diff --git a/CMakeLists.txt b/CMakeLists.txt
index aaba63944cb7e1096e7e70e16796acbfec10e304..3ebdcfe5784dbf7ac91520ebe138d826c0469aa8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -71,7 +71,7 @@ sbs_target(sx1278fsk-skyward433-serial stm32f767zi_gemini_gs)
add_executable(sx1278lora-skyward433-serial src/entrypoints/sx1278-serial.cpp)
target_compile_definitions(sx1278lora-skyward433-serial PRIVATE SX1278_IS_LORA SX1278_IS_SKYWARD433)
-sbs_target(sx1278lora-skyward433-serial stm32f429zi_skyward_groundstation_v2)
+sbs_target(sx1278lora-skyward433-serial stm32f767zi_gemini_gs)
add_executable(sx1278fsk-ebyterig-serial src/entrypoints/sx1278-serial.cpp)
target_compile_definitions(sx1278fsk-ebyterig-serial PRIVATE SX1278_IS_FSK)
@@ -314,17 +314,15 @@ add_executable(test-sx1278fsk-gui-rx src/tests/radio/sx1278/test-sx1278-bench-gu
target_compile_definitions(test-sx1278fsk-gui-rx PRIVATE DISABLE_TX)
sbs_target(test-sx1278fsk-gui-rx stm32f429zi_skyward_groundstation_v2)
-add_executable(test-sx1278fsk-mavlink src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp)
+add_executable(test-sx1278fsk-mavlink src/tests/radio/sx1278/test-sx1278-mavlink.cpp)
+target_compile_definitions(test-sx1278fsk-mavlink PRIVATE SX1278_IS_FSK)
sbs_target(test-sx1278fsk-mavlink stm32f429zi_skyward_groundstation_v2)
# add_executable(test-mavlinkdriver src/tests/radio/test-mavlinkdriver.cpp)
# sbs_target(test-mavlinkdriver stm32f407vg_stm32f4discovery)
add_executable(test-sx1278lora-bidir src/tests/radio/sx1278/lora/test-sx1278-bidir.cpp)
-sbs_target(test-sx1278lora-bidir stm32f429zi_skyward_groundstation_v2)
-
-add_executable(test-sx1278lora-mavlink src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp)
-sbs_target(test-sx1278lora-mavlink stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-bidir stm32f767zi_gemini_gs)
add_executable(test-sx1278lora-simple-rx src/tests/radio/sx1278/lora/test-sx1278-simple.cpp)
target_compile_definitions(test-sx1278lora-simple-rx PRIVATE ENABLE_RX)
@@ -340,7 +338,7 @@ sbs_target(test-sx1278lora-tx stm32f429zi_skyward_groundstation_v2)
add_executable(test-sx1278lora-rx src/tests/radio/sx1278/test-sx1278-bench-serial.cpp)
target_compile_definitions(test-sx1278lora-rx PRIVATE DISABLE_TX SX1278_IS_LORA)
-sbs_target(test-sx1278lora-rx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-rx stm32f767zi_gemini_gs)
add_executable(test-sx1278lora-gui-rx src/tests/radio/sx1278/test-sx1278-bench-gui.cpp)
target_compile_definitions(test-sx1278lora-gui-rx PRIVATE DISABLE_TX SX1278_IS_LORA)
@@ -350,6 +348,10 @@ add_executable(test-sx1278lora-gui-tx src/tests/radio/sx1278/test-sx1278-bench-g
target_compile_definitions(test-sx1278lora-gui-tx PRIVATE DISABLE_RX SX1278_IS_LORA)
sbs_target(test-sx1278lora-gui-tx stm32f429zi_skyward_groundstation_v2)
+add_executable(test-sx1278lora-mavlink src/tests/radio/sx1278/test-sx1278-mavlink.cpp)
+target_compile_definitions(test-sx1278lora-mavlink PRIVATE SX1278_IS_LORA)
+sbs_target(test-sx1278lora-mavlink stm32f429zi_skyward_groundstation_v2)
+
#-----------------------------------------------------------------------------#
# Tests - Sensors #
#-----------------------------------------------------------------------------#
diff --git a/src/shared/radio/SX1278/SX1278Fsk.cpp b/src/shared/radio/SX1278/SX1278Fsk.cpp
