SwifTurk RTOS Core (Half-Duplex)

Inc/FreeRTOSConfig.h

@@ -0,0 +1,174 @@
+/* USER CODE BEGIN Header */
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights Reserved.
+ *
+ * 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.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+/* USER CODE END Header */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * These parameters and more are described within the 'configuration' section of the
+ * FreeRTOS API documentation available on the FreeRTOS.org web site.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+/* Section where include file can be added */
+/* USER CODE END Includes */
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+  #include <stdint.h>
+  extern uint32_t SystemCoreClock;
+#endif
+#ifndef CMSIS_device_header
+#define CMSIS_device_header "stm32g4xx.h"
+#endif /* CMSIS_device_header */
+
+#define configENABLE_FPU                         0
+#define configENABLE_MPU                         0
+
+#define configUSE_PREEMPTION                     1
+#define configSUPPORT_STATIC_ALLOCATION          1
+#define configSUPPORT_DYNAMIC_ALLOCATION         1
+#define configUSE_IDLE_HOOK                      0
+#define configUSE_TICK_HOOK                      0
+#define configCPU_CLOCK_HZ                       ( SystemCoreClock )
+#define configTICK_RATE_HZ                       ((TickType_t)1000)
+#define configMAX_PRIORITIES                     ( 56 )
+#define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
+#define configTOTAL_HEAP_SIZE                    ((size_t)3072)
+#define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configUSE_TRACE_FACILITY                 1
+#define configUSE_16_BIT_TICKS                   0
+#define configUSE_MUTEXES                        1
+#define configQUEUE_REGISTRY_SIZE                8
+#define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_COUNTING_SEMAPHORES            1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
+/* Defaults to size_t for backward compatibility, but can be changed
+   if lengths will always be less than the number of bytes in a size_t. */
+#define configMESSAGE_BUFFER_LENGTH_TYPE         size_t
+/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                    0
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
+
+/* Software timer definitions. */
+#define configUSE_TIMERS                         1
+#define configTIMER_TASK_PRIORITY                ( 2 )
+#define configTIMER_QUEUE_LENGTH                 10
+#define configTIMER_TASK_STACK_DEPTH             256
+
+/* The following flag must be enabled only when using newlib */
+#define configUSE_NEWLIB_REENTRANT          1
+
+/* CMSIS-RTOS V2 flags */
+#define configUSE_OS2_THREAD_SUSPEND_RESUME  1
+#define configUSE_OS2_THREAD_ENUMERATE       1
+#define configUSE_OS2_EVENTFLAGS_FROM_ISR    1
+#define configUSE_OS2_THREAD_FLAGS           1
+#define configUSE_OS2_TIMER                  1
+#define configUSE_OS2_MUTEX                  1
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet             1
+#define INCLUDE_uxTaskPriorityGet            1
+#define INCLUDE_vTaskDelete                  1
+#define INCLUDE_vTaskCleanUpResources        0
+#define INCLUDE_vTaskSuspend                 1
+#define INCLUDE_vTaskDelayUntil              1
+#define INCLUDE_vTaskDelay                   1
+#define INCLUDE_xTaskGetSchedulerState       1
+#define INCLUDE_xTimerPendFunctionCall       1
+#define INCLUDE_xQueueGetMutexHolder         1
