From 4f17dc7deb1234819827aee6a8727aa47c14c6e3 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Wed, 13 Mar 2024 18:21:50 +0100
Subject: [PATCH] Completed sender entrypoint
---
justfile | 12 +-
on-device/CMakeLists.txt | 57 +---
on-device/cmake/dependencies.cmake | 2 +-
on-device/src/config/Mavlink.h | 29 ++
on-device/src/config/RadioConfig.h | 29 +-
.../src/entrypoints/arpist-device-sender.cpp | 301 ------------------
.../entrypoints/arpist_device_receiver.cpp | 86 +++++
.../arpist_device_sender.cpp} | 66 ++--
.../src/entrypoints/test_mavlink_parse.cpp | 11 +-
on-device/src/shared/Radio.cpp | 81 -----
on-device/src/shared/mavlink/Utils.h | 73 +++++
on-device/src/shared/radio/Radio.cpp | 120 +++++++
on-device/src/shared/radio/Radio.h | 92 ++++++
13 files changed, 476 insertions(+), 483 deletions(-)
create mode 100644 on-device/src/config/Mavlink.h
delete mode 100644 on-device/src/entrypoints/arpist-device-sender.cpp
create mode 100644 on-device/src/entrypoints/arpist_device_receiver.cpp
rename on-device/src/{shared/Radio.h => entrypoints/arpist_device_sender.cpp} (58%)
delete mode 100644 on-device/src/shared/Radio.cpp
create mode 100644 on-device/src/shared/mavlink/Utils.h
create mode 100644 on-device/src/shared/radio/Radio.cpp
create mode 100644 on-device/src/shared/radio/Radio.h
diff --git a/justfile b/justfile
index ce73400..07fe540 100644
--- a/justfile
+++ b/justfile
@@ -1,7 +1,8 @@
export RUST_LOG := "debug"
-alias db := device-build
alias hb := host-build
+alias dbs := device-build-sender
+alias dbr := device-build-receiver
default:
./arpist gemini.csv
@@ -12,7 +13,12 @@ host-build:
cargo build --release
cp target/release/arpist ..
-device-build:
+device-build-sender:
#!/bin/bash
cd on-device
- ./sbs -df test-mavlink-parse
+ ./sbs -df arpist-device-sender
+
+device-build-receiver:
+ #!/bin/bash
+ cd on-device
+ ./sbs -df arpist-device-receiver
diff --git a/on-device/CMakeLists.txt b/on-device/CMakeLists.txt
index 390a8d6..e11574b 100644
--- a/on-device/CMakeLists.txt
+++ b/on-device/CMakeLists.txt
@@ -30,60 +30,17 @@ include(libs/boardcore/cmake/sbs.cmake)
project(Arpist)
#-----------------------------------------------------------------------------#
-# Flight entrypoints #
+# Arpist entrypoints #
#-----------------------------------------------------------------------------#
add_executable(test-mavlink-parse src/entrypoints/test_mavlink_parse.cpp ${RADIO})
target_include_directories(test-mavlink-parse PRIVATE ${ARPIST_INCLUDE_DIRS})
sbs_target(test-mavlink-parse stm32f429zi_skyward_groundstation_v2)
-# add_executable(test-hil src/entrypoints/HIL/test-hil.cpp ${HIL})
-# target_include_directories(test-hil PRIVATE ${OBSW_INCLUDE_DIRS})
-# target_compile_definitions(test-hil PRIVATE HILTest)
-# sbs_target(test-hil stm32f767zi_compute_unit)
+add_executable(arpist-device-sender src/entrypoints/arpist_device_sender.cpp ${RADIO})
+target_include_directories(arpist-device-sender PRIVATE ${ARPIST_INCLUDE_DIRS})
+sbs_target(arpist-device-sender stm32f429zi_skyward_groundstation_v2)
-# add_executable(base-groundstation-entry
-# src/entrypoints/Groundstation/base-groundstation-entry.cpp
-# ${GROUNDSTATION_COMMON} ${GROUNDSTATION_BASE}
-# )
-# target_include_directories(base-groundstation-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-# sbs_target(base-groundstation-entry stm32f767zi_gemini_gs)
-
-# add_executable(nokia-groundstation-entry
-# src/entrypoints/Groundstation/nokia-groundstation-entry.cpp
-# ${GROUNDSTATION_COMMON} ${GROUNDSTATION_NOKIA}
-# )
-# target_include_directories(nokia-groundstation-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-# sbs_target(nokia-groundstation-entry stm32f429zi_skyward_groundstation_v2)
-
-# add_executable(automated-antennas-entry
