From a7b01b3c26e9660f82caa6c137d8bb679a61574f Mon Sep 17 00:00:00 2001
From: Ettore Pane <ettore.pane@skywarder.eu>
Date: Fri, 14 Mar 2025 13:54:15 +0100
Subject: [PATCH] [CONRIGv2] Initial ConRIGv2 on-board software
---
.vscode/c_cpp_properties.json | 22 +++
CMakeLists.txt | 4 +
cmake/dependencies.cmake | 6 +
src/ConRIG/BoardScheduler.h | 4 +-
src/ConRIGv2/BoardScheduler.h | 70 ++++++++
src/ConRIGv2/Buses.h | 51 ++++++
src/ConRIGv2/Buttons/Buttons.cpp | 245 +++++++++++++++++++++++++++
src/ConRIGv2/Buttons/Buttons.h | 61 +++++++
src/ConRIGv2/Configs/ButtonsConfig.h | 44 +++++
src/ConRIGv2/Configs/RadioConfig.h | 55 ++++++
src/ConRIGv2/Hub/Hub.cpp | 171 +++++++++++++++++++
src/ConRIGv2/Hub/Hub.h | 81 +++++++++
src/ConRIGv2/Radio/Radio.cpp | 245 +++++++++++++++++++++++++++
src/ConRIGv2/Radio/Radio.h | 95 +++++++++++
src/ConRIGv2/conrig-v2-entry.cpp | 109 ++++++++++++
15 files changed, 1261 insertions(+), 2 deletions(-)
create mode 100644 src/ConRIGv2/BoardScheduler.h
create mode 100644 src/ConRIGv2/Buses.h
create mode 100644 src/ConRIGv2/Buttons/Buttons.cpp
create mode 100644 src/ConRIGv2/Buttons/Buttons.h
create mode 100644 src/ConRIGv2/Configs/ButtonsConfig.h
create mode 100644 src/ConRIGv2/Configs/RadioConfig.h
create mode 100644 src/ConRIGv2/Hub/Hub.cpp
create mode 100644 src/ConRIGv2/Hub/Hub.h
create mode 100644 src/ConRIGv2/Radio/Radio.cpp
create mode 100644 src/ConRIGv2/Radio/Radio.h
create mode 100644 src/ConRIGv2/conrig-v2-entry.cpp
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 1ada27469..38b527054 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -218,6 +218,28 @@
"${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_con_rig"
]
},
+ {
+ "name": "stm32f767zi_conrig_v2",
+ "cStandard": "c11",
+ "cppStandard": "c++14",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "${defaultDefines}",
+ "_MIOSIX_BOARDNAME=stm32f767zi_conrig_v2",
+ "_BOARD_STM32F767ZI_CONRIG_V2",
+ "_ARCH_CORTEXM7_STM32F7",
+ "HSE_VALUE=25000000",
+ "SYSCLK_FREQ_216MHz=216000000",
+ "__ENABLE_XRAM",
+ "V_DDA_VOLTAGE=3.3f"
+ ],
+ "includePath": [
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_conrig_v2/config",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_conrig_v2"
+ ]
+ },
{
"name": "stm32f429zi_stm32f4discovery",
"cStandard": "c11",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e28274d6..d44bbc9de 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -76,6 +76,10 @@ add_executable(con_rig-entry src/ConRIG/con_rig-entry.cpp ${CON_RIG_COMPUTER})
target_include_directories(con_rig-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(con_rig-entry stm32f429zi_con_rig)
+add_executable(conrig-v2-entry src/ConRIGv2/conrig-v2-entry.cpp ${CONRIG_V2_COMPUTER})
+target_include_directories(conrig-v2-entry PRIVATE ${OBSW_INCLUDE_DIRS})
+sbs_target(conrig-v2-entry stm32f767zi_conrig_v2)
+
add_executable(rovie-groundstation-entry
src/Groundstation/Rovie/rovie-groundstation-entry.cpp
${GROUNDSTATION_COMMON} ${GROUNDSTATION_ROVIE}
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index 27364e888..31286e428 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -73,6 +73,12 @@ set(CON_RIG_COMPUTER
src/ConRIG/Serial/Serial.cpp
)
+set(CONRIG_V2_COMPUTER
+ src/ConRIGv2/Buttons/Buttons.cpp
+ src/ConRIGv2/Radio/Radio.cpp
+ src/ConRIGv2/Hub/Hub.cpp
+)
+
set(PAYLOAD_COMPUTER
src/Payload/Actuators/Actuators.cpp
src/Payload/CanHandler/CanHandler.cpp
diff --git a/src/ConRIG/BoardScheduler.h b/src/ConRIG/BoardScheduler.h
index 3736c89c1..741441282 100644
--- a/src/ConRIG/BoardScheduler.h
+++ b/src/ConRIG/BoardScheduler.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
diff --git a/src/ConRIGv2/BoardScheduler.h b/src/ConRIGv2/BoardScheduler.h
new file mode 100644
index 000000000..9ce95f48a
--- /dev/null
+++ b/src/ConRIGv2/BoardScheduler.h
@@ -0,0 +1,70 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <scheduler/TaskScheduler.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+namespace ConRIGv2
+{
+
+/**
+ * @brief Class that wraps the main task schedulers of the entire OBSW.
