diff --git a/CMakeLists.txt b/CMakeLists.txt
index 32c94c6923756a95a03ab1a667ea03b535f0b72a..ad794b6f0220f7347b1ac0fb5ae15c7b63e1db63 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -245,29 +245,23 @@ sbs_target(test-fsm stm32f429zi_stm32f4discovery)
# Tests - Radio #
#-----------------------------------------------------------------------------#
-add_executable(test-sx1278-bench
- src/tests/drivers/sx1278/test-sx1278-bench.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-bench stm32f407vg_stm32f4discovery)
+# add_executable(test-sx1278-bench src/tests/drivers/sx1278/test-sx1278-bench.cpp)
+# sbs_target(test-sx1278-bench stm32f407vg_stm32f4discovery)
-add_executable(test-sx1278-bidir
- src/tests/drivers/sx1278/test-sx1278-bidir.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-bidir stm32f407vg_stm32f4discovery)
+# add_executable(test-sx1278-bidir src/tests/drivers/sx1278/test-sx1278-bidir.cpp)
+# sbs_target(test-sx1278-bidir stm32f407vg_stm32f4discovery)
-add_executable(test-sx1278-tx
- src/tests/drivers/sx1278/test-sx1278-tx.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-tx stm32f407vg_stm32f4discovery)
+add_executable(test-sx1278-bidir-gs src/tests/drivers/sx1278/test-sx1278-bidir.cpp)
+sbs_target(test-sx1278-bidir-gs stm32f429zi_skyward_ground_station)
-add_executable(test-sx1278-rx
- src/tests/drivers/sx1278/test-sx1278-rx.cpp
- src/tests/drivers/sx1278/test-sx1278-core.cpp
-)
-sbs_target(test-sx1278-rx stm32f407vg_stm32f4discovery)
+add_executable(test-sx1278-bidir-v3 src/tests/drivers/sx1278/test-sx1278-bidir.cpp)
+sbs_target(test-sx1278-bidir-v3 stm32f429zi_skyward_death_stack_v3)
+
+add_executable(test-sx1278-tx src/tests/drivers/sx1278/test-sx1278-tx.cpp)
+sbs_target(test-sx1278-tx stm32f429zi_skyward_death_stack_v3)
+
+add_executable(test-sx1278-rx src/tests/drivers/sx1278/test-sx1278-rx.cpp)
+sbs_target(test-sx1278-rx stm32f429zi_skyward_ground_station)
add_executable(test-sx1278-mavlink
src/tests/drivers/sx1278/test-sx1278-mavlink.cpp
diff --git a/src/tests/drivers/sx1278/test-sx1278-bench.cpp b/src/tests/drivers/sx1278/test-sx1278-bench.cpp
index 31db75f4f5c47aa0a847be004e403718df858116..0e1307a9c696f755d340755c273c5a1636b1e65d 100644
--- a/src/tests/drivers/sx1278/test-sx1278-bench.cpp
+++ b/src/tests/drivers/sx1278/test-sx1278-bench.cpp
@@ -25,50 +25,58 @@
#include <thread>
-#include "test-sx1278-core.h"
-
using namespace Boardcore;
using namespace miosix;
-/**
- * 0 -> RX
- * 1 -> TX
- *
- * Connection diagram:
- * sx1278[0]:nss -> stm32:pa1
- * sx1278[0]:dio0 -> stm32:pc15
- * sx1278[0]:mosi -> stm32:pc12 (SPI3_MOSI)
- * sx1278[0]:miso -> stm32:pc11 (SPI3_MISO)
- * sx1278[0]:sck -> stm32:pc10 (SPI3_SCK)
-
- * sx1278[1]:nss -> stm32:pa2
- * sx1278[1]:dio0 -> stm32:pc0
- * sx1278[1]:mosi -> stm32:pb15 (SPI2_MOSI)
- * sx1278[1]:miso -> stm32:pb14 (SPI2_MISO)
- * sx1278[1]:sck -> stm32:pb13 (SPI2_SCK)
- */
+struct Stats;
-SPIBus bus0(SPI3);
-SPIBus bus1(SPI2);
+const char *stringFromErr(SX1278::Error err)
+{
+ switch (err)
+ {
+ case SX1278::Error::BAD_VALUE:
+ return "Error::BAD_VALUE";
-GpioPin sck0(GPIOC_BASE, 10);
-GpioPin miso0(GPIOC_BASE, 11);
-GpioPin mosi0(GPIOC_BASE, 12);
-GpioPin cs0(GPIOA_BASE, 1);
-GpioPin dio0(GPIOC_BASE, 15);
+ case SX1278::Error::BAD_VERSION:
+ return "Error::BAD_VERSION";
-GpioPin sck1(GPIOB_BASE, 13);
-GpioPin miso1(GPIOB_BASE, 14);
-GpioPin mosi1(GPIOB_BASE, 15);
-GpioPin cs1(GPIOA_BASE, 2);
-GpioPin dio1(GPIOC_BASE, 0);
+ default:
+ return "<unknown>";
+ }
+}
-struct Stats;
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+#include "interfaces-impl/hwmapping.h"
+
+#if 1 // use ra01
+using cs = peripherals::ra01::cs;
+using dio0 = peripherals::ra01::dio0;
+#else
+using cs = peripherals::sx127x::cs;
+using dio0 = peripherals::sx127x::dio0;
+#endif
+
+using sck = interfaces::spi4::sck;
+using miso = interfaces::spi4::miso;
+using mosi = interfaces::spi4::mosi;
+
+#define SX1278_SPI SPI4
-const char *stringFromErr(SX1278::Error err);
-const char *stringFromRxBw(SX1278::RxBw rx_bw);
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+#include "interfaces-impl/hwmapping.h"
-void printStats(Stats stats);
+using cs = sensors::sx127x::cs;
+using dio0 = sensors::sx127x::dio0;
+
+using sck = interfaces::spi5::sck;
+using miso = interfaces::spi5::miso;
+using mosi = interfaces::spi5::mosi;
+
+#define SX1278_SPI SPI5
+
+#else
+#error "Target not supported"
+#endif
/// Status informations.
struct Stats
@@ -91,9 +99,23 @@ struct Stats
}
}
+ void print() const
+ {
+ // Prints are REALLY slow, so take a COPY of stats, so we can print an
+ // instant in time.
+ Stats stats = *this;
+
+ printf("stats.last_recv_packet = %d\n", stats.last_recv_packet);
+ printf("stats.corrupted_packets = %d\n", stats.corrupted_packets);
+ printf("stats.send_count = %d\n", stats.send_count);
+ printf("stats.recv_count = %d\n", stats.recv_count);
+ printf("stats.recv_errors = %d\n", stats.recv_errors);
+ printf("stats.packet_loss = %.2f %%\n", stats.packet_loss() * 100.0f);
+ }
+
} stats;
-SX1278 *sx1278[2] = {nullptr, nullptr};
+SX1278 *sx1278 = nullptr;
struct Msg
{
@@ -107,14 +129,14 @@ struct Msg
const static int DUMMY_3 = 0x1234abcd;
};
-void recvLoop(int idx)
+void recvLoop()
{
while (1)
{
Msg msg;
memset(&msg, 0, sizeof(msg));
- int len = sx1278[idx]->receive((uint8_t *)&msg, sizeof(msg));
+ int len = sx1278->receive((uint8_t *)&msg, sizeof(msg));
if (len != sizeof(msg))
{
@@ -134,7 +156,7 @@ void recvLoop(int idx)
}
}
-void sendLoop(int idx)
+void sendLoop()
{
while (1)
{
@@ -146,7 +168,7 @@ void sendLoop(int idx)
msg.dummy_2 = Msg::DUMMY_2;
msg.dummy_3 = Msg::DUMMY_3;
- sx1278[idx]->send((uint8_t *)&msg, sizeof(msg));
+ sx1278->send((uint8_t *)&msg, sizeof(msg));
stats.send_count = next_idx;
}
}
@@ -154,116 +176,57 @@ void sendLoop(int idx)
/// Get current time
long long now() { return miosix::getTick() * 1000 / miosix::TICK_FREQ; }
-void __attribute__((used)) EXTI15_IRQHandlerImpl()
-{
- if (sx1278[0])
- sx1278[0]->handleDioIRQ();
-}
-
-void __attribute__((used)) EXTI0_IRQHandlerImpl()
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+void __attribute__((used)) EXTI6_IRQHandlerImpl()