-# src/entrypoints/Groundstation/Automated/automated-antennas-entry.cpp
-# ${ANTENNAS} ${GROUNDSTATION_COMMON} ${GROUNDSTATION_AUTOMATED}
-# )
-# target_include_directories(automated-antennas-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-# sbs_target(automated-antennas-entry stm32f767zi_automated_antennas)
-
-# add_executable(test-automated-radio
-# src/entrypoints/Groundstation/Automated/test-automated-radio.cpp
-# ${ANTENNAS} ${GROUNDSTATION_COMMON} ${GROUNDSTATION_AUTOMATED}
-# )
-# target_include_directories(test-automated-radio PRIVATE ${OBSW_INCLUDE_DIRS})
-# # target_compile_definitions(test-automated-radio PRIVATE NO_SD_LOGGING)
-# sbs_target(test-automated-radio stm32f767zi_automated_antennas)
-
-# add_executable(test-steps src/entrypoints/Groundstation/Automated/test-steps.cpp ${ANTENNAS})
-# target_include_directories(test-steps PRIVATE ${OBSW_INCLUDE_DIRS})
-# # target_compile_definitions(test-steps PRIVATE NO_SD_LOGGING)
-# sbs_target(test-steps stm32f767zi_automated_antennas)
-
-# add_executable(test-actuators src/entrypoints/Groundstation/Automated/test-actuators.cpp
-# ${ANTENNAS} ${GROUNDSTATION_COMMON} ${GROUNDSTATION_AUTOMATED}
-# )
-# target_include_directories(test-actuators PRIVATE ${OBSW_INCLUDE_DIRS})
-# # target_compile_definitions(test-actuators PRIVATE NO_SD_LOGGING)
-# sbs_target(test-actuators stm32f767zi_automated_antennas)
-
-# add_executable(test-smcontroller src/entrypoints/Groundstation/Automated/test-smcontroller.cpp ${GROUNDSTATION_COMMON})
-# target_include_directories(test-smcontroller PRIVATE ${OBSW_INCLUDE_DIRS})
-# # target_compile_definitions(test-smcontroller PRIVATE NO_SD_LOGGING)
-# sbs_target(test-smcontroller stm32f767zi_nucleo)
+add_executable(arpist-device-receiver src/entrypoints/arpist_device_receiver.cpp ${RADIO})
+target_include_directories(arpist-device-receiver PRIVATE ${ARPIST_INCLUDE_DIRS})
+sbs_target(arpist-device-receiver stm32f429zi_skyward_groundstation_v2)
diff --git a/on-device/cmake/dependencies.cmake b/on-device/cmake/dependencies.cmake
index 0c2fafe..9a187f6 100644
--- a/on-device/cmake/dependencies.cmake
+++ b/on-device/cmake/dependencies.cmake
@@ -25,5 +25,5 @@ set(ARPIST_INCLUDE_DIRS
)
set(RADIO
- src/shared/Radio.cpp
+ src/shared/radio/Radio.cpp
)
diff --git a/on-device/src/config/Mavlink.h b/on-device/src/config/Mavlink.h
new file mode 100644
index 0000000..4313049
--- /dev/null
+++ b/on-device/src/config/Mavlink.h
@@ -0,0 +1,29 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// Ignore warnings as these are auto-generated headers made by a third party
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-align"
+#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#include <mavlink_lib/lyra/mavlink.h>
+#pragma GCC diagnostic pop
diff --git a/on-device/src/config/RadioConfig.h b/on-device/src/config/RadioConfig.h
index 0049142..7fba28f 100644
--- a/on-device/src/config/RadioConfig.h
+++ b/on-device/src/config/RadioConfig.h
@@ -24,15 +24,24 @@
#include <radio/SX1278/SX1278Fsk.h>
+namespace Arpist
+{
+
+constexpr size_t MAV_OUT_QUEUE_SIZE = 10;
+constexpr uint16_t MAV_SLEEP_AFTER_SEND = 0;
+constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 10;
+
// Radio configuration
constexpr Boardcore::SX1278Fsk::Config RADIO_CONFIG = {
- .freq_rf = 421000000,
- .freq_dev = 50000,
- .bitrate = 48000,
- .rx_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
- .afc_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
- .ocp = 120,
- .power = 13,
- .shaping = Boardcore::SX1278Fsk::Config::Shaping::GAUSSIAN_BT_1_0,
- .dc_free = Boardcore::SX1278Fsk::Config::DcFree::WHITENING,
- .enable_crc = true};
+ .freq_rf = 434000000,
+ .freq_dev = 50000,
+ .bitrate = 48000,
+ .rx_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
