diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 97794743091858d83004e57c0f9ef67a1ebdde7c..1ada274691a4637589ee76449b7d4aed76b64196 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -331,6 +331,29 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/default/"
]
},
+ {
+ "name": "stm32f767zi_lyra_gs",
+ "cStandard": "c11",
+ "cppStandard": "c++14",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "${defaultDefines}",
+ "_MIOSIX_BOARDNAME=stm32f767zi_lyra_gs",
+ "_BOARD_STM32F767ZI_LYRA_GS",
+ "_ARCH_CORTEXM7_STM32F7",
+ "STM32F767xx",
+ "HSE_VALUE=25000000",
+ "SYSCLK_FREQ_216MHz=216000000",
+ "__ENABLE_XRAM",
+ "V_DDA_VOLTAGE=3.3f"
+ ],
+ "includePath": [
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+ "${workspaceFolder}/src/bsps/stm32f767zi_lyra_gs/config",
+ "${workspaceFolder}/src/bsps/stm32f767zi_lyra_gs"
+ ]
+ },
{
"name": "stm32f767zi_gemini_gs",
"cStandard": "c11",
diff --git a/src/entrypoints/Groundstation/lyra-gs-entry.cpp b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
index 200e16bcf23745c31f76a31d896e6fd9a3058153..8c07b784bfc1aff2d8feaf3ac3b92198c012dc22 100644
--- a/src/entrypoints/Groundstation/lyra-gs-entry.cpp
+++ b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
@@ -20,6 +20,15 @@
* THE SOFTWARE.
*/
+#include <Groundstation/Automated/Actuators/Actuators.h>
+#include <Groundstation/Automated/BoardStatus.h>
+#include <Groundstation/Automated/Buses.h>
+#include <Groundstation/Automated/Hub.h>
+#include <Groundstation/Automated/Leds/Leds.h>
+#include <Groundstation/Automated/Ports/Ethernet.h>
+#include <Groundstation/Automated/Radio/Radio.h>
+#include <Groundstation/Automated/SMA/SMA.h>
+#include <Groundstation/Automated/Sensors/Sensors.h>
#include <Groundstation/Base/BoardStatus.h>
#include <Groundstation/Base/Buses.h>
#include <Groundstation/Base/Hub.h>
@@ -27,10 +36,19 @@
#include <Groundstation/Base/Radio/Radio.h>
#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/DipReader.h>
+#include <common/Events.h>
+#include <diagnostic/PrintLogger.h>
+#include <events/EventBroker.h>
#include <miosix.h>
+#include <scheduler/TaskScheduler.h>
+#include <utils/ButtonHandler/ButtonHandler.h>
+
+#include <thread>
+#include <utils/ModuleManager/ModuleManager.hpp>
using namespace Boardcore;
using namespace miosix;
+using namespace Groundstation;
void idleLoop()
{
@@ -40,21 +58,254 @@ void idleLoop()
}
}
+/**
+ * @brief Blinking RED led at 5Hz
+ */
void errorLoop()
{
while (1)
{
- led1On();
+ led3On(); //< Turn on RED led (CU)
Thread::sleep(100);
- led1Off();
+ led3Off();
Thread::sleep(100);
}
}
+/**
+ * @brief Lyra GS entrypoint.
+ * This entrypoint performs the following operations:
+ * - Reads the dip switch
+ *
+ * In case ARP (switch A on) select ARP initialization
+ * - Initializes software modules
+ * -> Green LED is turned on when done
+ * - Waits for the rocket to be powered on and acquire a GPS fix
+ * -> Yellow LED is turned on when done
+ * - Waits for the antenna to acquire a GPS fix
+ * -> Orange LED is turned on when done
+ * - Initializes the follower
+ * - Starts the follower task
+ *
+ * Otherwise initialize the GroundstationBase
+ * - Initializes software modules
+ * -> Green LED is turned on when main radio on
+ * -> Yellow LED is turned on when backup radio on
+ * -> Orange LED is turned on when ethernet radio on
+ *
+ * - When done the red LED is fixed. Blinks if error in modules init.