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+void __attribute__((used)) EXTI10_IRQHandlerImpl()
+#else
+#error "Target not supported"
+#endif
{
- if (sx1278[1])
- sx1278[1]->handleDioIRQ();
+ if (sx1278)
+ sx1278->handleDioIRQ();
}
-/// Initialize stm32f407g board (sx1278[0] only)
-void initBoard0()
+void initBoard()
{
- {
- miosix::FastInterruptDisableLock dLock;
-
- // Enable SPI3
- RCC->APB1ENR |= RCC_APB1ENR_SPI3EN;
- RCC_SYNC();
-
- // Setup SPI pins
- sck0.mode(miosix::Mode::ALTERNATE);
- sck0.alternateFunction(6);
- miso0.mode(miosix::Mode::ALTERNATE);
- miso0.alternateFunction(6);
- mosi0.mode(miosix::Mode::ALTERNATE);
- mosi0.alternateFunction(6);
-
- cs0.mode(miosix::Mode::OUTPUT);
- dio0.mode(miosix::Mode::INPUT);
- }
-
- cs0.high();
- enableExternalInterrupt(dio0.getPort(), dio0.getNumber(),
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+ enableExternalInterrupt(GPIOF_BASE, 6,
InterruptTrigger::RISING_EDGE);
-}
-
-/// Initialize stm32f407g board (sx1278[1] only)
-void initBoard1()
-{
- {
- miosix::FastInterruptDisableLock dLock;
-
- // Enable SPI2
- RCC->APB1ENR |= RCC_APB1ENR_SPI2EN;
- RCC_SYNC();
-
- sck1.mode(miosix::Mode::ALTERNATE);
- sck1.alternateFunction(5);
- miso1.mode(miosix::Mode::ALTERNATE);
- miso1.alternateFunction(5);
- mosi1.mode(miosix::Mode::ALTERNATE);
- mosi1.alternateFunction(5);
-
- cs1.mode(miosix::Mode::OUTPUT);
- dio1.mode(miosix::Mode::INPUT);
- }
-
- cs1.high();
- enableExternalInterrupt(dio1.getPort(), dio1.getNumber(),
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+ enableExternalInterrupt(GPIOF_BASE, 10,
InterruptTrigger::RISING_EDGE);
+#else
+#error "Target not supported"
+#endif
}
int main()
{
-#ifndef DISABLE_RX
- initBoard0();
-#endif
-#ifndef DISABLE_TX
- initBoard1();
-#endif
+ initBoard();
// Run default configuration
SX1278::Config config;
SX1278::Error err;
- // Configure them
-#ifndef DISABLE_RX
- sx1278[0] = new SX1278(bus0, cs0);
+ SPIBus bus(SX1278_SPI);
+ GpioPin cs = cs::getPin();
- printf("\n[sx1278] Configuring sx1278[0]...\n");
- printConfig(config);
- if ((err = sx1278[0]->init(config)) != SX1278::Error::NONE)
- {
- printf("[sx1278] sx1278[0]->init error: %s\n", stringFromErr(err));
- return -1;
- }
-#endif
+ sx1278 = new SX1278(bus, cs);
-#ifndef DISABLE_TX
- sx1278[1] = new SX1278(bus1, cs1);
-
- printf("\n[sx1278] Configuring sx1278[1]...\n");
- printConfig(config);
- if ((err = sx1278[1]->init(config)) != SX1278::Error::NONE)
+ printf("\n[sx1278] Configuring sx1278...\n");
+ if ((err = sx1278->init(config)) != SX1278::Error::NONE)
{
- printf("[sx1278] sx1278[1]->init error: %s\n", stringFromErr(err));
+ printf("[sx1278] sx1278->init error: %s\n", stringFromErr(err));
return -1;
}
-#endif
// Run background threads
#ifndef DISABLE_RX
- std::thread recv([]() { recvLoop(0); });
+ std::thread recv([]() { recvLoop(); });
#endif
#ifndef DISABLE_TX
- miosix::Thread::sleep(500);
- std::thread send([]() { sendLoop(1); });
+ std::thread send([]() { sendLoop(); });
#endif
// Finish!