+ .afc_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
+ .ocp = 120,
+ .power = 13,
+ .shaping = Boardcore::SX1278Fsk::Config::Shaping::GAUSSIAN_BT_1_0,
+ .dc_free = Boardcore::SX1278Fsk::Config::DcFree::WHITENING,
+ .enable_crc = false};
+
+} // namespace Arpist
diff --git a/on-device/src/entrypoints/arpist-device-sender.cpp b/on-device/src/entrypoints/arpist-device-sender.cpp
deleted file mode 100644
index fbd0ef5..0000000
--- a/on-device/src/entrypoints/arpist-device-sender.cpp
+++ /dev/null
@@ -1,301 +0,0 @@
-/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Author: Federico Lolli
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <drivers/interrupt/external_interrupts.h>
-#include <filesystem/console/console_device.h>
-#include <mavlink_lib/gemini/mavlink.h>
-// SX1278 includes
-#include <radio/SX1278/SX1278Frontends.h>
-#include <radio/SX1278/SX1278Fsk.h>
-#include <radio/SX1278/SX1278Lora.h>
-#include <config/radio.h>
-
-#include <iostream>
-#include <thread>
-
-using namespace miosix;
-
-#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
-#include "interfaces-impl/hwmapping.h"
-
-using cs = peripherals::ra01::pc13::cs;
-using dio0 = peripherals::ra01::pc13::dio0;
-using dio1 = peripherals::ra01::pc13::dio1;
-using dio3 = peripherals::ra01::pc13::dio3;
-
-using sck = interfaces::spi4::sck;
-using miso = interfaces::spi4::miso;
-using mosi = interfaces::spi4::mosi;
-
-#define SX1278_SPI SPI4
-
-#define SX1278_IRQ_DIO0 EXTI6_IRQHandlerImpl
-#define SX1278_IRQ_DIO1 EXTI4_IRQHandlerImpl
-#define SX1278_IRQ_DIO3 EXTI11_IRQHandlerImpl
-#else
-#error "Target not supported"
-#endif
-
-// === CONSTANTS ===
-static constexpr size_t SX1278_MTU = Boardcore::SX1278Fsk::MTU;
-constexpr size_t PACKET_SIZE = MAVLINK_MSG_ID_PAYLOAD_FLIGHT_TM_LEN;
-
-/** @brief Number of packets to send */
-constexpr size_t MSG_NUM = 580;
-
-/** @brief End of transmission character */
-constexpr uint8_t ACK = 0x06;
-
-// === GLOBALS ===
-Boardcore::SX1278Fsk *sx1278 = nullptr;
-Boardcore::SPIBus sx1278_bus(SX1278_SPI);
-
-volatile int dio0_cnt = 0;
-volatile int dio1_cnt = 0;
-volatile int dio3_cnt = 0;
-
-// === INTERRUPTS ===
-#ifdef SX1278_IRQ_DIO0
-void __attribute__((used)) SX1278_IRQ_DIO0()
-{
- dio0_cnt++;
- if (sx1278)
- sx1278->handleDioIRQ();
-}
-#endif
-
-#ifdef SX1278_IRQ_DIO1
-void __attribute__((used)) SX1278_IRQ_DIO1()
-{
- dio1_cnt++;
- if (sx1278)
- sx1278->handleDioIRQ();
-}
-#endif
-
-#ifdef SX1278_IRQ_DIO3
-void __attribute__((used)) SX1278_IRQ_DIO3()
-{
- dio3_cnt++;
- if (sx1278)
- sx1278->handleDioIRQ();
-}
-#endif
-
-// === DEFINITIONS ===
-void recvLoop();
-void sendLoop();
-mavlink_message_t readPacketFromSerial();
-void initBoard();
-
-// === MAIN ===
-int main()
-{
- initBoard();
-
-#if defined SX1278_IS_SENDER
- sendLoop();
-#elif defined SX1278_IS_RECEIVER
- recvLoop();
-#else
- // this may cause problems with stdin and stdout
- // interfering with each other
-
- // Actually spawn threads
- std::thread send([]()
- { sendLoop(); });
- recvLoop();
-#endif
-
- return 0;
-}
-
-// === IMPLEMENTATIONS ===
-void recvLoop()
-{
- uint8_t msg[SX1278_MTU];
- while (1)
- {
- int len = sx1278->receive(msg, sizeof(msg));
- if (len == PACKET_SIZE)
- {
- mavlink_payload_flight_tm_t tm;
- memcpy(&tm, msg, PACKET_SIZE);
-
- // auto serial = miosix::DefaultConsole::instance().get();
- // serial->writeBlock(msg, len, 0);
- std::cout << "[sx1278] Received packet - time: " << tm.timestamp
- << std::endl;
- // std::cout << "[sx1278] tm.timestamp: " << tm.timestamp <<
- // std::endl; std::cout << "[sx1278] tm.pressure_digi: " <<
- // tm.pressure_digi
- // << std::endl;
- // std::cout << "[sx1278] tm.pressure_static: " <<
- // tm.pressure_static
- // << std::endl;
