Garibaldi Integration!

avionics/common/include/buzzer_interface.h

@@ -3,7 +3,8 @@
 enum SongTypes {
     SongTypes_SUCCESS,
     SongTypes_NONCRITFAIL,
-    SongTypes_CRITICALFAIL
+    SongTypes_CRITICALFAIL,
+    SongTypes_LANDED,
 };
 
 /*Classes--------------------------------------------------------------*/

avionics/common/include/gpio.h

@@ -24,19 +24,19 @@
 /*Constants------------------------------------------------------------*/
 // Double, triple check pin assignments
 enum class Pin {
-    POWER_LED = 33,  // kept in one place w/ FLIGHT_LED
-    FLIGHT_LED = 33, // required by state machine
-    BUILTIN_LED = 31, // PC13
-    STATUS_LED = 31, // uses BUILTIN_LED
-    BUZZER = 25, // PB9
-    MAIN_IGNITOR = 20, // PB4
-    MAIN_CONTINUITY_TEST = 33,
-    MAIN_CONTINUITY_READ = 200, // PB_0
-    DROGUE_IGNITOR = 15, // PA15
-    DROGUE_CONTINUITY_TEST = 33,
-    DROGUE_CONTINUITY_READ = 193, // PA_1
-    VOLTAGE_SENSOR = 33, // PC15 (unused)
-    SD_CHIP_SELECT = 196, // PA_4
+    // POWER_LED = 0,  // N/A on Rev 2 board
+    // FLIGHT_LED = 0, // N/A on Rev 2 board
+    BUILTIN_LED = 33, // PC6
+    STATUS_LED = 33, // PC6, uses BUILTIN_LED
+    BUZZER = 41, // PB15
+    MAIN_IGNITOR = 14, // PB9, TODO!
+    MAIN_CONTINUITY_TEST = 2, // PA10, TODO!
+    MAIN_CONTINUITY_READ = 2, // PA10, TODO!
+    DROGUE_IGNITOR = 15, // PB8, TODO!
+    DROGUE_CONTINUITY_TEST = 8, // PA9, TODO!
+    DROGUE_CONTINUITY_READ = 8, // PA9, TODO!
+    VOLTAGE_SENSOR = 42, // PB14, unused
+    SD_CHIP_SELECT = 31, // PC9
 };
 
 /*Functions------------------------------------------------------------*/

avionics/common/include/log.hpp

@@ -17,21 +17,33 @@
 Defined logging levels. Usage:
 LOG_WARN("Warning message; warning code: " << 123 << " addnl string")
 */
-#ifndef LOG_CONTROL_DISABLE_LOGGING
+#ifdef LOG_CONTROL_DISABLE_LOGGING  // LOG_CONTROL_DISABLE_LOGGING
+
+#define LOG_DEBUG(expr)
+#define LOG_INFO(expr)
+#define LOG_WARN(expr)
+#define LOG_ERROR(expr)
+
+#else  // LOG_CONTROL_DISABLE_LOGGING
+
+// This is kinda a hack to get logging through serial
+#ifdef LOG_CONTROL_SERIAL_LOGGING  // LOG_CONTROL_SERIAL_LOGGING
+
+#define LOG_DEBUG(expr) Serial.print("DEBUG: "); Serial.println(expr)
+#define LOG_INFO(expr) Serial.print("INFO: "); Serial.println(expr)
+#define LOG_WARN(expr) Serial.print("WARN: "); Serial.println(expr)
+#define LOG_ERROR(expr) Serial.print("ERROR: "); Serial.println(expr)
+
+#else  // LOG_CONTROL_SERIAL_LOGGING
 
 #define LOG_DEBUG(expr) LOG_AT_SPECIFIED_LEVEL(rktlog::Level::kDebug, expr)
 #define LOG_INFO(expr) LOG_AT_SPECIFIED_LEVEL(rktlog::Level::kInfo, expr)
 #define LOG_WARN(expr) LOG_AT_SPECIFIED_LEVEL(rktlog::Level::kWarn, expr)
 #define LOG_ERROR(expr) LOG_AT_SPECIFIED_LEVEL(rktlog::Level::kErr, expr)
 
-#else // LOG_CONTROL_DISABLE_LOGGING
-
-#define LOG_DEBUG(expr)
-#define LOG_INFO(expr)
-#define LOG_WARN(expr)
-#define LOG_ERROR(expr)
+#endif  // LOG_CONTROL_SERIAL_LOGGING
 
-#endif // LOG_CONTROL_DISABLE_LOGGING
+#endif  // LOG_CONTROL_DISABLE_LOGGING
 
 // Log at a specified level. Strongly recommended to instead use the defined log
 // level macros instead of this.