@@ -285,7 +248,7 @@ int main()
((float)elapsed / 1000.0f);
printf("\n[sx1278] Stats:\n");
- printStats(stats);
+ stats.print();
printf("tx_bitrate: %.2f kb/s\n", tx_bitrate / 1000.0f);
printf("rx_bitrate: %.2f kb/s\n", rx_bitrate / 1000.0f);
@@ -294,16 +257,3 @@ int main()
return 0;
}
-
-void printStats(Stats stats)
-{
- // Prints are REALLY slow, so take a COPY of stats, so we can print an
- // instant in time.
-
- printf("stats.last_recv_packet = %d\n", stats.last_recv_packet);
- printf("stats.corrupted_packets = %d\n", stats.corrupted_packets);
- printf("stats.send_count = %d\n", stats.send_count);
- printf("stats.recv_count = %d\n", stats.recv_count);
- printf("stats.recv_errors = %d\n", stats.recv_errors);
- printf("stats.packet_loss = %.2f %%\n", stats.packet_loss() * 100.0f);
-}
diff --git a/src/tests/drivers/sx1278/test-sx1278-bidir.cpp b/src/tests/drivers/sx1278/test-sx1278-bidir.cpp
index c0cc885bf6c9b84693700cb808e3909f81779045..dd07e00964ca68ea4d7c351f44bb27c37690daaa 100644
--- a/src/tests/drivers/sx1278/test-sx1278-bidir.cpp
+++ b/src/tests/drivers/sx1278/test-sx1278-bidir.cpp
@@ -22,178 +22,146 @@
#include <drivers/interrupt/external_interrupts.h>
#include <radio/SX1278/SX1278.h>
+#include <miosix.h>
#include <cstring>
#include <thread>
-#include "test-sx1278-core.h"
-
using namespace Boardcore;
using namespace miosix;
-/**
- * Connection diagram:
- * sx1278[0]:nss -> stm32:pa1
- * sx1278[0]:dio0 -> stm32:pc15
- * sx1278[0]:mosi -> stm32:pc12 (SPI3_MOSI)
- * sx1278[0]:miso -> stm32:pc11 (SPI3_MISO)
- * sx1278[0]:sck -> stm32:pc10 (SPI3_SCK)
-
- * sx1278[1]:nss -> stm32:pa2
- * sx1278[1]:dio0 -> stm32:pc0
- * sx1278[1]:mosi -> stm32:pb15 (SPI2_MOSI)
- * sx1278[1]:miso -> stm32:pb14 (SPI2_MISO)
- * sx1278[1]:sck -> stm32:pb13 (SPI2_SCK)
- */
+const char *stringFromErr(SX1278::Error err)
+{
+ switch (err)
+ {
+ case SX1278::Error::BAD_VALUE:
+ return "Error::BAD_VALUE";
-SPIBus bus0(SPI3);
-SPIBus bus1(SPI2);
+ case SX1278::Error::BAD_VERSION:
+ return "Error::BAD_VERSION";
-GpioPin sck0(GPIOC_BASE, 10);
-GpioPin miso0(GPIOC_BASE, 11);
-GpioPin mosi0(GPIOC_BASE, 12);
-GpioPin cs0(GPIOA_BASE, 1);
-GpioPin dio0(GPIOC_BASE, 15);
+ default:
+ return "<unknown>";
+ }
+}
-GpioPin sck1(GPIOB_BASE, 13);
-GpioPin miso1(GPIOB_BASE, 14);
-GpioPin mosi1(GPIOB_BASE, 15);
-GpioPin cs1(GPIOA_BASE, 2);
-GpioPin dio1(GPIOC_BASE, 0);
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+#include "interfaces-impl/hwmapping.h"
-SX1278 *sx1278[2] = {nullptr, nullptr};