+ */
int main()
{
ledOff();
// Read dip switch configuration
DipStatus dipRead = DipReader::readDip();
+
+ // TODO: Pass to DependencyManager when rebased
+ ModuleManager &modules = ModuleManager::getInstance();
+ PrintLogger logger = Logging::getLogger("lyra_gs");
+
+ // ARP entry
+ if (dipRead.isARP)
+ {
+ TaskScheduler *scheduler_low = new TaskScheduler(0);
+ TaskScheduler *scheduler_high = new TaskScheduler();
+ Antennas::Leds *leds = new Antennas::Leds(scheduler_low);
+ Antennas::Hub *hub = new Antennas::Hub();
+ Antennas::Buses *buses = new Antennas::Buses();
+ Serial *serial = new Serial();
+ Antennas::RadioMain *radio_main = new Antennas::RadioMain();
+ Antennas::BoardStatus *board_status = new Antennas::BoardStatus();
+ Antennas::Actuators *actuators = new Antennas::Actuators();
+ Antennas::Sensors *sensors = new Antennas::Sensors();
+ Antennas::SMA *sma = new Antennas::SMA(scheduler_high);
+ Antennas::Ethernet *ethernet = new Antennas::Ethernet();
+
+ bool ok = true;
+
+ // Inserting Modules
+ ok &= modules.insert(sma);
+ ok &= modules.insert<HubBase>(hub);
+ ok &= modules.insert(buses);
+ ok &= modules.insert(serial);
+ ok &= modules.insert(radio_main);
+ ok &= modules.insert(board_status);
+ ok &= modules.insert(actuators);
+ ok &= modules.insert(sensors);
+ ok &= modules.insert(ethernet);
+ ok &= modules.insert(leds);
+
+ // If insertion failed, stop right here
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to insert all modules!\n");
+ errorLoop();
+ }
+
+ // Start the modules
+
+ ok &= scheduler_low->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start scheduler_low!\n");
+ }
+
+ ok &= scheduler_high->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start scheduler_high!\n");
+ }
+
+ ok &= serial->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start serial!\n");
+ }
+
+ ok &= radio_main->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start radio_main!\n");
+ }
+
+ ok &= ethernet->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start ethernet!\n");
+ }
+
+ ok &= board_status->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start board_status!\n");
+ }
+
+ ok &= leds->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start leds!\n");
+ }
+
+ ok &= sensors->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start sensors!\n");
+ }
+
+ ok &= sma->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start sma!\n");
+ }
+
+ // Start ARP by posting INIT event
+ led3On(); //< RED led (CU)
+ led1On(); //< GREEN led (CU)
+ LOG_INFO(logger, "Starting ARP");
+ EventBroker::getInstance().post(Common::Events::ARP_INIT_OK,
+ Common::Topics::TOPIC_ARP);
+ idleLoop();
+ return 0;
+ }
+
+ // Groundstation entry
+ else
+ {
+ GroundstationBase::Hub *hub = new GroundstationBase::Hub();
+ GroundstationBase::Buses *buses = new GroundstationBase::Buses();
+ Serial *serial = new Serial();
+ GroundstationBase::Ethernet *ethernet =
+ new GroundstationBase::Ethernet();
+ GroundstationBase::RadioMain *radio_main =
+ new GroundstationBase::RadioMain();
+ GroundstationBase::RadioPayload *radio_payload =
+ new GroundstationBase::RadioPayload();
+ GroundstationBase::BoardStatus *board_status =
+ new GroundstationBase::BoardStatus();
+
+ bool ok = true;
+
+ // Inserting modules
+
+ ok &= modules.insert<HubBase>(hub);
+ ok &= modules.insert(buses);
+ ok &= modules.insert(serial);
+ ok &= modules.insert(ethernet);
+ ok &= modules.insert(radio_main);
+ ok &= modules.insert(radio_payload);
+ ok &= modules.insert(board_status);
+
+ // If insertion failed, stop right here
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to insert all modules!\n");
+ errorLoop();
+ }
+
+ LOG_DEBUG(logger, "All modules inserted successfully!\n");
+
+ // Ok now start them
+
+ ok &= serial->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start serial!\n");
+ }
+
+ ok &= ethernet->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start ethernet!\n");
+ }
+
+ ok &= radio_main->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start main radio!\n");
+ }
+
+ ok &= radio_payload->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start payload radio!\n");
+ }
+
+ ok &= board_status->start();
+ if (!ok)
+ {
+ LOG_ERR(logger, "[error] Failed to start board status!\n");
+ }
+
+ LOG_DEBUG(logger, "All modules started successfully!\n");
+
+ if (board_status->isMainRadioPresent())
+ {
+ LOG_ERR(logger, "Main radio detected!\n");
+ led1On(); //< GREEN led on (CU)
+ }
+
+ if (board_status->isPayloadRadioPresent())
+ {
+ LOG_ERR(logger, "Payload radio detected!\n");
+ led2On(); //< YELLOW led on (CU)
+ }
+
+ if (board_status->isEthernetPresent())
+ {
+ LOG_ERR(logger, "Ethernet detected!\n");
+ led4On(); //< ORANGE led on (CU)
+ }
+
+ LOG_DEBUG(logger, "All boards detected!\n");
+
+ if (!ok)
+ {
+ errorLoop();
+ }
+
+ led3On(); //< fix RED led (CU)
+ idleLoop();
+ return 0;
+ }
}
\ No newline at end of file