diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 1ada274691a4637589ee76449b7d4aed76b64196..176a6fd8cb0ac332487e7479a425a849f6d2f07d 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -16,7 +16,6 @@
"${workspaceFolder}/skyward-boardcore/libs/tscpp",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/boards",
"${workspaceFolder}/src"
]
},
@@ -87,6 +86,30 @@
"${workspaceFolder}/skyward-boardcore/src/bsps/stm32f767zi_compute_unit"
]
},
+ {
+ "name": "stm32f429zi_skyward_death_stack_v2",
+ "cStandard": "c11",
+ "cppStandard": "c++14",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "{defaultDefines}",
+ "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_x",
+ "_BOARD_STM32F429ZI_SKYWARD_DEATHST_X",
+ "_BOARD_STM32F429ZI_DEATH_STACK_V2",
+ "_ARCH_CORTEXM4_STM32F4",
+ "STM32F429xx",
+ "HSE_VALUE=8000000",
+ "SYSCLK_FREQ_168MHz=168000000",
+ "__ENABLE_XRAM",
+ "V_DDA_VOLTAGE=3.3f"
+ ],
+ "includePath": [
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_death_stack_v2/config",
+ "${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_death_stack_v2"
+ ]
+ },
{
"name": "stm32f767zi_death_stack_v4",
"cStandard": "c11",
diff --git a/.vscode/settings.json b/.vscode/settings.json
index ad3a4cc6e27d76d6fbb77d88dcc67532033ebcfe..8ce097eb1f114745fbb65ea162008ba55ae3a1cb 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -140,6 +140,7 @@
"datasheet",
"Davide",
"DELS",
+ "depman",
"DGNSS",
"digi",
"DOUT",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e28274d6c43e8bb72a37d6435f9592bb23fd2f3..6693d7b26b1d5bea7b405d0a9ac2bb0239d18e54 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,6 +64,10 @@ target_include_directories(payload-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
target_compile_definitions(payload-entry-euroc PRIVATE EUROC)
sbs_target(payload-entry-euroc stm32f767zi_lyra_biscotto)
+add_executable(parafoil-entry src/Parafoil/parafoil-entry.cpp ${PARAFOIL_COMPUTER})
+target_include_directories(parafoil-entry PRIVATE ${OBSW_INCLUDE_DIRS})
+sbs_target(parafoil-entry stm32f429zi_death_stack_v2)
+
add_executable(motor-entry src/Motor/motor-entry.cpp ${MOTOR_SOURCES})
target_include_directories(motor-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(motor-entry stm32f767zi_lyra_motor)
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index 27364e888ef6b87ce7fafb589120f6ef41ea96e8..f2dfc6220d9d5db5a19140f2843e00066b0a506a 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -118,3 +118,7 @@ set (LYRA_GS
src/Groundstation/Automated/PinHandler/PinHandler.cpp
src/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
)
+
+set(PARAFOIL_COMPUTER
+
+)
\ No newline at end of file
diff --git a/src/Parafoil/BoardScheduler.h b/src/Parafoil/BoardScheduler.h
new file mode 100644
index 0000000000000000000000000000000000000000..408d758100578da03dfa690f6f2bfd248cd0328a
--- /dev/null
+++ b/src/Parafoil/BoardScheduler.h
@@ -0,0 +1,105 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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 <diagnostic/PrintLogger.h>
+#include <scheduler/TaskScheduler.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+namespace Payload
+{
+
+/**
+ * @brief The class that manages the task schedulers of the board.
+ * It takes care of handing out task schedulers to modules.
+ */
+class BoardScheduler : public Boardcore::Injectable
+{
+public:
+ /**
+ * @brief Enclosing struct to avoid polluting the BoardScheduler namespace.
+ */
+ struct Priority
+ {
+ /**
+ * @brief Priority levels for the board schedulers.
