Merge pull request DotBots#272 from aabadie/gateway_lr

projects: add gateway application with long range radio, switch sailbot to use long range
SaidAlvarado · Jan 26, 2024 · 1b84a7f · 1b84a7f
2 parents 84acaff + 857773b
commit 1b84a7f
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Showing 16 changed files with 100 additions and 110 deletions.
diff --git a/Makefile b/Makefile
@@ -17,7 +17,7 @@ ifeq (nrf5340dk-app,$(BUILD_TARGET))
     01bsp_nvmc \
     01bsp_qdec \
     01bsp_radio_txrx \
-    01bsp_radio_lr_txrx \
+    01bsp_radio_txrx_lr \
     01bsp_rgbled \
     01bsp_rng \
     01bsp_rpm \
@@ -30,6 +30,7 @@ ifeq (nrf5340dk-app,$(BUILD_TARGET))
     01drv_pid \
     03app_dotbot \
     03app_dotbot_gateway \
+    03app_dotbot_gateway_lr \
     03app_log_dump \
     03app_nrf5340_app \
     03app_sailbot \
@@ -41,7 +42,7 @@ else ifeq (nrf5340dk-net,$(BUILD_TARGET))
     01bsp_motors \
     01bsp_nvmc \
     01bsp_radio_txrx \
-    01bsp_radio_lr_txrx \
+    01bsp_radio_txrx_lr \
     01bsp_rgbled \
     01bsp_rng \
     01bsp_rpm \
@@ -51,6 +52,7 @@ else ifeq (nrf5340dk-net,$(BUILD_TARGET))
     01drv_lis2mdl \
     01drv_pid \
     03app_dotbot_gateway \
+    03app_dotbot_gateway_lr \
     03app_log_dump \
     03app_nrf5340_net \
     #
@@ -62,20 +64,20 @@ TESTBED_APPS ?= $(shell find testbed/ -maxdepth 1 -mindepth 1 -type d | tr -d "/
 
 # remove incompatible apps (nrf5340, sailbot gateway) for dotbot (v1, v2) builds
 ifneq (,$(filter dotbot-v1,$(BUILD_TARGET)))
-  PROJECTS := $(filter-out 01bsp_qdec 01crypto_% 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_sailbot 03app_nrf5340_%,$(PROJECTS))
+  PROJECTS := $(filter-out 01bsp_qdec 01crypto_% 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_sailbot 03app_nrf5340_%,$(PROJECTS))
   ARTIFACT_PROJECTS := 03app_dotbot
   TESTBED_APPS := $(filter-out bootloader partition0 partition1,$(TESTBED_APPS))
 endif
 
 ifneq (,$(filter dotbot-v2,$(BUILD_TARGET)))
-  PROJECTS := $(filter-out 01crypto_% 03app_dotbot_gateway 03app_sailbot 03app_nrf5340_net,$(PROJECTS))
+  PROJECTS := $(filter-out 01crypto_% 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_sailbot 03app_nrf5340_net,$(PROJECTS))
   ARTIFACT_PROJECTS := 03app_dotbot
   TESTBED_APPS := $(filter-out bootloader partition0 partition1,$(TESTBED_APPS))
 endif
 
 # remove incompatible apps (nrf5340, dotbot, gateway) for sailbot-v1 build
 ifeq (sailbot-v1,$(BUILD_TARGET))
-  PROJECTS := $(filter-out 01bsp_qdec 01crypto_% 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_dotbot 03app_nrf5340_%,$(PROJECTS))
+  PROJECTS := $(filter-out 01bsp_qdec 01crypto_% 01drv_lis3mdl 01drv_move 03app_dotbot_gateway 03app_dotbot_gateway_lr 03app_dotbot 03app_nrf5340_%,$(PROJECTS))
   ARTIFACT_PROJECTS := 03app_sailbot
   TESTBED_APPS := $(filter-out bootloader partition0 partition1,$(TESTBED_APPS))
 endif
@@ -87,11 +89,11 @@ endif
 # remove incompatible apps (nrf5340) for nrf52833dk/nrf52840dk build
 ifneq (,$(filter nrf52833dk nrf52840dk,$(BUILD_TARGET)))
   PROJECTS := $(filter-out 01bsp_qdec 01drv_move 03app_nrf5340_%,$(PROJECTS))
-  ARTIFACT_PROJECTS := 03app_dotbot_gateway
+  ARTIFACT_PROJECTS := 03app_dotbot_gateway 03app_dotbot_gateway_lr
 endif
 
