From 89a41124f33fed0930c59190ea0c0dc09cecdb77 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Wed, 2 Oct 2024 15:17:13 +0200
Subject: [PATCH] [GS] Dipswitch now with TX enable switches
TX enable switches to enable the TX to Main or Payload
---
.../Groundstation/LyraGS/Radio/Radio.cpp | 22 ++++++++++++++++-
src/boards/Groundstation/LyraGS/Radio/Radio.h | 24 +++++++++++++++++++
.../Groundstation/lyra-gs-entry.cpp | 12 ++++++----
3 files changed, 53 insertions(+), 5 deletions(-)
diff --git a/src/boards/Groundstation/LyraGS/Radio/Radio.cpp b/src/boards/Groundstation/LyraGS/Radio/Radio.cpp
index 85b4afcaa..b52bb1241 100644
--- a/src/boards/Groundstation/LyraGS/Radio/Radio.cpp
+++ b/src/boards/Groundstation/LyraGS/Radio/Radio.cpp
@@ -149,4 +149,24 @@ bool RadioPayload::start()
}
return true;
-}
\ No newline at end of file
+}
+
+bool RadioMain::sendMsg(const mavlink_message_t& msg)
+{
+ if (txEnable)
+ return RadioBase::sendMsg(msg);
+ return false;
+};
+
+/**
+ * @brief Send a mavlink message through this radio if it has been enabled
+ * by dipSwitch
+ *
+ * @returns false when the queue is full.
+ */
+bool RadioPayload::sendMsg(const mavlink_message_t& msg)
+{
+ if (txEnable)
+ return RadioBase::sendMsg(msg);
+ return false;
+};
\ No newline at end of file
diff --git a/src/boards/Groundstation/LyraGS/Radio/Radio.h b/src/boards/Groundstation/LyraGS/Radio/Radio.h
index b176e2758..48d6d3009 100644
--- a/src/boards/Groundstation/LyraGS/Radio/Radio.h
+++ b/src/boards/Groundstation/LyraGS/Radio/Radio.h
@@ -47,8 +47,20 @@ public:
RadioMain() : hasBackup{false} {};
+ RadioMain(bool hasBackup, bool txEnable)
+ : hasBackup{hasBackup}, txEnable{txEnable} {};
+
+ /**
+ * @brief Send a mavlink message through this radio if it has been enabled
+ * by dipSwitch for transmission
+ *
+ * @returns false when the queue is full or if tx is not enabled.
+ */
+ bool sendMsg(const mavlink_message_t& msg);
+
private:
bool hasBackup = false;
+ bool txEnable = true;
};
class RadioPayload : public Boardcore::InjectableWithDeps<
Boardcore::InjectableBase<Groundstation::RadioBase>,
@@ -61,8 +73,20 @@ public:
RadioPayload() : hasBackup{false} {};
+ RadioPayload(bool hasBackup, bool txEnable)
+ : hasBackup{hasBackup}, txEnable{txEnable} {};
+
+ /**
+ * @brief Send a mavlink message through this radio if it has been enabled
+ * by dipSwitch for transmission
+ *
+ * @returns false when the queue is full or if tx is not enabled.
+ */
+ bool sendMsg(const mavlink_message_t& msg);
+
private:
bool hasBackup = false;
+ bool txEnable = true;
};
} // 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 dd93dc87b..bce0c2943 100644
--- a/src/entrypoints/Groundstation/lyra-gs-entry.cpp
+++ b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
@@ -56,6 +56,8 @@ struct DipStatusLyraGS
bool isARP;
bool mainHasBackup;
bool payloadHasBackup;
+ bool mainTXenable;
+ bool payloadTXenable;
uint8_t ipConfig;
};
@@ -65,7 +67,9 @@ DipStatusLyraGS getDipStatus(uint8_t read)
dipRead.isARP = 1 & read;
dipRead.mainHasBackup = 1 & (read >> 1);
dipRead.payloadHasBackup = 1 & (read >> 2);
- dipRead.ipConfig = 0 | (read >> 3);
+ dipRead.mainTXenable = 1 & (read >> 3);
+ dipRead.payloadTXenable = 1 & (read >> 4);
+ dipRead.ipConfig = 0 | (read >> 5);
return dipRead;
}
@@ -136,12 +140,12 @@ int main()
Buses *buses = new Buses();
Serial *serial = new Serial();
LyraGS::RadioMain *radio_main =
- new LyraGS::RadioMain(dipRead.mainHasBackup);
+ new LyraGS::RadioMain(dipRead.mainHasBackup, dipRead.mainTXenable);
LyraGS::BoardStatus *board_status = new LyraGS::BoardStatus(dipRead.isARP);
LyraGS::EthernetGS *ethernet =
new LyraGS::EthernetGS(false, dipRead.ipConfig);
- LyraGS::RadioPayload *radio_payload =
- new LyraGS::RadioPayload(dipRead.payloadHasBackup);
+ LyraGS::RadioPayload *radio_payload = new LyraGS::RadioPayload(
+ dipRead.payloadHasBackup, dipRead.payloadTXenable);
HubBase *hub = nullptr;
--
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