[Driver] DipSwitch driver and test

[CI] Fixed CI, using namespace miosix was in DipSwitch.h

[ARP, LyraGS] Follower logging target angle. Dipswitch now agnostic.

Dipswitch now just read a uint8_t, no more has a lyra GS dependent read.
Follower now logging the target angle.

[DipSwitch] Fix on the test of the dipSwitch

Dipswitch now agnostic to the lyraGS struct, just a uint8_t read.
Fixed test to read accordingly.

[Fix] Dipswitch comment fix

CMakeLists.txt

@@ -109,7 +109,7 @@ add_executable(test-sensormanager src/tests/test-sensormanager.cpp)
 sbs_target(test-sensormanager stm32f429zi_death_stack_v2)
 
 add_executable(test-serial src/tests/test-serial.cpp)
-sbs_target(test-serial stm32f767zi_lyra_biscotto)
+sbs_target(test-serial stm32f767zi_lyra_gs)
 
 add_executable(test-taskscheduler src/tests/scheduler/test-taskscheduler.cpp)
 sbs_target(test-taskscheduler stm32f407vg_stm32f4discovery)
@@ -302,6 +302,9 @@ sbs_target(test-wiz5500 stm32f767zi_gemini_gs)
 add_executable(test-bsram src/tests/drivers/test-bsram.cpp)
 sbs_target(test-bsram stm32f767zi_lyra_biscotto)
 
+add_executable(test-dipswitch src/tests/drivers/test-dipswitch.cpp)
+sbs_target(test-dipswitch stm32f767zi_lyra_gs)
+
 #-----------------------------------------------------------------------------#
 #                               Tests - Events                                #
 #-----------------------------------------------------------------------------#

cmake/boardcore.cmake

@@ -66,6 +66,7 @@ set(BOARDCORE_SRC
     ${BOARDCORE_PATH}/src/shared/drivers/i2c/I2CDriver-f7.cpp
     ${BOARDCORE_PATH}/src/shared/drivers/i2c/I2C.cpp
     ${BOARDCORE_PATH}/src/shared/drivers/WIZ5500/WIZ5500.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/DipSwitch/DipSwitch.cpp
 
     # Events
     ${BOARDCORE_PATH}/src/shared/events/EventBroker.cpp

src/shared/algorithms/Follower/Follower.cpp

@@ -174,6 +174,10 @@ void Follower::step()
     state.verticalSpeed   = verticalSpeed;
     setState(state);
 
+    // Log the target angles
+    Boardcore::Logger::getInstance().log(
+        static_cast<Boardcore::AntennaAngles>(targetAngles));
+
 #ifndef NDEBUG
     std::cout << "[FOLLOWER] STEPPER "
               << "Angles: [" << state.yaw << ", " << state.pitch << "] "

src/shared/drivers/DipSwitch/DipSwitch.cpp

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * 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 "DipSwitch.h"
+
+uint8_t DipSwitch::read()
+{
+    uint8_t read = 0;
+
+    // Write to the shift register (CS == Not LD)
+    sh.low();
+    miosix::delayUs(microSecClk);
+    clk.high();
+    miosix::delayUs(microSecClk);
+    sh.high();
+    miosix::delayUs(microSecClk);
+
+    // Read first register GS(0)/ARP(1)
+
+    read |= readBit();
+    read |= readBit() << 1;
+    read |= readBit() << 2;
+    read |= readBit() << 3;
+    read |= readBit() << 4;
+    read |= readBit() << 5;
+    read |= readBit() << 6;
+    read |= readBit() << 7;
+
+    return read;
+}
+
+uint8_t DipSwitch::readBit()
+{
+    uint8_t bit;
+    clk.high();
+    miosix::delayUs(microSecClk);
+    bit = qh.value();
+    miosix::delayUs(microSecClk);
+    clk.low();
+    miosix::delayUs(microSecClk);
+    return bit;
+}
\ No newline at end of file

src/shared/drivers/DipSwitch/DipSwitch.h

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * 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 <miosix.h>
+
+/**
+ * @brief Dip switch driver to read the current status of the switch
+ */
+class DipSwitch
+{
+public:
+    DipSwitch(miosix::GpioPin& sh, miosix::GpioPin& clk, miosix::GpioPin& qh,
+              uint32_t microSecClk)
+        : sh{sh}, clk{clk}, qh{qh}, microSecClk{microSecClk}
+    {
+    }
+
+    /**
+     * @brief Performs a read of the dipSwitch
+     *
+     * @return uint8_t the read of the dip switch in big endian order. Dip 1 as
+     * most significant value, dip 8 as less significant.
+     * @note The order may depend on the dipswitch
+     * @note visually the order in a 8bit word is:
+     * dip order:  [ 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 ]
+     * bits order: 12345678
+     */
+    uint8_t read();
+
+private:
+    miosix::GpioPin& sh;
+    miosix::GpioPin& clk;
+    miosix::GpioPin& qh;
+    uint32_t microSecClk;
+
+    /**
+     * @brief Reads a bit from the dip switch shift register
+     */
+    uint8_t readBit();
+};
\ No newline at end of file

src/tests/drivers/test-dipswitch.cpp

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * 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/DipSwitch/DipSwitch.h>
+#include <interfaces-impl/hwmapping.h>
+#include <miosix.h>
+
+using namespace miosix;
+
+/**
+ * @brief Tests the read from a dipswitch using the DipSwitch driver
+ */
+int main()
+{
+    uint32_t microSecClk = 100;
+    GpioPin sh           = dipSwitch::sh::getPin();
+    GpioPin clk          = dipSwitch::clk::getPin();
+    GpioPin qh           = dipSwitch::qh::getPin();
+
+    DipSwitch dipSwitch(sh, clk, qh, microSecClk);
+    while (true)
+    {
+        uint8_t status;
+        Thread::sleep(1000);
+        status = dipSwitch.read();
+        printf("Read from dipSwitch: %d\n", status);
+    }
+    return 0;
+}