- // std::cout << "[sx1278] tm.airspeed_pitot: " << tm.airspeed_pitot
- // << std::endl;
- // std::cout << "[sx1278] tm.altitude_agl: " << tm.altitude_agl
- // << std::endl;
- // std::cout << "[sx1278] tm.acc_x: " << tm.acc_x << std::endl;
- // std::cout << "[sx1278] tm.acc_y: " << tm.acc_y << std::endl;
- // std::cout << "[sx1278] tm.acc_z: " << tm.acc_z << std::endl;
- // std::cout << "[sx1278] tm.gyro_x: " << tm.gyro_x << std::endl;
- // std::cout << "[sx1278] tm.gyro_y: " << tm.gyro_y << std::endl;
- // std::cout << "[sx1278] tm.gyro_z: " << tm.gyro_z << std::endl;
- // std::cout << "[sx1278] tm.mag_x: " << tm.mag_x << std::endl;
- // std::cout << "[sx1278] tm.mag_y: " << tm.mag_y << std::endl;
- // std::cout << "[sx1278] tm.mag_z: " << tm.mag_z << std::endl;
- // std::cout << "[sx1278] tm.gps_lat: " << tm.gps_lat << std::endl;
- // std::cout << "[sx1278] tm.gps_lon: " << tm.gps_lon << std::endl;
- // std::cout << "[sx1278] tm.gps_alt: " << tm.gps_alt << std::endl;
- // std::cout << "[sx1278] tm.left_servo_angle: " <<
- // tm.left_servo_angle
- // << std::endl;
- // std::cout << "[sx1278] tm.right_servo_angle: "
- // << tm.right_servo_angle << std::endl;
- // std::cout << "[sx1278] tm.nas_n: " << tm.nas_n << std::endl;
- // std::cout << "[sx1278] tm.nas_e: " << tm.nas_e << std::endl;
- // std::cout << "[sx1278] tm.nas_d: " << tm.nas_d << std::endl;
- // std::cout << "[sx1278] tm.nas_vn: " << tm.nas_vn << std::endl;
- // std::cout << "[sx1278] tm.nas_ve: " << tm.nas_ve << std::endl;
- // std::cout << "[sx1278] tm.nas_vd: " << tm.nas_vd << std::endl;
- // std::cout << "[sx1278] tm.nas_qx: " << tm.nas_qx << std::endl;
- // std::cout << "[sx1278] tm.nas_qy: " << tm.nas_qy << std::endl;
- // std::cout << "[sx1278] tm.nas_qz: " << tm.nas_qz << std::endl;
- // std::cout << "[sx1278] tm.nas_qw: " << tm.nas_qw << std::endl;
- // std::cout << "[sx1278] tm.nas_bias_x: " << tm.nas_bias_x
- // << std::endl;
- // std::cout << "[sx1278] tm.nas_bias_y: " << tm.nas_bias_y
- // << std::endl;
- // std::cout << "[sx1278] tm.nas_bias_z: " << tm.nas_bias_z
- // << std::endl;
- // std::cout << "[sx1278] tm.wes_n: " << tm.wes_n << std::endl;
- // std::cout << "[sx1278] tm.wes_e: " << tm.wes_e << std::endl;
- // std::cout << "[sx1278] tm.vbat: " << tm.vbat << std::endl;
- // std::cout << "[sx1278] tm.vsupply_5v: " << tm.vsupply_5v
- // << std::endl;
- // std::cout << "[sx1278] tm.temperature: " << tm.temperature
- // << std::endl;
- // std::cout << "[sx1278] tm.fmm_state: " << tm.fmm_state <<
- // std::endl; std::cout << "[sx1278] tm.nas_state: " << tm.nas_state
- // << std::endl; std::cout << "[sx1278] tm.wes_state: " <<
- // tm.wes_state << std::endl; std::cout << "[sx1278] tm.gps_fix: "
- // << tm.gps_fix << std::endl; std::cout << "[sx1278]
- // tm.pin_nosecone: " << tm.pin_nosecone
- // << std::endl;
- // std::cout << "[sx1278] tm.logger_error: " << tm.logger_error
- // << std::endl;
- }
- }
-}
-
-void sendLoop()
-{
- uint8_t msg[SX1278_MTU];
- while (1)
- {
- mavlink_message_t tm = readPacketFromSerial();
- // std::cout << "[sx1278] Sending packet" << std::endl;
- sx1278->send(&tm, PACKET_SIZE);
- }
-}
-
-/**
- * @brief Read a packet from the serial port
- * @warning This function will parse raw bytes coming from
- * serial into the struct
- * @return mavlink_payload_flight_tm_t
- */
-mavlink_message_t readPacketFromSerial()
-{
- mavlink_message_t msg;
- bool stop_flag = false;
- ssize_t rcv_size;
- uint8_t serial_buffer[171];
- uint8_t parse_result = 0;
- mavlink_status_t status;
-
- auto serial = DefaultConsole::instance().get();
-
- while (!stop_flag)
- {
- // Check for a new message on the device
- rcv_size = serial->readBlock(serial_buffer, 171, 0);
- // printf("Received %d bytes\n", rcv_size);
-
- // If there's a new message ...
