamp;
diff --git a/src/tests/algorithms/NAS/test-tmp.cpp b/src/tests/algorithms/NAS/test-tmp.cpp
deleted file mode 100644
index 39fcdbd511705c39361f2a926ef92c15ea662ff9..0000000000000000000000000000000000000000
--- a/src/tests/algorithms/NAS/test-tmp.cpp
+++ /dev/null
@@ -1,89 +0,0 @@
-/* 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.
- */
-
-#include <drivers/spi/SPIDriver.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <miosix.h>
-#include <sensors/BMX160/BMX160.h>
-#include <sensors/MPU9250/MPU9250.h>
-#include <utils/Debug.h>
-
-using namespace miosix;
-
-using namespace Boardcore;
-
-GpioPin mpuCs = GpioPin(GPIOG_BASE, 3);
-SPIBus spi1(SPI1);
-
-MPU9250* mpu = nullptr;
-BMX160* bmx = nullptr;
-
-void initBoard()
-{
- // Chip select pin as output starting high
- mpuCs.mode(miosix::Mode::OUTPUT);
- mpuCs.high();
-
- mpu = new MPU9250(spi1, mpuCs);
-
- SPIBusConfig spiConfig;
- spiConfig.clockDivider = SPI::ClockDivider::DIV_8;
-
- BMX160Config bmxConfig;
- bmxConfig.fifoMode = BMX160Config::FifoMode::HEADER;
- bmxConfig.fifoWatermark = 80;
- bmxConfig.fifoInterrupt = BMX160Config::FifoInterruptPin::PIN_INT1;
- bmxConfig.temperatureDivider = 1;
- bmxConfig.accelerometerRange = BMX160Config::AccelerometerRange::G_16;
- bmxConfig.gyroscopeRange = BMX160Config::GyroscopeRange::DEG_1000;
- bmxConfig.accelerometerDataRate = BMX160Config::OutputDataRate::HZ_100;
- bmxConfig.gyroscopeDataRate = BMX160Config::OutputDataRate::HZ_100;
- bmxConfig.magnetometerRate = BMX160Config::OutputDataRate::HZ_100;
- bmxConfig.gyroscopeUnit = BMX160Config::GyroscopeMeasureUnit::RAD;
- bmx = new BMX160(spi1, miosix::sensors::bmx160::cs::getPin(), bmxConfig,
- spiConfig);
-
- mpu->init();
- bmx->init();
-}
-
-int main()
-{
- initBoard();
-
- auto lastTick = getTick();
- while (true)
- {
- mpu->sample();
- bmx->sample();
- auto mpuData = mpu->getLastSample();
- auto bmxData = bmx->getLastSample();
-
- printf("%f,%f,%f,", mpuData.magneticFieldX, mpuData.magneticFieldY,
- mpuData.magneticFieldZ);
- printf("%f,%f,%f\n", bmxData.magneticFieldX, bmxData.magneticFieldY,
- bmxData.magneticFieldZ);
-
- Thread::sleepUntil(lastTick + 20);
- lastTick = getTick();
- }
-}
diff --git a/src/tests/catch/test-kalman-eigen.cpp b/src/tests/catch/test-kalman.cpp
similarity index 100%
rename from src/tests/catch/test-kalman-eigen.cpp
rename to src/tests/catch/test-kalman.cpp
diff --git a/src/tests/catch/test-packetqueue.cpp b/src/tests/catch/test-packetqueue.cpp
index e0cf2865ac8da3f9dbc691dbcd583c2aaa79ec03..0b7eecdc0ce2cab70fcb60650b12d5ee9712e092 100644
--- a/src/tests/catch/test-packetqueue.cpp
+++ b/src/tests/catch/test-packetqueue.cpp
@@ -86,8 +86,7 @@ TEST_CASE("Packet tests")
REQUIRE(p.append(messageBase, 5));
uint64_t ts = p.getTimestamp();
- REQUIRE(Boardcore::TimestampTimer::getInstance().getTimestamp() - ts <
- 5);
+ REQUIRE(Boardcore::TimestampTimer::getTimestamp() - ts < 5);
REQUIRE(p.dump(buf) == 5);
COMPARE(buf, BUF_LEN, "01234");
diff --git a/src/tests/catch/xbee/test-xbee-parser.cpp b/src/tests/catch/xbee/test-xbee-parser.cpp
index 924d96851e8970f3729ef57d13f65de28ae78be1..26867ab7acd2037a74f063e06089dd0d52c61e2f 100644
--- a/src/tests/catch/xbee/test-xbee-parser.cpp
+++ b/src/tests/catch/xbee/test-xbee-parser.cpp
@@ -71,9 +71,7 @@ void printu64(uint64_t v)
uint8_t* p = reinterpret_cast<uint8_t*>(&v);
for (int i = 0; i < 8; i++)
- {
printf("%02X ", p[i]);
- }
printf("\n");
}
diff --git a/src/tests/drivers/canbus/SimpleCanManager.h b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
similarity index 95%
rename from src/tests/drivers/canbus/SimpleCanManager.h
rename to src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
index f7ff5a59d5c65a83500948b128f2f0714c344701..141c5a60e2fe12c72607cd171f35231313874559 100644
--- a/src/tests/drivers/canbus/SimpleCanManager.h
+++ b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
@@ -21,16 +21,16 @@
*/
#pragma once
+
+#include <ActiveObject.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
#include <miosix.h>
+#include <utils/collections/SyncCircularBuffer.h>
#include <cstdlib>
#include <functional>
-#include "ActiveObject.h"
-#include "drivers/canbus/BusLoadEstimation.h"
-#include "drivers/canbus/Canbus.h"
-#include "utils/collections/SyncCircularBuffer.h"
-
using std::function;
class SimpleCanManager
diff --git a/src/tests/drivers/canbus/test-canbus-2way.cpp b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
similarity index 96%
rename from src/tests/drivers/canbus/test-canbus-2way.cpp
rename to src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
index 91b69f5c2b9589fc67bfe5c843f0ed3eadad35b9..1a22bdfc874f306cfa4222838a19cd6b7ac02628 100644
--- a/src/tests/drivers/canbus/test-canbus-2way.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
@@ -25,17 +25,17 @@
// considered lost. It may also receive requests from other canbus devices, to
// which it will respond
+#include <ActiveObject.h>
+#include <diagnostic/PrintLogger.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
#include <utils/Debug.h>
#include <utils/Stats/Stats.h>
+#include <utils/collections/CircularBuffer.h>
#include <string>
-#include "ActiveObject.h"
#include "SimpleCanManager.h"
-#include "diagnostic/PrintLogger.h"
-#include "drivers/canbus/BusLoadEstimation.h"
-#include "drivers/canbus/Canbus.h"
-#include "utils/collections/CircularBuffer.h"
constexpr uint32_t BAUD_RATE = 500 * 1000;
constexpr float SAMPLE_POINT = 87.5f / 100.0f;
diff --git a/src/tests/drivers/canbus/test-canbus-filters.cpp b/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
similarity index 97%
rename from src/tests/drivers/canbus/test-canbus-filters.cpp
rename to src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
index 64c8868840454afd28abcb7506592713ceb08095..b6c3f6b667ffcac3ff1021d99634f5430ec08b78 100644
--- a/src/tests/drivers/canbus/test-canbus-filters.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
@@ -22,8 +22,8 @@
#include <ActiveObject.h>
#include <diagnostic/PrintLogger.h>
-#include <drivers/canbus/BusLoadEstimation.h>
-#include <drivers/canbus/Canbus.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
#include <string>
diff --git a/src/tests/drivers/canbus/test-canbus-loopback.cpp b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
similarity index 96%
rename from src/tests/drivers/canbus/test-canbus-loopback.cpp
rename to src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
index d01ac89a1eee286837069dde8cbd8c8eef46e28e..06559020e6eaee2e933d2ce66696ec2a1c5baf44 100644
--- a/src/tests/drivers/canbus/test-canbus-loopback.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
@@ -20,12 +20,12 @@
* THE SOFTWARE.