+#if 1 // use ra01
+using cs = peripherals::ra01::cs;
+using dio0 = peripherals::ra01::dio0;
+#else
+using cs = peripherals::sx127x::cs;
+using dio0 = peripherals::sx127x::dio0;
+#endif
-void __attribute__((used)) EXTI15_IRQHandlerImpl()
-{
- if (sx1278[0])
- sx1278[0]->handleDioIRQ();
-}
+using sck = interfaces::spi4::sck;
+using miso = interfaces::spi4::miso;
+using mosi = interfaces::spi4::mosi;
-void __attribute__((used)) EXTI0_IRQHandlerImpl()
-{
- if (sx1278[1])
- sx1278[1]->handleDioIRQ();
-}
+#define SX1278_SPI SPI4
-/// Initialize stm32f407g board (sx1278[0] only)
-void initBoard0()
-{
- {
- miosix::FastInterruptDisableLock dLock;
-
- // Enable SPI3
- RCC->APB1ENR |= RCC_APB1ENR_SPI3EN;
- RCC_SYNC();
-
- // Setup SPI pins
- sck0.mode(miosix::Mode::ALTERNATE);
- sck0.alternateFunction(6);
- miso0.mode(miosix::Mode::ALTERNATE);
- miso0.alternateFunction(6);
- mosi0.mode(miosix::Mode::ALTERNATE);
- mosi0.alternateFunction(6);
-
- cs0.mode(miosix::Mode::OUTPUT);
- dio0.mode(miosix::Mode::INPUT);
- }
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+#include "interfaces-impl/hwmapping.h"
- cs0.high();
- enableExternalInterrupt(dio0.getPort(), dio0.getNumber(),
- InterruptTrigger::RISING_EDGE);
-}
+using cs = sensors::sx127x::cs;
+using dio0 = sensors::sx127x::dio0;
-/// Initialize stm32f407g board (sx1278[1] only)
-void initBoard1()
-{
- {
- miosix::FastInterruptDisableLock dLock;
+using sck = interfaces::spi5::sck;
+using miso = interfaces::spi5::miso;
+using mosi = interfaces::spi5::mosi;
- // Enable SPI2
- RCC->APB1ENR |= RCC_APB1ENR_SPI2EN;
- RCC_SYNC();
+#define SX1278_SPI SPI5
- sck1.mode(miosix::Mode::ALTERNATE);
- sck1.alternateFunction(5);
- miso1.mode(miosix::Mode::ALTERNATE);
- miso1.alternateFunction(5);
- mosi1.mode(miosix::Mode::ALTERNATE);
- mosi1.alternateFunction(5);
+#else
+#error "Target not supported"
+#endif
- cs1.mode(miosix::Mode::OUTPUT);
- dio1.mode(miosix::Mode::INPUT);
- }
+SX1278 *sx1278 = nullptr;
+
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+void __attribute__((used)) EXTI6_IRQHandlerImpl()
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+void __attribute__((used)) EXTI10_IRQHandlerImpl()
+#else
+#error "Target not supported"
+#endif
+{
+ if (sx1278)
+ sx1278->handleDioIRQ();
+}
- cs1.high();
- enableExternalInterrupt(dio1.getPort(), dio1.getNumber(),
+void initBoard()
+{
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS
+ enableExternalInterrupt(GPIOF_BASE, 6,
