From d40af98b59bcd3ee3b1733735dbcae339af51222 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 2 Apr 2025 09:37:10 +0200
Subject: [PATCH] [BSP][ENGINE] Added new sensors.
---
.../interfaces-impl/bsp.cpp | 13 +++---
.../interfaces-impl/hwmapping.h | 44 ++++++++++++++++---
2 files changed, 46 insertions(+), 11 deletions(-)
diff --git a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
index d189aa253..74de72857 100644
--- a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
+++ b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Alberto Nidasio, Davide Mor
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Davide Mor, Fabrizio Monti
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -314,9 +314,12 @@ void IRQbspInit()
sensors::LIS2MDL::cs::high();
sensors::H3LIS331DL::cs::mode(Mode::OUTPUT);
sensors::H3LIS331DL::cs::high();
- sensors::LSM6DSRX::cs::mode(Mode::OUTPUT);
- sensors::LSM6DSRX::cs::high();
- // TODO: are there other sensors?
+ sensors::LSM6DSRX0::cs::mode(Mode::OUTPUT);
+ sensors::LSM6DSRX0::cs::high();
+ sensors::LSM6DSRX1::cs::mode(Mode::OUTPUT);
+ sensors::LSM6DSRX1::cs::high();
+ sensors::thermocouple::cs::mode(Mode::OUTPUT);
+ sensors::thermocouple::cs::high();
gpios::boardLed::mode(Mode::OUTPUT);
gpios::boardLed::low();
diff --git a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
index 0a4b7bb93..086228108 100644
--- a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
@@ -30,11 +30,6 @@
#define MIOSIX_SENSOR_LIS2MDL_SPI SPI3
#define MIOSIX_SENSOR_ADS131M08_SPI SPI4
-#define MIOSIX_SERVOS_1_TIM TIM3
-#define MIOSIX_SERVOS_1_CHANNEL CHANNEL_1
-#define MIOSIX_SERVOS_2_TIM TIM1
-#define MIOSIX_SERVOS_2_CHANNEL CHANNEL_1
-
namespace miosix
{
@@ -127,11 +122,21 @@ namespace H3LIS331DL
using cs = Gpio<GPIOB_BASE, 7>;
}
-namespace LSM6DSRX
+namespace LSM6DSRX0
{
using cs = Gpio<GPIOG_BASE, 12>;
}
+namespace LSM6DSRX1
+{
+using cs = Gpio<GPIOG_BASE, 11>;
+}
+
+namespace thermocouple
+{
+using cs = Gpio<GPIOD_BASE, 11>;
+}
+
} // namespace sensors
namespace adcs
@@ -140,6 +145,33 @@ using vbat = miosix::interfaces::adcs::adc12in14;
using servoCur = miosix::interfaces::adcs::adc12in9;
} // namespace adcs
+namespace servos
+{
+#define MIOSIX_SERVOS_0_TIM TIM3
+#define MIOSIX_SERVOS_0_CHANNEL CHANNEL_1
+using servo0 = miosix::interfaces::timers::tim3ch1;
+
+#define MIOSIX_SERVOS_1_TIM TIM1
+#define MIOSIX_SERVOS_1_CHANNEL CHANNEL_1
+using servo1 = miosix::interfaces::timers::tim1ch1;
+
+#define MIOSIX_SERVOS_2_TIM TIM8
+#define MIOSIX_SERVOS_2_CHANNEL CHANNEL_2
+using servo2 = miosix::interfaces::timers::tim8ch2;
+
+#define MIOSIX_SERVOS_3_TIM TIM9
+#define MIOSIX_SERVOS_3_CHANNEL CHANNEL_1
+using servo3 = miosix::interfaces::timers::tim9ch1;
+
+#define MIOSIX_SERVOS_4_TIM TIM11
+#define MIOSIX_SERVOS_4_CHANNEL CHANNEL_1
+using servo4 = miosix::interfaces::timers::tim11ch1;
+
+#define MIOSIX_SERVOS_5_TIM TIM4
+#define MIOSIX_SERVOS_5_CHANNEL CHANNEL_1
+using servo5 = miosix::interfaces::timers::tim4ch1;
+} // namespace servos
+
namespace gpios
{
using boardLed = Gpio<GPIOC_BASE, 5>;
--
GitLab