 ifneq (,$(filter nrf5340dk-app,$(BUILD_TARGET)))
-  ARTIFACT_PROJECTS := 03app_dotbot_gateway
+  ARTIFACT_PROJECTS := 03app_dotbot_gateway 03app_dotbot_gateway_lr
 endif
 
 ifneq (,$(filter nrf5340dk-net,$(BUILD_TARGET)))

diff --git a/doc/sphinx/applications.md b/doc/sphinx/applications.md
@@ -10,6 +10,7 @@ Main applications
 
 _projects/03app_dotbot
 _projects/03app_dotbot_gateway
+_projects/03app_dotbot_gateway_lr
 _projects/03app_sailbot
 _projects/03app_log_dump
 _projects/03app_nrf5340_app

diff --git a/doc/sphinx/examples.md b/doc/sphinx/examples.md
@@ -21,7 +21,7 @@ _examples/01bsp_lighthouse
 _examples/01bsp_motors
 _examples/01bsp_nvmc
 _examples/01bsp_qdec
-_examples/01bsp_radio_lr_txrx
+_examples/01bsp_radio_txrx_lr
 _examples/01bsp_radio_txrx
 _examples/01bsp_rgbled
 _examples/01bsp_rng

diff --git a/projects/01bsp_radio_lr_txrx/01bsp_radio_lr_txrx.c b/projects/01bsp_radio_lr_txrx/01bsp_radio_lr_txrx.c
diff --git a/projects/01bsp_radio_txrx/01bsp_radio_txrx.c b/projects/01bsp_radio_txrx/01bsp_radio_txrx.c
@@ -17,11 +17,12 @@
 #include "radio.h"
 #include "timer_hf.h"
 
+#include "conf.h"
+
 //=========================== defines ===========================================
 
-#define DELAY_MS   (100)                 // Wait 100ms between each send
-#define RADIO_FREQ (8)                   // Set the frequency to 2408 MHz
-#define RADIO_MODE (DB_RADIO_BLE_1MBit)  // Use BLE 1Mbit/s
+#define DELAY_MS   (100)  // Wait 100ms between each send
+#define RADIO_FREQ (8)    // Set the frequency to 2408 MHz
 
 //=========================== variables =========================================
 
@@ -70,7 +71,7 @@ int main(void) {
 
     //=========================== Configure Radio ===============================
 
-    db_radio_init(&radio_callback, RADIO_MODE);
+    db_radio_init(&radio_callback, DOTBOT_GW_RADIO_MODE);
     db_radio_set_frequency(RADIO_FREQ);
     db_radio_rx();
 

diff --git a/projects/01bsp_radio_txrx/conf.h b/projects/01bsp_radio_txrx/conf.h
@@ -0,0 +1,3 @@
+#include <nrf.h>
+
+#define DOTBOT_GW_RADIO_MODE DB_RADIO_BLE_LR125Kbit
diff --git a/projects/01bsp_radio_lr_txrx/README.md → projects/01bsp_radio_txrx_lr/README.md b/projects/01bsp_radio_lr_txrx/README.md → projects/01bsp_radio_txrx_lr/README.md
diff --git a/projects/01bsp_radio_txrx_lr/conf.h b/projects/01bsp_radio_txrx_lr/conf.h
@@ -0,0 +1,3 @@
+#include <nrf.h>
+
+#define DOTBOT_GW_RADIO_MODE DB_RADIO_BLE_1MBit
diff --git a/projects/03app_dotbot_gateway/03app_dotbot_gateway.c b/projects/03app_dotbot_gateway/03app_dotbot_gateway.c
@@ -27,6 +27,8 @@
 #include "timer.h"
 #include "uart.h"
 
+#include "conf.h"
+
 //=========================== defines ==========================================
 
 #define DB_BUFFER_MAX_BYTES (255U)       ///< Max bytes in UART receive buffer
@@ -154,8 +156,8 @@ int main(void) {
     db_protocol_init();
 
