Commits on Source (89)
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Niccolò Betto authoredThe previous setting of 6 Mhz was not enough to fix the SD logging issues Lyra boards were experiencing.
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Niccolò Betto authored
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Emilio Corigliano authored -
Emilio Corigliano authored
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Created the algorithm of a basic propagator which linearly propagates the last available rocket position by means of the rocket NAS velocity. A catch test has been implemented to test the algorithm in a static environment, a dynamic one and with different update frequencies. [Propagator] Now the constructor parameter must be passed in ms
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[Follower] Add minimize rotationa as suggested in previous obsw pull req. See [this](obsw!34) for more context [logger] Updated logger [ARP Follower] Yaw gain now 0.1 The yaw gain gain now is no more 1 but fixed to 0.1 [ARP] Added timestamp to AntennaAngles for log Added timestamp to the AntennaAngles logged. Changed accordingly the constructors. [Fix] Follower algorithm limitation issue due to proportional on yaw The 0.1* product to have a proportional on the yaw was creating issues with the angle limiting function. [ARP] Added nrPropagations for log in AntennaAngle now logged by SMA Added nrPropagations to AntennaAngles Moved the log of it from the Follower to SMA [ARP] Follower initRocketCoordinates now is NASOrigin Changed semantic of initialRocketCoordinates to NASOrigin since now it is set always as we have a NASOrigin. [ARP] WIP fix for online initial coordinates support Add support for initial coordinates online setting [ARP] Follower Mutexes for antenna and NAS origin's coordinates Now getter states to protect such variables with mutexes
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Method to convert quaternions to euler angles assuming that the roll stays close to 0. This applies to systems with 2 DoFs (yaw and pitch). [SkyQuaternion] Fixed warning on type comparison
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Nicolò Caruso authoredBSP: Added the bsp with the hwmapping for the new GS and the bsp.cpp updated. Make: Updated the boards.cmake with the new BSP c_cpp_properties: Added the properties for the new GS board WIP: bsp_impl.h is still in WIP [GS] Formatting fix [GS] Fixed pipeline. Fixed pipeline: Wrong boardname was set on board_options, c_cpp_properties. Also an #endif in hwmapping.h from old code now removed. [BSP] Updated BSP: bsp_impl and hwmapping bsp_impl: Added the sd and ram functions hwmapping: Fixed the names in the dip switch namespace, added pins for remote controller (TLC) for ARP [BSP] Updated bsp_impl, missing I/O and radio pin initialization Some pin initialization was missing (Radio, TLC, dipSwitch) [BSP] GS BSP update: Remote command box arm/disarm and leds hwmapping: Added LEDs (Compute unit), command box arm/disarm switch. bsp/bsp_impl: Led functions and initialization [BSP] GS BSP fix ledOn, commandbox leds bsp_impl: Fixed ledOn userLedx typo. hwmapping: Added into the namespace the leds-timers mapping of the commandbox. [BSP] GS bsp fixes Fixes about the namespaces used, switchArm/Disarm in bsp.cpp, ifdef in hwmapping.h, also commandBox now outside interfaces namespace. [BSP] GS bsp changed on top of the Compute unit v2 ones The BSP was based on the old gemini gs instead of the compute unit v2 ones. Now changed to those configurations and hw implementations with the mapping of the lyra gs. [BSP] Automated_antennas BSP txen, rxen alias for the radio Added txen and rxen namespace alias [BSP] Added stepper pins initialization Stepper pins initialization was missing from the BSP [BSP] Minor reorder of the stepper enable in bsp.cpp [BSP] GS: Removed CAN1 Removed CAN1 since no integral chip on the board for CAN [BSP] GS Led naming Changed led naming since color have changed [BSP] GS BSP fixed switchActive was signed as switchDisarm The active switch of the command box was incorrectly signed as switchDisarm, now correctly switchActive [BSP] GS BSP now using leds as pins and not timers Using now leds of the command box as pin and not timers, since using a thread for its control. [BSP] Led bsp update for commandBox [BSP] GS Fix on enable and disable pin of the steppers The enable and disable pins was switched. Now fixed [BSP] USART2 rx to pull up open drain and tx pull up for VN300 Fix: RX to pull up open drain since there are issues without the VN300 with the IDLE register. [BSP] SD one bit data bus and divider Was missing flag for one bit data bus SD and divider for maximum frequency
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Nicolò Caruso authored
[CI] Fixed CI, using namespace miosix was in DipSwitch.h [ARP, LyraGS] Follower logging target angle. Dipswitch now agnostic. Dipswitch now just read a uint8_t, no more has a lyra GS dependent read. Follower now logging the target angle. [DipSwitch] Fix on the test of the dipSwitch Dipswitch now agnostic to the lyraGS struct, just a uint8_t read. Fixed test to read accordingly. [Fix] Dipswitch comment fix
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Nicolò Caruso authored