index 317d779c125ce2649aafed75006381518e009aee..43983114e1412fbec6f6f0f54383edfbd3b40265 100644
--- a/src/shared/radio/SX1278/SX1278Fsk.cpp
+++ b/src/shared/radio/SX1278/SX1278Fsk.cpp
@@ -34,6 +34,8 @@ namespace Boardcore
using namespace SX1278;
using namespace SX1278::Fsk;
+static constexpr uint16_t FSK_SYNC_VALUE = 0x12ad;
+
long long now() { return miosix::getTick() * 1000 / miosix::TICK_FREQ; }
// Enable:
@@ -82,8 +84,6 @@ bool SX1278Fsk::checkVersion()
SPITransaction spi(getSpiSlave(guard));
uint8_t version = spi.readRegister(REG_VERSION);
- TRACE("[sx1278] Chip id: %d\n", version);
-
return version == 0x12;
}
@@ -130,6 +130,16 @@ void SX1278Fsk::reconfigure(Lock &guard)
{
SPITransaction spi(getSpiSlave(guard));
+ // This must be the first register to be configured, so if anything goes
+ // wrong past this point, we can detect it
+ spi.writeRegister16(REG_SYNC_VALUE_1, FSK_SYNC_VALUE);
+
+ // Setup sync word
+ spi.writeRegister(
+ REG_SYNC_CONFIG,
+ RegSyncConfig::make(2, true, RegSyncConfig::PREAMBLE_POLARITY_55,
+ RegSyncConfig::AUTO_RESTART_RX_MODE_OFF));
+
// Setup bitrate
uint16_t bitrate_raw = FXOSC / bitrate;
spi.writeRegister16(REG_BITRATE_MSB, bitrate_raw);
@@ -162,14 +172,6 @@ void SX1278Fsk::reconfigure(Lock &guard)
spi.writeRegister(REG_OCP, RegOcp::make((ocp + 30) / 10, true));
}
- // Setup sync word
- spi.writeRegister(
- REG_SYNC_CONFIG,
- RegSyncConfig::make(2, true, RegSyncConfig::PREAMBLE_POLARITY_55,
- RegSyncConfig::AUTO_RESTART_RX_MODE_OFF));
- spi.writeRegister(REG_SYNC_VALUE_1, 0x12);
- spi.writeRegister(REG_SYNC_VALUE_2, 0xad);
-
// Set preamble length
spi.writeRegister16(REG_PREAMBLE_MSB, 2);
@@ -462,15 +464,13 @@ void SX1278Fsk::rateLimitTx()
bool SX1278Fsk::checkDeviceFailure(Lock &guard)
{
- // This check will be performed sometimes when hte IRQ timeout ends
- // In such cases the device will NEVER be in standby, even if we keep it at
- // standby between operations. So, if the device IS in standby in that case,
- // then something must have gone wrong
+ // Check that this register is the same as when we configured it, otherwise
+ // the device has failed.
SPITransaction spi(getSpiSlave(guard));
- uint8_t mode = spi.readRegister(REG_OP_MODE);
+ uint16_t sync_value = spi.readRegister16(REG_SYNC_VALUE_1);
- return (mode & 0b111) == RegOpMode::Mode::MODE_STDBY;
+ return sync_value != FSK_SYNC_VALUE;
}
SX1278Fsk::IrqFlags SX1278Fsk::getIrqFlags(Lock &guard)
diff --git a/src/shared/radio/SX1278/SX1278Lora.cpp b/src/shared/radio/SX1278/SX1278Lora.cpp
index 11ef83f232d3dca0cab612bf549a16204a2b6a33..e2bbd4a57a380dbf241eb5df758a9408cf647ba4 100644
--- a/src/shared/radio/SX1278/SX1278Lora.cpp
+++ b/src/shared/radio/SX1278/SX1278Lora.cpp
@@ -32,6 +32,8 @@ namespace Boardcore
using namespace SX1278;
using namespace SX1278::Lora;
+static constexpr uint8_t LORA_SYNC_VALUE = 0x69;
+
static constexpr uint8_t MAX_PAYLOAD_LENGTH = 0xff;
static constexpr uint8_t FIFO_TX_BASE_ADDR = 0x00;
static constexpr uint8_t FIFO_RX_BASE_ADDR = 0x00;
@@ -135,7 +137,6 @@ SX1278Lora::Error SX1278Lora::init(const Config &config)
// First probe for the device
if (!checkVersion())
{
- TRACE("[sx1278] Wrong chipid\n");
return Error::BAD_VALUE;
}
@@ -169,8 +170,6 @@ bool SX1278Lora::checkVersion()
SPITransaction spi(getSpiSlave(guard));
uint8_t version = spi.readRegister(REG_VERSION);
- TRACE("[sx1278] Chip id: %d\n", version);