+ */
+class BoardScheduler : public Boardcore::Injectable
+{
+public:
+ BoardScheduler()
+ : radio{miosix::PRIORITY_MAX - 1}, buttons{miosix::PRIORITY_MAX - 2}
+ {
+ }
+
+ [[nodiscard]] bool start()
+ {
+ if (!radio.start())
+ {
+ LOG_ERR(logger, "Failed to start radio scheduler");
+ return false;
+ }
+
+ if (!buttons.start())
+ {
+ LOG_ERR(logger, "Failed to start buttons scheduler");
+ return false;
+ }
+
+ return true;
+ }
+
+ Boardcore::TaskScheduler& getRadioScheduler() { return radio; }
+
+ Boardcore::TaskScheduler& getButtonsScheduler() { return buttons; }
+
+private:
+ Boardcore::PrintLogger logger =
+ Boardcore::Logging::getLogger("boardscheduler");
+
+ Boardcore::TaskScheduler radio;
+ Boardcore::TaskScheduler buttons;
+};
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Buses.h b/src/ConRIGv2/Buses.h
new file mode 100644
index 000000000..e5502a21d
--- /dev/null
+++ b/src/ConRIGv2/Buses.h
@@ -0,0 +1,51 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <drivers/spi/SPIBus.h>
+#include <drivers/usart/USART.h>
+#include <miosix.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+namespace ConRIGv2
+{
+
+struct Buses : public Boardcore::Injectable
+{
+private:
+ Boardcore::SPIBus spi1{SPI1};
+ Boardcore::SPIBus spi6{SPI6};
+
+ Boardcore::USART usart2{USART2, 115200};
+ Boardcore::USART uart4{UART4, 115200};
+
+public:
+ Boardcore::SPIBus& getRadio() { return spi6; }
+
+ Boardcore::USART& getUsart2() { return usart2; }
+ Boardcore::USART& getUsart4() { return uart4; }
+
+ Boardcore::SPIBus& getEthernet() { return spi1; }
+};
+
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Buttons/Buttons.cpp b/src/ConRIGv2/Buttons/Buttons.cpp
new file mode 100644
index 000000000..e7056ab79
--- /dev/null
+++ b/src/ConRIGv2/Buttons/Buttons.cpp
@@ -0,0 +1,245 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 "Buttons.h"
+
+#include <ConRIGv2/BoardScheduler.h>
+#include <ConRIGv2/Configs/ButtonsConfig.h>
+#include <ConRIGv2/Radio/Radio.h>
+#include <interfaces-impl/hwmapping.h>
+
+using namespace std;
+using namespace miosix;
+using namespace Boardcore;
+using namespace ConRIGv2;
+
+Buttons::Buttons()
+{
+ resetState();
+ state.arm_switch = false;
+}
+
+bool Buttons::start()
+{
+ TaskScheduler& scheduler = getModule<BoardScheduler>()->getRadioScheduler();
+
+ return scheduler.addTask([this]() { periodicStatusCheck(); },
+ Config::Buttons::BUTTON_SAMPLE_PERIOD) != 0;
+}
+
+mavlink_conrig_state_tc_t Buttons::getState() { return state; }
+
+void Buttons::resetState()
+{
+ // Preserve the arm switch state
+ auto armSwitch = state.arm_switch;
+ state = {};
+ state.arm_switch = armSwitch;
+}
+
+void Buttons::periodicStatusCheck()
+{
+ state.arm_switch = btns::arm::value();
+
+ if (!btns::ignition::value() && state.arm_switch)
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.ignition_btn = true;
+ LOG_DEBUG(logger, "Ignition button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::ox_filling::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.ox_filling_btn = true;
+ LOG_DEBUG(logger, "Ox filling button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::ox_release::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.ox_release_btn = true;
+ LOG_DEBUG(logger, "Ox release button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::ox_detach::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.ox_detach_btn = true;