*/
-#include <string>
+#include <ActiveObject.h>
+#include <diagnostic/PrintLogger.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
-#include "ActiveObject.h"
-#include "diagnostic/PrintLogger.h"
-#include "drivers/canbus/BusLoadEstimation.h"
-#include "drivers/canbus/Canbus.h"
+#include <string>
using std::string;
using namespace Boardcore;
diff --git a/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp b/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bc1bc8b1c29e69fef80e53a7038a222cd0f2cb10
--- /dev/null
+++ b/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
@@ -0,0 +1,88 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Federico Mandelli
+ *
+ * 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/canbus/CanProtocol/CanProtocol.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <scheduler/TaskScheduler.h>
+
+using namespace std;
+using namespace miosix;
+using namespace Boardcore;
+using namespace Canbus;
+
+void print(const CanMessage& msg)
+{
+ printf("Received packet:\n");
+ printf("\tpriority: %d\n", msg.getPriority());
+ printf("\tprimary type: %d\n", msg.getPrimaryType());
+ printf("\tsource: %d\n", msg.getSource());
+ printf("\tdestination: %d\n", msg.getDestination());
+ printf("\tsecondary type: %d\n", msg.getSecondaryType());
+ printf("\n");
+}
+
+int main()
+{
+ // Prepare the cab driver
+ CanbusDriver::CanbusConfig config;
+ config.loopback = true;
+ CanbusDriver::AutoBitTiming bitTiming;
+ bitTiming.baudRate = 500 * 1000;
+ bitTiming.samplePoint = 87.5f / 100.0f;
+ CanbusDriver* driver = new CanbusDriver(CAN1, config, bitTiming);
+
+ // Prepare the can driver
+ CanProtocol protocol(driver, print);
+
+ // Add a filter to allow every message
+ Mask32FilterBank f2(0, 0, 1, 1, 0, 0, 0);
+ driver->addFilter(f2);
+ driver->init();
+
+ // Start the protocol
+ protocol.start();
+
+ CanMessage msg1;
+ msg1.id = 0x200;
+ msg1.length = 2;
+ msg1.payload[0] = 0xffffffffffffffff;
+ msg1.payload[1] = 0x0123456789ABCDEF;
+
+ TaskScheduler scheduler;
+
+ scheduler.addTask([&]() { protocol.enqueueMsg(msg1); }, 1000);
+ scheduler.addTask(
+ [&]()
+ {
+ PitotData data{TimestampTimer::getTimestamp(), 23};
+
+ protocol.enqueueData(0xF, 0xA, 0x1, 0x2, 0xB, data);
+ },
+ 2000);
+
+ scheduler.start();
+
+ printf("Started\n");
+
+ while (true)
+ Thread::sleep(1000);
+}
diff --git a/src/tests/drivers/sx1278/test-sx1278-bench.cpp b/src/tests/drivers/sx1278/test-sx1278-bench.cpp
index 31db75f4f5c47aa0a847be004e403718df858116..8850e9c14af2fac4599c9e6778f059c262cfed14 100644
--- a/src/tests/drivers/sx1278/test-sx1278-bench.cpp
+++ b/src/tests/drivers/sx1278/test-sx1278-bench.cpp
@@ -25,50 +25,72 @@
#include <thread>
-#include "test-sx1278-core.h"
-
using namespace Boardcore;
using namespace miosix;
-/**
- * 0 -> RX
- * 1 -> TX
- *
- * Connection diagram:
- * sx1278[0]:nss -> stm32:pa1
- * sx1278[0]:dio0 -> stm32:pc15
- * sx1278[0]:mosi -> stm32:pc12 (SPI3_MOSI)
- * sx1278[0]:miso -> stm32:pc11 (SPI3_MISO)
- * sx1278[0]:sck -> stm32:pc10 (SPI3_SCK)
-
- * sx1278[1]:nss -> stm32:pa2
- * sx1278[1]:dio0 -> stm32:pc0
- * sx1278[1]:mosi -> stm32:pb15 (SPI2_MOSI)
- * sx1278[1]:miso -> stm32:pb14 (SPI2_MISO)
- * sx1278[1]:sck -> stm32:pb13 (SPI2_SCK)
- */
+struct Stats;
+
+const char *stringFromErr(SX1278::Error err)
+{
+ switch (err)
+ {
+ case SX1278::Error::BAD_VALUE:
+ return "Error::BAD_VALUE";
+
+ case SX1278::Error::BAD_VERSION:
+ return "Error::BAD_VERSION";
-SPIBus bus0(SPI3);
-SPIBus bus1(SPI2);
+ default:
+ return "<unknown>";
+ }
+}
-GpioPin sck0(GPIOC_BASE, 10);
-GpioPin miso0(GPIOC_BASE, 11);
-GpioPin mosi0(GPIOC_BASE, 12);
-GpioPin cs0(GPIOA_BASE, 1);
-GpioPin dio0(GPIOC_BASE, 15);
+// Simple xorshift RNG
+uint32_t xorshift32()
+{
+ // https://xkcd.com/221/
+ static uint32_t STATE = 0x08104444;
-GpioPin sck1(GPIOB_BASE, 13);
-GpioPin miso1(GPIOB_BASE, 14);
-GpioPin mosi1(GPIOB_BASE, 15);
-GpioPin cs1(GPIOA_BASE, 2);
-GpioPin dio1(GPIOC_BASE, 0);
+ uint32_t x = STATE;
+ x ^= x << 13;
+ x ^= x >> 17;
+ x ^= x << 5;
-struct Stats;
+ return STATE = x;
+}
+
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+#include "interfaces-impl/hwmapping.h"
+
+#if 1 // use ra01
+using cs = peripherals::ra01::cs;
+using dio0 = peripherals::ra01::dio0;
+#else
+using cs = peripherals::sx127x::cs;
+using dio0 = peripherals::sx127x::dio0;
+#endif
-const char *stringFromErr(SX1278::Error err);
-const char *stringFromRxBw(SX1278::RxBw rx_bw);
+using sck = interfaces::spi4::sck;
+using miso = interfaces::spi4::miso;
+using mosi = interfaces::spi4::mosi;
-void printStats(Stats stats);
+#define SX1278_SPI SPI4
+
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+#include "interfaces-impl/hwmapping.h"
+
+using cs = sensors::sx127x::cs;
+using dio0 = sensors::sx127x::dio0;
+
+using sck = interfaces::spi5::sck;
+using miso = interfaces::spi5::miso;
+using mosi = interfaces::spi5::mosi;
+
+#define SX1278_SPI SPI5
+
+#else
+#error "Target not supported"
+#endif
/// Status informations.
struct Stats
@@ -91,37 +113,52 @@ struct Stats
}
}
+ void print() const
+ {
+ // Prints are REALLY slow, so take a COPY of stats, so we can print an
+ // instant in time.
