Merge remote-tracking branch 'origin/parafoil-test-dev' into main-dev

.gitmodules

@@ -1,4 +1,3 @@
 [submodule "skyward-boardcore"]
 	path = skyward-boardcore
-	url = ../skyward-boardcore.git
-	branch = testing
+	url = ../skyward-boardcore

.vscode/c_cpp_properties.json

@@ -24,6 +24,8 @@
                 "${workspaceFolder}/skyward-boardcore/libs/mavlink_skyward_lib",
                 "${workspaceFolder}/skyward-boardcore/libs/fmt/include",
                 "${workspaceFolder}/skyward-boardcore/libs/eigen",
+                "${workspaceFolder}/skyward-boardcore/libs/tscpp",
+                "${workspaceFolder}/skyward-boardcore/libs/mavlink_skyward_lib",
                 "${workspaceFolder}/skyward-boardcore/libs",
                 "${workspaceFolder}/skyward-boardcore/src/shared",
                 "${workspaceFolder}/skyward-boardcore/src/tests",

CMakeLists.txt

@@ -26,7 +26,7 @@ include(skyward-boardcore/cmake/sbs.cmake)
 #                                   Project                                   #
 #-----------------------------------------------------------------------------#
 
-project(SkywardOnBoardSoftware)
+project(SkywardParafoilTest)
 
 #-----------------------------------------------------------------------------#
 #                                Main Computer                                #
@@ -41,3 +41,20 @@ target_include_directories(catch-tests-main PRIVATE ${OBSW_INCLUDE_DIRS})
 target_compile_definitions(catch-tests-main PRIVATE USE_MOCK_PERIPHERALS)
 sbs_target(catch-tests-main stm32f429zi_skyward_death_stack_x)
 sbs_catch_test(catch-tests-main)
+
+#-----------------------------------------------------------------------------#
+#                              Parafoil Computer                              #
+#-----------------------------------------------------------------------------#
+
+add_executable(parafoil-entry
+	src/entrypoints/Parafoil/parafoil-entry.cpp
+	${PARAFOIL_COMPUTER}
+)
+target_include_directories(parafoil-entry PRIVATE ${OBSW_INCLUDE_DIRS})
+sbs_target(parafoil-entry stm32f429zi_stm32f4discovery)
+
+add_executable(parafoil-test-bme280 src/tests/Parafoil/parafoil-test-bme280.cpp)
+sbs_target(parafoil-test-bme280 stm32f429zi_stm32f4discovery)
+
+add_executable(parafoil-test-ublox-uart src/tests/Parafoil/parafoil-test-ublox-uart.cpp)
+sbs_target(parafoil-test-ublox-uart stm32f429zi_stm32f4discovery)

README.md

@@ -1,6 +1,6 @@
-# Pyxis On-Board Software [![pipeline status](https://git.skywarder.eu/scs/pyxis/obsw/badges/master/pipeline.svg)](https://git.skywarder.eu/scs/pyxis/obsw/commits/master)
+# Parafoil test On-Board Software [![pipeline status](https://git.skywarder.eu/scs/pyxis/obsw/badges/master/pipeline.svg)](https://git.skywarder.eu/scs/pyxis/obsw/commits/master)
 
-*On Board software for Pyxis*
+*On Board software for Parafoil tests*
 
 To clone, use `git clone --recurse-submodules [email protected]:scs/pyxis/obsw.git`.
 

cmake/dependencies.cmake

@@ -28,3 +28,13 @@ set(MAIN_COMPUTER
     src/boards/Main/Actuators/Actuators.cpp
     src/boards/Main/Deployment/DeploymentController.cpp
 )
+
+set(PARAFOIL_COMPUTER
+    src/boards/Parafoil/Main/Sensors.cpp
+    src/boards/Parafoil/Main/Radio.cpp
+    src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
+    src/boards/Parafoil/Wing/WingServo.cpp
+    src/boards/Parafoil/Wing/WingAlgorithm.cpp
+    src/boards/Parafoil/Wing/WingController.cpp
+    src/boards/Parafoil/FlightModeManager/FMMController.cpp
+)

src Lynx/boards/DeathStack/ApogeeDetectionAlgorithm/ADAData.h

@@ -29,6 +29,8 @@
 
 #include <ostream>
 
+#include <ostream>
+
 namespace DeathStackBoard
 {
 

src Lynx/boards/DeathStack/Main/Radio.cpp

@@ -38,7 +38,7 @@ using namespace std::placeholders;
 using namespace Boardcore;
 