- Follower - Mutex: Propagator state now using the mutex for the state in the step to avoi ABA issues. Also protecting in setting the NAS for nrPropagations. SetState no more used. std::chrono for constructor - FollowerData - Added AntennaAnglesLog, removing nrPropagations from AntennaAngles And changes to constructors for wrapper structures - Propagator - std::chrono for constructor Tests for propagator updated to use std::chrono - Dipswitch - std::chrono for constructor Comments for pins and read order [Fix] Added #include<cstdint> for logdecoder use in StepperData Logdecoder compilation fails due to missing include for uint64_t type in SteperData. [Fix] Cmakelist test-serial fix [Fix] Follower's minimize rotation to non-class static function [ARP] FollowerData void constructor removed for AntennaAnglesLog [Follower fix] Fixed old log
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Nicolò Caruso authored
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Emilio Corigliano authored
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Emilio Corigliano authored
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Niccolò Betto authored
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Davide Basso authored
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Niccolò Betto authored
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Niccolò Betto authored
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Niccolò Betto authored
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Niccolò Betto authored
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Niccolò Betto authored
Some deprecated options have been updated to the corresponding new ones. Some missing rules were added to fix inconsistencies in the code formatting: * Add new line ad EOF and trim additional ones * Trim empty lines at beginning of blocks * Allow brace-less single line if/else/for/while statements * Align pointer/reference to the type
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Niccolò Betto authored
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Niccolò Betto authored
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Niccolò Betto authored
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Niccolò Betto authored
The `sbs.cmake` script was included too early, which caused `enable_language()` to be called before the call to project(), which is illegal by CMake specification.
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Niccolò Betto authored
Since the C++ standard was never set, some libraries such as libfmt were compiled as C++11, while others like eigen were compiled as C++17.
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Davide Basso authored
Co-Authored-By:BearToCode <davidebasso03@gmail.com>
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Operators added: unary + - and ! >> <<
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Davide Basso authored
The missing template argument was causing a linking error, with multiple definitions generated. Co-Authored-By: -
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Giovanni Annaloro authored
The following sensor's drivers have been updated: * bmx160 * l3gd20 * lsm6dsrx
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Davide Basso authored
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Niccolò Betto authored
Behavior of the read function when the requested size if larger than the internal queue length has been specified.
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This function, given a filename sends the content of the file through the USART interface in 1 KB chunks
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Niccolò Betto authored
* Remove usage of TIM5 (used by Miosix) * Introduce usage of TIM2 (previously used by TimestampTimer, not the case anymore since the update to Miosix 2.7) * Repurpose unused sensor CS pins to additional timers Some servos will now share the same timer (but different channels), meaning the same frequency must be used for such cases.
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Niccolò Betto authored
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Ettore Pane authored
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Niccolò Betto authored
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Niccolò Betto authored
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`recvfrom` incorrectly returned an error when the received data length was greater than the user-provided buffer, even though the read was valid. It now returns the requested amount and leaves the remaining data for future reads.
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Niccolò Betto authored
* TARS 3M fields have been removed from RIG and ConRIG messages for now, TARS 1 has been reintroduced * A message for retrieving valves status info has been added, to know the closing time of a particular valve * GS autodiscovery messages have been added
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Niccolò Betto authored
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Niccolò Betto authored
This is a task that executes a user-defined function at specific time points, or when signaled. This class is designed to be used in situations where a task needs to be executed within specific deadlines, irregularly. The task will wake up at the specified time points and execute the user-defined function. The task can also be signaled to wake up and run immediately, regardless of the time points. Co-authored-by:Pietro Bortolus <pietro.bortolus@skywarder.eu>
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Niccolò Betto authored
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Niccolò Betto authored
All loadcells samples through this class returned an inverted mass measure, but the negative sign was there for no particular reason.