+ Stats stats_now = *this;
+
+ printf("stats.last_recv_packet = %d\n", stats_now.last_recv_packet);
+ printf("stats.corrupted_packets = %d\n", stats_now.corrupted_packets);
+ printf("stats.send_count = %d\n", stats_now.send_count);
+ printf("stats.recv_count = %d\n", stats_now.recv_count);
+ printf("stats.recv_errors = %d\n", stats_now.recv_errors);
+ printf("stats.packet_loss = %.2f %%\n",
+ stats_now.packet_loss() * 100.0f);
+ }
+
} stats;
-SX1278 *sx1278[2] = {nullptr, nullptr};
+SX1278 *sx1278 = nullptr;
+
+// Payload size in 32bit blocks
+constexpr size_t PAYLOAD_SIZE = 14;
struct Msg
{
- int idx;
- int dummy_1;
- int dummy_2;
- int dummy_3;
-
- const static int DUMMY_1 = 0xdeadbeef;
- const static int DUMMY_2 = 0xbeefdead;
- const static int DUMMY_3 = 0x1234abcd;
+ uint32_t idx;
+ uint32_t payload[PAYLOAD_SIZE];
};
-void recvLoop(int idx)
+void recvLoop()
{
while (1)
{
Msg msg;
memset(&msg, 0, sizeof(msg));
- int len = sx1278[idx]->receive((uint8_t *)&msg, sizeof(msg));
+ int len = sx1278->receive((uint8_t *)&msg, sizeof(msg));
+
+ uint32_t acc = 0;
+ for (size_t i = 0; i < PAYLOAD_SIZE; i++)
+ acc ^= msg.payload[i];
if (len != sizeof(msg))
{
stats.recv_errors++;
}
- else if (msg.dummy_1 != Msg::DUMMY_1 || msg.dummy_2 != Msg::DUMMY_2 ||
- msg.dummy_3 != Msg::DUMMY_3)
+ else if (acc != 0)
{
stats.recv_errors++;
stats.corrupted_packets++;
@@ -134,19 +171,26 @@ void recvLoop(int idx)
}
}
-void sendLoop(int idx)
+void sendLoop()
{
while (1)
{
int next_idx = stats.send_count + 1;
Msg msg;
- msg.idx = next_idx;
- msg.dummy_1 = Msg::DUMMY_1;
- msg.dummy_2 = Msg::DUMMY_2;
- msg.dummy_3 = Msg::DUMMY_3;
+ msg.idx = next_idx;
- sx1278[idx]->send((uint8_t *)&msg, sizeof(msg));
+ // Setup the buffer so that the xor of the full thing is 0
+ uint32_t acc = 0;
+ for (size_t i = 0; i < PAYLOAD_SIZE - 1; i++)
+ {
+ // Fill only the lower 8bit to simulate a lot of zeroes
+ msg.payload[i] = xorshift32() & 0xff;
+ acc ^= msg.payload[i];
+ }
+ msg.payload[PAYLOAD_SIZE - 1] = acc;
+
+ sx1278->send((uint8_t *)&msg, sizeof(msg));
stats.send_count = next_idx;
}
}
@@ -154,116 +198,55 @@ void sendLoop(int idx)
/// Get current time
long long now() { return miosix::getTick() * 1000 / miosix::TICK_FREQ; }
-void __attribute__((used)) EXTI15_IRQHandlerImpl()
-{
- if (sx1278[0])
- sx1278[0]->handleDioIRQ();
-}
-
-void __attribute__((used)) EXTI0_IRQHandlerImpl()
-{
- if (sx1278[1])
- sx1278[1]->handleDioIRQ();
-}
-
-/// Initialize stm32f407g board (sx1278[0] only)
-void initBoard0()
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+void __attribute__((used)) EXTI6_IRQHandlerImpl()
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+void __attribute__((used)) EXTI10_IRQHandlerImpl()
+#else
+#error "Target not supported"
+#endif
{
- {
- miosix::FastInterruptDisableLock dLock;
-
- // Enable SPI3
- RCC->APB1ENR |= RCC_APB1ENR_SPI3EN;
- RCC_SYNC();
-
- // Setup SPI pins
- sck0.mode(miosix::Mode::ALTERNATE);
- sck0.alternateFunction(6);
- miso0.mode(miosix::Mode::ALTERNATE);
- miso0.alternateFunction(6);
- mosi0.mode(miosix::Mode::ALTERNATE);
- mosi0.alternateFunction(6);
-
- cs0.mode(miosix::Mode::OUTPUT);
- dio0.mode(miosix::Mode::INPUT);
- }
-
- cs0.high();
- enableExternalInterrupt(dio0.getPort(), dio0.getNumber(),
- InterruptTrigger::RISING_EDGE);
+ if (sx1278)
+ sx1278->handleDioIRQ();
}
-/// Initialize stm32f407g board (sx1278[1] only)
-void initBoard1()
+void initBoard()
{
- {
- miosix::FastInterruptDisableLock dLock;
-
- // Enable SPI2
- RCC->APB1ENR |= RCC_APB1ENR_SPI2EN;
- RCC_SYNC();
-
- sck1.mode(miosix::Mode::ALTERNATE);
- sck1.alternateFunction(5);
- miso1.mode(miosix::Mode::ALTERNATE);
- miso1.alternateFunction(5);
- mosi1.mode(miosix::Mode::ALTERNATE);
- mosi1.alternateFunction(5);
-
- cs1.mode(miosix::Mode::OUTPUT);
- dio1.mode(miosix::Mode::INPUT);
- }
-
- cs1.high();
- enableExternalInterrupt(dio1.getPort(), dio1.getNumber(),
- InterruptTrigger::RISING_EDGE);
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+ enableExternalInterrupt(GPIOF_BASE, 6, InterruptTrigger::RISING_EDGE);
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+ enableExternalInterrupt(GPIOF_BASE, 10, InterruptTrigger::RISING_EDGE);
+#else
+#error "Target not supported"
+#endif
}
int main()
{
-#ifndef DISABLE_RX
- initBoard0();
-#endif
-#ifndef DISABLE_TX
- initBoard1();
-#endif
+ initBoard();
// Run default configuration
SX1278::Config config;
SX1278::Error err;
- // Configure them
-#ifndef DISABLE_RX
- sx1278[0] = new SX1278(bus0, cs0);
+ SPIBus bus(SX1278_SPI);
+ GpioPin cs = cs::getPin();
- printf("\n[sx1278] Configuring sx1278[0]...\n");
- printConfig(config);
- if ((err = sx1278[0]->init(config)) != SX1278::Error::NONE)
- {
- printf("[sx1278] sx1278[0]->init error: %s\n", stringFromErr(err));
- return -1;
- }
-#endif
-
-#ifndef DISABLE_TX
- sx1278[1] = new SX1278(bus1, cs1);
+ sx1278 = new SX1278(bus, cs);
- printf("\n[sx1278] Configuring sx1278[1]...\n");
- printConfig(config);
- if ((err = sx1278[1]->init(config)) != SX1278::Error::NONE)
+ printf("\n[sx1278] Configuring sx1278...\n");
+ if ((err = sx1278->init(config)) != SX1278::Error::NONE)
{
- printf("[sx1278] sx1278[1]->init error: %s\n", stringFromErr(err));
+ printf("[sx1278] sx1278->init error: %s\n", stringFromErr(err));
return -1;
}
-#endif
// Run background threads
#ifndef DISABLE_RX
- std::thread recv([]() { recvLoop(0); });
+ std::thread recv([]() { recvLoop(); });
#endif
#ifndef DISABLE_TX
- miosix::Thread::sleep(500);
- std::thread send([]() { sendLoop(1); });
+ std::thread send([]() { sendLoop(); });
#endif
// Finish!
@@ -285,7 +268,7 @@ int main()
((float)elapsed / 1000.0f);
printf("\n[sx1278] Stats:\n");
- printStats(stats);
+ stats.print();
printf("tx_bitrate: %.2f kb/s\n", tx_bitrate / 1000.0f);
printf("rx_bitrate: %.2f kb/s\n", rx_bitrate / 1000.0f);
@@ -294,16 +277,3 @@ int main()
return 0;
}
-
-void printStats(Stats stats)
-{
- // Prints are REALLY slow, so take a COPY of stats, so we can print an
- // instant in time.
