Chovy 2.0

platformio.ini

@@ -1,9 +1,10 @@
 [platformio]
 boards_dir = boards
-default_envs = quail
+default_envs = chovy
 
 [env]
 lib_archive = no
+
 lib_compat_mode = off
 lib_ldf_mode = chain+
 platform = atmelsam

src/chovy/AltimeterTask.cpp

@@ -36,15 +36,14 @@ void AltimeterTask::activity()
             tasks_json[tasks[i].pcTaskName] = percent;
         }
 
-        TwoBattery::two_cell_voltage_t srad = sys.srad_batt.readVoltage();
+        HackBattery::one_cell_voltage_t srad = sys.srad_batt.readVoltage();
         HackBattery::one_cell_voltage_t cots = sys.cots_batt.readVoltage();
 
         battData_srad.post(srad);
         battData_cots.post(cots);
 
         JsonObject bat_json = status_json.createNestedObject("bat");
-        bat_json["sradA"] = srad.cellA;
-        bat_json["sradB"] = srad.cellB;
+        bat_json["sradA"] = srad.cell;
         bat_json["cots"] = cots.cell;
 
         status_json["log"] = sys.tasks.logger.isLoggingEnabled();
@@ -65,8 +64,9 @@ void AltimeterTask::activity()
         pyro_json.add(pyroC);
         pyro_json.add(pyroD);
 
-        sys.tasks.logger.logJSON(status_json, "status");
-
+        // if (!sys.shitl) {
+            sys.tasks.logger.logJSON(status_json, "status");
+        // }
         digitalWrite(ALT_LED, false);
     }
 }

src/chovy/AltimeterTask.hpp

@@ -5,7 +5,6 @@
 #include <semphr.h>
 #include <hal_rtos.h>
 #include "Poster.hpp"
-#include "./periph/TwoBattery/TwoBattery.hpp"
 #include "./periph/HackBattery/HackBattery.hpp"
 #include "Task.hpp"
 
@@ -18,7 +17,7 @@ class AltimeterTask : Task<2000>
 
 public:
     AltimeterTask(uint8_t priority);
-    Poster<TwoBattery::two_cell_voltage_t> battData_srad;
+    Poster<HackBattery::one_cell_voltage_t> battData_srad;
     Poster<HackBattery::one_cell_voltage_t> battData_cots;
 
 };

src/chovy/Packet.hpp

@@ -6,8 +6,7 @@ typedef struct __attribute__((__packed__)) rf_down_t
 
     unsigned time : 18;
 
-    unsigned batt_srad_A : 8;
-    unsigned batt_srad_B : 8;
+    unsigned batt_srad : 8;
     unsigned batt_cots : 8;
 
     unsigned state : 3; 

src/chovy/System.cpp

@@ -37,7 +37,6 @@ int main(void)
 	pinMode(28,OUTPUT);
 	pinMode(29,INPUT);
 
-
 	//start all RTOS tasks (this never returns)
 	vTaskStartScheduler();
 }

src/chovy/System.hpp

@@ -24,7 +24,6 @@ class System;
 #include "TelemetryTask.hpp"
 #include "RadioTask.hpp"
 #include "ArmingTask.hpp"
-#include "../periph/TwoBattery/TwoBattery.hpp"
 #include "../periph/HackBattery/HackBattery.hpp"
 
 #include "ssi_adc.h"
@@ -39,8 +38,8 @@ class System
     Pyro &pyro = pyrosquib;
 
     ADC adc0 = ADC(ADC0);
-    TwoBattery srad_batt = TwoBattery(adc0,13,14);
-    HackBattery cots_batt = HackBattery(adc0,15);
+    HackBattery srad_batt = HackBattery(adc0, 13);
+    HackBattery cots_batt = HackBattery(adc0, 14);
 