+ LOG_DEBUG(logger, "Ox detach button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2_3way::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.ox_detach_btn = true;
+ LOG_DEBUG(logger, "n2 3way button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2_filling::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.n2_filling_btn = true;
+ LOG_DEBUG(logger, "N2 filling button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2_release::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.n2_release_btn = true;
+ LOG_DEBUG(logger, "N2 release button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2_detach::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.n2_detach_btn = true;
+ LOG_DEBUG(logger, "N2 detach button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::nitrogen::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.nitrogen_btn = true;
+ LOG_DEBUG(logger, "Nitrogen button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::ox_venting::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.ox_venting_btn = true;
+ LOG_DEBUG(logger, "Ox venting button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::n2_quenching::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.n2_quenching_btn = true;
+ LOG_DEBUG(logger, "N2 quenching button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::tars3::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.tars3_btn = true;
+ LOG_DEBUG(logger, "Tars3 button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else if (btns::tars3m::value())
+ {
+ if (guard > Config::Buttons::GUARD_THRESHOLD)
+ {
+ guard = 0;
+ state.tars3m_btn = true;
+ LOG_DEBUG(logger, "Tars3m button pressed");
+ }
+ else
+ {
+ guard++;
+ }
+ }
+ else
+ {
+ // Reset all the states and guard
+ guard = 0;
+ resetState();
+ }
+
+ // Set the internal button state in Radio module
+ getModule<Radio>()->setButtonsState(state);
+}
+
+void Buttons::enableIgnition() { ui::armedLed::high(); }
+
+void Buttons::disableIgnition() { ui::armedLed::low(); }
diff --git a/src/ConRIGv2/Buttons/Buttons.h b/src/ConRIGv2/Buttons/Buttons.h
new file mode 100644
index 000000000..5d2c26d0e
--- /dev/null
+++ b/src/ConRIGv2/Buttons/Buttons.h
@@ -0,0 +1,61 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <ConRIGv2/BoardScheduler.h>
+#include <common/MavlinkOrion.h>
+#include <diagnostic/PrintLogger.h>
+#include <scheduler/TaskScheduler.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+namespace ConRIGv2
+{
+
+class Radio;
+
+class Buttons : public Boardcore::InjectableWithDeps<BoardScheduler, Radio>
+{
+public:
+ Buttons();
+
+ [[nodiscard]] bool start();
+
+ mavlink_conrig_state_tc_t getState();
+
+ void enableIgnition();
+ void disableIgnition();
+
+private:
+ void resetState();
+
+ void periodicStatusCheck();
+
+ mavlink_conrig_state_tc_t state;
+
+ // Counter guard to avoid spurious triggers
+ uint8_t guard = 0;
+
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("buttons");
+};
+
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Configs/ButtonsConfig.h b/src/ConRIGv2/Configs/ButtonsConfig.h
new file mode 100644
index 000000000..8ede7d400
--- /dev/null
+++ b/src/ConRIGv2/Configs/ButtonsConfig.h
@@ -0,0 +1,44 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <units/Frequency.h>
+
+namespace ConRIGv2
+{
+namespace Config
+{
+namespace Buttons
+{
+