-
- printf("stats.last_recv_packet = %d\n", stats.last_recv_packet);
- printf("stats.corrupted_packets = %d\n", stats.corrupted_packets);
- printf("stats.send_count = %d\n", stats.send_count);
- printf("stats.recv_count = %d\n", stats.recv_count);
- printf("stats.recv_errors = %d\n", stats.recv_errors);
- printf("stats.packet_loss = %.2f %%\n", stats.packet_loss() * 100.0f);
-}
diff --git a/src/tests/drivers/sx1278/test-sx1278-bidir.cpp b/src/tests/drivers/sx1278/test-sx1278-bidir.cpp
index c0cc885bf6c9b84693700cb808e3909f81779045..174474ae654548c7d46dfc3909907fb31839eba3 100644
--- a/src/tests/drivers/sx1278/test-sx1278-bidir.cpp
+++ b/src/tests/drivers/sx1278/test-sx1278-bidir.cpp
@@ -21,179 +21,146 @@
*/
#include <drivers/interrupt/external_interrupts.h>
+#include <miosix.h>
#include <radio/SX1278/SX1278.h>
#include <cstring>
#include <thread>
-#include "test-sx1278-core.h"
-
using namespace Boardcore;
using namespace miosix;
-/**
- * Connection diagram:
- * sx1278[0]:nss -> stm32:pa1
- * sx1278[0]:dio0 -> stm32:pc15
- * sx1278[0]:mosi -> stm32:pc12 (SPI3_MOSI)
- * sx1278[0]:miso -> stm32:pc11 (SPI3_MISO)
- * sx1278[0]:sck -> stm32:pc10 (SPI3_SCK)
-
- * sx1278[1]:nss -> stm32:pa2
- * sx1278[1]:dio0 -> stm32:pc0
- * sx1278[1]:mosi -> stm32:pb15 (SPI2_MOSI)
- * sx1278[1]:miso -> stm32:pb14 (SPI2_MISO)
- * sx1278[1]:sck -> stm32:pb13 (SPI2_SCK)
- */
+const char *stringFromErr(SX1278::Error err)
+{
+ switch (err)
+ {
+ case SX1278::Error::BAD_VALUE:
+ return "Error::BAD_VALUE";
-SPIBus bus0(SPI3);
-SPIBus bus1(SPI2);
+ case SX1278::Error::BAD_VERSION:
+ return "Error::BAD_VERSION";
-GpioPin sck0(GPIOC_BASE, 10);
-GpioPin miso0(GPIOC_BASE, 11);
-GpioPin mosi0(GPIOC_BASE, 12);
-GpioPin cs0(GPIOA_BASE, 1);
-GpioPin dio0(GPIOC_BASE, 15);
+ default:
+ return "<unknown>";
+ }
+}
-GpioPin sck1(GPIOB_BASE, 13);
-GpioPin miso1(GPIOB_BASE, 14);
-GpioPin mosi1(GPIOB_BASE, 15);
-GpioPin cs1(GPIOA_BASE, 2);
-GpioPin dio1(GPIOC_BASE, 0);
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+#include "interfaces-impl/hwmapping.h"
-SX1278 *sx1278[2] = {nullptr, nullptr};
+#if 1 // use ra01
+using cs = peripherals::ra01::cs;
+using dio0 = peripherals::ra01::dio0;
+#else
+using cs = peripherals::sx127x::cs;
+using dio0 = peripherals::sx127x::dio0;
+#endif
-void __attribute__((used)) EXTI15_IRQHandlerImpl()
-{
- if (sx1278[0])
- sx1278[0]->handleDioIRQ();
-}
+using sck = interfaces::spi4::sck;
+using miso = interfaces::spi4::miso;
+using mosi = interfaces::spi4::mosi;
-void __attribute__((used)) EXTI0_IRQHandlerImpl()
-{
- if (sx1278[1])
- sx1278[1]->handleDioIRQ();
-}
+#define SX1278_SPI SPI4
-/// Initialize stm32f407g board (sx1278[0] only)
-void initBoard0()
-{
- {
- miosix::FastInterruptDisableLock dLock;
-
- // Enable SPI3
- RCC->APB1ENR |= RCC_APB1ENR_SPI3EN;
- RCC_SYNC();
-
- // Setup SPI pins
- sck0.mode(miosix::Mode::ALTERNATE);
- sck0.alternateFunction(6);
- miso0.mode(miosix::Mode::ALTERNATE);
- miso0.alternateFunction(6);
- mosi0.mode(miosix::Mode::ALTERNATE);
- mosi0.alternateFunction(6);
-
- cs0.mode(miosix::Mode::OUTPUT);
- dio0.mode(miosix::Mode::INPUT);
- }
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+#include "interfaces-impl/hwmapping.h"
- cs0.high();
- enableExternalInterrupt(dio0.getPort(), dio0.getNumber(),
- InterruptTrigger::RISING_EDGE);
-}
+using cs = sensors::sx127x::cs;
+using dio0 = sensors::sx127x::dio0;
-/// Initialize stm32f407g board (sx1278[1] only)
-void initBoard1()
-{
- {
- miosix::FastInterruptDisableLock dLock;
+using sck = interfaces::spi5::sck;
+using miso = interfaces::spi5::miso;
+using mosi = interfaces::spi5::mosi;
- // Enable SPI2
- RCC->APB1ENR |= RCC_APB1ENR_SPI2EN;
- RCC_SYNC();
+#define SX1278_SPI SPI5
- sck1.mode(miosix::Mode::ALTERNATE);
- sck1.alternateFunction(5);
- miso1.mode(miosix::Mode::ALTERNATE);
- miso1.alternateFunction(5);
- mosi1.mode(miosix::Mode::ALTERNATE);
- mosi1.alternateFunction(5);
+#else
+#error "Target not supported"
+#endif
- cs1.mode(miosix::Mode::OUTPUT);
- dio1.mode(miosix::Mode::INPUT);
- }
+SX1278 *sx1278 = nullptr;
- cs1.high();
- enableExternalInterrupt(dio1.getPort(), dio1.getNumber(),
- InterruptTrigger::RISING_EDGE);
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+void __attribute__((used)) EXTI6_IRQHandlerImpl()
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+void __attribute__((used)) EXTI10_IRQHandlerImpl()
+#else
+#error "Target not supported"
+#endif
+{
+ if (sx1278)
+ sx1278->handleDioIRQ();
+}
+
+void initBoard()
+{
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+ enableExternalInterrupt(GPIOF_BASE, 6, InterruptTrigger::RISING_EDGE);
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+ enableExternalInterrupt(GPIOF_BASE, 10, InterruptTrigger::RISING_EDGE);
+#else
+#error "Target not supported"
+#endif
}
-void recvLoop(int idx)
+void recvLoop()
{
- char buf[256];
+ char buf[64];
while (1)
{
- if (sx1278[idx]->receive((uint8_t *)buf, sizeof(buf)) != -1)
+ ssize_t res =
+ sx1278->receive(reinterpret_cast<uint8_t *>(buf), sizeof(buf));
+ if (res != -1)
{
// Make sure there is a terminator somewhere
- buf[255] = 0;
- printf("[sx1278 @ %p] Received '%s'\n", sx1278[idx], buf);
+ buf[res] = 0;
+ printf("[sx1278] Received '%s'\n", buf);
}
}
}
-void sendLoop(int idx, int interval, char *data)
+void sendLoop(int interval, const char *data)
{
+ char buf[64];
+ strncpy(buf, data, sizeof(buf) - 1);
+
while (1)
{
miosix::Thread::sleep(interval);
- sx1278[idx]->send((uint8_t *)data, strlen(data) + 1);
- printf("[sx1278 @ %p] Sent '%s'\n", sx1278[idx], data);
+ sx1278->send(reinterpret_cast<uint8_t *>(buf), strlen(buf) + 1);
+ printf("[sx1278] Sent '%s'\n", buf);
}
}
int main()
{
- initBoard0();
- initBoard1();
+ initBoard();
// Run default configuration
SX1278::Config config;
SX1278::Error err;
- // Configure them
- sx1278[0] = new SX1278(bus0, cs0);
+ SPIBus bus(SX1278_SPI);
+ GpioPin cs = cs::getPin();
- printf("\n[sx1278] Configuring sx1278[0]...\n");
- printConfig(config);
- if ((err = sx1278[0]->init(config)) != SX1278::Error::NONE)
- {
- printf("[sx1278] sx1278[0]->init error: %s\n", stringFromErr(err));
- return -1;
- }
+ sx1278 = new SX1278(bus, cs);
- sx1278[1] = new SX1278(bus1, cs1);
-
- printf("\n[sx1278] Configuring sx1278[1]...\n");
- printConfig(config);
- if ((err = sx1278[1]->init(config)) != SX1278::Error::NONE)
+ printf("\n[sx1278] Configuring sx1278...\n");