     Tone buzzer = Tone(5);
 

src/chovy/TelemetryTask.cpp

@@ -30,7 +30,7 @@ void TelemetryTask::activity()
         if (sys.tasks.radio.isIdle())
         {
             gps_data_t data = sys.tasks.gps.locationData;
-            TwoBattery::two_cell_voltage_t srad = sys.tasks.alt.battData_srad;
+            HackBattery::one_cell_voltage_t srad = sys.tasks.alt.battData_srad;
             HackBattery::one_cell_voltage_t cots = sys.tasks.alt.battData_cots;
 
             rf_down_t down_packet;
@@ -40,8 +40,7 @@ void TelemetryTask::activity()
             down_packet.filter_alt = compressFloat(sys.tasks.filter.filter.p_alt, -2000.0, 40000.0, 15);
             down_packet.filter_vel = compressFloat(sys.tasks.filter.filter.p_vel, -1000.0, 1000.0, 11);
 
-            down_packet.batt_srad_A = compressFloat(srad.cellA, 1.0, 6.0, 8);
-            down_packet.batt_srad_B = compressFloat(srad.cellB, 1.0, 6.0, 8);
+            down_packet.batt_srad = compressFloat(srad.cell, 1.0, 6.0, 8);
             down_packet.batt_cots = compressFloat(cots.cell, 1.0, 6.0, 8);
 
             down_packet.lat = compressFloat(data.lat, 0.0, 10.0, 18);

src/fc/AltFilter.cpp

@@ -84,7 +84,7 @@ void AltFilter::prefilter(SensorData& data){
   }
 
   Z(0) = p2alt(pres);  //LOL gotta convert to meters oops
-  Z(1) = (data.adxl1_data.y) - 9.807; //Antenna connector facing up, ematch connector down
+  Z(1) = (data.adxl2_data.x * -1.0) - 9.807; //Antenna connector facing up, ematch connector down
   //Z(1) = (data.adxl1_data.y * -1.0) - 9.807; //Antenna connector facing down, ematch connector up
 
   //NEGATIVE! If the accelerometers read -9.8 (raw from the sensor) when the rocket is vertical,
@@ -105,5 +105,7 @@ void AltFilter::logState(){
   JsonArray z_json = json.createNestedArray("z");
   z_json.add(Z(0));
   z_json.add(Z(1));
+  // if (!sys.shitl) {
   sys.tasks.logger.logJSON(json, "filter_state");
+  // }
 }

src/fc/AltFilterTask.cpp

@@ -33,6 +33,16 @@ void AltFilterTask::activity()
         digitalWrite(4, true);
         filter.update(data);
         plan.update(filter);
+        if (sys.shitl) {
+            // Serial.println("in shitl");
+            StaticJsonDocument<500> json;
+            json["tick"] = 0; 
+            JsonArray x_json = json.createNestedArray("alt");
+            x_json.add(filter.getAltitude());
+            JsonArray z_json = json.createNestedArray("vel");
+            z_json.add(filter.getVelocity());       
+            sys.tasks.logger.logJSON(json, "altitude");
+        }
         digitalWrite(4, false);
     }
 }

src/fc/LoggerTask.cpp

@@ -154,6 +154,7 @@ void LoggerTask::activity()
 
     char *p = lineBuffer;
     TickType_t timeout = 0;
+    uint32_t shitltimer = xTaskGetTickCount();
     while (true)
     {
         //Step 1: read in all the logs
@@ -184,6 +185,7 @@ void LoggerTask::activity()
         }
         else
         { //if timeout is NEVER, we don't ever reach this (no SHITL)
+            vTaskDelayUntil(&shitltimer, 10);
             readSHITL();
         }
     }

src/guppy/AltimeterTask.cpp

@@ -58,9 +58,9 @@ void AltimeterTask::activity()
 
         pyro_json.add(pyroA);
         pyro_json.add(pyroB);
-
+        // if (!sys.shitl){
         sys.tasks.logger.logJSON(status_json, "status");
-
+        
         digitalWrite(ALT_LED, false);
     }
 }

