communication example

examples/CMakeLists.txt

@@ -20,6 +20,7 @@
 
 add_subdirectory(buzzer)
 add_subdirectory(chassis)
+add_subdirectory(communication)
 add_subdirectory(dbus)
 add_subdirectory(eigen)
 add_subdirectory(gimbal)

examples/communication/CMakeLists.txt

@@ -0,0 +1,26 @@
+# ---------------------------------------------------------------------- #
+#                                                                        #
+#  Copyright (C) 2022                                                    #
+#  Illini RoboMaster @ University of Illinois at Urbana-Champaign.       #
+#                                                                        #
+#  This program is free software: you can redistribute it and/or modify  #
+#  it under the terms of the GNU General Public License as published by  #
+#  the Free Software Foundation, either version 3 of the License, or     #
+#  (at your option) any later version.                                   #
+#                                                                        #
+#  This program is distributed in the hope that it will be useful,       #
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of        #
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         #
+#  GNU General Public License for more details.                          #
+#                                                                        #
+#  You should have received a copy of the GNU General Public License     #
+#  along with this program. If not, see <http://www.gnu.org/licenses/>.  #
+#                                                                        #
+# ---------------------------------------------------------------------- #
+
+project(example_communication ASM C CXX)
+
+irm_add_arm_executable(${PROJECT_NAME}
+    TARGET DJI_Board_TypeA
+    SOURCES main.cc)
+

examples/communication/main.cc

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *                                                                          *
+ *  Copyright (C) 2022 RoboMaster.                                          *
+ *  Illini RoboMaster @ University of Illinois at Urbana-Champaign          *
+ *                                                                          *
+ *  This program is free software: you can redistribute it and/or modify    *
+ *  it under the terms of the GNU General Public License as published by    *
+ *  the Free Software Foundation, either version 3 of the License, or       *
+ *  (at your option) any later version.                                     *
+ *                                                                          *
+ *  This program is distributed in the hope that it will be useful,         *
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of          *
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *
+ *  GNU General Public License for more details.                            *
+ *                                                                          *
+ *  You should have received a copy of the GNU General Public License       *
+ *  along with this program. If not, see <http://www.gnu.org/licenses/>.    *
+ *                                                                          *
+ ****************************************************************************/
+
+#include "bsp_gpio.h"
+#include "bsp_print.h"
+#include "bsp_uart.h"
+#include "cmsis_os.h"
+#include "main.h"
+#include "protocol.h"
+
+#define RX_SIGNAL (1 << 0)
+
+extern osThreadId_t defaultTaskHandle;
+
+const osThreadAttr_t clientTaskAttribute = {.name = "clientTask",
+                                            .attr_bits = osThreadDetached,
+                                            .cb_mem = nullptr,
+                                            .cb_size = 0,
+                                            .stack_mem = nullptr,
+                                            .stack_size = 128 * 4,
+                                            .priority = (osPriority_t)osPriorityNormal,
+                                            .tz_module = 0,
+                                            .reserved = 0};
+osThreadId_t clientTaskHandle;
+
+class CustomUART : public bsp::UART {
+ public:
+  using bsp::UART::UART;
+
+ protected:
+  /* notify application when rx data is pending read */
+  void RxCompleteCallback() final { osThreadFlagsSet(clientTaskHandle, RX_SIGNAL); }
+};
+
+static communication::Host* host = nullptr;
+static CustomUART* host_uart = nullptr;
+static bsp::GPIO *gpio_red, *gpio_green;
+
+void clientTask(void* arg) {
+  UNUSED(arg);
+  uint32_t length;
+  uint8_t* data;
+
+  while (true) {
+    /* wait until rx data is available */
+    uint32_t flags = osThreadFlagsWait(RX_SIGNAL, osFlagsWaitAll, osWaitForever);
+    if (flags & RX_SIGNAL) {  // unnecessary check
+      /* time the non-blocking rx / tx calls (should be <= 1 osTick) */
+      length = host_uart->Read(&data);
+      host->Receive(communication::package_t{data, (int)length});
+      gpio_green->Low();
+      osDelay(200);
+      gpio_green->High();
+    }
+  }
+}
+
+void RM_RTOS_Init(void) {
+  print_use_uart(&huart8);
+
+  host_uart = new CustomUART(&huart6);
+  host_uart->SetupRx(300);
+  host_uart->SetupTx(300);
+
+  host = new communication::Host;
+
+  gpio_red = new bsp::GPIO(LED_RED_GPIO_Port, LED_RED_Pin);
+  gpio_green = new bsp::GPIO(LED_GREEN_GPIO_Port, LED_GREEN_Pin);
+  gpio_red->High();
+  gpio_green->High();
+}
+
+void RM_RTOS_Threads_Init(void) {
+  clientTaskHandle = osThreadNew(clientTask, nullptr, &clientTaskAttribute);
+}
+
+void RM_RTOS_Default_Task(const void* argument) {
+  UNUSED(argument);
+
+  while (true) {
+    set_cursor(0, 0);
+    clear_screen();
+    print("%c\n", host->pack.chars[0]);
+    //print("%s\n", host->target_angle.pitch);
+    //print("%s\n", host->target_angle.yaw);
+    //print("%s\n", host->no_target_flag.dummy);
+    //print("%s\n", host->shoot_cmd.dummy);
+    osDelay(500);
+  }
+}

vehicles/Sentry/rm_rtos.cc

@@ -107,8 +107,8 @@ void RM_RTOS_Default_Task(const void* args) {
   UNUSED(args);
   control::MotorCANBase* motors[] = {pitch_motor, yaw_motor, load_motor};
   control::gimbal_data_t gimbal_data = gimbal->GetData();
-  bsp::GPIO laser(LASER_GPIO_Port, LASER_Pin);
-  laser.High();
+  //bsp::GPIO laser(LASER_GPIO_Port, LASER_Pin);
+  //laser.High();
 
   bool load = false;
   bool abs_mode = true;