- if (rcv_size > 0)
- {
- for (int i = 0; i < rcv_size; i++)
- {
- parse_result = 0;
- // ... parse received bytes
- parse_result =
- mavlink_parse_char(MAVLINK_COMM_0,
- serial_buffer[i], // byte to parse
- &msg, // where to parse it
- &status); // stats to update
-
- // When a valid message is found ...
- if (parse_result == 1)
- break;
- }
- }
-
- break;
- }
-
- // printf("Received message with ID %d\n", msg.msgid);
-
- serial->writeBlock(&ACK, 1, 0);
-
- // this may be shrunk to the above statement (needs further testing)
- // memcpy(ptr_to_tm, serial_buffer, PACKET_SIZE);
-
- return msg;
-}
-
-void initBoard()
-{
- printf("[sx1278] Configuring RA01 frontend...\n");
- std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::RA01Frontend());
-
- // Run default configuration
- Boardcore::SX1278Fsk::Error err;
-
- sx1278 = new Boardcore::SX1278Fsk(sx1278_bus, cs::getPin(), dio0::getPin(),
- dio1::getPin(), dio3::getPin(),
- Boardcore::SPI::ClockDivider::DIV_256,
- std::move(frontend));
-
- printf("\n[sx1278] Configuring sx1278 fsk...\n");
- if ((err = sx1278->init(RADIO_CONFIG)) != Boardcore::SX1278Fsk::Error::NONE)
- {
- // FIXME: Why does clang-format put this line up here?
- printf("[sx1278] sx1278->init error\n");
- return;
- }
-
- printf("\n[sx1278] Initialization complete!\n");
-}
diff --git a/on-device/src/entrypoints/arpist_device_receiver.cpp b/on-device/src/entrypoints/arpist_device_receiver.cpp
new file mode 100644
index 0000000..569c98c
--- /dev/null
+++ b/on-device/src/entrypoints/arpist_device_receiver.cpp
@@ -0,0 +1,86 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <filesystem/console/console_device.h>
+#include <mavlink_lib/gemini/mavlink.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <shared/mavlink/Utils.h>
+#include <shared/radio/Radio.h>
+
+using namespace miosix;
+using namespace Boardcore;
+using namespace Arpist;
+
+// === CONSTANTS ===
+/** @brief End of transmission character */
+constexpr uint8_t ACK = 0x06;
+
+using MavDriver = MavlinkDriver<20, 10>;
+
+// === DEFINITIONS ===
+void onReceive(MavDriver *channel, mavlink_message_t msg);
+
+// === MAIN ===
+int main()
+{
+ mavlink_message_t msg;
+ mavlink_payload_flight_tm_t payload;
+ MavDriver *mavlink;
+
+ // init radio
+ if (Radio::init())
+ {
+ printf("Radio init success\n");
+ }
+ else
+ {
+ printf("Radio init failed\n");
+ return -1;
+ }
+
+ // init mavlink
+ mavlink = new MavDriver(sx1278, onReceive, 256);
+ if (mavlink->start())
+ {
+ printf("Mavlink init success\n");
+ }
+ else
+ {
+ printf("Mavlink init failed\n");
+ return -1;
+ }
+
+ while (1)
+ {
+ }
+
+ return 0;
+}
+
+void onReceive(MavDriver *channel, mavlink_message_t msg)
+{
+ mavlink_payload_flight_tm_t payload;
+
+ printf("Received message with ID %d\n", msg.msgid);
+ mavlink_msg_payload_flight_tm_decode(&msg, &payload);
+ printf("Received payload with timestamp %lld\n", payload.timestamp);
+}
diff --git a/on-device/src/shared/Radio.h b/on-device/src/entrypoints/arpist_device_sender.cpp
similarity index 58%
rename from on-device/src/shared/Radio.h
rename to on-device/src/entrypoints/arpist_device_sender.cpp
index 9eedcba..4bed47b 100644
--- a/on-device/src/shared/Radio.h
+++ b/on-device/src/entrypoints/arpist_device_sender.cpp
@@ -20,40 +20,42 @@
* THE SOFTWARE.
