From 6c1deebacb33e79058c6633149a78ceb4add46a0 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Tue, 12 Mar 2024 19:28:03 +0100
Subject: [PATCH] Added test_mavlink_parse
working
---
.gitignore | 1 +
justfile | 5 +-
on-device/CMakeLists.txt | 89 ++++++++++++++
on-device/cmake/dependencies.cmake | 29 +++++
on-device/sbs | 3 +
on-device/sbs.bat | 1 +
on-device/src/config/RadioConfig.h | 38 ++++++
.../src/entrypoints/test_mavlink_parse.cpp | 114 ++++++++++++++++++
on-device/src/shared/Radio.cpp | 81 +++++++++++++
on-device/src/shared/Radio.h | 59 +++++++++
10 files changed, 417 insertions(+), 3 deletions(-)
create mode 100644 on-device/CMakeLists.txt
create mode 100644 on-device/cmake/dependencies.cmake
create mode 100755 on-device/sbs
create mode 100644 on-device/sbs.bat
create mode 100644 on-device/src/config/RadioConfig.h
create mode 100644 on-device/src/entrypoints/test_mavlink_parse.cpp
create mode 100644 on-device/src/shared/Radio.cpp
create mode 100644 on-device/src/shared/Radio.h
diff --git a/.gitignore b/.gitignore
index 339ab45..29c9769 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
target/
*.csv
arpist
+build
diff --git a/justfile b/justfile
index 7522b84..ce73400 100644
--- a/justfile
+++ b/justfile
@@ -14,6 +14,5 @@ host-build:
device-build:
#!/bin/bash
- cd ../../skyward-boardcore
- # ./sbs -df mavlink-arpist
- ./sbs -df sx1278fsk-s-mav-raw
+ cd on-device
+ ./sbs -df test-mavlink-parse
diff --git a/on-device/CMakeLists.txt b/on-device/CMakeLists.txt
new file mode 100644
index 0000000..390a8d6
--- /dev/null
+++ b/on-device/CMakeLists.txt
@@ -0,0 +1,89 @@
+# Copyright (c) 2021 Skyward Experimental Rocketry
+# Author: Damiano Amatruda
+#
+# 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.
+
+cmake_minimum_required(VERSION 3.16)
+enable_testing()
+include(libs/boardcore/cmake/sbs.cmake)
+
+# -----------------------------------------------------------------------------#
+# Project #
+# -----------------------------------------------------------------------------#
+
+project(Arpist)
+
+#-----------------------------------------------------------------------------#
+# Flight 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(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 ${OBSW_INCLUDE_DIRS})
+# # target_compile_definitions(test-smcontroller PRIVATE NO_SD_LOGGING)
+# sbs_target(test-smcontroller stm32f767zi_nucleo)
diff --git a/on-device/cmake/dependencies.cmake b/on-device/cmake/dependencies.cmake
new file mode 100644
index 0000000..0c2fafe
--- /dev/null
+++ b/on-device/cmake/dependencies.cmake
@@ -0,0 +1,29 @@
+# Copyright (c) 2021 Skyward Experimental Rocketry
+# Author: Damiano Amatruda
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+set(ARPIST_INCLUDE_DIRS
+ src
+ src/shared
+)
+
+set(RADIO
+ src/shared/Radio.cpp
+)
diff --git a/on-device/sbs b/on-device/sbs
new file mode 100755
index 0000000..4f55d79
--- /dev/null
+++ b/on-device/sbs
@@ -0,0 +1,3 @@
+#!/bin/sh
+
+"$(dirname "$0")/libs/boardcore/sbs" "$@"
diff --git a/on-device/sbs.bat b/on-device/sbs.bat
new file mode 100644
index 0000000..2669d64
--- /dev/null
+++ b/on-device/sbs.bat
@@ -0,0 +1 @@
+libs/boardcore/sbs -n %*
diff --git a/on-device/src/config/RadioConfig.h b/on-device/src/config/RadioConfig.h
new file mode 100644
index 0000000..0049142
--- /dev/null
+++ b/on-device/src/config/RadioConfig.h
@@ -0,0 +1,38 @@
+/* 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 <radio/SX1278/SX1278Fsk.h>
+
+// 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};
diff --git a/on-device/src/entrypoints/test_mavlink_parse.cpp b/on-device/src/entrypoints/test_mavlink_parse.cpp
new file mode 100644
index 0000000..f24bc95
--- /dev/null
+++ b/on-device/src/entrypoints/test_mavlink_parse.cpp
@@ -0,0 +1,114 @@
+/* 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>
+// SX1278 includes
+#include <radio/SerialTransceiver/SerialTransceiver.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <shared/Radio.h>
+
+#include <iostream>
+#include <thread>
+
+using namespace miosix;
+using namespace Boardcore;
+using namespace Arpist;
+
+// SerialTransceiver transceiver(usart);
+// MavlinkDriver<20, 10> mavlink(&transceiver);
+
+// === CONSTANTS ===
+/** @brief End of transmission character */
+constexpr uint8_t ACK = 0x06;
+
+// === DEFINITIONS ===
+mavlink_message_t readPacketFromSerial();
+
+// === MAIN ===
+int main()
+{
+ Radio::init();
+
+ while (true)
+ {
+ mavlink_payload_flight_tm_t payload;
+
+ mavlink_message_t msg = readPacketFromSerial();
+ 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);
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+
+ return 0;
+}
+/**
+ * @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 = DefaultConsole::instance().get();
+
+ while (!stop_flag)
+ {
+ // Check for a new message on the device
+ rcv_size = serial->readBlock(serial_buffer, 128, 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)
+ {
+ stop_flag = true;
+ break;
+ }
+ }
+ }
+ }
+
+ serial->writeBlock(&ACK, 1, 0);
+
+ return msg;
+}
diff --git a/on-device/src/shared/Radio.cpp b/on-device/src/shared/Radio.cpp
new file mode 100644
index 0000000..f6f86aa
--- /dev/null
+++ b/on-device/src/shared/Radio.cpp
@@ -0,0 +1,81 @@
+/* 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/Radio.h b/on-device/src/shared/Radio.h
new file mode 100644
index 0000000..9eedcba
--- /dev/null
+++ b/on-device/src/shared/Radio.h
@@ -0,0 +1,59 @@
+/* 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 <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
+{
+
+ 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);
+
+ /**
+ * @brief Radio class
+ */
+ class Radio
+ {
+ public:
+ static bool init();
+ };
+
+} // namespace Arpist
--
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