-
return version == 0x12;
}
@@ -214,6 +213,10 @@ void SX1278Lora::reconfigure(Lock &guard)
{
SPITransaction spi(getSpiSlave(guard));
+ // This must be the first register to be configured, so if anything goes
+ // wrong past this point, we can detect it
+ spi.writeRegister(REG_SYNC_WORD, LORA_SYNC_VALUE);
+
// Setup FIFO sections
spi.writeRegister(REG_FIFO_TX_BASE_ADDR, FIFO_TX_BASE_ADDR);
spi.writeRegister(REG_FIFO_RX_BASE_ADDR, FIFO_RX_BASE_ADDR);
@@ -275,9 +278,6 @@ void SX1278Lora::reconfigure(Lock &guard)
RegDetectOptimize::make(0x03, errata_values.automatic_if_on));
spi.writeRegister(REG_DETECTION_THRESHOLD, 0x0a);
- // (just change it to something that isn't the default)
- spi.writeRegister(REG_SYNC_WORD, 0x69);
-
// Setup weird errata registers (see errata note)
if (errata_values.reg_high_bw_optimize_1 != -1)
spi.writeRegister(REG_HIGH_BW_OPTIMIZE_1,
@@ -420,7 +420,15 @@ void SX1278Lora::writeFifo(Lock &guard, uint8_t addr, uint8_t *src,
spi.writeRegisters(REG_FIFO, src, size);
}
-bool SX1278Lora::checkDeviceFailure(Lock &guard) { return false; }
+bool SX1278Lora::checkDeviceFailure(Lock &guard) {
+ // Check that this register is the same as when we configured it, otherwise
+ // the device has failed.
+
+ SPITransaction spi(getSpiSlave(guard));
+ uint8_t sync_value = spi.readRegister(REG_SYNC_WORD);
+
+ return sync_value != LORA_SYNC_VALUE;
+}
SX1278Common::IrqFlags SX1278Lora::getIrqFlags(Lock &guard)
{
diff --git a/src/shared/radio/SX1278/SX1278Lora.h b/src/shared/radio/SX1278/SX1278Lora.h
index 9cf025218ad3911b4815ee9d03aeaaa47d7fbf36..2b3a197b6d9daf77c6449cf2ca35b7e34733f7ce 100644
--- a/src/shared/radio/SX1278/SX1278Lora.h
+++ b/src/shared/radio/SX1278/SX1278Lora.h
@@ -155,11 +155,6 @@ public:
*/
bool checkVersion();
- /**
- * @brief Configure this device on the fly.
- */
- [[nodiscard]] virtual Error configure(const Config &config);
-
/**
* @brief Wait until a new packet is received.
*
diff --git a/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
deleted file mode 100644
index 4bf32e6ba58c3719140a1e7a6d38e3071b434ce7..0000000000000000000000000000000000000000
--- a/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
+++ /dev/null
@@ -1,217 +0,0 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Alvise de'Faveri Tron, Nuno Barcellos, Davide Mor
- *
- * 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/interrupt/external_interrupts.h>
-#include <radio/SX1278/SX1278Frontends.h>
-#include <radio/SX1278/SX1278Lora.h>
-
-#include <thread>
-
-// Ignore warnings, as we don't want to change third party generated files to
-// fix them
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wcast-align"
-#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
-#include <mavlink_lib/pyxis/mavlink.h>
-#pragma GCC diagnostic pop
-
-#include <radio/MavlinkDriver/MavlinkDriver.h>
-
-using namespace Boardcore;
-using namespace miosix;
-
-constexpr uint32_t RADIO_PKT_LENGTH = SX1278Lora::MTU;
-constexpr uint32_t RADIO_OUT_QUEUE_SIZE = 10;
-constexpr uint32_t RADIO_MAV_MSG_LENGTH = MAVLINK_MAX_DIALECT_PAYLOAD_SIZE;
-constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 0;
-constexpr uint16_t SLEEP_AFTER_SEND = 0;
-constexpr uint32_t FLIGHT_TM_PERIOD = 8000;
-constexpr uint32_t STATS_TM_PERIOD = 1000;
-
-// Mavlink out buffer with 10 packets, 256 bytes each.