*/
-#pragma once
-
-#include <radio/SX1278/SX1278Frontends.h>
-#include <radio/SX1278/SX1278Fsk.h>
-#include <radio/SX1278/SX1278Lora.h>
-
-#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
-#include "interfaces-impl/hwmapping.h"
-
-#define SX1278_SPI SPI4
-#define SX1278_IRQ_DIO0 EXTI6_IRQHandlerImpl
-#define SX1278_IRQ_DIO1 EXTI4_IRQHandlerImpl
-#define SX1278_IRQ_DIO3 EXTI11_IRQHandlerImpl
-#else
-#error "Target not supported"
-#endif
-
-namespace Arpist
+#include <filesystem/console/console_device.h>
+#include <mavlink_lib/gemini/mavlink.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <shared/mavlink/Utils.h>
+#include <shared/radio/Radio.h>
+
+using namespace miosix;
+using namespace Boardcore;
+using namespace Arpist;
+
+// === CONSTANTS ===
+/** @brief End of transmission character */
+constexpr uint8_t ACK = 0x06;
+
+// === MAIN ===
+int main()
{
+ mavlink_message_t msg;
- static volatile int dio0_cnt = 0;
- static volatile int dio1_cnt = 0;
- static volatile int dio3_cnt = 0;
-
- static Boardcore::SX1278Fsk *sx1278 = nullptr;
- static Boardcore::SPIBus sx1278_bus(SX1278_SPI);
+ // start radio
+ if (Radio::getInstance().start([](const mavlink_message_t&) {}))
+ {
+ printf("Radio start success\n");
+ }
+ else
+ {
+ printf("Radio start failed\n");
+ return -1;
+ }
- /**
- * @brief Radio class
- */
- class Radio
+ while (true)
{
- public:
- static bool init();
- };
+ msg = readPacketFromSerial();
+ DefaultConsole::instance().get()->writeBlock(&ACK, 1, 0);
+ Radio::getInstance().sendMsg(msg);
+ }
-} // namespace Arpist
+ return 0;
+}
diff --git a/on-device/src/entrypoints/test_mavlink_parse.cpp b/on-device/src/entrypoints/test_mavlink_parse.cpp
index f24bc95..2eae9dd 100644
--- a/on-device/src/entrypoints/test_mavlink_parse.cpp
+++ b/on-device/src/entrypoints/test_mavlink_parse.cpp
@@ -23,9 +23,9 @@
// #include <filesystem/console/console_device.h>
#include <mavlink_lib/gemini/mavlink.h>
// SX1278 includes
-#include <radio/SerialTransceiver/SerialTransceiver.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
-#include <shared/Radio.h>
+#include <radio/SerialTransceiver/SerialTransceiver.h>
+#include <shared/radio/Radio.h>
#include <iostream>
#include <thread>
@@ -62,6 +62,7 @@ int main()
return 0;
}
+
/**
* @brief Read a packet from the serial port
* @warning This function will parse raw bytes coming from
@@ -94,9 +95,9 @@ mavlink_message_t readPacketFromSerial()
// ... parse received bytes
parse_result =
mavlink_parse_char(MAVLINK_COMM_0,
- serial_buffer[i], // byte to parse
- &msg, // where to parse it
- &status); // stats to update
+ serial_buffer[i], // byte to parse
+ &msg, // where to parse it
+ &status); // stats to update
// When a valid message is found ...
