Update silsim2

MIDAS/platformio.ini

@@ -82,6 +82,8 @@ build_flags =
 build_src_filter = +<*> +<silsim/**/*.cpp> -<hardware/> -<hilsim>
 build_unflags =
     -std=gnu++11
+lib_ignore =
+    TCAL9539
 
 [env:mcu_silsim_booster]
 platform = native
@@ -96,7 +98,7 @@ build_flags =
 build_src_filter = +<*> +<silsim/**/*.cpp> -<hardware/> -<hilsim>
 build_unflags =
     -std=gnu++11
-lib_deps =
-    Eigen
+;lib_deps =
+;    Eigen
 lib_ignore =
     TCAL9539

MIDAS/src/Mutex.h

@@ -1,10 +1,4 @@
-#ifdef SILSIM
-#include "silsim/emulation.h"
-#else
-#include <FreeRTOS.h>
-#include <semphr.h>
-#include <task.h>
-#endif
+#include "hal.h"
 
 #define MUTEX_TIMEOUT pdMS_TO_TICKS(100)
 
@@ -50,10 +44,10 @@ struct Mutex {
      * @return The value in the mutex.
      */
     T read() {
-        if (!mutex_handle || mutex_handle != check) {
-            Serial.println("Aw shucks");
-            Serial.flush();
-        }
+//        if (!mutex_handle || mutex_handle != check) {
+//            Serial.println("Aw shucks");
+//            Serial.flush();
+//        }
         xSemaphoreTake(mutex_handle, portMAX_DELAY);
 //        while (!xSemaphoreTake(mutex_handle, MUTEX_TIMEOUT)) { }
         T ret = data;
@@ -76,10 +70,10 @@ struct Mutex {
      * @param ptr buffer to store data in
     */
     void read2(T* ptr) {
-        if (!mutex_handle || mutex_handle != check) {
-            Serial.println("Aw shucks");
-            Serial.flush();
-        }
+//        if (!mutex_handle || mutex_handle != check) {
+//            Serial.println("Aw shucks");
+//            Serial.flush();
+//        }
         xSemaphoreTake(mutex_handle, portMAX_DELAY);
 //        while (!xSemaphoreTake(mutex_handle, MUTEX_TIMEOUT)) { }
         *ptr = data;
@@ -92,10 +86,10 @@ struct Mutex {
      * @param value What to update the mutex to.
      */
     void write(T value) {
-        if (!mutex_handle || mutex_handle != check) {
-            Serial.println("Aw shucks");
-            Serial.flush();
-        }
+//        if (!mutex_handle || mutex_handle != check) {
+//            Serial.println("Aw shucks");
+//            Serial.flush();
+//        }
 
         while (!xSemaphoreTake(mutex_handle, MUTEX_TIMEOUT)) { }
         data = value;

MIDAS/src/Queue.h

@@ -43,8 +43,8 @@ class Queue {
      */
     void send(T value) {
         if(xQueueSendToBack(queue, &value, 0) == errQUEUE_FULL){
-            Serial.print("FULL QUEUE");
-            Serial.println(pcTaskGetName(nullptr));
+//            Serial.print("FULL QUEUE");
+//            Serial.println(pcTaskGetName(nullptr));
         }
     }
 

MIDAS/src/data_logging.cpp

@@ -14,14 +14,14 @@ constexpr ReadingDiscriminant get_discriminant();
 #define ASSOCIATE(ty, id) template<> constexpr ReadingDiscriminant get_discriminant<ty>() { return ReadingDiscriminant::id; }
 
 ASSOCIATE(LowGData, ID_LOWG)
-ASSOCIATE(LowGLSM, ID_LOWGLSM)
+ASSOCIATE(LowGLSMData, ID_LOWGLSM)
 ASSOCIATE(HighGData, ID_HIGHG)
-ASSOCIATE(Barometer, ID_BAROMETER)
-ASSOCIATE(Continuity, ID_CONTINUITY)
-ASSOCIATE(Voltage, ID_VOLTAGE)
-ASSOCIATE(GPS, ID_GPS)
-ASSOCIATE(Magnetometer, ID_MAGNETOMETER)
-ASSOCIATE(Orientation, ID_ORIENTATION)
+ASSOCIATE(BarometerData, ID_BAROMETER)
+ASSOCIATE(ContinuityData, ID_CONTINUITY)
+ASSOCIATE(VoltageData, ID_VOLTAGE)
+ASSOCIATE(GPSData, ID_GPS)
+ASSOCIATE(MagnetometerData, ID_MAGNETOMETER)
+ASSOCIATE(OrientationData, ID_ORIENTATION)
 ASSOCIATE(FSMState, ID_FSM)
 ASSOCIATE(KalmanData, ID_KALMAN)
 ASSOCIATE(PyroState, ID_PYRO)

MIDAS/src/errors.cpp

@@ -1,5 +1,4 @@
 #include "errors.h"
-#include "TCAL9539.h"
 
 /**
  * If an error during initialization was detected, some combination of the blue, green, orange, and red LEDs will be on,
@@ -118,6 +117,6 @@ void update_error_LED(ErrorCode error) {
 
 void update_error_LED(ErrorCode error) {
 
-};
+}
 
 #endif

MIDAS/src/finite-state-machines/fsm.cpp

@@ -62,13 +62,13 @@ StateEstimate::StateEstimate(RocketData& state) {
     acceleration = sensor_average<HighGData, 8>(state.high_g, [](HighGData& data) {
         return (double) data.ax;
     });
-    altitude = sensor_average<Barometer, 16>(state.barometer, [](Barometer& data) {
+    altitude = sensor_average<BarometerData, 16>(state.barometer, [](BarometerData& data) {
         return (double) data.altitude;
     });
     jerk = sensor_derivative<HighGData, 8>(state.high_g, [](HighGData& data) {
         return (double) data.ax;
     });
-    vertical_speed = sensor_derivative<Barometer, 16>(state.barometer, [](Barometer& data) {
+    vertical_speed = sensor_derivative<BarometerData, 16>(state.barometer, [](BarometerData& data) {
         return (double) data.altitude;
     });
 }