+ if ((err = sx1278->init(config)) != SX1278::Error::NONE)
{
- printf("[sx1278] sx1278[1]->init error: %s\n", stringFromErr(err));
+ printf("[sx1278] sx1278->init error: %s\n", stringFromErr(err));
return -1;
}
// Spawn all threads
- std::thread send0(
- [=]() { sendLoop(0, 1000, const_cast<char *>("Hi from sx1278[0]!")); });
- std::thread send1(
- [=]() { sendLoop(1, 3333, const_cast<char *>("Hi from sx1278[1]!")); });
-
- std::thread recv0([]() { recvLoop(0); });
- std::thread recv1([]() { recvLoop(1); });
+ std::thread send([]() { sendLoop(1000, "Sample radio message"); });
+ std::thread recv([]() { recvLoop(); });
printf("\n[sx1278] Initialization complete!\n");
+ // sx1278->debugDumpRegisters();
+
while (1)
miosix::Thread::wait();
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/drivers/test-mavlink.cpp b/src/tests/drivers/test-mavlink.cpp
index 38b3c0d0672fc4f4828a34e316a309018e3d16ea..2f4883c1335bed4c243a00a5d9ba63aaf208fc28 100644
--- a/src/tests/drivers/test-mavlink.cpp
+++ b/src/tests/drivers/test-mavlink.cpp
@@ -52,7 +52,8 @@ MavDriver* mavlink;
*/
int main()
{
- transceiver = new SerialTransceiver();
+ STM32SerialWrapper serial(USART1, USARTInterface::Baudrate::B19200);
+ transceiver = new SerialTransceiver(serial);
mavlink = new MavDriver(transceiver, nullptr, silenceAfterSend, maxPktAge);
mavlink->start();
diff --git a/src/tests/drivers/timer/test-timestamptimer.cpp b/src/tests/drivers/timer/test-timestamptimer.cpp
index f265e13f6975fe8678e4b5d3e324d4f0a71e5969..3ba13168412061eafaff618405be23b7e1ecc240 100644
--- a/src/tests/drivers/timer/test-timestamptimer.cpp
+++ b/src/tests/drivers/timer/test-timestamptimer.cpp
@@ -35,9 +35,6 @@ void testTimerUtils(TIM_TypeDef *timer);
int main()
{
- // Force the timestamptimer to init
- (void)TimestampTimer::getInstance();
-
testTimerUtils(TIM2);
printf("Initialization should be complete\n");
@@ -48,7 +45,7 @@ int main()
{
long long prevTick = getTick();
- uint64_t timestamp = TimestampTimer::getInstance().getTimestamp();
+ uint64_t timestamp = TimestampTimer::getTimestamp();
// cppcheck-suppress invalidPrintfArgType_uint
printf("%12llu us, %12.3f ms, %12.6f s, %12lld tick \n", timestamp,
@@ -59,13 +56,13 @@ int main()
printf("Now resetting the TimestampTimer\n");
- TimestampTimer::getInstance().resetTimestamp();
+ TimestampTimer::resetTimestamp();
while (true)
{
long long prevTick = getTick();
- uint64_t timestamp = TimestampTimer::getInstance().getTimestamp();
+ uint64_t timestamp = TimestampTimer::getTimestamp();
// cppcheck-suppress invalidPrintfArgType_uint
printf("%12llu us, %12.3f ms, %12.6f s, %12lld tick \n", timestamp,
diff --git a/src/tests/drivers/usart/test-usart.cpp b/src/tests/drivers/usart/test-usart.cpp
index ce99d3d5a5a764b696598f8b0bf2c1ef49eccd7f..728f374b30b12b02fcbcc97fd55f33f73054ce86 100644
--- a/src/tests/drivers/usart/test-usart.cpp
+++ b/src/tests/drivers/usart/test-usart.cpp
@@ -136,6 +136,22 @@ bool testCommunicationSequential(USARTInterface *src, USARTInterface *dst)
*/
int main()
{
+ // Init serial port pins
+ u1rx2::getPin().mode(miosix::Mode::ALTERNATE);
+ u1rx2::getPin().alternateFunction(7);
+ u1tx1::getPin().mode(miosix::Mode::ALTERNATE);
+ u1tx1::getPin().alternateFunction(7);
+
+ u2rx1::getPin().mode(miosix::Mode::ALTERNATE);
+ u2rx1::getPin().alternateFunction(7);
+ u2tx1::getPin().mode(miosix::Mode::ALTERNATE);
+ u2tx1::getPin().alternateFunction(7);
+
+ // u4rx1::getPin().mode(miosix::Mode::ALTERNATE);
+ // u4rx1::getPin().alternateFunction(8);
+ // u4tx1::getPin().mode(miosix::Mode::ALTERNATE);
+ // u4tx1::getPin().alternateFunction(8);
+
bool testPassed = true;
printf("*** SERIAL 3 WORKING!\n");
for (unsigned int iBaud = 0;
@@ -145,12 +161,10 @@ int main()
printf("\n\n########################### %d\n", (int)baudrate);
// declaring the usart peripherals
- STM32SerialWrapper usartx(USART1, baudrate, u1rx2::getPin(),
- u1tx1::getPin());
+ STM32SerialWrapper usartx(USART1, baudrate);
usartx.init();
- USART usarty(UART4, baudrate);
- // usarty.initPins(u5tx::getPin(), 8, u5rx::getPin(), 8);
+ STM32SerialWrapper usarty(USART2, baudrate);
// usarty.setOversampling(false);
// usarty.setStopBits(1);
// usarty.setWordLength(USART::WordLength::BIT8);
diff --git a/src/tests/drivers/xbee/gui/StatusScreen.h b/src/tests/drivers/xbee/gui/StatusScreen.h
index b397715e0d772a8261ddfbb42f127b320ac9b848..1c7a40b5c196ffe7ab85fbe6e87eddaa8265dc79 100644
--- a/src/tests/drivers/xbee/gui/StatusScreen.h
+++ b/src/tests/drivers/xbee/gui/StatusScreen.h
@@ -188,7 +188,7 @@ struct StatusScreen
void updateLogStatus(Logger& logger)
{
- LoggerStats stats = logger.getLoggerStats();
+ LoggerStats stats = logger.getStats();
if (logger.getCurrentLogNumber() >= 0)
{
@@ -221,7 +221,7 @@ struct StatusScreen
}
tvLogBufWritten.setText(to_string(stats.buffersWritten));
- tvLogBufTtw.setText(to_string(stats.writeTime) + " ms");
+ tvLogBufTtw.setText(to_string(stats.averageWriteTime) + " ms");
}
void updateXbeeStatus(DataRateResult resRcv, DataRateResult resSnd,
diff --git a/src/tests/drivers/xbee/test-xbee-bidir.cpp b/src/tests/drivers/xbee/test-xbee-bidir.cpp
index f5ee9c1c121701988718040165c105f9c211bbf3..27a1af9e77be308f06b9ee63e20ceb8c0c887367 100644
--- a/src/tests/drivers/xbee/test-xbee-bidir.cpp
+++ b/src/tests/drivers/xbee/test-xbee-bidir.cpp
@@ -218,7 +218,7 @@ int main()
RxData rxd = trans->getReceiver().getRxData();
logger.log(xbeeDriver->getStatus());
- logger.log(logger.getLoggerStats());
+ logger.log(logger.getStats());
long long tick = getTick();
unsigned int h = tick / (1000 * 3600);
diff --git a/src/tests/drivers/xbee/test-xbee-gui.cpp b/src/tests/drivers/xbee/test-xbee-gui.cpp
index 407f90a1dd4c9682e45c5aa504388544b83ea0b0..bc0d694aa9c2b460f7304bdb4d213ea7c169235b 100644
--- a/src/tests/drivers/xbee/test-xbee-gui.cpp
+++ b/src/tests/drivers/xbee/test-xbee-gui.cpp
@@ -208,7 +208,7 @@ int main()
break;
}
- logger.log(logger.getLoggerStats());
+ logger.log(logger.getStats());
Thread::sleepUntil(start + 500);
}
}
diff --git a/src/tests/logger/test-logger.cpp b/src/tests/logger/test-logger.cpp
index 53dca34bd42b869cab946038858bd2dce2be53aa..a22753780bcfb70d7ef88080e3474cc7cd4898fe 100644
--- a/src/tests/logger/test-logger.cpp
+++ b/src/tests/logger/test-logger.cpp
@@ -22,14 +22,14 @@
#include "test-logger.h"
-#include <diagnostic/CpuMeter.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
#include <logger/Logger.h>
using namespace Boardcore;