avionics/common/include/options.h

@@ -23,9 +23,13 @@
 #define BODY // enable or disable body-avionics specific functionality
 // #define SERVO //if drogue release utilizes CO2 canister
 #define POW // if drogue release utilizes black powder charge
-// #define TESTING //enable or disable debug output
+#define TESTING //enable or disable debug output
 // #define GROUND_TEST
 
 // #define THERMOCOUPLE    // if thermocouple is utilized or not
 
+// Set the serial port to use UART5
+#undef Serial
+#define Serial Serial5
+
 // Refer to README or the wiki for more information.

avionics/common/include/radio.h

@@ -101,6 +101,7 @@ class Radio {
      */
     template <typename Actor>
     static void forwardCommand(Actor &command_receiver) {
+        return;  // Hack to get this to work
         static_assert(
             can_receive_command<Actor>::value,
             "act_upon does not have the expected signature void(uint8_t)");

avionics/common/include/rocket.h

@@ -48,7 +48,7 @@ class CommandReceiver {
     CommandReceiver(Rocket &rocket) : rocket_(rocket) {}
 
     /**
-     * @brief performs some action depedning on the information from sensors based on command 
+     * @brief performs some action depedning on the information from sensors based on command
      * @param command selects which information is sent
      */
     void run_command(Radio::command_t command) {

avionics/common/include/state_machine.hpp

@@ -17,8 +17,8 @@ class StateMachine {
 
     /**
      * @brief Construct a new State Machine object
-     * @param map 
-     * @param initial_state_ 
+     * @param map
+     * @param initial_state_
      */
     StateMachine(StateMap map, StateId initial_state_)
         : current_id_(initial_state_), state_map_(map) {
@@ -41,10 +41,10 @@ class StateMachine {
         IState *current_state = state_map_[old_id];
         const StateId new_id = current_state->getNewState(calc);
         if (new_id != old_id) {
-            LOG_INFO("State changed (previous state "
-                     << static_cast<std::int32_t>(old_id) << ", new state "
-                     << static_cast<std::int32_t>(new_id) << ", time is "
-                     << static_cast<std::int32_t>(Hal::millis()) << "ms)");
+            LOG_INFO(("State changed (previous state "
+                     + std::to_string(static_cast<std::int32_t>(old_id)) + ", new state "
+                     + std::to_string(static_cast<std::int32_t>(new_id)) + ", time is "
+                     + std::to_string(static_cast<std::int32_t>(Hal::millis())) + "ms)").c_str());
             state_map_[new_id]->onEntry();
             Radio::sendState(Hal::tpoint_to_uint(Hal::now_ms()),
                              static_cast<uint16_t>(new_id));

avionics/common/include/states/landed.h

@@ -4,6 +4,7 @@
 #include "cameras.h"
 #include "scheduler.hpp"
 #include "state_interface.h"
+#include "buzzer.h"
 
 namespace State {
 
@@ -28,6 +29,10 @@ class Landed : public IState {
      * codes and used states. Note that the returned code may be the same state.
      */
     StateId getNewState(Calculator const &) { return StateId::LANDED; }
+
+    void onEntry() override {
+      Scheduler::scheduleTask(Hal::now_ms() + Hal::ms(1), static_cast<int>(TaskID::BuzzerBeacon));
+    }
 };
 
 } // namespace State

avionics/common/include/tasks/landed_buzzer.hpp

@@ -0,0 +1,28 @@
+/**
+ * Landed Buzzer
+ *
+ * @file landed_buzzer.hpp
+ * @author UBC Rocket Avionics 2023/2024
+ * @description Class that allows landed buzzer to be run within a task
+ */
+
+#pragma once
+
+/*Includes------------------------------------------------------------*/
+#include "HAL/time.h"
+#include "buzzer.h"
+
+class LandedBuzzer {
+
+  private:
+    Buzzer buzzer_;
+
+  public:
+    LandedBuzzer(Buzzer &buzzer) : buzzer_(buzzer) {}
+
+    // run function to be called by a task
+    static void run(void *self) {
+        reinterpret_cast<LandedBuzzer *>(self)->buzzer_.sing(SongTypes_LANDED);
+    }
+    static constexpr Hal::ms freq{500};
+};

avionics/common/include/tasks/main_tasks.hpp

@@ -18,6 +18,7 @@ class ReadEvalLog {
      * @brief polss sensors, logs data, and updates state machine
      */
     void run() {
+        LOG_DEBUG("ReadEvalLog task started");
         auto &state_machine = rocket_.state_machine;
         auto &init_status = rocket_.init_status;
         auto &sensors = rocket_.sensors;
@@ -43,7 +44,7 @@ class ReadEvalLog {
         std::tie(old_state, new_state) = state_machine.update(calc);
         if (old_state != new_state) {
             // state transition has occurred
-            
+
             // if (new_state == StateId::MAIN_DESCENT) {
             //     // restart the camera periodically once in main descent
             //     Scheduler::scheduleTask(
@@ -88,7 +89,7 @@ class RadioTxBulk {
 
