diff --git a/src/entrypoints/sx1278-mav-raw.cpp b/src/entrypoints/sx1278-mav-raw.cpp
index 01f8532ae4cab97968b7fdee52528294694327e9..3b30589feaf28afe4aa755eb207368585af297b2 100644
--- a/src/entrypoints/sx1278-mav-raw.cpp
+++ b/src/entrypoints/sx1278-mav-raw.cpp
@@ -22,9 +22,8 @@
#include <drivers/interrupt/external_interrupts.h>
#include <filesystem/console/console_device.h>
-
-// SX1278 includes
#include <mavlink_lib/gemini/mavlink.h>
+// SX1278 includes
#include <radio/SX1278/SX1278Frontends.h>
#include <radio/SX1278/SX1278Fsk.h>
#include <radio/SX1278/SX1278Lora.h>
@@ -34,18 +33,9 @@
using namespace miosix;
-// Uncomment the following line to enable Lora mode
-// Or use SBS to define it for you
-// #define SX1278_IS_LORA
-
#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
#include "interfaces-impl/hwmapping.h"
-// Uncomment the following line to enable Ebyte module
-// #define SX1278_IS_EBYTE
-// Uncomment the following line to ebable Skyward433 module
-// #define SX1278_IS_SKYWARD433
-
using cs = peripherals::ra01::pc13::cs;
using dio0 = peripherals::ra01::pc13::dio0;
using dio1 = peripherals::ra01::pc13::dio1;
@@ -55,110 +45,46 @@ using sck = interfaces::spi4::sck;
using miso = interfaces::spi4::miso;
using mosi = interfaces::spi4::mosi;
-#ifdef SX1278_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
-
-#elif defined _BOARD_STM32F429ZI_SKYWARD_RIG
-#include "interfaces-impl/hwmapping.h"
-
-#define SX1278_IS_EBYTE
-
-using cs = radio::cs;
-using dio0 = radio::dio0;
-using dio1 = radio::dio1;
-using dio3 = radio::dio3;
-
-using sck = radio::sck;
-using miso = radio::miso;
-using mosi = radio::mosi;
-
-using txen = radio::txEn;
-using rxen = radio::rxEn;
-
-#define SX1278_SPI SPI4
-
-#define SX1278_IRQ_DIO0 EXTI5_IRQHandlerImpl
-#define SX1278_IRQ_DIO1 EXTI12_IRQHandlerImpl
-#define SX1278_IRQ_DIO3 EXTI13_IRQHandlerImpl
-
-#elif defined _BOARD_STM32F767ZI_GEMINI_GS
-#include "interfaces-impl/hwmapping.h"
-#include "mavlink_lib/gemini/mavlink_msg_payload_flight_tm.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
-#ifdef SX1278_IS_LORA
-static constexpr size_t SX1278_MTU = Boardcore::SX1278Lora::MTU;
-Boardcore::SX1278Lora* sx1278 = nullptr;
-#else
+// === CONSTANTS ===
static constexpr size_t SX1278_MTU = Boardcore::SX1278Fsk::MTU;
-Boardcore::SX1278Fsk* sx1278 = nullptr;
-#endif
+constexpr size_t PACKET_SIZE = MAVLINK_MSG_ID_PAYLOAD_FLIGHT_TM_LEN;
+
+/** @brief Number of packets to send */
+constexpr size_t MSG_NUM = 580;
+
+/** @brief End of transmission byte. Used to signal the end of a packet. */
+constexpr uint8_t EOT = 0x04;
+
+static const Boardcore::SX1278Fsk::Config RADIO_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};
+
+// === GLOBALS ===
+Boardcore::SX1278Fsk* sx1278 = nullptr;
+Boardcore::SPIBus sx1278_bus(SX1278_SPI);
volatile int dio0_cnt = 0;
volatile int dio1_cnt = 0;
volatile int dio3_cnt = 0;
+// === INTERRUPTS ===
#ifdef SX1278_IRQ_DIO0
void __attribute__((used)) SX1278_IRQ_DIO0()
{
@@ -186,51 +112,34 @@ void __attribute__((used)) SX1278_IRQ_DIO3()
}
#endif
-void initBoard()
-{
-#ifdef SX1278_IS_EBYTE
- rxen::mode(Mode::OUTPUT);
- txen::mode(Mode::OUTPUT);
- rxen::low();
- txen::low();
-#endif
-
-#ifdef SX1278_NRST
- rst::mode(miosix::Mode::OUTPUT);
- rst::high();
-#endif
-}
-
-constexpr size_t PACKET_SIZE = 158;
+// === DEFINITIONS ===
+void recvLoop();
+void sendLoop();
+mavlink_payload_flight_tm_t readPacketFromSerial();
+void initBoard();
-/** @brief Number of packets to send */
-constexpr size_t MSG_NUM = 580;
-
-/** @brief End of transmission byte. Used to signal the end of a packet. */