+#define INCLUDE_uxTaskGetStackHighWaterMark  1
+#define INCLUDE_xTaskGetCurrentTaskHandle    1
+#define INCLUDE_eTaskGetState                1
+#define INCLUDE_xTaskResumeFromISR 			 1 // Added from MecitPmk
+
+/*
+ * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
+ * by the application thus the correct define need to be enabled below
+ */
+#define USE_FreeRTOS_HEAP_4
+
+/* Cortex-M specific definitions. */
+#ifdef __NVIC_PRIO_BITS
+ /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+ #define configPRIO_BITS         __NVIC_PRIO_BITS
+#else
+ #define configPRIO_BITS         4
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+/* USER CODE END 1 */
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler    SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+
+/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
+
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
+
+/* USER CODE BEGIN Defines */
+/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+/* USER CODE END Defines */
+
+#endif /* FREERTOS_CONFIG_H */

Inc/datapacket.h

@@ -0,0 +1,208 @@
+/*
+ * datapacket.h
+ *
+ *  Created on: Jan 8, 2022
+ *      Author: Mecit
+ */
+
+#pragma once
+#include "stm32g4xx_hal.h"
+
+#include "enums_structs.h"
+
+
+typedef enum
+{
+	TELEM_1HZ 				= 0,
+	TELEM_FLIGHT_HEALTH		= 1,
+	GCS_TELEM_REQUEST		= 2,
+	GCS_TELEM_MISSION		= 3,
+	GCS_TELEM_COMMAND		= 4,
+	GCS_TELEM_RESPONSE		= 5,
+	CONTAINER_TELEMETRY		= 6,
+	VIDEO_PACKAGE_REQUEST	= 7,
+	UNKNOWN
+
+}TELEMETRY_PACKAGE_TYPES;
+
+typedef enum
+{
+    STAT_WAITING		= 0,
+    STAT_RISING			= 1,
+	STAT_FLIGHTFALL		= 2,
+	STAT_SEPERATING		= 3,
+    STAT_PAYFALL		= 4,
+    STAT_FIXEDALT		= 5,
+    STAT_RESCUE			= 6
+}FLIGHT_STATUS_t;
+
+
+typedef enum
+{
+	VIDEO_NOT_SAVED = 0,
+	VIDEO_SAVED		= !VIDEO_NOT_SAVED
+}VIDEO_TRANSMISSION_STATUS_t;
+
+typedef enum
+{
+	TELEM_ERROR 	= 0,
+	TELEM_VALIDATED = !TELEM_ERROR
+}TELEM_VALID_STATUS;
+
+
+typedef enum
+{
+	CONTAINER_DATA_NOT_COLLECTED = 0,
+	CONTAINER_DATA_COLLECTED 	 = !CONTAINER_DATA_NOT_COLLECTED
+}CONTAINER_TELEM_STATUS_t;
+
+
+
+typedef enum
+{
+	MANUAL_RELEASE	= 0,
+	TEST_MOTOR		= !MANUAL_RELEASE
+}GCS_COMMAND;
+
+struct Telemetry_1HZ
+{
+	/* Main Telemetry Strcuture , Takes Sensore Data and
+	 * Collect Container Telemetry Data.
+	 */
+	#define TELEM_1HZ_BUFF_SIZE ( 5 ) // If you add sth change the buffer size according to what you add.
+
+
+	const uint32_t  START_OF_FRAME  	; // <
+	const uint8_t  PACKAGE_TYPE	  	; // this is 1Hz telemetry Structure @param => enum PACKAGE_TYPES
+	const uint8_t  PACKAGE_SIZE    	;
+	const uint16_t TEAM_ID			;
+	uint16_t PACKET_NUMBER ;  // will be increased every Hz
+
+
+
+	float Temperature  ;
+	float Pressure     ;
+	float Altitude     ;  // relative to Y-Axis
+	float DescentSpeed ;  // relative to Y-Axis
+	float GPS_Latitude 		;
+	float GPS_Longtitude 	;
+	float GPS_Altitude 		;
+	float Container_Altitude 		;
+	float Container_Pressure		;
+	float Container_GPS_Latitude	;
+	float Container_GPS_Longtitude	;
+	float Container_GPS_Altitude	;
+	float AltitudeDifference		;
+	float pitch	;
+	float roll	;
+	float yaw	;
+
+	uint8_t FLIGHT_STATUS ;							// for GCS Define => enum FLIGHT_STATUS_t : byte
+	uint8_t VIDEO_TRANSMISSION_STATUS;  //
+
+	const uint32_t END_OF_FRAME ; // >
+
+
+} __attribute__((packed));
+
+
+
+struct Telemetry_Health
+{
+	#define TELEM_HEALTH_BUFF_SIZE ( 18 ) //If you add sth change the buffer size according to what you add.