using namespace std;
using namespace miosix;
-void logthread(void*)
+void logThread(void*)
{
Logger& log = Logger::getInstance();
const int period = 5;
@@ -45,18 +45,18 @@ void logthread(void*)
}
}
-void printutil(void*)
+void printUtil(void*)
{
for (;;)
{
Thread::sleep(1000);
- printf("cpu: %5.1f\n", averageCpuUtilization());
+ printf("cpu: %5.1f\n", CpuMeter::getCpuStats().mean);
}
}
int main()
{
- Thread::create(printutil, 4096);
+ Thread::create(printUtil, 4096);
Logger& log = Logger::getInstance();
log.start();
@@ -64,7 +64,7 @@ int main()
puts("type enter to start test");
getchar();
- Thread::create(logthread, 4096);
+ Thread::create(logThread, 4096);
puts("type enter to stop test");
getchar();
diff --git a/src/tests/radio/test-mavlinkdriver.cpp b/src/tests/radio/test-mavlinkdriver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c7d14b5108f9304be08b6284a6efd3404a8e0e32
--- /dev/null
+++ b/src/tests/radio/test-mavlinkdriver.cpp
@@ -0,0 +1,73 @@
+/* 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 GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-align"
+#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#include <mavlink_lib/pyxis/mavlink.h>
+#pragma GCC diagnostic pop
+
+#include <drivers/usart/USART.h>
+#include <miosix.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <radio/SerialTransceiver/SerialTransceiver.h>
+#include <scheduler/TaskScheduler.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+USART usart(USART2, USARTInterface::Baudrate::B115200);
+SerialTransceiver transceiver(usart);
+MavlinkDriver<20, 10> mavlink(&transceiver);
+
+void payloadGenerator();
+
+int main()
+{
+ u2rx1::mode(Mode::ALTERNATE);
+ u2rx1::alternateFunction(7);
+ u2tx1::mode(Mode::ALTERNATE);
+ u2tx1::alternateFunction(7);
+
+ TaskScheduler scheduler;
+ scheduler.addTask(payloadGenerator, 2000);
+ scheduler.start();
+
+ usart.init();
+ mavlink.start();
+
+ while (true)
+ Thread::sleep(1000);
+}
+
+void payloadGenerator()
+{
+ // uint8_t msg[] = "012345678";
+ // mavlink.enqueueRaw(msg, 9);
+ // printf("Added 9 bytes: %s\n", msg);
+
+ // Create a mavlink packet
+ mavlink_message_t ackMsg;
+ mavlink_msg_ack_tm_pack(0x01, 0x23, &ackMsg, 0x45, 0x67);
+ mavlink.enqueueMsg(ackMsg);
+}
diff --git a/src/tests/sensors/calibration/test-calibration-benchmark.cpp b/src/tests/sensors/calibration/test-calibration-benchmark.cpp
index 1ed6b0f81de257186fd9c1c858b8648fce157998..7b84019d9fdbf06512c5bd4f24c1f67b2c96bb72 100644
--- a/src/tests/sensors/calibration/test-calibration-benchmark.cpp
+++ b/src/tests/sensors/calibration/test-calibration-benchmark.cpp
@@ -28,7 +28,7 @@
/* Expressed in Hertz: valid values: 1 <= frequency <= 1000 */
#define SAMPLE_FREQUENCY_LOAD_TEST 1000
-#include <diagnostic/CpuMeter.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
#include <drivers/spi/SPIDriver.h>
#include <miosix.h>
#include <sensors/LIS3DSH/LIS3DSH.h>
@@ -101,7 +101,7 @@ int main()
if (elapsed > 500)
{
elapsed = 0;
- TRACE("Average CPU usage: %f %%\n", averageCpuUtilization());
+ TRACE("Average CPU usage: %f %%\n", CpuMeter::getCpuStats().mean);
}
}
}
diff --git a/src/tests/sensors/calibration/test-calibration-stats.cpp b/src/tests/sensors/calibration/test-calibration-stats.cpp
index 40aa29ad31fb57621dc67c00d6c83193c4b6d30b..4fee619509453ac66db22b0a01756dbecbf49dc4 100644
--- a/src/tests/sensors/calibration/test-calibration-stats.cpp
+++ b/src/tests/sensors/calibration/test-calibration-stats.cpp
@@ -128,7 +128,7 @@ int main()
const char* yLabel =
humanFriendlyDirection[(uint8_t)orientations[i].yAxis];
- printf(" %d. X towards %s, Y towards %s (%d samples)", i,
+ printf(" %d. X towards %s, Y towards %s (%ld samples)", i,
xLabel, yLabel, xAxis[i].getStats().nSamples);
if (selected == i)
@@ -146,7 +146,7 @@ int main()
printf("Current orientation is: X towards %s, Y towards %s\n",
xLabel, yLabel);
- printf("You took %d samples for each axis on this orientation.\n",
+ printf("You took %ld samples for each axis on this orientation.\n",
xAxis[selected].getStats().nSamples);
}
else if (!strncmp("onext", input, 5))
@@ -292,7 +292,7 @@ int main()
}
else if (!strncmp("samples", input, 7))
{
- printf("Taken %d samples on the current orientation.\n",
+ printf("Taken %ld samples on the current orientation.\n",
xAxis[selected].getStats().nSamples);
}
else
diff --git a/src/tests/sensors/test-bmx160-with-correction.cpp b/src/tests/sensors/test-bmx160-with-correction.cpp
index 32c0363c182d739ca6e7e98b1715f5660c8bfaf6..37be463625c7e92e7a8b1a41db500a9087ab4df7 100644
--- a/src/tests/sensors/test-bmx160-with-correction.cpp
+++ b/src/tests/sensors/test-bmx160-with-correction.cpp
@@ -40,8 +40,7 @@ void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
if (bmx160)
{
- bmx160->IRQupdateTimestamp(
- TimestampTimer::getInstance().getTimestamp());
+ bmx160->IRQupdateTimestamp(TimestampTimer::getTimestamp());
}
}
@@ -118,11 +117,9 @@ int main()
miosix::Thread *samplingThread =
miosix::Thread::create(bmx160Sample, 2048, miosix::MAIN_PRIORITY,
nullptr, miosix::Thread::JOINABLE);
- if (!bmx160WithCorrection.calibrate())
- {
- TRACE("Calibration failed!\n");
- return -1;
- }
+ bmx160WithCorrection.startCalibration();
+ miosix::Thread::sleep(2000);
+ bmx160WithCorrection.stopCalibration();
stopSamplingThread = true;
samplingThread->join();
TRACE("Calibration completed\n");
diff --git a/src/tests/sensors/test-bmx160.cpp b/src/tests/sensors/test-bmx160.cpp
index ad3e567dff0f9769c7d01c2049972f0916a656bf..36e04b7046e9a0b9384fc4a3d36cfb10cf5d9fd1 100644
--- a/src/tests/sensors/test-bmx160.cpp
+++ b/src/tests/sensors/test-bmx160.cpp
@@ -40,7 +40,7 @@ uint32_t tick = 0;
void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
- tick = TimestampTimer::getInstance().getTimestamp();
+ tick = TimestampTimer::getTimestamp();
if (sensor)
{
sensor->IRQupdateTimestamp(tick);
@@ -95,7 +95,7 @@ int main()
continue;
}
- uint64_t now = TimestampTimer::getInstance().getTimestamp();
+ uint64_t now = TimestampTimer::getTimestamp();
printf("Tick: %.4f s, Now: %.4f s\n", tick / 1000000.0f,
now / 1000000.0f);
diff --git a/src/tests/sensors/test-l3gd20-fifo.cpp b/src/tests/sensors/test-l3gd20-fifo.cpp
index 2b6d46286f8df3ff7f3b620eb4e0a04860642da4..24e2c4d3a723adef7581539f2e6fe8e2ae4160b9 100644
--- a/src/tests/sensors/test-l3gd20-fifo.cpp
+++ b/src/tests/sensors/test-l3gd20-fifo.cpp
@@ -48,7 +48,7 @@
* togheter with other useful data.