-using Mav =
- MavlinkDriver<RADIO_PKT_LENGTH, RADIO_OUT_QUEUE_SIZE, RADIO_MAV_MSG_LENGTH>;
-
-#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
-#include "interfaces-impl/hwmapping.h"
-
-// Uncomment the following line to enable Ebyte module
-// #define IS_EBYTE
-
-using cs = peripherals::ra01::pc13::cs;
-using dio0 = peripherals::ra01::pc13::dio0;
-using dio1 = peripherals::ra01::pc13::dio1;
-using dio3 = peripherals::ra01::pc13::dio3;
-
-using sck = interfaces::spi4::sck;
-using miso = interfaces::spi4::miso;
-using mosi = interfaces::spi4::mosi;
-
-#ifdef IS_EBYTE
-using txen = Gpio<GPIOE_BASE, 4>;
-using rxen = Gpio<GPIOD_BASE, 4>;
-#endif
-
-#define SX1278_SPI SPI4
-
-#define SX1278_IRQ_DIO0 EXTI6_IRQHandlerImpl
-#define SX1278_IRQ_DIO1 EXTI4_IRQHandlerImpl
-#define SX1278_IRQ_DIO3 EXTI11_IRQHandlerImpl
-
-#else
-#error "Target not supported"
-#endif
-
-SX1278Lora* sx1278 = nullptr;
-
-void __attribute__((used)) SX1278_IRQ_DIO0()
-{
- if (sx1278)
- sx1278->handleDioIRQ();
-}
-
-void __attribute__((used)) SX1278_IRQ_DIO1()
-{
- if (sx1278)
- sx1278->handleDioIRQ();
-}
-
-void __attribute__((used)) SX1278_IRQ_DIO3()
-{
- if (sx1278)
- sx1278->handleDioIRQ();
-}
-
-void initBoard()
-{
-#ifdef IS_EBYTE
- rxen::mode(Mode::OUTPUT);
- txen::mode(Mode::OUTPUT);
- rxen::low();
- txen::low();
-#endif
-}
-
-Mav* channel;
-
-void onReceive(Mav* channel, const mavlink_message_t& msg)
-{
- printf("Received something...\n");
-
- 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);
- }
- else
- {
- printf("Received ACK!\n");
- }
-}
-
-void flightTmLoop()
-{
- while (1)
- {
- long long start = miosix::getTick();
-
- mavlink_message_t msg;
- mavlink_rocket_flight_tm_t tm = {0};
- mavlink_msg_rocket_flight_tm_encode(171, 96, &msg, &tm);
-
- channel->enqueueMsg(msg);
- printf("Enqueued flight_tm_tm!\n");
-
- Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
- }
-}
-
-void statsTmLoop()
-{
- while (1)
- {
- long long start = miosix::getTick();
-
- mavlink_message_t msg;
- mavlink_rocket_stats_tm_t tm = {0};
- mavlink_msg_rocket_stats_tm_encode(171, 96, &msg, &tm);
-
- channel->enqueueMsg(msg);
- printf("Enqueued stats_tm!\n");
-
- Thread::sleepUntil(start + STATS_TM_PERIOD);
- }
-}
-
-int main()
-{
- initBoard();
-
- SX1278Lora::Config config = {};
- config.power = 15;
- config.ocp = 0;
- config.coding_rate = SX1278Lora::Config::Cr::CR_1;
- config.spreading_factor = SX1278Lora::Config::Sf::SF_7;
- config.bandwidth = SX1278Lora::Config::Bw::HZ_250000;
-
- printf("Effective bitrate: %lukb/s\n", config.effectiveBitrate());
-
- SX1278Lora::Error err;
-
- SPIBus bus(SX1278_SPI);
-
-#ifdef IS_EBYTE
- std::unique_ptr<SX1278::ISX1278Frontend> frontend(
- new EbyteFrontend(txen::getPin(), rxen::getPin()));
-#else
- std::unique_ptr<SX1278::ISX1278Frontend> frontend(new RA01Frontend());
-#endif
-
- sx1278 = new SX1278Lora(bus, cs::getPin(), dio0::getPin(), dio1::getPin(),