 // Xbee ATTN interrupt
-void __attribute__((used)) EXTI10_IRQHandlerImpl()
+void __attribute__((used)) EXTI4_15_IRQHandlerImpl()
 {
     using namespace DeathStackBoard;
 

src Lynx/boards/DeathStack/configs/NASConfig.h

@@ -26,6 +26,8 @@
 
 #include "Eigen/Dense"
 
+#include "Eigen/Dense"
+
 namespace DeathStackBoard
 {
 

src Lynx/boards/DeathStack/common/events/Events.h → src Lynx/boards/common/events/Events.h

@@ -99,6 +99,7 @@ enum Events : uint8_t
     EV_TC_STOP_SENSOR_TM,
     EV_TC_TEST_ABK,
     EV_TC_TEST_MODE,
+    EV_TC_EXIT_TEST_MODE,
     EV_TEST_ABK,
     EV_TEST_TIMEOUT,
     EV_TIMEOUT_END_MISSION,
@@ -164,6 +165,7 @@ const std::vector<uint8_t> EVENT_LIST{
     EV_TC_STOP_SENSOR_TM,
     EV_TC_TEST_ABK,
     EV_TC_TEST_MODE,
+    EV_TC_EXIT_TEST_MODE,
     EV_TEST_ABK,
     EV_TEST_TIMEOUT,
     EV_TIMEOUT_END_MISSION,

src Lynx/entrypoints/deserializer/logdecoder.cpp

@@ -34,10 +34,6 @@
 #include <stdexcept>
 #include <string>
 
-// TODO: add here include files of serialized classes
-
-#include "LogTypes.h"
-
 using namespace std;
 using namespace tscpp;
 

src Lynx/hardware_in_the_loop/HIL_sensors/HILSensorsData.h

@@ -35,8 +35,8 @@ struct HILAccelData : public AccelerometerData
 
     void print(std::ostream& os) const
     {
-        os << accel_timestamp << "," << accel_x << "," << accel_y << ","
-           << accel_z << "\n";
+        os << accelerationTimestamp << "," << accelerationX << ","
+           << accelerationY << "," << accelerationZ << "\n";
     }
 };
 
@@ -53,8 +53,8 @@ struct HILGyroscopeData : public GyroscopeData
 
     void print(std::ostream& os) const
     {
-        os << gyro_timestamp << "," << gyro_x << "," << gyro_y << "," << gyro_z
-           << "\n";
+        os << angularVelocityTimestamp << "," << angularVelocityX << ","
+           << angularVelocityY << "," << angularVelocityZ << "\n";
     }
 };
 
@@ -71,8 +71,8 @@ struct HILMagnetometerData : public MagnetometerData
 
     void print(std::ostream& os) const
     {
-        os << mag_timestamp << "," << mag_x << "," << mag_y << "," << mag_z
-           << "\n";
+        os << magneticFieldTimestamp << "," << magneticFieldX << ","
+           << magneticFieldY << "," << magneticFieldZ << "\n";
     }
 };
 
@@ -88,10 +88,12 @@ struct HILImuData : public HILAccelData,
 
     void print(std::ostream& os) const
     {
-        os << accel_timestamp << "," << accel_x << "," << accel_y << ","
-           << accel_z << "," << gyro_timestamp << "," << gyro_x << "," << gyro_y
-           << "," << gyro_z << "," << mag_timestamp << "," << mag_x << ","
-           << mag_y << "," << mag_z << "\n";
+        os << accelerationTimestamp << "," << accelerationX << ","
+           << accelerationY << "," << accelerationZ << ","
+           << angularVelocityTimestamp << "," << angularVelocityX << ","
+           << angularVelocityY << "," << angularVelocityZ << ","
+           << magneticFieldTimestamp << "," << magneticFieldX << ","
+           << magneticFieldY << "," << magneticFieldZ << "\n";
     }
 };
 
@@ -114,10 +116,10 @@ struct HILGpsData : public GPSData
 
     void print(std::ostream& os) const
     {
-        os << gps_timestamp << "," << longitude << "," << latitude << ","
-           << height << "," << velocity_north << "," << velocity_east << ","
-           << velocity_down << "," << speed << "," << track << ","
-           << (int)num_satellites << "," << (int)fix << "\n";
+        os << gpsTimestamp << "," << longitude << "," << latitude << ","
+           << height << "," << velocityNorth << "," << velocityEast << ","
+           << velocityDown << "," << speed << "," << track << ","
+           << (int)satellites << "," << (int)fix << "\n";
     }
 };
 
@@ -131,6 +133,6 @@ struct HILBaroData : public PressureData
 
     void print(std::ostream& os) const
     {
-        os << press_timestamp << "," << press << "\n";
+        os << pressureTimestamp << "," << pressure << "\n";
     }
 };

src/boards/Payload/Main/Radio.h → src/boards/Parafoil/Configs/MavlinkConfig.h

@@ -1,5 +1,5 @@
 /* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Erbetta
+ * Authors: Luca Conterio
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -19,34 +19,20 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */
-
 #pragma once
 