+ */
+ enum PriorityLevel
+ {
+ LOW = miosix::PRIORITY_MAX - 4,
+ MEDIUM = miosix::PRIORITY_MAX - 3,
+ HIGH = miosix::PRIORITY_MAX - 2,
+ CRITICAL = miosix::PRIORITY_MAX - 1,
+ };
+ };
+
+ /**
+ * @brief Starts all the schedulers
+ */
+ [[nodiscard]] bool start()
+ {
+ if (!critical.start())
+ {
+ LOG_ERR(logger, "Critical priority scheduler failed to start");
+ return false;
+ }
+
+ if (!high.start())
+ {
+ LOG_ERR(logger, "High priority scheduler failed to start");
+ return false;
+ }
+
+ if (!medium.start())
+ {
+ LOG_ERR(logger, "Medium priority scheduler failed to start");
+ return false;
+ }
+
+ if (!low.start())
+ {
+ LOG_ERR(logger, "Low priority scheduler failed to start");
+ return false;
+ }
+
+ started = true;
+ return true;
+ }
+
+ /**
+ * @brief Returns if all the schedulers are up and running
+ */
+ bool isStarted() { return started; }
+
+private:
+ Boardcore::TaskScheduler critical{Priority::CRITICAL};
+ Boardcore::TaskScheduler high{Priority::HIGH};
+ Boardcore::TaskScheduler medium{Priority::MEDIUM};
+ Boardcore::TaskScheduler low{Priority::LOW};
+
+ std::atomic<bool> started{false};
+
+ Boardcore::PrintLogger logger =
+ Boardcore::Logging::getLogger("BoardScheduler");
+};
+
+} // namespace Payload
diff --git a/src/Parafoil/Buses.h b/src/Parafoil/Buses.h
new file mode 100644
index 0000000000000000000000000000000000000000..5f264dd239fa39e32059e7c4df856ea2a7ac06ae
--- /dev/null
+++ b/src/Parafoil/Buses.h
@@ -0,0 +1,53 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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 <utils/DependencyManager/DependencyManager.h>
+
+namespace Parafoil
+{
+
+/**
+ * @brief Manages all the buses of the parafoil board.
+ * It provides access to the buses used by the sensors and other peripherals.
+ */
+class Buses : public Boardcore::Injectable
+{
+public:
+ Boardcore::USART usart1;
+ Boardcore::USART usart2;
+ Boardcore::USART usart3;
+ Boardcore::USART uart4;
+
+ Boardcore::SPIBus spi1;
+ Boardcore::SPIBus spi2;
+
+ Buses()
+ : usart1(USART1, 115200), usart2(USART2, 115200),
+ usart3(USART3, 115200), uart4(UART4, 115200), spi1(SPI1), spi2(SPI2)
+ {
+ }
+};
+} // namespace Parafoil
diff --git a/src/Parafoil/parafoil-entry.cpp b/src/Parafoil/parafoil-entry.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..911a9c80b3658f7d0b458e6b662210fe3590f668
--- /dev/null
+++ b/src/Parafoil/parafoil-entry.cpp
@@ -0,0 +1,56 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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 <Parafoil/Buses.h>
+#include <diagnostic/PrintLogger.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+#include <iostream>
+
+// Build type string for printing during startup
+#if defined(DEBUG)
+#define BUILD_TYPE "Debug"
+#else
+#define BUILD_TYPE "Release"
+#endif
+
+using namespace Boardcore;
+using namespace Parafoil;
+
+int main()
+{
+ std::cout << "Parafoil Entrypoint "
+ << "(" << BUILD_TYPE << ")"
+ << " by Skyward Experimental Rocketry" << std::endl;
+
+ auto logger = Logging::getLogger("Mockup");
+ DependencyManager depman{};
+
+ std::cout << "Instantiating modules" << std::endl;
+ bool initResult = true;
+
+ // Core components
+ auto buses = new Buses();
+ initResult &= depman.insert(buses);
+
+ return 0;
+}
\ No newline at end of file