     /**
      * @brief Construct a new Radio Tx Bulk object
-     * @param rkt 
+     * @param rkt
      */
     RadioTxBulk(Rocket &rkt) : rocket(rkt) {}
     static constexpr Hal::ms freq{500};
@@ -99,6 +100,7 @@ class RadioTxBulk {
      * @brief sends bulk sensor data
      */
     void run() {
+        LOG_DEBUG("RadioTxBulk task started");
         StateId state = rocket.state_machine.getState();
         Radio::sendBulkSensor(
             Hal::tpoint_to_uint(rocket.sensors.last_poll_time()),

avionics/common/src/avionics.cpp

@@ -23,6 +23,7 @@
 #include "tasks/led_blinker.hpp"
 #include "tasks/main_tasks.hpp"
 #include "tasks/restart_camera.hpp"
+#include "tasks/landed_buzzer.hpp"
 
 #include "radio.h"
 #include "rocket.h"
@@ -53,7 +54,7 @@ void registerTask(TaskID id, Scheduler::Task task, bool repeat = true,
 int main(void) {
     // Initialize Arduino
     init();
-    
+
     // Before anything else there's some environment specific setup to be done
     env_initialize();
     LOG_INFO("Everything is starting now");
@@ -67,11 +68,13 @@ int main(void) {
     while (!Serial) {
         Hal::digitalWrite(Pin::BUILTIN_LED, Hal::PinDigital::HI);
         Hal::sleep_ms(100);
-        Hal::digitalWrite(Pin::BUILTIN_LED, Hal::PinDigital::LO);
+    Hal::digitalWrite(Pin::BUILTIN_LED, Hal::PinDigital::LO);
         Hal::sleep_ms(100);
-    }
-    Serial.println("Initializing...");
+}
+    Hal::sleep_ms(1000);
+    Serial.println("[ TESTING MODE ]");
 #endif
+    Serial.println("Initializing...");
 
     Radio::initialize();
     LOG_INFO("Initialized radio");
@@ -83,6 +86,15 @@ int main(void) {
     auto &sensors = rocket.sensors;
     auto &ignitors = rocket.ignitors;
 
+    if (rocket.datalog.ok()) {
+        Serial.println("Datalogging initialized");
+    } else {
+        Serial.println("Datalogging failed to initialize");
+    }
+
+    // Create instance of landed buzzer
+    LandedBuzzer landedBuzzer(rocket.buzzer);
+
     if (init_status == RocketStatus::CRITICAL_FAILURE) {
         LOG_ERROR("Critical failure; aborting in state machine");
         state_machine.abort();
@@ -94,11 +106,12 @@ int main(void) {
     /* Register all tasks */
     typedef Scheduler::Task Task;
 
+    // Read sensors, evaluate state, log data, and send status
     ReadEvalLog read_eval_logger(rocket);
     Task read_eval_log(ReadEvalLog::run, &read_eval_logger, Hal::ms(50));
     registerTask(TaskID::ReadEvalLog, read_eval_log);
 
-    // Radio needs to be scheduled later; sensors need to be read first
+    // // Radio needs to be scheduled later; sensors need to be read first
     RadioTxBulk radio_txer(rocket);
     Task radio_tx(RadioTxBulk::run, &radio_txer, RadioTxBulk::freq);
     Scheduler::preregisterTask(static_cast<int>(TaskID::RadioTxBulk), radio_tx,
@@ -107,11 +120,12 @@ int main(void) {
                             static_cast<int>(TaskID::RadioTxBulk));
 
     Task led_blink(LEDBlinker::toggle, nullptr, LEDBlinker::freq);
+    registerTask(TaskID::LEDBlinker, led_blink);
 
-    displayStatus(init_status, rocket.buzzer);
-    if (init_status == RocketStatus::NONCRITICAL_FAILURE) {
-        registerTask(TaskID::LEDBlinker, led_blink);
-    }
+    // displayStatus(init_status, rocket.buzzer);
+    // if (init_status == RocketStatus::NONCRITICAL_FAILURE) {
+    //     registerTask(TaskID::LEDBlinker, led_blink);
+    // }
 