-constexpr uint8_t EOT = 0x04;
-
-/**
- * @brief Read a packet from the serial port
- * @warning This function will parse raw bytes coming from
- * serial into the struct
- * @return mavlink_payload_flight_tm_t
- */
-mavlink_payload_flight_tm_t readPacketFromSerial()
+// === MAIN ===
+int main()
{
- mavlink_payload_flight_tm_t tm;
- uint8_t* ptr_to_tm = (uint8_t*)&tm;
- uint8_t serial_buffer[PACKET_SIZE];
+ initBoard();
- auto serial = DefaultConsole::instance().get();
- serial->writeBlock(&EOT, 1, 0);
- serial->readBlock(serial_buffer, PACKET_SIZE, 0);
+#if defined SX1278_IS_SENDER
+ sendLoop();
+#elif defined SX1278_IS_RECEIVER
+ recvLoop();
+#else
+ // this may cause problems with stdin and stdout
+ // interfering with each other
- // this may be shrunk to the above statement (needs further testing)
- memcpy(ptr_to_tm, serial_buffer, sizeof(mavlink_payload_flight_tm_t));
+ // Actually spawn threads
+ std::thread send([]() { sendLoop(); });
+ recvLoop();
+#endif
- return tm;
+ return 0;
}
+// === IMPLEMENTATIONS ===
void recvLoop()
{
uint8_t msg[SX1278_MTU];
@@ -240,11 +149,71 @@ void recvLoop()
if (len > 0)
{
mavlink_payload_flight_tm_t tm;
- memcpy(&tm, msg, sizeof(mavlink_payload_flight_tm_t));
+ memcpy(&tm, msg, PACKET_SIZE);
auto serial = miosix::DefaultConsole::instance().get();
// serial->writeBlock(msg, len, 0);
- std::cout << "[sx1278] Received packet - time: " << tm.timestamp
- << std::endl;
+ // std::cout << "[sx1278] Received packet - time: " << tm.timestamp
+ // << std::endl;
+
+ std::cout << "[sx1278] tm.timestamp: " << tm.timestamp << std::endl;
+ // std::cout << "[sx1278] tm.pressure_digi: " << tm.pressure_digi
+ // << std::endl;
+ // std::cout << "[sx1278] tm.pressure_static: " <<
+ // tm.pressure_static
+ // << std::endl;
+ // std::cout << "[sx1278] tm.airspeed_pitot: " << tm.airspeed_pitot
+ // << std::endl;
+ // std::cout << "[sx1278] tm.altitude_agl: " << tm.altitude_agl
+ // << std::endl;
+ // std::cout << "[sx1278] tm.acc_x: " << tm.acc_x << std::endl;
+ // std::cout << "[sx1278] tm.acc_y: " << tm.acc_y << std::endl;
+ // std::cout << "[sx1278] tm.acc_z: " << tm.acc_z << std::endl;
+ // std::cout << "[sx1278] tm.gyro_x: " << tm.gyro_x << std::endl;
+ // std::cout << "[sx1278] tm.gyro_y: " << tm.gyro_y << std::endl;
+ // std::cout << "[sx1278] tm.gyro_z: " << tm.gyro_z << std::endl;
+ // std::cout << "[sx1278] tm.mag_x: " << tm.mag_x << std::endl;
+ // std::cout << "[sx1278] tm.mag_y: " << tm.mag_y << std::endl;
+ // std::cout << "[sx1278] tm.mag_z: " << tm.mag_z << std::endl;
+ // std::cout << "[sx1278] tm.gps_lat: " << tm.gps_lat << std::endl;
+ // std::cout << "[sx1278] tm.gps_lon: " << tm.gps_lon << std::endl;
+ // std::cout << "[sx1278] tm.gps_alt: " << tm.gps_alt << std::endl;
+ // std::cout << "[sx1278] tm.left_servo_angle: " <<
+ // tm.left_servo_angle
+ // << std::endl;
+ // std::cout << "[sx1278] tm.right_servo_angle: "
+ // << tm.right_servo_angle << std::endl;
+ // std::cout << "[sx1278] tm.nas_n: " << tm.nas_n << std::endl;
+ // std::cout << "[sx1278] tm.nas_e: " << tm.nas_e << std::endl;
+ // std::cout << "[sx1278] tm.nas_d: " << tm.nas_d << std::endl;
+ // std::cout << "[sx1278] tm.nas_vn: " << tm.nas_vn << std::endl;
+ // std::cout << "[sx1278] tm.nas_ve: " << tm.nas_ve << std::endl;
+ // std::cout << "[sx1278] tm.nas_vd: " << tm.nas_vd << std::endl;
+ // std::cout << "[sx1278] tm.nas_qx: " << tm.nas_qx << std::endl;
+ // std::cout << "[sx1278] tm.nas_qy: " << tm.nas_qy << std::endl;
+ // std::cout << "[sx1278] tm.nas_qz: " << tm.nas_qz << std::endl;
+ // std::cout << "[sx1278] tm.nas_qw: " << tm.nas_qw << std::endl;
