From 5fdd48c60d6fe8be2c31d0028d568bc4e522c96e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Wed, 2 Oct 2024 15:17:14 +0200
Subject: [PATCH] [GS] Using now serial on USART4
Now using USART4 for serial.
New class even if might not be good, will change to inherit from SerialTransciver.
---
cmake/dependencies.cmake | 1 +
src/boards/Groundstation/Automated/Hub.cpp | 4 +-
src/boards/Groundstation/Automated/Hub.h | 4 +-
src/boards/Groundstation/LyraGS/Base/Hub.cpp | 4 +-
src/boards/Groundstation/LyraGS/Base/Hub.h | 4 +-
src/boards/Groundstation/LyraGS/Buses.h | 1 -
.../LyraGS/Ports/SerialLyraGS.cpp | 70 +++++++++++++++++
.../Groundstation/LyraGS/Ports/SerialLyraGS.h | 78 +++++++++++++++++++
.../Groundstation/lyra-gs-entry.cpp | 4 +-
9 files changed, 159 insertions(+), 11 deletions(-)
create mode 100644 src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
create mode 100644 src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.h
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index 77faf997e..31cc37817 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -122,4 +122,5 @@ set (LYRA_GS
src/boards/Groundstation/Automated/Actuators/Actuators.cpp
src/boards/Groundstation/Automated/Sensors/Sensors.cpp
src/boards/Groundstation/Automated/PinHandler/PinHandler.cpp
+ src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
)
\ No newline at end of file
diff --git a/src/boards/Groundstation/Automated/Hub.cpp b/src/boards/Groundstation/Automated/Hub.cpp
index 9158515d3..137982583 100644
--- a/src/boards/Groundstation/Automated/Hub.cpp
+++ b/src/boards/Groundstation/Automated/Hub.cpp
@@ -25,9 +25,9 @@
#include <Groundstation/Automated/Actuators/Actuators.h>
#include <Groundstation/Automated/SMA/SMA.h>
#include <Groundstation/Common/Config/GeneralConfig.h>
-#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/LyraGS/BoardStatus.h>
#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
#include <Groundstation/LyraGS/Radio/Radio.h>
#include <algorithms/NAS/NASState.h>
#include <common/Events.h>
@@ -240,7 +240,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
- Groundstation::Serial* serial = getModule<Groundstation::Serial>();
+ LyraGS::SerialLyraGS* serial = getModule<LyraGS::SerialLyraGS>();
#if !defined(NO_MAVLINK_ON_SERIAL)
serial->sendMsg(msg);
#else
diff --git a/src/boards/Groundstation/Automated/Hub.h b/src/boards/Groundstation/Automated/Hub.h
index 32d5563b1..0f7071643 100644
--- a/src/boards/Groundstation/Automated/Hub.h
+++ b/src/boards/Groundstation/Automated/Hub.h
@@ -24,9 +24,9 @@
#include <Groundstation/Automated/SMA/SMA.h>
#include <Groundstation/Common/HubBase.h>
-#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/LyraGS/BoardStatus.h>
#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
#include <Groundstation/LyraGS/Radio/Radio.h>
#include <algorithms/NAS/NASState.h>
#include <common/Mavlink.h>
@@ -47,7 +47,7 @@ namespace Antennas
*/
class Hub : public Boardcore::InjectableWithDeps<
Boardcore::InjectableBase<Groundstation::HubBase>, SMA,
- LyraGS::RadioMain, Groundstation::Serial, LyraGS::EthernetGS>
+ LyraGS::RadioMain, LyraGS::SerialLyraGS, LyraGS::EthernetGS>
{
public:
/**
diff --git a/src/boards/Groundstation/LyraGS/Base/Hub.cpp b/src/boards/Groundstation/LyraGS/Base/Hub.cpp
index 79f437896..e6ea141ea 100644
--- a/src/boards/Groundstation/LyraGS/Base/Hub.cpp
+++ b/src/boards/Groundstation/LyraGS/Base/Hub.cpp
@@ -23,9 +23,9 @@
#include "Hub.h"
#include <Groundstation/Common/Config/GeneralConfig.h>
-#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/LyraGS/BoardStatus.h>
#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
using namespace Groundstation;
using namespace GroundstationBase;
@@ -63,7 +63,7 @@ void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
LyraGS::BoardStatus* status = getModule<LyraGS::BoardStatus>();
- Serial* serial = getModule<Serial>();
+ SerialLyraGS* serial = getModule<SerialLyraGS>();
serial->sendMsg(msg);
if (status->isEthernetPresent())
diff --git a/src/boards/Groundstation/LyraGS/Base/Hub.h b/src/boards/Groundstation/LyraGS/Base/Hub.h
index 00855c32c..0e792bf28 100644
--- a/src/boards/Groundstation/LyraGS/Base/Hub.h
+++ b/src/boards/Groundstation/LyraGS/Base/Hub.h
@@ -23,8 +23,8 @@
#pragma once
#include <Groundstation/Common/HubBase.h>
-#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
#include <common/Mavlink.h>
#include <utils/DependencyManager/DependencyManager.h>
@@ -36,7 +36,7 @@ namespace GroundstationBase
class Hub : public Boardcore::InjectableWithDeps<
Boardcore::InjectableBase<Groundstation::HubBase>,
LyraGS::BoardStatus, LyraGS::RadioMain, LyraGS::RadioPayload,
- Groundstation::Serial, LyraGS::EthernetGS>
+ LyraGS::SerialLyraGS, LyraGS::EthernetGS>
{
public:
/**