-//#include <TelemetriesTelecommands/Mavlink.h>
-#include <drivers/Xbee/Xbee.h>
-
-namespace PayloadBoard
-{
-
-class Radio
+namespace ParafoilTestDev
 {
-public:
-    // TMTCController* tmtc_manager;
-    // TmRepository* tm_repo;
-    Boardcore::Xbee::Xbee* xbee;
-    // MavDriver* mav_driver;
-
-    Radio(Boardcore::SPIBusInterface& xbee_bus_);
-    ~Radio();
-
-    bool start();
-
-    void logStatus();
 
-private:
-    void onXbeeFrameReceived(Boardcore::Xbee::APIFrame& frame);
+    /* Mavlink Driver queue settings */
+    static constexpr unsigned int MAV_OUT_QUEUE_LEN   = 10;
+    static constexpr unsigned int MAV_PKT_SIZE        = 255;
+    static constexpr size_t MAV_OUT_BUFFER_MAX_AGE    = 200;
 
-    Boardcore::SPIBusInterface& xbee_bus;
-};
+    //These two values are taken as is 
+    static const unsigned int TMTC_MAV_SYSID  = 171;
+    static const unsigned int TMTC_MAV_COMPID = 96;
 
-}  // namespace PayloadBoard
+    /* Min guaranteed sleep time after each packet sent (milliseconds) */
+    static const uint16_t SLEEP_AFTER_SEND = 0;
+}

src/boards/Parafoil/Configs/RadioConfig.h

@@ -0,0 +1,39 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * 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 <stdint.h>
+
+namespace ParafoilTestDev
+{
+
+// TODO update with the correct values
+static const uint32_t HR_GROUND_UPDATE_PERIOD = 62;  // Milliseconds
+static const uint32_t HR_FLIGHT_UPDATE_PERIOD = 10;
+static const uint32_t LR_UPDATE_PERIOD        = 100;  // Milliseconds
+
+// TODO define the correct ids for task scheduler
+static const uint8_t RADIO_HR_ID = 200;
+static const uint8_t RADIO_LR_ID = 201;
+
+}  // namespace ParafoilTestDev

src/boards/Parafoil/Configs/SensorsConfig.h

@@ -0,0 +1,64 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * 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.
+ */
+
+/**
+ * This class specifies the sensors constants that the sensor manager
+ * needs to know about every device. For example the sample time is
+ * essential to understand how much time a sensor should wait before
+ * another sample.
+ */
+
+#pragma once
+
+#include <sensors/UbloxGPS/UbloxGPS.h>
+#include <sensors/MPU9250/MPU9250.h>
+#include <sensors/BME280/BME280.h>
+
+using namespace Boardcore;
+
+namespace ParafoilTestDev
+{
+    //SPI pinouts
+    static miosix::GpioPin SCK(GPIOA_BASE, 5);
+	static miosix::GpioPin MISO(GPIOB_BASE, 4);
+	static miosix::GpioPin MOSI(GPIOA_BASE, 7);
+
+    //GPS settings
+    //static miosix::GpioPin GPS_CS(GPIOG_BASE, 3);
+    static miosix::GpioPin GPS_TX(GPIOA_BASE, 2);
+    static miosix::GpioPin GPS_RX(GPIOA_BASE, 3);
+    static constexpr unsigned int GPS_SAMPLE_RATE       = 25;
+    static constexpr unsigned int GPS_SAMPLE_PERIOD     = 1000 / GPS_SAMPLE_RATE;
+
+
+    //IMU MPU9250 settings
+    static miosix::GpioPin IMU_CS(GPIOB_BASE, 2);
+    static const MPU9250::MPU9250GyroFSR IMU_GYRO_SCALE       = MPU9250::GYRO_FSR_500DPS;
+    static const MPU9250::MPU9250AccelFSR IMU_ACCEL_SCALE     = MPU9250::ACCEL_FSR_16G;
+    static constexpr unsigned short IMU_SAMPLE_RATE     = 500;
+    static constexpr unsigned int   IMU_SAMPLE_PERIOD   = 1000 / IMU_SAMPLE_RATE;
+
+    //Barometer BME280 settings
+    static miosix::GpioPin PRESS_CS(GPIOC_BASE, 11);   
+    static const BME280::StandbyTime PRESS_SAMPLE_RATE        = BME280::STB_TIME_0_5;
+    static constexpr unsigned int PRESS_SAMPLE_PERIOD   = 20; 
+}