+/* linter off */ using namespace Boardcore::Units::Frequency;
+
+constexpr Hertz BUTTON_SAMPLE_PERIOD = 50_hz;
+
+constexpr uint8_t GUARD_THRESHOLD =
+ 5; // 5 samples to trigger the guard and activate a single button
+
+} // namespace Buttons
+} // namespace Config
+
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Configs/RadioConfig.h b/src/ConRIGv2/Configs/RadioConfig.h
new file mode 100644
index 000000000..8f2695e67
--- /dev/null
+++ b/src/ConRIGv2/Configs/RadioConfig.h
@@ -0,0 +1,55 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <common/MavlinkOrion.h>
+#include <units/Frequency.h>
+
+namespace ConRIGv2
+{
+
+namespace Config
+{
+namespace Radio
+{
+
+/* linter off */ using namespace Boardcore::Units::Frequency;
+
+constexpr unsigned int MAV_OUT_QUEUE_SIZE = 20;
+constexpr unsigned int MAV_MAX_LENGTH = MAVLINK_MAX_DIALECT_PAYLOAD_SIZE;
+
+constexpr unsigned int CIRCULAR_BUFFER_SIZE = 10;
+
+constexpr uint16_t MAV_SLEEP_AFTER_SEND = 0;
+constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 10;
+
+// Mavlink ids
+constexpr uint8_t MAV_SYSTEM_ID = 171;
+constexpr uint8_t MAV_COMPONENT_ID = 96;
+
+// Periodic telemetries frequency
+constexpr Hertz PING_GSE_PERIOD = 2_hz;
+
+} // namespace Radio
+} // namespace Config
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Hub/Hub.cpp b/src/ConRIGv2/Hub/Hub.cpp
new file mode 100644
index 000000000..1b12bec43
--- /dev/null
+++ b/src/ConRIGv2/Hub/Hub.cpp
@@ -0,0 +1,171 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 "Hub.h"
+
+#include <ConRIGv2/Buses.h>
+#include <ConRIGv2/Radio/Radio.h>
+#include <Groundstation/Common/Config/EthernetConfig.h>
+#include <interfaces-impl/hwmapping.h>
+
+using namespace Boardcore;
+using namespace miosix;
+
+static std::weak_ptr<Wiz5500> gEthernet;
+
+void __attribute__((used)) MIOSIX_ETHERNET_IRQ()
+{
+ if (auto ethernet = gEthernet.lock())
+ ethernet->handleINTn();
+}
+
+namespace ConRIGv2
+{
+WizIp generateRandomIp()
+{
+ WizIp ip = Groundstation::IP_BASE;
+ ip.d = (rand() % 253) + 1; // Generate in range 1-254
+
+ return ip;
+}
+
+WizMac generateRandomMac()
+{
+ WizMac mac = Groundstation::MAC_BASE;
+ mac.e = (rand() % 253) + 1; // Generate in range 1-254
+ mac.f = (rand() % 253) + 1; // Generate in range 1-254
+
+ return mac;
+}
+
+Boardcore::Wiz5500::PhyState Hub::getEthernetState()
+{
+ return wiz5500->getPhyState();
+}
+
+bool Hub::start()
+{
+ auto* buses = getModule<Buses>();
+
+ serial2 = std::make_unique<SerialTransceiver>(buses->getUsart2());
+ serial4 = std::make_unique<SerialTransceiver>(buses->getUsart4());
+
+ mavDriver2 = std::make_unique<SerialMavDriver>(
+ serial2.get(), [this](auto channel, const mavlink_message_t& msg)
+ { dispatchToRIG(msg); }, 0, 10);
+
+ mavDriver4 = std::make_unique<SerialMavDriver>(
+ serial4.get(), [this](auto channel, const mavlink_message_t& msg)
+ { dispatchToRIG(msg); }, 0, 10);
+
+ if (!mavDriver2->start())
+ {
+ LOG_ERR(logger, "Error starting the MAVLink driver for USART2");
+ return false;
+ }
+
+ if (!mavDriver4->start())
+ {
+ LOG_ERR(logger, "Error starting the MAVLink driver for USART4");
+ return false;
+ }
+
+ if (!initEthernet())
+ {
+ LOG_ERR(logger, "Error starting the Ethernet driver");
+ return false;
+ }
+
+ mavDriverEth = std::make_unique<EthernetMavDriver>(
+ ethernet.get(),
+ [this](EthernetMavDriver* channel, const mavlink_message_t& msg)
+ { dispatchToRIG(msg); }, 0, 10);
