From 48f2d9269cc3789f53cbffc97fb6e82cbc69b067 Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Tue, 1 Aug 2023 22:47:53 +0200
Subject: [PATCH] [sx1278] Updated mavlink test
---
.../radio/sx1278/fsk/test-sx1278-mavlink.cpp | 112 +++++++++++++-----
1 file changed, 85 insertions(+), 27 deletions(-)
diff --git a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
index c36bcf791..af10c8f79 100644
--- a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
@@ -33,7 +33,7 @@
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"
#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
-#include <mavlink_lib/pyxis/mavlink.h>
+#include <mavlink_lib/gemini/mavlink.h>
#pragma GCC diagnostic pop
#include <radio/MavlinkDriver/MavlinkDriver.h>
@@ -70,6 +70,59 @@ using mosi = interfaces::spi4::mosi;
#define SX1278_IRQ_DIO1 EXTI4_IRQHandlerImpl
#define SX1278_IRQ_DIO3 EXTI11_IRQHandlerImpl
+#elif defined _BOARD_STM32F767ZI_GEMINI_GS
+#include "interfaces-impl/hwmapping.h"
+
+#define SX1278_IS_SKYWARD433
+// #define SX1278_IS_EBYTE
+
+// Comment to use SX1278_2
+#define SX1278_1
+
+#ifdef SX1278_1
+using cs = miosix::radio1::cs;
+using dio0 = miosix::radio1::dio0;
+using dio1 = miosix::radio1::dio1;
+using dio3 = miosix::radio1::dio3;
+
+using sck = miosix::radio1::spi::sck;
+using miso = miosix::radio1::spi::miso;
+using mosi = miosix::radio1::spi::mosi;
+
+using txen = miosix::radio1::txen;
+using rxen = miosix::radio1::rxen;
+
+#define SX1278_NRST
+using rst = miosix::radio1::nrst;
+
+#define SX1278_SPI MIOSIX_RADIO1_SPI
+
+#define SX1278_IRQ_DIO0 MIOSIX_RADIO1_DIO0_IRQ
+#define SX1278_IRQ_DIO1 MIOSIX_RADIO1_DIO1_IRQ
+#define SX1278_IRQ_DIO3 MIOSIX_RADIO1_DIO3_IRQ
+#else
+using cs = miosix::radio2::cs;
+using dio0 = miosix::radio2::dio0;
+using dio1 = miosix::radio2::dio1;
+using dio3 = miosix::radio2::dio3;
+
+using sck = miosix::radio2::spi::sck;
+using miso = miosix::radio2::spi::miso;
+using mosi = miosix::radio2::spi::mosi;
+
+using txen = miosix::radio2::txen;
+using rxen = miosix::radio2::rxen;
+
+#define SX1278_NRST
+using rst = miosix::radio2::nrst;
+
+#define SX1278_SPI MIOSIX_RADIO2_SPI
+
+#define SX1278_IRQ_DIO0 MIOSIX_RADIO2_DIO0_IRQ
+#define SX1278_IRQ_DIO1 MIOSIX_RADIO2_DIO1_IRQ
+#define SX1278_IRQ_DIO3 MIOSIX_RADIO2_DIO3_IRQ
+#endif
+
#else
#error "Target not supported"
#endif
@@ -100,43 +153,41 @@ Mav* channel;
void onReceive(Mav* channel, const mavlink_message_t& msg)
{
- // Prepare ack messages
- mavlink_message_t ackMsg;
- mavlink_msg_ack_tm_pack(1, 1, &ackMsg, msg.msgid, msg.seq);
+ if (msg.msgid != MAVLINK_MSG_ID_ACK_TM)
+ {
+ // Prepare ack messages
+ mavlink_message_t ackMsg;
+ mavlink_msg_ack_tm_pack(1, 1, &ackMsg, msg.msgid, msg.seq);
- // Send the ack back to the sender
- channel->enqueueMsg(ackMsg);
+ // Send the ack back to the sender
+ channel->enqueueMsg(ackMsg);
+
+ printf("[sx1278] Sending ack\n");
+ }
}
void flightTmLoop()
{
+ int i = 0;
+
while (1)
{
long long start = miosix::getTick();
mavlink_message_t msg;
mavlink_rocket_flight_tm_t tm = {0};
+ tm.acc_x = i;
+ tm.acc_y = i * 2;
+ tm.acc_z = i * 3;
+
mavlink_msg_rocket_flight_tm_encode(171, 96, &msg, &tm);
channel->enqueueMsg(msg);
Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
- }
-}
-
-void statsTmLoop()
-{
- while (1)
- {
- long long start = miosix::getTick();
+ i += 1;
- mavlink_message_t msg;
- mavlink_rocket_stats_tm_t tm = {0};
- mavlink_msg_rocket_stats_tm_encode(171, 96, &msg, &tm);
-
- channel->enqueueMsg(msg);
-
- Thread::sleepUntil(start + STATS_TM_PERIOD);
+ printf("[sx1278] Message sent\n");
}
}
@@ -144,7 +195,18 @@ int main()
{
initBoard();
- SX1278Fsk::Config config;
+ SX1278Fsk::Config config = {
+ .freq_rf = 434000000,
+ .freq_dev = 50000,
+ .bitrate = 48000,
+ .rx_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
+ .afc_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
+ .ocp = 120,
+ .power = 13,
+ .shaping = Boardcore::SX1278Fsk::Config::Shaping::GAUSSIAN_BT_1_0,
+ .dc_free = Boardcore::SX1278Fsk::Config::DcFree::WHITENING,
+ .enable_crc = true};
+
SX1278Fsk::Error err;
SPIBus bus(SX1278_SPI);
@@ -169,11 +231,7 @@ int main()
channel = new Mav(sx1278, &onReceive, 0, MAV_OUT_BUFFER_MAX_AGE);
channel->start();
- std::thread flight_tm_loop([]() { flightTmLoop(); });
- std::thread stats_tm_loop([]() { statsTmLoop(); });
-
- while (1)
- Thread::wait();
+ flightTmLoop();
return 0;
}
--
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