Merge pull request #96 from uorocketry/beacon

Setup Beacon Board

Cargo.toml

@@ -25,6 +25,11 @@ features = ["defmt", "rt", "stm32h735"  ]
 git = "https://github.com/uorocketry/atsamd"
 features = ["same51j", "same51j-rt", "dma", "can"]
 
+[workspace.dependencies.stm32l0xx-hal]
+git = "https://github.com/stm32-rs/stm32l0xx-hal"
+features = ["mcu-STM32L051K8Tx", "rt"]
+
+
 [workspace.dependencies.serde]
 version = "1.0.150"
 default-features = false

boards/beacon/Cargo.toml

@@ -0,0 +1,17 @@
+[package]
+name = "beacon"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+cortex-m = { workspace = true }
+cortex-m-rt = "^0.7.0"
+cortex-m-rtic = "1.1.3"
+common-arm-stm32l0 = {path = "../../libraries/common-arm-stm32l0"}
+common-arm = {path = "../../libraries/common-arm"}
+stm32l0xx-hal = { workspace = true }
+postcard = "1.0.2"
+messages = { path = "../../libraries/messages" }
+systick-monotonic = "1.0.1"

boards/beacon/src/communication.rs

@@ -0,0 +1 @@
+//! Interface the SPI-based CAN device here. 

boards/beacon/src/data_manager.rs

@@ -0,0 +1,122 @@
+use messages::command::RadioRate;
+use messages::state::StateData;
+use messages::Message;
+
+#[derive(Clone)]
+pub struct DataManager {
+    pub air: Option<Message>,
+    pub ekf_nav_1: Option<Message>,
+    pub ekf_nav_2: Option<Message>,
+    pub ekf_quat: Option<Message>,
+    pub imu_1: Option<Message>,
+    pub imu_2: Option<Message>,
+    pub utc_time: Option<Message>,
+    pub gps_vel: Option<Message>,
+    pub gps_pos_1: Option<Message>,
+    pub gps_pos_2: Option<Message>,
+    pub state: Option<StateData>,
+    pub logging_rate: Option<RadioRate>,
+}
+
+impl DataManager {
+    pub fn new() -> Self {
+        Self {
+            air: None,
+            ekf_nav_1: None,
+            ekf_nav_2: None,
+            ekf_quat: None,
+            imu_1: None,
+            imu_2: None,
+            utc_time: None,
+            gps_vel: None,
+            gps_pos_1: None,
+            gps_pos_2: None,
+            state: None,
+            logging_rate: Some(RadioRate::Slow), // start slow.
+        }
+    }
+
+    pub fn get_logging_rate(&mut self) -> RadioRate {
+        if let Some(rate) = self.logging_rate.take() {
+            let rate_cln = rate.clone();
+            self.logging_rate = Some(rate);
+            return rate_cln;
+        }
+        self.logging_rate = Some(RadioRate::Slow);
+        return RadioRate::Slow;
+    }
+
+    /// Do not clone instead take to reduce CPU load.
+    pub fn take_sensors(&mut self) -> [Option<Message>; 10] {
+        [
+            self.air.take(),
+            self.ekf_nav_1.take(),
+            self.ekf_nav_2.take(),
+            self.ekf_quat.take(),
+            self.imu_1.take(),
+            self.imu_2.take(),
+            self.utc_time.take(),
+            self.gps_vel.take(),
+            self.gps_pos_1.take(),
+            self.gps_pos_2.take(),
+        ]
+    }
+
+    pub fn clone_states(&self) -> [Option<StateData>; 1] {
+        [self.state.clone()]
+    }
+    pub fn handle_data(&mut self, data: Message) {
+        match data.data {
+            messages::Data::Sensor(ref sensor) => match sensor.data {
+                messages::sensor::SensorData::Air(_) => {
+                    self.air = Some(data);
+                }
+                messages::sensor::SensorData::EkfNav1(_) => {
+                    self.ekf_nav_1 = Some(data);
+                }
+                messages::sensor::SensorData::EkfNav2(_) => {
+                    self.ekf_nav_2 = Some(data);
+                }
+                messages::sensor::SensorData::EkfQuat(_) => {
+                    self.ekf_quat = Some(data);
+                }
+                messages::sensor::SensorData::GpsVel(_) => {
+                    self.gps_vel = Some(data);
+                }
+                messages::sensor::SensorData::Imu1(_) => {
+                    self.imu_1 = Some(data);
+                }
+                messages::sensor::SensorData::Imu2(_) => {
+                    self.imu_2 = Some(data);
+                }
+                messages::sensor::SensorData::UtcTime(_) => {
+                    self.utc_time = Some(data);
+                }
+                messages::sensor::SensorData::GpsPos1(_) => {
+                    self.gps_pos_1 = Some(data);
+                }
+                messages::sensor::SensorData::GpsPos2(_) => {
+                    self.gps_pos_2 = Some(data);
+                }
+            },
+            messages::Data::State(state) => {
+                self.state = Some(state.data);
+            }
+            messages::Data::Command(command) => match command.data {
+                messages::command::CommandData::RadioRateChange(command_data) => {
+                    self.logging_rate = Some(command_data.rate);
+                }
+                messages::command::CommandData::DeployDrogue(_) => {}
+                messages::command::CommandData::DeployMain(_) => {}
+                messages::command::CommandData::PowerDown(_) => {}
+            },
+            _ => {}
+        }
+    }
+}
+
+impl Default for DataManager {
+    fn default() -> Self {
+        Self::new()
+    }
+}