+
+ if (!mavDriverEth->start())
+ return false;
+
+ return true;
+}
+
+bool Hub::initEthernet()
+{
+ auto* buses = getModule<Buses>();
+
+ // Initialize the Wiz5500
+ wiz5500 = std::make_unique<Wiz5500>(
+ buses->getEthernet(), ethernet::cs::getPin(), ethernet::intr::getPin(),
+ SPI::ClockDivider::DIV_64);
+
+ // Store the global ethernet instance for the interrupt handler
+ gEthernet = wiz5500;
+
+ // Check SPI communication
+ if (!wiz5500->checkVersion())
+ {
+ LOG_ERR(logger, "Error checking the Wiz5500 version");
+ return false;
+ }
+
+ // Reset the device
+ wiz5500->reset();
+
+ // Setup ip and other stuff
+ wiz5500->setSubnetMask(Groundstation::SUBNET);
+ wiz5500->setGatewayIp(Groundstation::GATEWAY);
+ wiz5500->setSourceIp(generateRandomIp());
+ wiz5500->setSourceMac(generateRandomMac());
+
+ wiz5500->setOnIpConflict([this]()
+ { wiz5500->setSourceIp(generateRandomIp()); });
+
+ // Ok now open the UDP socket
+ if (!wiz5500->openUdp(0, Groundstation::RECV_PORT, {255, 255, 255, 255},
+ Groundstation::SEND_PORT, 500))
+ {
+ LOG_ERR(logger, "Error opening the UDP socket");
+ return false;
+ }
+
+ // Initialize Ethernet Transceiver
+ ethernet = std::make_unique<UdpTransceiver>(this->wiz5500, 0);
+
+ return true;
+}
+
+void Hub::dispatchToPorts(const mavlink_message_t& msg)
+{
+ if (mavDriver2 && mavDriver2->isStarted())
+ mavDriver2->enqueueMsg(msg);
+
+ if (mavDriver4 && mavDriver4->isStarted())
+ mavDriver4->enqueueMsg(msg);
+
+ if (mavDriverEth && mavDriverEth->isStarted())
+ mavDriverEth->enqueueMsg(msg);
+}
+
+void Hub::dispatchToRIG(const mavlink_message_t& msg)
+{
+ if (msg.sysid == MAV_SYSID_RIG)
+ getModule<Radio>()->enqueueMessage(msg);
+}
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Hub/Hub.h b/src/ConRIGv2/Hub/Hub.h
new file mode 100644
index 000000000..ada16a0a7
--- /dev/null
+++ b/src/ConRIGv2/Hub/Hub.h
@@ -0,0 +1,81 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <common/MavlinkOrion.h>
+#include <drivers/WIZ5500/WIZ5500.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <radio/SerialTransceiver/SerialTransceiver.h>
+#include <radio/UdpTransceiver/UdpTransceiver.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+#include <memory>
+
+namespace ConRIGv2
+{
+class Buses;
+class Radio;
+
+using SerialMavDriver =
+ Boardcore::MavlinkDriver<1024, 10, MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
+using EthernetMavDriver =
+ Boardcore::MavlinkDriver<1024, 10, MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
+
+/**
+ * @brief Central hub connecting all outgoing and incoming modules.
+ */
+class Hub : public Boardcore::InjectableWithDeps<Buses, Radio>
+{
+public:
+ bool start();
+
+ /**
+ * @brief Dispatch messages to external ports (serial, ethernet).
+ */
+ void dispatchToPorts(const mavlink_message_t& msg);
+
+ /**
+ * @brief Dispatch messages to the RIG.
+ */
+ void dispatchToRIG(const mavlink_message_t& msg);
+
+ Boardcore::Wiz5500::PhyState getEthernetState();
+
+private:
+ bool initEthernet();
+
+ std::unique_ptr<Boardcore::SerialTransceiver> serial2;
+ std::unique_ptr<SerialMavDriver> mavDriver2;
+
+ std::unique_ptr<Boardcore::SerialTransceiver> serial4;
+ std::unique_ptr<SerialMavDriver> mavDriver4;
+
+ std::shared_ptr<Boardcore::Wiz5500> wiz5500;
+ std::unique_ptr<Boardcore::UdpTransceiver> ethernet;
+ std::unique_ptr<EthernetMavDriver> mavDriverEth;