+	const uint32_t START_OF_FRAME  ; // <
+
+	const uint8_t PACKAGE_TYPE	  ; // this is 1Hz telemetry Structure @param => enum PACKAGE_TYPES
+	const uint8_t PACKAGE_SIZE    ;
+	uint32_t PACKET_NUMBER 		  ;  	 // will be increased every Hz
+
+	uint16_t Fault_in_Temperature ; // According to our boundries (if outside in our boundries increase counter.)
+	uint16_t Fault_in_Pressure    ; // According to our boundries (if outside in our boundries increase counter.)
+	uint16_t Fault_in_Altitude	  ; // According to our boundries (if outside in our boundries increase counter.)
+
+	uint32_t Fault_in_GCS_TELEM   ;
+
+	const uint32_t END_OF_FRAME    ; // >
+
+} __attribute__((packed));
+
+typedef struct
+{
+	const uint32_t START_OF_FRAME  	; // <
+
+	uint8_t PACKAGE_TYPE 		  	;
+
+	uint16_t videoID				;
+
+	uint8_t videoByte[255]			;
+
+	uint8_t isEnd					;
+	const uint32_t END_OF_FRAME    	; // >
+}__attribute__((packed))GCS_Telemetry_t;
+
+typedef struct
+{
+	const uint32_t START_OF_FRAME  	; // <
+
+	uint8_t PACKAGE_TYPE 		  	;
+
+	uint8_t COMMAND					;
+
+	const uint32_t END_OF_FRAME    	; // >
+}__attribute__((packed))GCS_Command_t;
+
+struct GCS_Tel_Response
+{
+	#define GCS_TEL_RESPONSE_BUFF_SIZE ( 4 )
+
+	const uint32_t START_OF_FRAME  ; // <
+
+	uint8_t PACKAGE_TYPE 		  ;
+
+	uint8_t RESPONSE_STATUS		  ;
+
+	const uint32_t END_OF_FRAME    ; // >
+}__attribute__((packed));
+
+struct Container_Telem
+{
+	// Container Telemetry Directly Copied to this Structure
+	const uint32_t START_OF_FRAME  	; // <
+
+	uint8_t PACKAGE_TYPE			;
+
+	float Container_Altitude 		;
+	float Container_Pressure		;
+	float Container_GPS_Latitude	;
+	float Container_GPS_Longtitude	;
+	float Container_GPS_Altitude	;
+
+	const uint32_t END_OF_FRAME		; // >
+}__attribute__((packed));
+
+typedef struct
+{
+	const uint32_t START_OF_FRAME  	; // <
+
+	uint8_t PACKAGE_TYPE			;
+
+	uint16_t videoID				;
+
+	const uint32_t END_OF_FRAME		; // >
+}__attribute__((packed))VideoHandler_t;
+
+extern struct Telemetry_1HZ 	Telemetry_1HZ_Data;
+extern struct Telemetry_1HZ 	Telemetry_1HZ_Data_BUFF;
+extern struct Telemetry_Health 	Telemetry_Health_Data;
+extern struct GCS_Tel_Response  GCS_Telemetry_Response;
+extern struct Container_Telem   Telemetry_Container;
+
+
+
+extern CONTAINER_TELEM_STATUS_t CONTAINER_TELEM_STATUS;
+extern GCS_Command_t 			GCS_Command;
+extern GCS_Telemetry_t 			GCS_Telemetry;
+extern VideoHandler_t			VideoHandler;
+void sendTelemetryData( const uint8_t TELEM_PACKAGE_TYPES );
+void handleTelemPackage ( void );
+void transferContainerDatatoMainStruct( void );