if (parse_result == 1)
diff --git a/on-device/src/shared/Radio.cpp b/on-device/src/shared/Radio.cpp
deleted file mode 100644
index f6f86aa..0000000
--- a/on-device/src/shared/Radio.cpp
+++ /dev/null
@@ -1,81 +0,0 @@
-/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Author: Federico Lolli
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <drivers/interrupt/external_interrupts.h>
-#include <radio/SX1278/SX1278Frontends.h>
-#include <radio/SX1278/SX1278Fsk.h>
-#include <radio/SX1278/SX1278Lora.h>
-#include <config/RadioConfig.h>
-
-#include "Radio.h"
-
-// === INTERRUPTS ===
-#ifdef SX1278_IRQ_DIO0
-void __attribute__((used)) SX1278_IRQ_DIO0()
-{
- Arpist::dio0_cnt++;
- if (Arpist::sx1278)
- Arpist::sx1278->handleDioIRQ();
-}
-#endif
-
-#ifdef SX1278_IRQ_DIO1
-void __attribute__((used)) SX1278_IRQ_DIO1()
-{
- Arpist::dio1_cnt++;
- if (Arpist::sx1278)
- Arpist::sx1278->handleDioIRQ();
-}
-#endif
-
-#ifdef SX1278_IRQ_DIO3
-void __attribute__((used)) SX1278_IRQ_DIO3()
-{
- Arpist::dio3_cnt++;
- if (Arpist::sx1278)
- Arpist::sx1278->handleDioIRQ();
-}
-#endif
-
-namespace Arpist
-{
-
- bool Radio::init()
- {
- using cs = miosix::peripherals::ra01::pc13::cs;
- using dio0 = miosix::peripherals::ra01::pc13::dio0;
- using dio1 = miosix::peripherals::ra01::pc13::dio1;
- using dio3 = miosix::peripherals::ra01::pc13::dio3;
- using sck = miosix::interfaces::spi4::sck;
- using miso = miosix::interfaces::spi4::miso;
- using mosi = miosix::interfaces::spi4::mosi;
-
- std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::RA01Frontend());
- sx1278 = new Boardcore::SX1278Fsk(
- sx1278_bus, cs::getPin(), dio0::getPin(), dio1::getPin(),
- dio3::getPin(), Boardcore::SPI::ClockDivider::DIV_256,
- std::move(frontend));
- return sx1278->init(RADIO_CONFIG) == Boardcore::SX1278Fsk::Error::NONE;
- }
-
-} // namespace Arpist
diff --git a/on-device/src/shared/mavlink/Utils.h b/on-device/src/shared/mavlink/Utils.h
new file mode 100644
index 0000000..9db699c
--- /dev/null
+++ b/on-device/src/shared/mavlink/Utils.h
@@ -0,0 +1,73 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <filesystem/console/console_device.h>
+#include <mavlink_lib/gemini/mavlink.h>
+
+/**
+ * @brief Read a packet from the serial port
+ * @warning This function will parse raw bytes coming from
+ * serial into the struct
+ * @return mavlink_payload_flight_tm_t
+ */
+mavlink_message_t readPacketFromSerial()
+{
+ bool stop_flag = false;
+ ssize_t rcv_size;
+ uint8_t serial_buffer[128];
+ uint8_t parse_result = 0;
+ mavlink_message_t msg;
+ mavlink_status_t status;
+
+ auto serial = miosix::DefaultConsole::instance().get();
+
+ while (!stop_flag)
+ {
+ // Check for a new message on the device
+ rcv_size = serial->readBlock(serial_buffer, 128, 0);
+ // LOG_DEBUG("Received %d bytes\n", rcv_size);
+
+ // If there's a new message ...
+ if (rcv_size > 0)
+ {
+ for (int i = 0; i < rcv_size; i++)
+ {
+ parse_result = 0;
+ // ... parse received bytes
+ parse_result =
+ mavlink_parse_char(MAVLINK_COMM_0,
+ serial_buffer[i], // byte to parse
+ &msg, // where to parse it
+ &status); // stats to update
+
+ // When a valid message is found ...
+ if (parse_result == 1)
+ {
+ stop_flag = true;
+ break;
+ }
+ }
+ }
+ }
+
+ return msg;
+}
diff --git a/on-device/src/shared/radio/Radio.cpp b/on-device/src/shared/radio/Radio.cpp
new file mode 100644
index 0000000..5dc2f0a
--- /dev/null
+++ b/on-device/src/shared/radio/Radio.cpp
@@ -0,0 +1,120 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Radio.h"
+
+#include <config/RadioConfig.h>
+#include <radio/SX1278/SX1278Frontends.h>
+
+#include <memory>
+
+// === INTERRUPTS ===
+#ifdef SX1278_IRQ_DIO0
+void __attribute__((used)) SX1278_IRQ_DIO0()
+{
+ Arpist::Radio::getInstance().handleDioIRQ();
+}
+#endif
+
+#ifdef SX1278_IRQ_DIO1
+void __attribute__((used)) SX1278_IRQ_DIO1()
+{
+ Arpist::Radio::getInstance().handleDioIRQ();
+}
+#endif
+