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Niccolò Betto authored
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Niccolò Betto authored
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- Removed usage of old polyfill miosix ms kernel functions - Fixed a bug where functions could prematurely return with timeout, if with a long timeout or timeout disabled - Fixed locking of interrupt_service_thread
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- Fix returned length: The recv length should be returned to clear the whole read buffer since all should be read. co-authored by Davide Mor
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- Buffer input size: Changed to 1500B (MTU for Ethernet). This is due to the fact that the MavlinkDriver by doing so consumes the MTU completely reading from the wiz5500. This fixes the issue for which packets larger than the buffer or multiple packets in queue are dropped. - Buffer is allocated on the heap to avoid stack overflow issues.
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Nicolò Caruso authored
Now PropagatorState is logged, the user-defined reference costructor and eigen vector3f were removed since logger needs trivially copiable structs [ARP] PropagatorData documentation for vector get/set NED and quaternion getter and setter now documented [ARP] Follower race condition fixes, YAW_GAIN and PITCH_GAIN parameters, clockwise positive yaw Added isInit variable to avoid step to run in case of non-initialized Follower. targetAngle now protected with an apposite mutex to avoid race condition between the step and get functions. Added pitch and yaw gain constexpr parameter Fix yaw AntennaAngles old documentation assumption of counter-clockwise positive. [ARP] Minor fix about atomic bools in Follower [ARP] Follower removing mutex and changing some GPS data Removed mutex hell and substituted with just one for the follower. Some GPSData now removed and used instead structures just for the components needed [ARP] Follower Format [ARP] Fixed deadlock in Follower Follower was having deadlocks by using mutex-protected functions to get the state in functions already owning the mutex.
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Nicolò Caruso authored
Added accelerations to the reduced sampling set
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Nicolò Caruso authored
- Follower: the stepper velocity was saturating due to the fact that it was used the time as seconds while treated as in ms. This issue made saturate always the stepper velocities [ARP] Follower now accept gain changes - Follower: Now the gain can be changed externally from the SMA. This is done to change them in case of feedback and no-feedback states. Also, they are limited to a maximum of 1.0
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Matteo Pancotti authored
[ARP] chage of some names in PropagatorState structure [ARP] suggested changes [ARP]PropagatorData could not be logged, propagator algorithm improved [ARP] format [ARP] Last changes before internal merge Now only z-axis acceleration is used to propagate + some comments added. [ARP] Propagator max propagation time - Propagator: Changed a little the structure to have an overall maximum time for the propagation from the last received packet [ARP] Fixed max time propagation and acceleration - Acceleration (Propagator): Now the time to compute the acceleration is correctly converted to seconds (before it was wrongly on micros) - Fix max time (Propagator): The maximum propagation time was not applied due to wrong sign in the statement to check the propagation time [ARP] Fixed type issue with acceleration - Fixed error type for the acceleration: Since all types were uint, the casting was to uint for the acceleration. This caused infinite acceleration to be reached in case of times near to 0 seconds [ARP] Minor fixes for MR - Follwer: Added mutex for the init function, removed unused init variable - Propagator: Using now chrono for the MAX_ACCELERATION_TIME and to constexpr
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Nicolò Caruso authored
- Fix: For the set gain function missing mutex lock. Also moved yaw and pitch angle computation to mutex-protected area
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Niccolò Betto authored
This change allows working on the IP address as a whole 32-bit value.
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Niccolò Betto authored
Pass by reference or use std::move where possible.
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Niccolò Betto authored
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Niccolò Betto authored
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We have decided to use socrate instead of tscpp for logging because it allows for more flexibility. When a new type is logged the system also logs a mapping string that encodes the structure of that type. This string is then used in the deserializer to get the structure of the type and deserialize it correctly.
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Added -Iskyward-boardcore/libs/socrate/include argument to cppcheck to resolve unknownMacro error in obsw
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Also added -Iskyward-boardcore/libs/socrate/include as an argument to cppcheck in order to resolve unknownMacro error in obsw.
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Niccolò Betto authored
* DON'T SEEKG BACKWARDS (LOL)! This was done in an attempt to "cleanly" replace the last comma of a CSV row with a newline, but turns out, it absolutely destroys performance. * Avoid using std::ifstream's get() or peek() in a loop, use getline() and eof() to reduce sentry object creation overhead (as seen from profiling) and use ignore() where we don't care about the content for bonus readibility points. * Use std::format for faster output formatting (especially floating point) * Replace template specialization with constexpr-if because it's cooler and we already have C++20 so why not
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