+
+ bool started = false;
+
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("Hub");
+};
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Radio/Radio.cpp b/src/ConRIGv2/Radio/Radio.cpp
new file mode 100644
index 000000000..8e7ebb843
--- /dev/null
+++ b/src/ConRIGv2/Radio/Radio.cpp
@@ -0,0 +1,245 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <common/MavlinkOrion.h>
+#include <common/Radio.h>
+#include <diagnostic/SkywardStack.h>
+#include <drivers/interrupt/external_interrupts.h>
+#include <events/EventBroker.h>
+#include <interfaces-impl/hwmapping.h>
+#include <radio/SX1278/SX1278Frontends.h>
+
+#include <thread>
+
+using namespace miosix;
+using namespace Boardcore;
+using namespace ConRIGv2;
+using namespace Common;
+
+SX1278Lora* gRadio{nullptr};
+
+void handleDioIRQ()
+{
+ SX1278Lora* instance = gRadio;
+ if (instance)
+ instance->handleDioIRQ();
+}
+
+void setIRQRadio(SX1278Lora* radio)
+{
+ FastInterruptDisableLock dl;
+ gRadio = radio;
+}
+
+void __attribute__((used)) MIOSIX_RADIO_DIO0_IRQ() { handleDioIRQ(); }
+void __attribute__((used)) MIOSIX_RADIO_DIO1_IRQ() { handleDioIRQ(); }
+void __attribute__((used)) MIOSIX_RADIO_DIO3_IRQ() { handleDioIRQ(); }
+
+void Radio::handleMessage(const mavlink_message_t& msg)
+{
+ switch (msg.msgid)
+ {
+ case MAVLINK_MSG_ID_GSE_TM:
+ {
+ int armingState = mavlink_msg_gse_tm_get_arming_state(&msg);
+ messagesReceived += 1;
+
+ isArmed = armingState == 1;
+ if (armingState == 1)
+ getModule<Buttons>()->enableIgnition();
+ else
+ getModule<Buttons>()->disableIgnition();
+
+ break;
+ }
+
+ case MAVLINK_MSG_ID_ACK_TM:
+ {
+ int id = mavlink_msg_ack_tm_get_recv_msgid(&msg);
+ // we assume this ack is about the last sent message
+ if (id == MAVLINK_MSG_ID_CONRIG_STATE_TC)
+ {
+ Lock<FastMutex> lock{buttonsMutex};
+ // Reset the internal button state
+ buttonState = {};
+ }
+
+ break;
+ }
+ }
+
+ getModule<Hub>()->dispatchToPorts(msg);
+}
+
+bool Radio::enqueueMessage(const mavlink_message_t& msg)
+{
+ Lock<FastMutex> lock{queueMutex};
+ if (messageQueue.isFull())
+ {
+ return false;
+ }
+ else
+ {
+ messageQueue.put(msg);
+ return true;
+ }
+}
+
+void Radio::sendPeriodicPing()
+{
+ mavlink_message_t msg;
+
+ {
+ Lock<FastMutex> lock{buttonsMutex};
+ mavlink_msg_conrig_state_tc_encode(Config::Radio::MAV_SYSTEM_ID,
+ Config::Radio::MAV_COMPONENT_ID,
+ &msg, &buttonState);
+ }
+
+ // Flush the queue
+ {
+ Lock<FastMutex> lock{queueMutex};
+ // TODO(davide.mor): Maybe implement a maximum per ping?
+ for (size_t i = 0; i < messageQueue.count(); i++)
+ {
+ try
+ {
+ mavDriver->enqueueMsg(messageQueue.pop());
+ }
+ catch (...)
+ {
+ // This shouldn't happen, but still try to prevent it
+ }
+ }
+ }
+
+ // Finally make sure we always send the periodic ping
+ mavDriver->enqueueMsg(msg);
+}
+
+void Radio::buzzerOn()
+{
+ buzzer.enableChannel(TimerUtils::Channel::MIOSIX_BUZZER_CHANNEL);
+}
+
+void Radio::buzzerOff()
+{
+ buzzer.disableChannel(TimerUtils::Channel::MIOSIX_BUZZER_CHANNEL);
+}
+
+void Radio::buzzerTask()
+{
+ constexpr int beepPeriod = 5; // seconds
+
+ if ((!isArmed && messagesReceived > beepPeriod * 2) ||
+ (isArmed && messagesReceived > 0))
+ {
+ messagesReceived = 0;
+ buzzerOn();
+ }
+ else
+ {
+ buzzerOff();
+ }
+}
+
+void Radio::setButtonsState(const mavlink_conrig_state_tc_t& state)
+{
+ Lock<FastMutex> lock{buttonsMutex};
