Add Parameterization with TextIO

stm32h753iitx/boardfiles/model/src/drivers.cpp

@@ -100,7 +100,6 @@ void initDrivers()
     // Core utilities
     systemUtilsHandle = new (&systemUtilsStorage) SystemUtils();
     iwdgHandle = new (&iwdgStorage) IndependentWatchdog(&hiwdg1);
-    loggerHandle = new (&loggerStorage) Logger(); // Initialized later in RTOS task
 
     // Motors
     leftAileronMotorHandle = new (&leftAileronMotorStorage) MotorControl(&htim1, TIM_CHANNEL_1, 5, 10);

stm32l552xx/FATFS/Target/user_diskio.c

@@ -33,7 +33,6 @@
 /* USER CODE BEGIN DECL */
 
 /* Includes ------------------------------------------------------------------*/
-#include "logger_config.h"
 #include "user_diskio.h"
 #include "user_diskio_sdmmc.h"
 #include "user_diskio_spi.h"

stm32l552xx/FATFS/Target/user_diskio.h

@@ -29,13 +29,13 @@
 /* USER CODE BEGIN 0 */
 
 /* Includes ------------------------------------------------------------------*/
-#include "logger_config.h"
+//#include "logger_params.h"
 #include "ff_gen_drv.h"
 /* Exported types ------------------------------------------------------------*/
 /* Exported constants --------------------------------------------------------*/
 /* Exported functions ------------------------------------------------------- */
 
-#ifdef SD_CARD_LOGGING
+//#ifdef SD_CARD_LOGGING
 
 //#define SDMMC_INTERFACE
 #define SPI_INTERFACE
@@ -46,7 +46,7 @@
   #error Define a SD Card interface
 #endif
 
-#endif
+//#endif
 
 extern Diskio_drvTypeDef USER_Driver;
 

stm32l552xx/boardfiles/drivers/rfd/rfd.cpp

@@ -45,6 +45,7 @@ uint16_t RFD::receive(uint8_t* buffer, uint16_t bufferSize) {
 
 void RFD::receiveCallback(uint16_t size){
     writeIndex = size;
+	HAL_UARTEx_ReceiveToIdle_DMA(huart, rxBuffer, BUFFER_SIZE);
 }
 
 UART_HandleTypeDef* RFD::getHuart() const {

stm32l552xx/boardfiles/drivers/textIo/SDIO.cpp

@@ -0,0 +1,56 @@
+#include "SDIO.hpp"
+#include <cstring>
+
+SDIO::SDIO() {
+  //blank
+}
+
+int SDIO::mountFile() {
+    return f_mount(&FatFs, "", 1);
+}
+
+int SDIO::open(char *file, int modes) {
+    if (f_open(&fil, file, modes) != FR_OK) {
+        return 1; // Error opening file
+    }
+    return 0; // Success
+}
+
+int SDIO::close() {
+    if (f_close(&fil) != FR_OK) {
+        return 1; // Error closing file
+    }
+    return 0; // Success
+}
+
+char* SDIO::read(char *buffer, int bufferSize) {
+    return f_gets(buffer, bufferSize, &fil); // Reads a line from the file into the buffer
+}
+
+int SDIO::write(const char *buffer) {
+    return f_puts(buffer, &fil); // Writes a string to the file
+}
+
+int SDIO::seek(int offset) {
+    if (f_lseek(&fil, offset) != 0) {
+        return 1; // Error seeking in file
+    }
+    return 0; // Success
+}
+
+uint64_t SDIO::fsize() {
+  return f_size(&fil);
+}
+
+uint64_t SDIO::tell() {
+    return f_tell(&fil); // Returns the current position in the file
+}
+
+int SDIO::eof() {
+    return f_eof(&fil); // Returns whether the end of file has been reached
+}
+
+bool SDIO::checkFileExist(char *file) {
+    FILINFO fno;
+    return (f_stat(file, &fno) == FR_OK);
+}

stm32l552xx/boardfiles/drivers/textIo/SDIO.hpp

@@ -0,0 +1,23 @@
+#pragma once
+
+#include "textio_iface.hpp"
+#include "app_fatfs.h"
+
+class SDIO : public ITextIO {
+    public:
+        SDIO();
+        int mountFile() override;
+        int open(char *file, int modes) override;
+        int close() override;
+        char* read(char *buffer, int bufferSize) override;
+        int write(const char *buffer) override;
+        int seek(int offset) override;
+        uint64_t fsize() override;
+        uint64_t tell() override;
+        int eof() override;
+        bool checkFileExist(char *file) override;
+
+    private:
+        FATFS FatFs;
+        FIL fil;
+};

stm32l552xx/boardfiles/model/inc/drivers.hpp

@@ -8,6 +8,9 @@
 #include "rc.hpp"
 #include "rc_crsf.hpp"
 #include "rc_motor_control.hpp"
+#include "config_keys.hpp"
+#include "config_msg.hpp"
+#include "SDIO.hpp"
 #include "tm_queue.hpp"
 #include "mavlink.h"
 #include "queue.hpp"
@@ -19,6 +22,7 @@
 extern SystemUtils *systemUtilsHandle;
 
 extern IndependentWatchdog *iwdgHandle;
+extern SDIO *textIOHandle;
 extern Logger *loggerHandle;
 
 extern MotorControl *leftAileronMotorHandle;
@@ -38,7 +42,10 @@ extern PowerModule *pmHandle;
 