*/
-#include <diagnostic/CpuMeter.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
#include <drivers/interrupt/external_interrupts.h>
#include <drivers/spi/SPIDriver.h>
#include <drivers/timer/GeneralPurposeTimer.h>
@@ -113,7 +113,7 @@ volatile uint64_t watermarkDelta; // Tick delta between the last 2 watermark
void __attribute__((used)) EXTI2_IRQHandlerImpl()
{
// Current high resolution tick
- uint64_t currentTimestamp = TimestampTimer::getInstance().getTimestamp();
+ uint64_t currentTimestamp = TimestampTimer::getTimestamp();
watermarkDelta = currentTimestamp - lastWatermarkTick;
lastWatermarkTick = currentTimestamp;
@@ -169,11 +169,11 @@ int main()
long lastTick = miosix::getTick();
// Read the fifo
- uint64_t update = TimestampTimer::getInstance().getTimestamp();
+ uint64_t update = TimestampTimer::getTimestamp();
gyro->sample();
// Measure how long we take to read the fifo
- update = TimestampTimer::getInstance().getTimestamp() - update;
+ update = TimestampTimer::getTimestamp() - update;
uint8_t level =
gyro->getLastFifoSize(); // Current number of samples in the FIFO
@@ -190,10 +190,10 @@ int main()
fifo[i],
level,
TimerUtils::toIntMicroSeconds(
- TimestampTimer::getInstance().getTimer(), watermarkDelta),
- averageCpuUtilization(),
+ TimestampTimer::timestampTimer.getTimer(), watermarkDelta),
+ CpuMeter::getCpuStats().mean,
TimerUtils::toIntMicroSeconds(
- TimestampTimer::getInstance().getTimer(), update)};
+ TimestampTimer::timestampTimer.getTimer(), update)};
// Stop if we have enough data
if (dataCounter >= NUM_SAMPLES)
diff --git a/src/tests/sensors/test-l3gd20.cpp b/src/tests/sensors/test-l3gd20.cpp
index bca767afdb5bab63386df2dbfbe4fafeaa4aa92d..33d4134e2bafa831286fdcc00b63d9005d17afd7 100644
--- a/src/tests/sensors/test-l3gd20.cpp
+++ b/src/tests/sensors/test-l3gd20.cpp
@@ -28,7 +28,7 @@
* CSV format.
*/
-#include <diagnostic/CpuMeter.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
#include <drivers/interrupt/external_interrupts.h>
#include <drivers/spi/SPIDriver.h>
#include <drivers/timer/TimestampTimer.h>
@@ -83,7 +83,7 @@ uint32_t sampleDelta; // Tick delta between the last 2 watermark
void __attribute__((used)) EXTI2_IRQHandlerImpl()
{
// Current high resolution tick
- uint64_t currentTimestamp = TimestampTimer::getInstance().getTimestamp();
+ uint64_t currentTimestamp = TimestampTimer::getTimestamp();
sampleDelta = currentTimestamp - lastSampleTick;
lastSampleTick = currentTimestamp;
@@ -148,7 +148,7 @@ int main()
// Store the sample in the array, togheter with other useful data
data[dataCounter++] = {d.angularVelocityTimestamp, sampleDelta, d,
- averageCpuUtilization()};
+ CpuMeter::getCpuStats().mean};
// Wait until SAMPLE_PERIOD milliseconds from the start of this
// iteration have passed (SAMPLE_PERIOD = 1000 / SAMPLE_RATE)
@@ -164,7 +164,7 @@ int main()
0,
data[i].timestamp,
TimerUtils::toIntMicroSeconds(
- TimestampTimer::getInstance().getTimer(), data[i].sampleDelta),
+ TimestampTimer::timestampTimer.getTimer(), data[i].sampleDelta),
(data[i].timestamp - data[i - 1].timestamp),
data[i].data.angularVelocityX,
data[i].data.angularVelocityY,
diff --git a/src/tests/sensors/test-ms5803.cpp b/src/tests/sensors/test-ms5803.cpp
index 4c00318899a0fd596e002c0baa3e350203ecd876..811dfcc18b85d682ded91bf65de0286a70174526 100644
--- a/src/tests/sensors/test-ms5803.cpp
+++ b/src/tests/sensors/test-ms5803.cpp
@@ -37,6 +37,8 @@ int main()
{
// Sample temperature every 10 pressure samples
SPIBus spiBus(SPI1);
+ SPIBusConfig config;
+ config.clockDivider = SPI::ClockDivider::DIV_32;
MS5803 sensor(spiBus, miosix::sensors::ms5803::cs::getPin(), {}, 10);
Thread::sleep(100);
@@ -57,6 +59,6 @@ int main()
printf("%llu,%f,%llu,%f\n", data.pressureTimestamp, data.pressure,
data.temperatureTimestamp, data.temperature);
- Thread::sleep(10);
+ Thread::sleep(20);
}
}
diff --git a/src/tests/sensors/test-ubloxgps.cpp b/src/tests/sensors/test-ubxgps-serial.cpp
similarity index 94%
rename from src/tests/sensors/test-ubloxgps.cpp
rename to src/tests/sensors/test-ubxgps-serial.cpp
index 24b6cc092a73e531765fbbe4897a29133a827014..ae33c9048af377e01fe712c215d50a4f41dfef4b 100644
--- a/src/tests/sensors/test-ubloxgps.cpp
+++ b/src/tests/sensors/test-ubxgps-serial.cpp
@@ -22,7 +22,7 @@
#include <drivers/timer/TimestampTimer.h>
#include <miosix.h>
-#include <sensors/UbloxGPS/UbloxGPS.h>
+#include <sensors/UBXGPS/UBXGPSSerial.h>
#include <utils/Debug.h>
#include <cstdio>
@@ -34,13 +34,11 @@ using namespace miosix;
int main()
{
- (void)TimestampTimer::getInstance();
-
printf("Welcome to the ublox test\n");
// Keep GPS baud rate at default for easier testing
- UbloxGPS gps(921600, RATE, 2, "gps", 38400);
- UbloxGPSData dataGPS;
+ UBXGPSSerial gps(38400, RATE, 2, "gps", 9600);
+ UBXGPSData dataGPS;
printf("Gps allocated\n");
// Init the gps
diff --git a/src/tests/sensors/test-ubxgps-spi.cpp b/src/tests/sensors/test-ubxgps-spi.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3fcecde01e161e98c8e01a1aa2021d8e4e4775dc
--- /dev/null
+++ b/src/tests/sensors/test-ubxgps-spi.cpp