+ // The OR operator is introduced to make sure that the receiver
+ // understood the command
+ buttonState.ox_filling_btn |= state.ox_filling_btn;
+ buttonState.ox_release_btn |= state.ox_release_btn;
+ buttonState.n2_filling_btn |= state.n2_filling_btn;
+ buttonState.n2_release_btn |= state.n2_release_btn;
+ buttonState.n2_detach_btn |= state.n2_detach_btn;
+ buttonState.ox_venting_btn |= state.ox_venting_btn;
+ buttonState.nitrogen_btn |= state.nitrogen_btn;
+ buttonState.ox_detach_btn |= state.ox_detach_btn;
+ buttonState.n2_quenching_btn |= state.n2_quenching_btn;
+ buttonState.n2_3way_btn |= state.n2_3way_btn;
+ buttonState.tars3_btn |= state.tars3_btn;
+ buttonState.tars3m_btn |= state.tars3m_btn;
+ buttonState.ignition_btn |= state.ignition_btn;
+ buttonState.arm_switch |= state.arm_switch;
+}
+
+bool Radio::start()
+{
+ // Setup the frontend
+ std::unique_ptr<SX1278::ISX1278Frontend> frontend =
+ std::make_unique<EbyteFrontend>(radio::txEn::getPin(),
+ radio::rxEn::getPin());
+
+ // Setup transceiver
+ radio = std::make_unique<SX1278Lora>(
+ getModule<Buses>()->getRadio(), radio::cs::getPin(),
+ radio::dio0::getPin(), radio::dio1::getPin(), radio::dio3::getPin(),
+ SPI::ClockDivider::DIV_64, std::move(frontend));
+
+ // Store the global radio instance
+ setIRQRadio(radio.get());
+
+ // Initialize radio
+ auto result = radio->init(RIG_RADIO_CONFIG);
+ if (result != SX1278Lora::Error::NONE)
+ {
+ LOG_ERR(logger, "Failed to initialize RIG radio");
+ return false;
+ }
+
+ // Initialize mavdriver
+ mavDriver = std::make_unique<MavDriver>(
+ radio.get(), [this](MavDriver*, const mavlink_message_t& msg)
+ { handleMessage(msg); }, Config::Radio::MAV_SLEEP_AFTER_SEND,
+ Config::Radio::MAV_OUT_BUFFER_MAX_AGE);
+
+ if (!mavDriver->start())
+ {
+ LOG_ERR(logger, "Failed to initialize ConRIGv2 mav driver");
+ return false;
+ }
+
+ TaskScheduler& scheduler = getModule<BoardScheduler>()->getRadioScheduler();
+
+ if (scheduler.addTask([this]() { sendPeriodicPing(); },
+ Config::Radio::PING_GSE_PERIOD,
+ TaskScheduler::Policy::RECOVER) == 0)
+ {
+ LOG_ERR(logger, "Failed to add ping task");
+ return false;
+ }
+
+ scheduler.addTask([this]() { buzzerTask(); }, 50,
+ TaskScheduler::Policy::RECOVER);
+
+ return true;
+}
+
+MavlinkStatus Radio::getMavlinkStatus() { return mavDriver->getStatus(); }
+
+Radio::Radio() : buzzer(MIOSIX_BUZZER_TIM, 523), buttonState()
+{
+ buzzer.setDutyCycle(TimerUtils::Channel::MIOSIX_BUZZER_CHANNEL, 0.5);
+}
diff --git a/src/ConRIGv2/Radio/Radio.h b/src/ConRIGv2/Radio/Radio.h
new file mode 100644
index 000000000..399eb42fb
--- /dev/null
+++ b/src/ConRIGv2/Radio/Radio.h
@@ -0,0 +1,95 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <ConRIGv2/BoardScheduler.h>
+#include <ConRIGv2/Buses.h>
+#include <ConRIGv2/Buttons/Buttons.h>
+#include <ConRIGv2/Configs/RadioConfig.h>
+#include <ConRIGv2/Hub/Hub.h>
+#include <common/MavlinkOrion.h>
+#include <diagnostic/PrintLogger.h>
+#include <drivers/timer/PWM.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <radio/SX1278/SX1278Lora.h>
+#include <scheduler/TaskScheduler.h>
+#include <utils/DependencyManager/DependencyManager.h>
+#include <utils/collections/CircularBuffer.h>
+
+#include <cstdint>
+#include <thread>
+
+namespace ConRIGv2
+{
+
+using MavDriver = Boardcore::MavlinkDriver<Boardcore::SX1278Lora::MTU,
+ Config::Radio::MAV_OUT_QUEUE_SIZE,
+ Config::Radio::MAV_MAX_LENGTH>;
+