+#ifdef SX1278_IRQ_DIO3
+void __attribute__((used)) SX1278_IRQ_DIO3()
+{
+ Arpist::Radio::getInstance().handleDioIRQ();
+}
+#endif
+
+namespace Arpist
+{
+
+void Radio::handleDioIRQ()
+{
+ if (started)
+ {
+ sx1278->handleDioIRQ();
+ }
+}
+
+bool Radio::sendMsg(const mavlink_message_t &msg)
+{
+ if (!started)
+ {
+ return false;
+ }
+
+ return mav_driver->enqueueMsg(msg);
+}
+
+bool Radio::send(uint8_t *pkt, size_t len) { return sx1278->send(pkt, len); }
+
+ssize_t Radio::receive(uint8_t *pkt, size_t max_len)
+{
+ return sx1278->receive(pkt, max_len);
+}
+
+bool Radio::start(std::function<void(const mavlink_message_t &)> onReceive)
+{
+ // initialize frontend
+ std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend =
+ std::make_unique<Boardcore::Skyward433Frontend>();
+
+ std::unique_ptr<Boardcore::SX1278Fsk> sx1278 =
+ std::make_unique<Boardcore::SX1278Fsk>(
+ sx1278_bus, radio_cs::getPin(), radio_dio0::getPin(),
+ radio_dio1::getPin(), radio_dio3::getPin(),
+ Boardcore::SPI::ClockDivider::DIV_64, std::move(frontend));
+
+ // First check if the device is even connected
+ if (!sx1278->checkVersion())
+ return false;
+
+ // Configure the radio
+ if (sx1278->configure(RADIO_CONFIG) != Boardcore::SX1278Fsk::Error::NONE)
+ return false;
+
+ // Initialize
+ this->sx1278 = std::move(sx1278);
+
+ auto mav_handler =
+ [onReceive](RadioMavDriver *channel, const mavlink_message_t &msg)
+ { onReceive(msg); };
+
+ mav_driver = std::make_unique<RadioMavDriver>(
+ this, mav_handler, Arpist::MAV_SLEEP_AFTER_SEND,
+ Arpist::MAV_OUT_BUFFER_MAX_AGE);
+
+ if (!mav_driver->start())
+ {
+ return false;
+ }
+
+ started = true;
+ return true;
+}
+
+} // namespace Arpist
diff --git a/on-device/src/shared/radio/Radio.h b/on-device/src/shared/radio/Radio.h
new file mode 100644
index 0000000..edd4b37
--- /dev/null
+++ b/on-device/src/shared/radio/Radio.h
@@ -0,0 +1,92 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <Singleton.h>
+#include <config/Mavlink.h>
+#include <config/RadioConfig.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <radio/SX1278/SX1278Fsk.h>
+#include <radio/SX1278/SX1278Lora.h>
+
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
+#include "interfaces-impl/hwmapping.h"
+
+#define SX1278_SPI SPI4
+#define SX1278_IRQ_DIO0 EXTI6_IRQHandlerImpl
+#define SX1278_IRQ_DIO1 EXTI4_IRQHandlerImpl
+#define SX1278_IRQ_DIO3 EXTI11_IRQHandlerImpl
+
+#else
+#error "Target not supported"
+#endif
+
+namespace Arpist
+{
+
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
+// pin mapping
+using radio_cs = miosix::peripherals::ra01::pc13::cs;
+using radio_dio0 = miosix::peripherals::ra01::pc13::dio0;
+using radio_dio1 = miosix::peripherals::ra01::pc13::dio1;
+using radio_dio3 = miosix::peripherals::ra01::pc13::dio3;
+using radio_sck = miosix::interfaces::spi4::sck;
+using radio_miso = miosix::interfaces::spi4::miso;
+using radio_mosi = miosix::interfaces::spi4::mosi;
+#endif
+
+using RadioMavDriver =
+ Boardcore::MavlinkDriver<Boardcore::SX1278Fsk::MTU,
+ Arpist::MAV_OUT_QUEUE_SIZE,
+ MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
+
+// static volatile int dio0_cnt = 0;
+// static volatile int dio1_cnt = 0;
+// static volatile int dio3_cnt = 0;
+
+/**
+ * @brief Radio class
+ */
+class Radio : public Boardcore::Singleton<Radio>, public Boardcore::Transceiver
+{
+ friend class Boardcore::Singleton<Radio>;
+
+public:
+ void handleDioIRQ();
+
+ bool start(std::function<void(const mavlink_message_t&)> onReceive);
+
+ bool sendMsg(const mavlink_message_t& msg);
+
+private:
+ ssize_t receive(uint8_t* pkt, size_t max_len) override;
+
+ bool send(uint8_t* pkt, size_t len) override;
+
+ bool started = false;
+ Boardcore::SPIBus sx1278_bus{SX1278_SPI};
+ std::unique_ptr<Boardcore::SX1278Fsk> sx1278;
+ std::unique_ptr<RadioMavDriver> mav_driver;
+};
+
+} // namespace Arpist
--
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