     // RestartCamera restart_camera_(rocket.cam);
     // // This tasks sets its own reschedule interval (since the same task is run

avionics/common/src/gpio.cpp

@@ -55,12 +55,12 @@
  */
 void initPins(void) {
     /* Initialize and startup power status LEDs */
-    Hal::pinMode(Pin::POWER_LED, Hal::PinMode::OUTPUT);
-    Hal::digitalWrite(Pin::POWER_LED, Hal::PinDigital::HI);
+    // Hal::pinMode(Pin::POWER_LED, Hal::PinMode::OUTPUT);
+    // Hal::digitalWrite(Pin::POWER_LED, Hal::PinDigital::HI);
 
     /* Initialize and startup flight status LEDs */
-    Hal::pinMode(Pin::FLIGHT_LED, Hal::PinMode::OUTPUT);
-    Hal::digitalWrite(Pin::FLIGHT_LED, Hal::PinDigital::LO);
+    // Hal::pinMode(Pin::FLIGHT_LED, Hal::PinMode::OUTPUT);
+    // Hal::digitalWrite(Pin::FLIGHT_LED, Hal::PinDigital::LO);
 
     /* Initialize status LED - writing is performed in acutal status evaluation
      */

avionics/common/src/hardware/ignitor.cpp

@@ -18,12 +18,12 @@ Ignitor::Ignitor(Pin ignitePin, Pin continuityPin, Pin continuityADCPin)
     int continuity = Hal::analogRead(continuityADCPin_);
 
     #ifdef TESTING
-        Serial.print("Continuity read for ignitor on pin "); 
+        Serial.print("Continuity read for ignitor on pin ");
         Serial.print(static_cast<uint8_t>(ignitePin_));
-        Serial.print(": "); 
+        Serial.print(": ");
         Serial.println(continuity);
     #endif
-    
+
 
     if (continuity <= DISCONTINUOUS_THRESHOLD) {
         status = HardwareStatus::FAILURE;
@@ -41,7 +41,7 @@ void Ignitor::fire() {
     // different ignitions.
     Radio::sendEvent(Hal::tpoint_to_uint(Hal::now_ms()),
                      EventId::IGNITOR_FIRED);
-    LOG_INFO("Firing ignitor at pin "
-             << static_cast<int>(ignitePin_) << " at time "
-             << static_cast<std::int32_t>(Hal::millis()) << "ms");
-}
+    LOG_INFO(("Firing ignitor at pin " +
+         std::to_string(static_cast<int>(ignitePin_)) + " at time " +
+         std::to_string(static_cast<std::int32_t>(Hal::millis())) + "ms").c_str());
+}

avionics/common/src/ignitor_collection.cpp

@@ -21,7 +21,7 @@ IgnitorCollection::IgnitorCollection()
         Serial.println("Main parachute ignitor failed");
         #endif
 
-        LOG_ERROR("Broken ignitor for main parachute");
+        // LOG_ERROR("Broken ignitor for main parachute");
         status_bitfield_[0] |= 0x80;
         // status_ = RocketStatus::CRITICAL_FAILURE;
     }
@@ -30,7 +30,7 @@ IgnitorCollection::IgnitorCollection()
         Serial.println("Drogue parachute ignitor failed");
         #endif
 
-        LOG_ERROR("Broken ignitor for drogue parachute");
+        // LOG_ERROR("Broken ignitor for drogue parachute");
         status_bitfield_[0] |= 0x40;
         // status_ = RocketStatus::CRITICAL_FAILURE;
     }

avionics/common/src/sensor_collection.cpp

@@ -11,11 +11,11 @@ constexpr char SensorCollection::LOG_FILE_HEADER[];
 SensorCollection::SensorCollection()
     : barometer(BEGIN + BAROMETER_INDEX),
       gps(Hal::SerialInst::GPS, BEGIN + GPS_INDEX),
-      accelerometer(BEGIN + ACCEL_INDEX), 
+      accelerometer(BEGIN + ACCEL_INDEX),
       imuSensor(BEGIN + IMU_INDEX),
     //   battery(Pin::VOLTAGE_SENSOR, BEGIN + BATTERY_INDEX), // No voltage sensor for 2022/23
       temperature(BEGIN + TEMP_INDEX) {
-    
+
     updateStatus();
 }
 

avionics/envs/board/include/log_control.hpp

@@ -1,6 +1,7 @@
 #ifndef LOG_CONTROL_HPP_69AACC47E45A456AB18C82C1F98F5B7B
 #define LOG_CONTROL_HPP_69AACC47E45A456AB18C82C1F98F5B7B
 
-#define LOG_CONTROL_DISABLE_LOGGING
+// #define LOG_CONTROL_DISABLE_LOGGING
+#define LOG_CONTROL_SERIAL_LOGGING
 
 #endif