Added basic SBUS implementation

- Added a function to RCControls struct to assign values from an existing object
- Implemented basic SBUS input taking with SM
- Updated CMAKE

Drivers/rc_receiver/Inc/rcreceiver_datatypes.h

@@ -37,6 +37,24 @@ struct RCControl{
 
  float &operator[] (int i) { return ControlSignals[i]; }
 
+ void assignValues(RCControl const &original){
+ this->roll = original.roll;
+ this->pitch = original.pitch;
+ this->throttle = original.throttle;
+ this->yaw = original.yaw;
+ this->aux1 = original.aux1;
+ this->aux2 = original.aux2;
+ this->aux3 = original.aux3;
+ this->aux4 = original.aux4;
+ this->aux5 = original.aux5;
+ this->aux6 = original.aux6;
+ this->aux7 = original.aux7;
+ this->aux8 = original.aux8;
+ this->aux9 = original.aux9;
+ this->aux10 = original.aux10;
+ this->aux11 = original.aux11;
+ }
+
  /* initial values*/
  RCControl()
  {

SystemManager/SystemManager.hpp → SystemManager/Inc/SystemManager.hpp

@@ -5,9 +5,9 @@
 #ifndef ZEROPILOT_3_5_SYSTEMMANAGER_HPP
 #define ZEROPILOT_3_5_SYSTEMMANAGER_HPP
 
-#include "global_config.hpp"
-#include "sbus_reciever.hpp"
-#include "rcreceiver_datatypes.h"
+#include "../../Models/global_config.hpp"
+#include "../../Drivers/rc_receiver/Inc/sbus_receiver.hpp"
+#include "../../Drivers/rc_receiver/Inc/rcreceiver_datatypes.h"
 
 
 class SystemManager {
@@ -20,8 +20,8 @@ class SystemManager {
  void flyManually();
 
  /* Getters and Setters */
- Flightmode getCurrentFlightMode();
- void setCurrentFlightMode(Flightmode flightmode);
+ config::Flightmode* getCurrentFlightMode();
+ void setCurrentFlightMode(config::Flightmode *flightmode);
 private:
  /* Private helper functions */
  void updateRCInputs();
@@ -30,7 +30,7 @@ class SystemManager {
  /* SBUS and AM variables to follow */
 
  /* State-keeping variables to follow */
- Flightmode *currentFlightMode_;
+ config::Flightmode *currentFlightMode_;
  SBUSReceiver rcController_;
  RCControl rcInputs_;
 

SystemManager/SystemManager.cpp → SystemManager/Src/SystemManager.cpp

@@ -2,32 +2,29 @@
 // Created by Gagan Deep Singh on 2023-07-08.
 //
 
-#include "SystemManager.hpp"
-#include "global_config.hpp"
-#include "config.hpp"
-#include "sbus_reciever.hpp"
-#include "drivers_config.hpp"
-
+#include "../Inc/SystemManager.hpp"
+#include "../../Models/testmodel1/config.hpp"
+#include "../../Models/global_config.hpp"
+#include "../../Drivers/rc_receiver/Inc/sbus_receiver.hpp"
+#include "../../Drivers/rc_receiver/Inc/sbus_defines.h"
+#include "../../Drivers/rc_receiver/Inc/rcreceiver_datatypes.h"
+#include "../../Drivers/Common/Inc/drivers_config.hpp"
 
 SystemManager::SystemManager():
  currentFlightMode_(config::flightmodes[0]),
+ rcController_(sbus_uart)
  {}/* Would need to instantiate SBUS, IWDG, and AM */
 SystemManager::~SystemManager() {}
 
 void SystemManager::flyManually() {
  for(;;){
- try{
  updateRCInputs();
  executeInputs();
- }
- catch{
- break;
- }
  }
 }
 
 void SystemManager::updateRCInputs() {
- /* Get Inputs from SBUS and update corresponding private variable (also monitors Watchdog) */
+ this->rcInputs_.assignValues(rcController_.GetRCControl());
  return;
 }
 
@@ -36,11 +33,11 @@ void SystemManager::executeInputs() {
  return;
 }
 
-Flightmode SystemManager::getCurrentFlightMode() {
+config::Flightmode* SystemManager::getCurrentFlightMode() {
  return this->currentFlightMode_;
 }
 
-void SystemManager::setCurrentFlightMode(config::Flightmode flightmode) {
+void SystemManager::setCurrentFlightMode(config::Flightmode *flightmode) {
  this->currentFlightMode_ = flightmode;
 }
 

Tools/Firmware/CMakeLists.txt

@@ -95,10 +95,12 @@ file(GLOB_RECURSE C_SOURCES ${HAL_DRIVERS_C_SOURCES}
  ${FREE_RTOS_C_SOURCES}
  ${HAL_CORE_C_SOURCES}
  ${ATTITUDE_MANAGER_C_SOURCES}
+ ${SYSTEM_MANAGER_C_SOURCES}
  ${DRIVERS_C_SOURCES})
 message("C Sources: ${C_SOURCES}")
 file(GLOB_RECURSE CXX_SOURCES ${HAL_CORE_CXX_SOURCES}
  ${ATTITUDE_MANAGER_CXX_SOURCES}
+ ${SYSTEM_MANAGER_CXX_SOURCES}
  ${DRIVERS_RcReceiver_CXX_SOURCES}
  ${DRIVERS_Common_CXX_SOURCES}
  ${DRIVERS_CXX_SOURCES})