+ InterruptTrigger::RISING_EDGE);
+#elif defined _BOARD_STM32F429ZI_SKYWARD_DEATHST_V3
+ enableExternalInterrupt(GPIOF_BASE, 10,
InterruptTrigger::RISING_EDGE);
+#else
+#error "Target not supported"
+#endif
}
-void recvLoop(int idx)
+void recvLoop()
{
- char buf[256];
+ char buf[64];
while (1)
{
- if (sx1278[idx]->receive((uint8_t *)buf, sizeof(buf)) != -1)
+ ssize_t res = sx1278->receive((uint8_t *)buf, sizeof(buf));
+ if (res != -1)
{
// Make sure there is a terminator somewhere
- buf[255] = 0;
- printf("[sx1278 @ %p] Received '%s'\n", sx1278[idx], buf);
+ buf[res] = 0;
+ printf("[sx1278] Received '%s'\n", buf);
}
}
}
-void sendLoop(int idx, int interval, char *data)
+void sendLoop(int interval, const char *data)
{
+ char buf[64];
+ strncpy(buf, data, sizeof(buf) - 1);
+
while (1)
{
miosix::Thread::sleep(interval);
- sx1278[idx]->send((uint8_t *)data, strlen(data) + 1);
- printf("[sx1278 @ %p] Sent '%s'\n", sx1278[idx], data);
+ sx1278->send((uint8_t *)buf, strlen(buf) + 1);
+ printf("[sx1278] Sent '%s'\n", buf);
}
}
int main()
{
- initBoard0();
- initBoard1();
+ initBoard();
// Run default configuration
SX1278::Config config;
SX1278::Error err;
- // Configure them
- sx1278[0] = new SX1278(bus0, cs0);
+ SPIBus bus(SX1278_SPI);
+ GpioPin cs = cs::getPin();
- printf("\n[sx1278] Configuring sx1278[0]...\n");
- printConfig(config);
- if ((err = sx1278[0]->init(config)) != SX1278::Error::NONE)
- {
- printf("[sx1278] sx1278[0]->init error: %s\n", stringFromErr(err));
- return -1;
- }
+ sx1278 = new SX1278(bus, cs);
- sx1278[1] = new SX1278(bus1, cs1);
-
- printf("\n[sx1278] Configuring sx1278[1]...\n");
- printConfig(config);
- if ((err = sx1278[1]->init(config)) != SX1278::Error::NONE)
+ printf("\n[sx1278] Configuring sx1278...\n");
+ if ((err = sx1278->init(config)) != SX1278::Error::NONE)
{
- printf("[sx1278] sx1278[1]->init error: %s\n", stringFromErr(err));
+ printf("[sx1278] sx1278->init error: %s\n", stringFromErr(err));
return -1;
}
// Spawn all threads
- std::thread send0(
- [=]() { sendLoop(0, 1000, const_cast<char *>("Hi from sx1278[0]!")); });
- std::thread send1(
- [=]() { sendLoop(1, 3333, const_cast<char *>("Hi from sx1278[1]!")); });
-
- std::thread recv0([]() { recvLoop(0); });
- std::thread recv1([]() { recvLoop(1); });
+ std::thread send([]() { sendLoop(1000, "DIO0 (suca palle)"); });
+ std::thread recv([]() { recvLoop(); });
printf("\n[sx1278] Initialization complete!\n");
+ // sx1278->debugDumpRegisters();
+
while (1)
miosix::Thread::wait();