     // Configure Radio as transmitter
-    db_radio_init(&_radio_callback, DB_RADIO_BLE_1MBit);  // All RX packets received are forwarded in an HDLC frame over UART
-    db_radio_set_frequency(8);                            // Set the radio frequency to 2408 MHz.
+    db_radio_init(&_radio_callback, DOTBOT_GW_RADIO_MODE);  // All RX packets received are forwarded in an HDLC frame over UART
+    db_radio_set_frequency(8);                              // Set the radio frequency to 2408 MHz.
     // Initialize the gateway context
     _gw_vars.buttons             = 0x0000;
     _gw_vars.radio_queue.current = 0;

diff --git a/projects/03app_dotbot_gateway/conf.h b/projects/03app_dotbot_gateway/conf.h
@@ -0,0 +1,3 @@
+#include <nrf.h>
+
+#define DOTBOT_GW_RADIO_MODE DB_RADIO_BLE_1MBit
diff --git a/projects/03app_dotbot_gateway_lr/README.md b/projects/03app_dotbot_gateway_lr/README.md
@@ -0,0 +1,15 @@
+# DotBot gateway application - long range
+
+This application can be used as a gateway for communication between a computer
+and a SailBot.
+
+Plug an nRF52840-DK on your computer and flash this application on it.
+
+You can then use [dotbot-controller tool](https://github.com/DotBots/PyDotBot)
+to communicate with the firmware from your computer.
+
+`dotbot-controller` is available on PyPI:
+
+```
+$ pip install dotbot-controller
+```
diff --git a/projects/03app_dotbot_gateway_lr/conf.h b/projects/03app_dotbot_gateway_lr/conf.h
@@ -0,0 +1,3 @@
+#include <nrf.h>
+
+#define DOTBOT_GW_RADIO_MODE DB_RADIO_BLE_LR125Kbit
diff --git a/projects/03app_sailbot/03app_sailbot.c b/projects/03app_sailbot/03app_sailbot.c
@@ -121,9 +121,9 @@ int main(void) {
     db_protocol_init();
 
     // Configure Radio as a receiver
-    db_radio_init(&radio_callback, DB_RADIO_BLE_1MBit);  // Set the callback function.
-    db_radio_set_frequency(8);                           // Set the RX frequency to 2408 MHz.
-    db_radio_rx();                                       // Start receiving packets.
+    db_radio_init(&radio_callback, DB_RADIO_BLE_LR125Kbit);  // Set the callback function.
+    db_radio_set_frequency(8);                               // Set the RX frequency to 2408 MHz.
+    db_radio_rx();                                           // Start receiving packets.
 
     // Init the IMU chips
     imu_init(NULL, NULL);

diff --git a/projects/03app_sailbot/README.md b/projects/03app_sailbot/README.md
@@ -11,5 +11,5 @@ This app contains the main firmware of the SailBot platform based on Kyosho's Fo
 ## Instructions
 
 1. Load this app on the SailBot board.
-1. Program an nRF52840-DK with [gateway firmware](https://github.com/DotBots/DotBot-firmware/tree/main/projects/03app_dotbot_gateway).
+1. Program an nRF52840-DK with [logn range gateway firmware](https://github.com/DotBots/DotBot-firmware/tree/main/projects/03app_dotbot_gateway).
 1. Start [DotBot controller](https://github.com/DotBots/PyDotBot)on your computer.
diff --git a/projects/projects-bsp-drv.emProject b/projects/projects-bsp-drv.emProject
@@ -234,11 +234,11 @@
       <file file_name="$(SeggerThumbStartup)" />
     </folder>
   </project>
-  <project Name="01bsp_radio_lr_txrx">
+  <project Name="01bsp_radio_txrx_lr">
     <configuration
       Name="Common"
       project_dependencies="00bsp_dotbot_board(bsp);00bsp_radio(bsp);00bsp_gpio(bsp);00bsp_timer_hf(bsp)"
-      project_directory="01bsp_radio_lr_txrx"
+      project_directory="01bsp_radio_txrx_lr"
       project_type="Executable" />
     <folder Name="Device Files">
       <file file_name="$(DeviceCommonHeaderFile)" />
@@ -263,7 +263,8 @@
     </folder>
     <folder Name="Source Files">
       <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
-      <file file_name="01bsp_radio_lr_txrx.c" />
+      <file file_name="../01bsp_radio_txrx/01bsp_radio_txrx.c" />
+      <file file_name="conf.h" />
     </folder>
     <folder Name="System Files">
       <file file_name="$(DeviceCommonVectorsFile)" />
@@ -303,6 +304,7 @@
     <folder Name="Source Files">
       <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
       <file file_name="01bsp_radio_txrx.c" />
+      <file file_name="conf.h" />
     </folder>
     <folder Name="System Files">
       <file file_name="$(DeviceCommonVectorsFile)" />