- dio3::getPin(), SPI::ClockDivider::DIV_64,
- std::move(frontend));
-
- printf("\n[sx1278] Configuring sx1278...\n");
- if ((err = sx1278->init(config)) != SX1278Lora::Error::NONE)
- {
- printf("[sx1278] sx1278->init error\n");
- return -1;
- }
-
- printf("\n[sx1278] Initialization complete!\n");
-
- channel =
- new Mav(sx1278, &onReceive, SLEEP_AFTER_SEND, MAV_OUT_BUFFER_MAX_AGE);
- channel->start();
-
- std::thread flight_tm_loop([]() { flightTmLoop(); });
- std::thread stats_tm_loop([]() { statsTmLoop(); });
-
- while (1)
- Thread::wait();
-
- return 0;
-}
diff --git a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/test-sx1278-mavlink.cpp
similarity index 60%
rename from src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
rename to src/tests/radio/sx1278/test-sx1278-mavlink.cpp
index 2ea4330776a25051354534ef0c85aa25fe5b15ef..d8bf407b40306a9b573f16b312cfa1f04d27a3fb 100644
--- a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/test-sx1278-mavlink.cpp
@@ -24,12 +24,11 @@
#include <drivers/timer/TimestampTimer.h>
#include <radio/SX1278/SX1278Frontends.h>
#include <radio/SX1278/SX1278Fsk.h>
+#include <radio/SX1278/SX1278Lora.h>
#include <utils/collections/CircularBuffer.h>
#include <thread>
-#include "common.h"
-
// Ignore warnings, as we don't want to change third party generated files to
// fix them
#pragma GCC diagnostic push
@@ -43,16 +42,6 @@
using namespace Boardcore;
using namespace miosix;
-constexpr uint32_t RADIO_PKT_LENGTH = SX1278Fsk::MTU;
-constexpr uint32_t RADIO_OUT_QUEUE_SIZE = 10;
-constexpr uint32_t RADIO_MAV_MSG_LENGTH = MAVLINK_MAX_DIALECT_PAYLOAD_SIZE;
-constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 10;
-constexpr uint32_t FLIGHT_TM_PERIOD = 250;
-
-// Mavlink out buffer with 10 packets, 256 bytes each.
-using Mav =
- MavlinkDriver<RADIO_PKT_LENGTH, RADIO_OUT_QUEUE_SIZE, RADIO_MAV_MSG_LENGTH>;
-
#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
#include "interfaces-impl/hwmapping.h"
@@ -90,11 +79,11 @@ 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;
+using txen = miosix::radio1::txen;
+using rxen = miosix::radio1::rxen;
#define SX1278_NRST
-using rst = miosix::radio1::nrst;
+using rst = miosix::radio1::nrst;
#define SX1278_SPI MIOSIX_RADIO1_SPI
@@ -128,25 +117,46 @@ using rst = miosix::radio2::nrst;
#error "Target not supported"
#endif
-SX1278Fsk* sx1278 = nullptr;
+constexpr uint32_t RADIO_OUT_QUEUE_SIZE = 10;
+constexpr uint32_t RADIO_MAV_MSG_LENGTH = MAVLINK_MAX_DIALECT_PAYLOAD_SIZE;
+constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 10;
+constexpr uint32_t FLIGHT_TM_PERIOD = 250;
+
+#ifdef SX1278_IS_LORA
+static constexpr size_t SX1278_MTU = Boardcore::SX1278Lora::MTU;
+Boardcore::SX1278Lora* sx1278 = nullptr;
+#else
+static constexpr size_t SX1278_MTU = Boardcore::SX1278Fsk::MTU;
+Boardcore::SX1278Fsk* sx1278 = nullptr;
+#endif
+
+// Mavlink out buffer with 10 packets, 256 bytes each.