 extern MessageQueue<RCMotorControlMessage_t> *amRCQueueHandle;
 extern MessageQueue<char[100]> *smLoggerQueueHandle;
+extern MessageQueue<ConfigMessage_t> *smConfigAttitudeQueueHandle;
+extern IMessageQueue<ConfigMessage_t> *smConfigRouteQueueHandle[static_cast<size_t>(Owner_e::COUNT)];
 extern MessageQueue<TMMessage_t> *tmQueueHandle;
+extern MessageQueue<TMSMMessage_t> *tmSmQueueHandle;
 extern MessageQueue<mavlink_message_t> *messageBufferHandle;
 
 extern MotorGroupInstance_t rollMotors;

stm32l552xx/boardfiles/model/src/drivers.cpp

@@ -45,6 +45,7 @@ alignas(MessageQueue<mavlink_message_t>) static uint8_t messageBufferStorage[siz
 // ----------------------------------------------------------------------------
 SystemUtils *systemUtilsHandle = nullptr;
 IndependentWatchdog *iwdgHandle = nullptr;
+SDIO *textIOHandle = nullptr;
 Logger *loggerHandle = nullptr;
 
 MotorControl *leftAileronMotorHandle = nullptr;
@@ -64,7 +65,10 @@ PowerModule *pmHandle = nullptr;
 
 MessageQueue<RCMotorControlMessage_t> *amRCQueueHandle = nullptr;
 MessageQueue<char[100]> *smLoggerQueueHandle = nullptr;
+IMessageQueue<ConfigMessage_t> *smConfigRouteQueueHandle[static_cast<size_t>(Owner_e::COUNT)] = {};
+MessageQueue<ConfigMessage_t> *smConfigAttitudeQueueHandle = nullptr;
 MessageQueue<TMMessage_t> *tmQueueHandle = nullptr;
+MessageQueue<TMSMMessage_t> *tmSmQueueHandle = nullptr;
 MessageQueue<mavlink_message_t> *messageBufferHandle = nullptr;
 
 // ----------------------------------------------------------------------------
@@ -97,7 +101,8 @@ void initDrivers()
     // Core utilities
     systemUtilsHandle = new (&systemUtilsStorage) SystemUtils();
     iwdgHandle = new (&iwdgStorage) IndependentWatchdog(&hiwdg);
-    loggerHandle = new (&loggerStorage) Logger(); // Initialized later in RTOS task
+    textIOHandle = new SDIO();
+    loggerHandle = new (&loggerStorage) Logger(textIOHandle, systemUtilsHandle); // Initialized later in RTOS task
 
     // Motors
     leftAileronMotorHandle = new (&leftAileronMotorStorage) MotorControl(&htim3, TIM_CHANNEL_1, 5, 10);
@@ -119,7 +124,13 @@ void initDrivers()
     // Queues
     amRCQueueHandle = new (&amRCQueueStorage) MessageQueue<RCMotorControlMessage_t>(&amQueueId);
     smLoggerQueueHandle = new (&smLoggerQueueStorage) MessageQueue<char[100]>(&smLoggerQueueId);
+    smConfigAttitudeQueueHandle = new MessageQueue<ConfigMessage_t>(&smConfigAttitudeQueueId);
+    smConfigRouteQueueHandle[static_cast<size_t>(Owner_e::ATTITUDE_MANAGER)] = smConfigAttitudeQueueHandle;
+    // Add other manager queues to smConfigRouteQueueHandle as needed
+
+    loggerHandle->init();
     tmQueueHandle = new (&tmQueueStorage) MessageQueue<TMMessage_t>(&tmQueueId);
+    tmSmQueueHandle = new MessageQueue<TMSMMessage_t>(&tmSmQueueId);
     messageBufferHandle = new (&messageBufferStorage) MessageQueue<mavlink_message_t>(&messageBufferId);
 
     // Initialize hardware components
@@ -136,6 +147,7 @@ void initDrivers()
     gpsHandle->init();
     imuHandle->init();
     pmHandle->init();
+    rfdHandle->startReceive();
 
     // Motor instance bindings
     leftAileronMotorInstance = {leftAileronMotorHandle, true};

stm32l552xx/boardfiles/model/src/managers.cpp

@@ -11,6 +11,11 @@ alignas(TelemetryManager) static uint8_t tmHandleStorage[sizeof(TelemetryManager
 AttitudeManager *amHandle = nullptr;
 SystemManager *smHandle = nullptr;
 TelemetryManager *tmHandle = nullptr;
+DirectMapping *flightMode = nullptr;
+
+Config *configHandle = nullptr;
+
+
 
 void initManagers()
 {
@@ -21,7 +26,8 @@ void initManagers()
         imuHandle,
         amRCQueueHandle, 
         tmQueueHandle, 
-        smLoggerQueueHandle, 
+        smLoggerQueueHandle,
+        smConfigAttitudeQueueHandle,
         &rollMotors, 
         &pitchMotors, 
         &yawMotors, 
@@ -31,22 +37,27 @@ void initManagers()
     );
 
     // SM initialization
+    configHandle = new Config(textIOHandle);
     smHandle = new (&smHandleStorage) SystemManager(
+    	loggerHandle,
+    	configHandle,
         systemUtilsHandle, 
         iwdgHandle,
-        loggerHandle,
         rcHandle,
 		pmHandle,
         amRCQueueHandle,
         tmQueueHandle,
-        smLoggerQueueHandle
+        tmSmQueueHandle, 
+        smLoggerQueueHandle, 
+        smConfigRouteQueueHandle
     );
 
     // TM initialization
     tmHandle = new (&tmHandleStorage) TelemetryManager(
         systemUtilsHandle,
         rfdHandle,
         tmQueueHandle,
+        tmSmQueueHandle,
         amRCQueueHandle,
         messageBufferHandle
     );