diff --git a/projects/projects-gateway.emProject b/projects/projects-gateway.emProject
@@ -7,8 +7,8 @@
       project_directory="03app_dotbot_gateway"
       project_type="Executable" />
     <folder Name="Device Files">
-      <file file_name="$(DeviceHeaderFile)" />
       <file file_name="$(DeviceCommonHeaderFile)" />
+      <file file_name="$(DeviceHeaderFile)" />
       <file file_name="$(DeviceSystemFile)">
         <configuration
           Name="Common"
@@ -17,26 +17,67 @@
       </file>
     </folder>
     <folder Name="Script Files">
+      <file file_name="$(DeviceLinkerScript)">
+        <configuration Name="Common" file_type="Linker Script" />
+      </file>
+      <file file_name="$(DeviceMemoryMap)">
+        <configuration Name="Common" file_type="Memory Map" />
+      </file>
       <file file_name="../../nRF/Scripts/nRF_Target.js">
         <configuration Name="Common" file_type="Reset Script" />
       </file>
+    </folder>
+    <folder Name="Source Files">
+      <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
+      <file file_name="03app_dotbot_gateway.c" />
+      <file file_name="conf.h" />
+    </folder>
+    <folder Name="System Files">
+      <file file_name="$(DeviceCommonVectorsFile)" />
+      <file file_name="$(DeviceVectorsFile)">
+        <configuration Name="Common" file_type="Assembly" />
+      </file>
+      <file file_name="$(SeggerThumbStartup)" />
+    </folder>
+  </project>
+<project Name="03app_dotbot_gateway_lr">
+    <configuration
+      Name="Common"
+      project_dependencies="00bsp_radio(bsp);00bsp_dotbot_board(bsp);00bsp_uart(bsp);00bsp_timer(bsp);00bsp_uart(bsp);00drv_dotbot_hdlc(drv);00drv_dotbot_protocol(drv);00bsp_gpio(bsp)"
+      project_directory="03app_dotbot_gateway_lr"
+      project_type="Executable" />
+    <folder Name="Device Files">
+      <file file_name="$(DeviceCommonHeaderFile)" />
+      <file file_name="$(DeviceHeaderFile)" />
+      <file file_name="$(DeviceSystemFile)">
+        <configuration
+          Name="Common"
+          default_code_section=".init"
+          default_const_section=".init_rodata" />
+      </file>
+    </folder>
+    <folder Name="Script Files">
       <file file_name="$(DeviceLinkerScript)">
         <configuration Name="Common" file_type="Linker Script" />
       </file>
       <file file_name="$(DeviceMemoryMap)">
         <configuration Name="Common" file_type="Memory Map" />
       </file>
+      <file file_name="../../nRF/Scripts/nRF_Target.js">
+        <configuration Name="Common" file_type="Reset Script" />
+      </file>
     </folder>
     <folder Name="Source Files">
       <configuration Name="Common" filter="c;cpp;cxx;cc;h;s;asm;inc" />
-      <file file_name="03app_dotbot_gateway.c" />
+      <file file_name="../03app_dotbot_gateway/03app_dotbot_gateway.c" />
+      <file file_name="conf.h" />
     </folder>
     <folder Name="System Files">
-      <file file_name="$(SeggerThumbStartup)" />
       <file file_name="$(DeviceCommonVectorsFile)" />
       <file file_name="$(DeviceVectorsFile)">
         <configuration Name="Common" file_type="Assembly" />
       </file>
+      <file file_name="$(SeggerThumbStartup)" />
     </folder>
   </project>
 </solution>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		#include <nrf.h>

		#define DOTBOT_GW_RADIO_MODE DB_RADIO_BLE_LR125Kbit