+ // std::cout << "[sx1278] tm.nas_bias_x: " << tm.nas_bias_x
+ // << std::endl;
+ // std::cout << "[sx1278] tm.nas_bias_y: " << tm.nas_bias_y
+ // << std::endl;
+ // std::cout << "[sx1278] tm.nas_bias_z: " << tm.nas_bias_z
+ // << std::endl;
+ // std::cout << "[sx1278] tm.wes_n: " << tm.wes_n << std::endl;
+ // std::cout << "[sx1278] tm.wes_e: " << tm.wes_e << std::endl;
+ // std::cout << "[sx1278] tm.vbat: " << tm.vbat << std::endl;
+ // std::cout << "[sx1278] tm.vsupply_5v: " << tm.vsupply_5v
+ // << std::endl;
+ // std::cout << "[sx1278] tm.temperature: " << tm.temperature
+ // << std::endl;
+ // std::cout << "[sx1278] tm.fmm_state: " << tm.fmm_state <<
+ // std::endl; std::cout << "[sx1278] tm.nas_state: " << tm.nas_state
+ // << std::endl; std::cout << "[sx1278] tm.wes_state: " <<
+ // tm.wes_state << std::endl; std::cout << "[sx1278] tm.gps_fix: "
+ // << tm.gps_fix << std::endl; std::cout << "[sx1278]
+ // tm.pin_nosecone: " << tm.pin_nosecone
+ // << std::endl;
+ // std::cout << "[sx1278] tm.logger_error: " << tm.logger_error
+ // << std::endl;
}
}
}
@@ -256,82 +225,54 @@ void sendLoop()
{
mavlink_payload_flight_tm_t tm = readPacketFromSerial();
std::cout << "[sx1278] Sending packet " << i << std::endl;
- memcpy(msg, &tm, sizeof(mavlink_payload_flight_tm_t));
- sx1278->send(msg, sizeof(mavlink_payload_flight_tm_t));
+ memcpy(msg, &tm, PACKET_SIZE);
+ sx1278->send(msg, PACKET_SIZE);
}
}
-Boardcore::SPIBus sx1278_bus(SX1278_SPI);
-
-int main()
+/**
+ * @brief Read a packet from the serial port
+ * @warning This function will parse raw bytes coming from
+ * serial into the struct
+ * @return mavlink_payload_flight_tm_t
+ */
+mavlink_payload_flight_tm_t readPacketFromSerial()
{
- initBoard();
+ mavlink_payload_flight_tm_t tm;
+ uint8_t* ptr_to_tm = (uint8_t*)&tm;
+ uint8_t serial_buffer[PACKET_SIZE];
-#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
+ auto serial = DefaultConsole::instance().get();
+ serial->writeBlock(&EOT, 1, 0);
+ serial->readBlock(serial_buffer, PACKET_SIZE, 0);
-#ifdef SX1278_IS_LORA
- // Run default configuration
- Boardcore::SX1278Lora::Config config;
- Boardcore::SX1278Lora::Error err;
+ // this may be shrunk to the above statement (needs further testing)
+ memcpy(ptr_to_tm, serial_buffer, PACKET_SIZE);
- sx1278 = new Boardcore::SX1278Lora(sx1278_bus, cs::getPin(), dio0::getPin(),
- dio1::getPin(), dio3::getPin(),
- Boardcore::SPI::ClockDivider::DIV_64,
- std::move(frontend));
+ return tm;
+}
- printf("\n[sx1278] Configuring sx1278 lora...\n");
- if ((err = sx1278->init(config)) != Boardcore::SX1278Lora::Error::NONE)
- {
- printf("[sx1278] sx1278->init error\n");
- return -1;
- }
+void initBoard()
+{
+ printf("[sx1278] Configuring RA01 frontend...\n");
+ std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
+ new Boardcore::RA01Frontend());
- printf("\n[sx1278] Initialization complete!\n");
-#else
// Run default configuration
- Boardcore::SX1278Fsk::Config config;
Boardcore::SX1278Fsk::Error err;
- config.freq_rf = 434000000;
- config.enable_crc = false;
-
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)
+ if ((err = sx1278->init(RADIO_CONFIG)) != Boardcore::SX1278Fsk::Error::NONE)
{
// FIXME: Why does clang-format put this line up here?
printf("[sx1278] sx1278->init error\n");
- return false;
+ return;
}
printf("\n[sx1278] Initialization complete!\n");
-#endif
-
-#if defined SX1278_IS_SENDER
- sendLoop();
-#elif defined SX1278_IS_RECEIVER
- recvLoop();
-#else
- // Actually spawn threads
- std::thread send([]() { sendLoop(); });
- recvLoop();
-#endif
-
- return 0;
}