Implemented trivial entrypoint that transmits and receives mavlink nas_tm packets

CMakeLists.txt

@@ -42,6 +42,9 @@ sbs_target(bmx160-calibration-v3 stm32f429zi_skyward_death_stack_v3)
 add_executable(config-dsgamma src/entrypoints/config-dsgamma.cpp)
 sbs_target(config-dsgamma stm32f429zi_stm32f4discovery)
 
+add_executable(groundstation-nas-extractor src/entrypoints/groundstation-nas-extractor.cpp)
+sbs_target(groundstation-nas-extractor stm32f407vg_stm32f4discovery)
+
 add_executable(imu-calibration src/entrypoints/imu-calibration.cpp)
 sbs_target(imu-calibration stm32f429zi_skyward_parafoil)
 

src/entrypoints/groundstation-nas-extractor.cpp

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Riccardo Musso
+ *
+ * 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/usart/USART.h>
+#include <mavlink_lib/pyxis/mavlink.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <radio/SerialTransceiver/SerialTransceiver.h>
+#include <scheduler/TaskScheduler.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+using MavDriver = MavlinkDriver<20, 10>;
+
+void sendMessage();
+void receiveHandler(MavDriver*, const mavlink_message_t&);
+
+USART usart(USART1, USARTInterface::Baudrate::B115200);
+SerialTransceiver transceiver(usart);
+MavDriver mavlink(&transceiver, receiveHandler);
+TaskScheduler scheduler;
+
+int main()
+{
+    u1rx1::mode(Mode::ALTERNATE);
+    u1rx1::alternateFunction(7);
+    u1tx1::mode(Mode::ALTERNATE);
+    u1tx1::alternateFunction(7);
+
+    usart.init();
+    mavlink.start();
+    scheduler.start();
+
+    scheduler.addTask(sendMessage, 2000);
+
+    while (true)
+        Thread::sleep(1000);
+}
+
+void sendMessage()
+{
+    mavlink_message_t message;
+    mavlink_msg_nas_tm_pack(1, 1, &message, TimestampTimer::getTimestamp(), 0,
+                            0.75, 2.54, 120.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+                            0, 0, 0);
+    mavlink.enqueueMsg(message);
+    printf("Sent message\n");
+}
+
+void receiveHandler(MavDriver* channel, const mavlink_message_t& msg)
+{
+    printf("Received message (%llu) %f %f %f\n",
+           mavlink_msg_nas_tm_get_timestamp(&msg),
+           mavlink_msg_nas_tm_get_nas_n(&msg),
+           mavlink_msg_nas_tm_get_nas_e(&msg),
+           mavlink_msg_nas_tm_get_nas_d(&msg));
+}