+class Radio
+ : public Boardcore::InjectableWithDeps<Buses, BoardScheduler, Buttons, Hub>
+{
+public:
+ Radio();
+
+ [[nodiscard]] bool start();
+
+ Boardcore::MavlinkStatus getMavlinkStatus();
+
+ void setButtonsState(const mavlink_conrig_state_tc_t& state);
+
+ bool enqueueMessage(const mavlink_message_t& msg);
+
+private:
+ void sendPeriodicPing();
+ void buzzerTask();
+ void handleMessage(const mavlink_message_t& msg);
+
+ std::unique_ptr<Boardcore::SX1278Lora> radio;
+ std::unique_ptr<MavDriver> mavDriver;
+
+ void buzzerOn();
+ void buzzerOff();
+
+ Boardcore::PWM buzzer;
+
+ std::atomic<uint32_t> buzzerCounter{0};
+ std::atomic<uint32_t> buzzerOverflow{100};
+
+ Boardcore::CircularBuffer<mavlink_message_t,
+ Config::Radio::CIRCULAR_BUFFER_SIZE>
+ messageQueue;
+
+ miosix::FastMutex queueMutex;
+ miosix::FastMutex buttonsMutex;
+
+ // Button internal state
+ mavlink_conrig_state_tc_t buttonState;
+
+ std::atomic<uint8_t> messagesReceived{0};
+ std::atomic<bool> isArmed{false};
+
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("radio");
+};
+
+} // namespace ConRIGv2
diff --git a/src/ConRIGv2/conrig-v2-entry.cpp b/src/ConRIGv2/conrig-v2-entry.cpp
new file mode 100644
index 000000000..de3105b2e
--- /dev/null
+++ b/src/ConRIGv2/conrig-v2-entry.cpp
@@ -0,0 +1,109 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Ettore Pane
+ *
+ * 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 <ConRIGv2/BoardScheduler.h>
+#include <ConRIGv2/Buses.h>
+#include <ConRIGv2/Buttons/Buttons.h>
+#include <ConRIGv2/Configs/ButtonsConfig.h>
+#include <ConRIGv2/Hub/Hub.h>
+#include <ConRIGv2/Radio/Radio.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
+#include <diagnostic/PrintLogger.h>
+#include <events/EventBroker.h>
+#include <interfaces-impl/hwmapping.h>
+#include <miosix.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+#include <iostream>
+#include <thread>
+
+using namespace miosix;
+using namespace Boardcore;
+using namespace ConRIGv2;
+
+int main()
+{
+ PrintLogger logger = Logging::getLogger("main");
+ DependencyManager manager;
+
+ Buses* buses = new Buses();
+ BoardScheduler* scheduler = new BoardScheduler();
+ Radio* radio = new Radio();
+ Buttons* buttons = new Buttons();
+ Hub* hub = new Hub();
+
+ bool initResult = manager.insert<BoardScheduler>(scheduler) &&
+ manager.insert<Buses>(buses) &&
+ manager.insert<Radio>(radio) &&
+ manager.insert<Hub>(hub) &&
+ manager.insert<Buttons>(buttons) && manager.inject();
+
+ manager.graphviz(std::cout);
+
+ if (!initResult)
+ {
+ LOG_ERR(logger, "Failed to inject dependencies");
+ return 0;
+ }
+
+ if (!radio->start())
+ {
+ initResult = false;
+ LOG_ERR(logger, "Error starting the radio");
+ }
+
+ if (!hub->start())
+ {
+ initResult = false;
+ LOG_ERR(logger, "Error starting the mavlink dispatcher hub");
+ }
+
+ if (!buttons->start())
+ {
+ initResult = false;
+ LOG_ERR(logger, "Error starting the buttons");
+ }
+
+ if (!scheduler->start())
+ {
+ initResult = false;
+ LOG_ERR(logger, "Error starting the General Purpose Scheduler");
+ }
+
+ if (!initResult)
+ {
+ LOG_ERR(logger, "Init failure!");
+ led2On(); // Led RED
+ }
+ else
+ {
+ LOG_INFO(logger, "All good!");
+ led4On(); // Led GREEN
+ }
+
+ // Periodical statistics
+ while (true)
+ {
+ Thread::sleep(1000);
+ CpuMeter::resetCpuStats();
+ }
+}
--
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