src/guppy/GPSTask.cpp

@@ -38,14 +38,18 @@ void GPSTask::activity()
             gps_json["alt"] = parser.altitude.meters();
             gps_json["sat"] = parser.satellites.value();
             gps_json["failed"] = parser.failedChecksum();
+            // if (!sys.shitl){
             sys.tasks.logger.logJSON(gps_json, "gps");
+            // }
             updateTimer = xTaskGetTickCount();
         }
         else if ((xTaskGetTickCount() - updateTimer) > 1000)
         {
             StaticJsonDocument<1024> gps_json;
             gps_json["updated"] = false;
+            // if (!sys.shitl){
             sys.tasks.logger.logJSON(gps_json, "gps");
+            // }
             updateTimer = xTaskGetTickCount();
         }
     }

src/guppy/RadioTask.cpp

@@ -108,8 +108,9 @@ void RadioTask::activity()
             logStats();
             time = xTaskGetTickCount();
         }
-
+        // Serial.println("before first waitbit");
         uint32_t flags = xEventGroupWaitBits(evgroup, 0b11, true, false, NEVER);
+        // Serial.println("after first waitbit");
         uint16_t irq = lora.getIrqStatus();
         lora.clearIrqStatus();
 
@@ -118,9 +119,9 @@ void RadioTask::activity()
         {
             log(info, "Preamble");
             uint32_t time = lora.symbolToMs(32); //time of a packet header
-
+            // Serial.println("before second waitbit");
             flags = xEventGroupWaitBits(evgroup, 0b01, true, false, time); //wait for another radio interupt for 500ms
-
+            // Serial.println("after second waitbit");
             if (!(flags & 0b01))
             {
                 log(warning, "Missed Header");
@@ -136,8 +137,9 @@ void RadioTask::activity()
             {
                 log(info, "wait RxDone");
                 uint32_t time = lora.getTimeOnAir(255) / 1000;                 //TODO: read this out of the header to make timeout tighter
+                // Serial.println("before third wait bit");
                 flags = xEventGroupWaitBits(evgroup, 0b01, true, false, time); //wait for radio interupt for 500ms
-
+                // Serial.println("after third wait bit");
                 if (!(flags & 0b01))
                 {
                     log(warning, "Missed RxDone");
@@ -194,7 +196,9 @@ void RadioTask::activity()
                 lora.standby();
                 lora.setCad();
                 uint32_t time = lora.symbolToMs(12) + 50;
+                // Serial.println("before fourth waitbit");
                 xEventGroupWaitBits(evgroup, 0b01, true, false, time);
+                // Serial.println("after fourth waitbit");
                 irq = lora.getIrqStatus();
                 lora.clearIrqStatus();
             } while (!(irq & SX126X_IRQ_CAD_DONE) || irq & SX126X_IRQ_CAD_DETECTED);
@@ -207,10 +211,11 @@ void RadioTask::activity()
 
                 uint32_t time = lora.getTimeOnAir(packet.len) / 1000; //get TOA in ms
                 time = (time * 1.1) + 100;                            //add margin
-
                 logPacket("TX", packet);
                 lora.startTransmit(packet.data, packet.len);
+                // Serial.println("before fifth waitbit");
                 flags = xEventGroupWaitBits(evgroup, 0b01, true, false, time);
+                // Serial.println("after fifth waitbit");
                 irq = lora.getIrqStatus();
                 lora.clearIrqStatus();
 
@@ -227,7 +232,9 @@ void RadioTask::activity()
 
                 lora.startReceive();
                 time = lora.symbolToMs(32);                             //this can be tuned
+                // Serial.println("before sixth waitbit");
                 xEventGroupWaitBits(evgroup, 0b01, false, false, time); //wait for other radio to get a chance to speak
+                // Serial.println("after sixth waitbit");
             }
             else
             {