diff --git a/src/boards/Groundstation/LyraGS/Buses.h b/src/boards/Groundstation/LyraGS/Buses.h
index 1faf0f846..9d678f612 100644
--- a/src/boards/Groundstation/LyraGS/Buses.h
+++ b/src/boards/Groundstation/LyraGS/Buses.h
@@ -30,7 +30,6 @@
namespace LyraGS
{
-
class Buses : public Boardcore::Injectable
{
public:
diff --git a/src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.cpp b/src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
new file mode 100644
index 000000000..09f07474f
--- /dev/null
+++ b/src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
@@ -0,0 +1,70 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: 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 "SerialLyraGS.h"
+
+using namespace Groundstation;
+using namespace LyraGS;
+
+bool SerialLyraGS::start()
+{
+ auto mav_handler = [this](SerialMavDriver* channel,
+ const mavlink_message_t& msg) { handleMsg(msg); };
+
+ mav_driver = std::make_unique<SerialMavDriver>(this, mav_handler, 0, 10);
+
+ if (!mav_driver->start())
+ {
+ return false;
+ }
+
+ return true;
+}
+
+void SerialLyraGS::sendMsg(const mavlink_message_t& msg)
+{
+ if (mav_driver && mav_driver->isStarted())
+ {
+ mav_driver->enqueueMsg(msg);
+ }
+}
+
+void SerialLyraGS::handleMsg(const mavlink_message_t& msg)
+{
+ // Dispatch the message through the hub.
+ getModule<HubBase>()->dispatchOutgoingMsg(msg);
+}
+
+ssize_t SerialLyraGS::receive(uint8_t* pkt, size_t max_len)
+{
+ Boardcore::USART& serial = getModule<Buses>()->uart4;
+ size_t bytesRead = 0;
+ bool result = serial.readBlocking(pkt, max_len, bytesRead);
+ return result ? bytesRead : 0;
+}
+
+bool SerialLyraGS::send(uint8_t* pkt, size_t len)
+{
+ Boardcore::USART& serial = getModule<Buses>()->uart4;
+ serial.write(pkt, len);
+ return true;
+}
\ No newline at end of file
diff --git a/src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.h b/src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.h
new file mode 100644
index 000000000..5fdece2f3
--- /dev/null
+++ b/src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.h
@@ -0,0 +1,78 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: 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.
+ */
+
+#pragma once
+
+#include <ActiveObject.h>
+#include <Groundstation/Common/Ports/EthernetBase.h>
+#include <Groundstation/Common/Ports/Serial.h>
+#include <Groundstation/LyraGS/BoardStatus.h>
+#include <Groundstation/LyraGS/Buses.h>
+#include <common/Mavlink.h>
+#include <drivers/usart/USART.h>
+#include <filesystem/console/console_device.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+#include <memory>
+
+namespace LyraGS
+{
+
+using SerialMavDriver =
+ Boardcore::MavlinkDriver<1024, 10, MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
+
+/**
+ * @brief Class responsible for UART communication.
+ */
+class SerialLyraGS : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::Serial>,
+ Buses, Groundstation::HubBase>
+{
+public:
+ SerialLyraGS() {}
+
+ /**
+ * @brief Initialize the serial module.
+ */
+ [[nodiscard]] bool start();
+
+ /**
+ * @brief Send a mavlink message through this port.
+ */
+ void sendMsg(const mavlink_message_t& msg);
+
+private:
+ /**
+ * @brief Called internally when a message is received.
+ */
+ void handleMsg(const mavlink_message_t& msg);
+
+ ssize_t receive(uint8_t* pkt, size_t max_len) override;
+
+ bool send(uint8_t* pkt, size_t len) override;
+
+ miosix::FastMutex mutex;
+ std::unique_ptr<SerialMavDriver> mav_driver;
+};
+
+} // namespace LyraGS
\ No newline at end of file
diff --git a/src/entrypoints/Groundstation/lyra-gs-entry.cpp b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
index bce0c2943..aae2b9775 100644
--- a/src/entrypoints/Groundstation/lyra-gs-entry.cpp
+++ b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
@@ -26,11 +26,11 @@
#include <Groundstation/Automated/PinHandler/PinHandler.h>
#include <Groundstation/Automated/SMA/SMA.h>
#include <Groundstation/Automated/Sensors/Sensors.h>
-#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/LyraGS/Base/Hub.h>
#include <Groundstation/LyraGS/BoardStatus.h>
#include <Groundstation/LyraGS/Buses.h>
#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
#include <Groundstation/LyraGS/Radio/Radio.h>
#include <common/Events.h>
#include <diagnostic/PrintLogger.h>
@@ -138,7 +138,7 @@ int main()
TaskScheduler *scheduler_low = new TaskScheduler(0);
TaskScheduler *scheduler_high = new TaskScheduler();
Buses *buses = new Buses();
- Serial *serial = new Serial();
+ SerialLyraGS *serial = new SerialLyraGS();
LyraGS::RadioMain *radio_main =
new LyraGS::RadioMain(dipRead.mainHasBackup, dipRead.mainTXenable);
LyraGS::BoardStatus *board_status = new LyraGS::BoardStatus(dipRead.isARP);
--
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