@@ -0,0 +1,82 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Davide Bonomini, Davide Mor, Alberto Nidasio, Damiano Amatruda
+ *
+ * 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 <sensors/UBXGPS/UBXGPSSpi.h>
+#include <utils/Debug.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+int main()
+{
+#ifdef _BOARD_STM32F429ZI_SKYWARD_DEATHST_X
+ SPIBus spiBus(SPI2);
+ GpioPin spiCs(GPIOG_BASE, 3);
+ GpioPin spiSck(GPIOB_BASE, 13);
+ GpioPin spiMiso(GPIOB_BASE, 14);
+ GpioPin spiMosi(GPIOB_BASE, 15);
+#else
+ SPIBus spiBus(SPI1);
+ GpioPin spiCs(GPIOA_BASE, 3);
+ GpioPin spiSck(GPIOA_BASE, 5);
+ GpioPin spiMiso(GPIOA_BASE, 6);
+ GpioPin spiMosi(GPIOA_BASE, 7);
+#endif
+
+ spiCs.mode(Mode::OUTPUT);
+ spiCs.high();
+ spiSck.mode(Mode::ALTERNATE);
+ spiSck.alternateFunction(5);
+ spiMiso.mode(Mode::ALTERNATE);
+ spiMiso.alternateFunction(5);
+ spiMosi.mode(Mode::ALTERNATE);
+ spiMosi.alternateFunction(5);
+
+ UBXGPSSpi gps{spiBus, spiCs};
+
+ TRACE("Initializing UBXGPSSpi...\n");
+
+ while (!gps.init())
+ {
+ TRACE("Init failed! (code: %d)\n", gps.getLastError());
+
+ TRACE("Retrying in 10 seconds...\n");
+ miosix::Thread::sleep(10000);
+ }
+
+ while (true)
+ {
+ gps.sample();
+ GPSData sample __attribute__((unused)) = gps.getLastSample();
+
+ TRACE(
+ "timestamp: %4.3f, lat: %f, lon: %f, height: %4.1f, velN: %3.2f, "
+ "velE: %3.2f, velD: %3.2f, speed: %3.2f, track %3.1f, pDOP: %f, "
+ "nsat: %2d, fix: %2d\n",
+ (float)sample.gpsTimestamp / 1000000, sample.latitude,
+ sample.longitude, sample.height, sample.velocityNorth,
+ sample.velocityEast, sample.velocityDown, sample.speed,
+ sample.track, sample.positionDOP, sample.satellites, sample.fix);
+
+ Thread::sleep(1000 / gps.getSampleRate());
+ }
+}
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);
- }
}
diff --git a/src/tests/test-sensormanager.cpp b/src/tests/test-sensormanager.cpp
index 1a8b06648b7c60c46f31c461c5485285622577d1..011941abbc470c0586eecd68afa4d1e7ff4f70c3 100644
--- a/src/tests/test-sensormanager.cpp
+++ b/src/tests/test-sensormanager.cpp
@@ -44,8 +44,8 @@ struct MySensorData : public PressureData, public TemperatureData
MySensorData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
MySensorData(float p, float t)
- : PressureData{TimestampTimer::getInstance().getTimestamp(), p},
- TemperatureData{TimestampTimer::getInstance().getTimestamp(), t}
+ : PressureData{TimestampTimer::getTimestamp(), p},
+ TemperatureData{TimestampTimer::getTimestamp(), t}
{
}
};
@@ -97,20 +97,16 @@ struct MySensorDataFIFO : public AccelerometerData, public GyroscopeData
{
MySensorDataFIFO()
- : AccelerometerData{TimestampTimer::getInstance().getTimestamp(), 0.0,
- 0.0, 0.0},
- GyroscopeData{TimestampTimer::getInstance().getTimestamp(), 0.0, 0.0,
- 0.0}
+ : AccelerometerData{TimestampTimer::getTimestamp(), 0.0, 0.0, 0.0},
+ GyroscopeData{TimestampTimer::getTimestamp(), 0.0, 0.0, 0.0}
{
}
MySensorDataFIFO(AccelerometerData acc, GyroscopeData gyro)
- : AccelerometerData{TimestampTimer::getInstance().getTimestamp(),
- acc.accelerationX, acc.accelerationY,
- acc.accelerationZ},
- GyroscopeData{TimestampTimer::getInstance().getTimestamp(),
- gyro.angularVelocityX, gyro.angularVelocityY,
- gyro.angularVelocityZ}
+ : AccelerometerData{TimestampTimer::getTimestamp(), acc.accelerationX,
+ acc.accelerationY, acc.accelerationZ},
+ GyroscopeData{TimestampTimer::getTimestamp(), gyro.angularVelocityX,
+ gyro.angularVelocityY, gyro.angularVelocityZ}
{
}
};
@@ -127,10 +123,9 @@ public:
{
for (uint32_t i = 0; i < fifoSize; i++)
{
- AccelerometerData acc{TimestampTimer::getInstance().getTimestamp(),
- 0.5, 0.5, 0.5};
- GyroscopeData gyro{TimestampTimer::getInstance().getTimestamp(),
- 0.5, 0.5, 0.5};
+ AccelerometerData acc{TimestampTimer::getTimestamp(), 0.5, 0.5,
+ 0.5};
+ GyroscopeData gyro{TimestampTimer::getTimestamp(), 0.5, 0.5, 0.5};
lastFifo[i] = MySensorDataFIFO{acc, gyro};
diff --git a/src/tests/utils/test-syncpacketqueue.cpp b/src/tests/utils/test-syncpacketqueue.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..13bb3a1f33e63b90f4d4acc6cb97b20196bc425c
--- /dev/null
+++ b/src/tests/utils/test-syncpacketqueue.cpp
@@ -0,0 +1,71 @@
+/* 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 <miosix.h>
+#include <scheduler/TaskScheduler.h>
+#include <utils/collections/SyncPacketQueue.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+SyncPacketQueue<20, 10> queue;
+
+void payloadGenerator();
+
+int main()
+{
+ TaskScheduler scheduler;
+ scheduler.addTask(payloadGenerator, 1000);
+ scheduler.start();
+
+ while (true)
+ {
+ queue.waitUntilNotEmpty();
+ auto packet = queue.get();
+
+ if (packet.isReady())
+ {
+ queue.pop();
+
+ uint8_t packetContent[20];
+ size_t size = packet.dump(packetContent);
+
+ printf("[%.2f] ", TimestampTimer::getTimestamp() / 1e6);
+
+ for (size_t i = 0; i < size; i++)
+ printf("%c", packetContent[i]);
+
+ printf(" size: %zu\n", size);
+ }
+ else
+ {
+ Thread::sleep(50);
+ }
+ }
+}
+
+void payloadGenerator()
+{
+ uint8_t msg[] = "012345678";
+ queue.put(msg, 9);
+ printf("Filled queue with 9 bytes: %s\n", msg);
+}