+using Mav =
+ MavlinkDriver<SX1278_MTU, RADIO_OUT_QUEUE_SIZE, RADIO_MAV_MSG_LENGTH>;
+#ifdef SX1278_IRQ_DIO0
void __attribute__((used)) SX1278_IRQ_DIO0()
{
if (sx1278)
sx1278->handleDioIRQ();
}
+#endif
+#ifdef SX1278_IRQ_DIO1
void __attribute__((used)) SX1278_IRQ_DIO1()
{
if (sx1278)
sx1278->handleDioIRQ();
}
+#endif
+#ifdef SX1278_IRQ_DIO3
void __attribute__((used)) SX1278_IRQ_DIO3()
{
if (sx1278)
sx1278->handleDioIRQ();
}
+#endif
void initBoard() {}
@@ -165,6 +175,7 @@ void onReceive(Mav* channel, const mavlink_message_t& msg)
{
if (msg.msgid != MAVLINK_MSG_ID_ACK_TM)
{
+ printf("[sx1278] Received packet!\n");
Lock<FastMutex> l(mutex);
pending_acks.put({msg.msgid, msg.seq});
}
@@ -189,7 +200,11 @@ void flightTmLoop()
mavlink_msg_ack_tm_pack(171, 96, &msg, ack.msgid, ack.seq);
// Send the ack back to the sender
- channel->enqueueMsg(msg);
+ bool result = channel->enqueueMsg(msg);
+ if (!result)
+ {
+ printf("[sx1278] Failed to enqueue packet!\n");
+ }
}
}
@@ -202,49 +217,88 @@ void flightTmLoop()
mavlink_msg_rocket_flight_tm_encode(171, 96, &msg, &tm);
- channel->enqueueMsg(msg);
+ bool result = channel->enqueueMsg(msg);
+ if (!result)
+ {
+ printf("[sx1278] Failed to enqueue packet!\n");
+ }
Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
i += 1;
}
}
+Boardcore::SPIBus sx1278_bus(SX1278_SPI);
+
int main()
{
- initBoard();
- 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 = false};
-
- SX1278Fsk::Error err;
+ initBoard();
- SPIBus bus(SX1278_SPI);
+ // Initialize frontend (if any)
+#if defined SX1278_IS_EBYTE
+ printf("[sx1278] Confuring Ebyte frontend...\n");
+ std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
+ new Boardcore::EbyteFrontend(txen::getPin(), rxen::getPin()));
+#elif defined SX1278_IS_SKYWARD433
+ printf("[sx1278] Confuring Skyward 433 frontend...\n");
+ std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
+ new Boardcore::Skyward433Frontend());
+#else
+ printf("[sx1278] Confuring RA01 frontend...\n");
+ std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
+ new Boardcore::RA01Frontend());
+#endif
- std::unique_ptr<SX1278::ISX1278Frontend> frontend(new RA01Frontend());
+ // Initialize actual radio driver
+#ifdef SX1278_IS_LORA
+ // Run default configuration
+ Boardcore::SX1278Lora::Config config;
+ Boardcore::SX1278Lora::Error err;
- sx1278 = new SX1278Fsk(bus, cs::getPin(), dio0::getPin(), dio1::getPin(),
- dio3::getPin(), SPI::ClockDivider::DIV_64,
- std::move(frontend));
+ sx1278 = new Boardcore::SX1278Lora(sx1278_bus, cs::getPin(), dio0::getPin(),
+ dio1::getPin(), dio3::getPin(),
+ Boardcore::SPI::ClockDivider::DIV_256,
+ std::move(frontend));
- printf("\n[sx1278] Configuring sx1278...\n");
- if ((err = sx1278->init(config)) != SX1278Fsk::Error::NONE)
+ printf("\n[sx1278] Configuring sx1278 lora...\n");
+ if ((err = sx1278->init(config)) != Boardcore::SX1278Lora::Error::NONE)
{
- printf("[sx1278] sx1278->init error: %s\n", stringFromErr(err));
+ printf("[sx1278] sx1278->init error\n");
+ return false;
+ }
- while (1)
- Thread::wait();
+ printf("\n[sx1278] Initialization complete!\n");
+#else
+ // Run default configuration
+ Boardcore::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 = false};
+ Boardcore::SX1278Fsk::Error err;
+
+ sx1278 = new Boardcore::SX1278Fsk(sx1278_bus, cs::getPin(), dio0::getPin(),
+ dio1::getPin(), dio3::getPin(),
+ Boardcore::SPI::ClockDivider::DIV_256,
+ std::move(frontend));
+
+ printf("\n[sx1278] Configuring sx1278 fsk...\n");
+ if ((err = sx1278->init(config)) != Boardcore::SX1278Fsk::Error::NONE)
+ {
+ // FIXME: Why does clang-format put this line up here?
+ printf("[sx1278] sx1278->init error\n");
+ return false;
}
- printConfig(config);
+ printf("\n[sx1278] Initialization complete!\n");
+#endif
channel = new Mav(sx1278, &onReceive, 0, MAV_OUT_BUFFER_MAX_AGE);
channel->start();