- Now only one library is created for the used board
- Supported compute_unit, compute_unit_v2 and lyra_biscotto boards
- Supported test-serial target

- 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

[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

Emilio Corigliano authored 8 months ago and Nicolò Caruso committed 7 months ago

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

Federico Lolli authored 8 months ago and Nicolò Caruso committed 7 months ago

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

[HIL] Moved HIL framework from OBSW to boardcore, enhanced with HILSensor and hillificator, turned all sensor drivers HIL compliant

- HIL is now the single point of contact of the whole framework (HILTransceiver and HILPhasesManager); Its run method implements the periodic set of the actuators status to be sent back to the simulator.
- HILPhasesManager is in charge of changing HIL flags, registering callbacks for specific flags, registering outcomes for important flight phases.
- HILTransceiver is in charge of handling the HIL communication through the serial port
- Implemented a move constructor for Sensor;
- To Mock a sensor and use in the HIL framework it's not needed a specific HILSensors for each data type but it is mocked by means of the move constructor thanks to the hillificator helper function. An HILSensor behaves just like the real sensor (real sensor sampling can be enabled to use also the driver's code) but exposing the samples coming from the simulator.
- A test has been implemented to give a usage example of the framework;
- All sensors have been checked so that they aren't final and they have sampleImpl protected;

Alberto Nidasio authored 1 year ago and Niccolò Betto committed 1 year ago

This commit upgrades Miosix to version 2.7, and moves BSPs definitions
outside of the Miosix tree and into the Boardcore repository. Link
groups have also been fixed. Miosix Host and MxGui dependencies have
also been updated in order to support BSPs outside the kernel tree.

[ABKInterpTest] Added working test-catch

Davide Mor authored 1 year ago and Matteo Pignataro committed 1 year ago

 - Inproved FSK driver to be like LoRa driver;
 - Added FIFO to support 256 bytes as MTU;
 - Improved driver interface;
 - Removed DIO number in interrupt handling functions;
 - Improved test entrypoints

- Checked and fixed the baudrate calculation and used `getAPBPeripheralsClock`;
- Removed init method: Some checks are present only as asserts, but the most part of the initialization is performed in the constructor. This usually won't be an issue till we don't try to create a non supported USART (an assert is used to check for this). Removing the init method we delete the issue on forgetting to initialize the bus;
- Changed interface for read: USART and STM32SerialWrapper have `readBlocking` (waits for at least one byte to be received) while only USART has the non-blocking `read` method that returns true if the driver received something and false otherwise; Also, both methods are overloaded to support or not the return of the number of bytes read;
- Removed pins from the `USART.h` file;
- Avoided internally initializing pins in the STM32SerialWrapper driver. We will always have to initialize them externally;
- Enhanced the ifdefs present in the driver to address peripherals and not targets;
- Now baudrate is passed as an integer, so the driver is not limited to the standard baudrates. Anyway the list of default baudrate values is present in the documentation;
- Removed all the other wrappers of the miosix serial driver so that all the codebase uses the USART driver;
- Enhanced documentation;
- Small code refactoring
- Enhanced ISR code

EmilioCorigliano authored 2 years ago and Alberto Nidasio committed 2 years ago

- Created a different file for the f7 driver implementation
- Added the support for FAST_PLUS speed mode for 1Mbps communication
- For now timing register values hardcoded for each speed mode (considering I2CCLK = 48MHz); to be changed
- Now test for f7 test also the FAST_PLUS speed mode