Added GSC functionality (#56)

Drivers/common/drivers_config/inc/drivers_config.hpp

@@ -17,4 +17,6 @@ extern SBUSReceiver* sbus_pointer;
 extern UARTDevice* pRFD900;
 extern CircularBuffer *rfd900_circular_buffer;
 
+#define RFD900_BUF_SIZE 11200 // 40 * 280(max Mavlink message size)
+
 #endif

Drivers/common/drivers_config/src/drivers_config.cpp

@@ -9,7 +9,6 @@ SBUSReceiver* sbus_pointer = &sbus_instance;
 /*
  creating RFD900 instance
 */
-const uint8_t RFD900_BUF_SIZE = 280;
 uint8_t rfd900_buf[RFD900_BUF_SIZE];
 CircularBuffer rfd900_circular_buffer_inst(rfd900_buf, RFD900_BUF_SIZE);
 

TelemetryManager/Inc/GroundStationCommunication.hpp

@@ -25,6 +25,9 @@
  * implementation.
  */
 class GroundStationCommunication {
+ private:
+ uint8_t internalBuffer_[RFD900_BUF_SIZE];
+
  public:
  /**
  * @brief Construct a new Ground Station Communication object. Do whatever needs to be done
@@ -37,14 +40,7 @@ class GroundStationCommunication {
  GroundStationCommunication(TMCircularBuffer& DMAReceiveBuffer, uint8_t* lowPriorityTransmitBuffer, uint8_t* highPriorityTransmitBuffer, int length);
  ~GroundStationCommunication();
 
-
- /**
- * To make c++ happy while using rfd900_circular_buffer from drivers_config.hpp, we need to
- * create a pointer to the buffer. Then we dereference it.
- */
- // TMCircularBuffer* DMAReceiveBufferPtr = new TMCircularBuffer(rfd900_circular_buffer);
-
-/*
+ /*
  * When the DMA interrupt is triggered the data should be stored in the DMAReceiveBuffer
  * IF there is space.
  */
@@ -69,13 +65,6 @@ class GroundStationCommunication {
  * to the ground station
  */
  void transmit(TMCircularBuffer& transmissionBuffer);
-
- /**
- * @brief This is the Interrupt Service Routine (ISR) for when the RFD 900 receives data from
- * the ground station and stores bytes from the transmission into the GSC.DMAReceiveBuffer if
- * there is space. Otherwise the data is discarded.
- */
- void receiveInterruptServiceRoutine();
 };
 
 #endif // GROUNDSTATIONCOMMS_H

TelemetryManager/Inc/TMCircularBuffer.hpp

@@ -56,10 +56,10 @@ class TMCircularBuffer : public CircularBuffer {
  bool enqueue(MAVLinkByte byte);
 
  /**
- * @brief Get the index of the last full message in the queue determined by the end flag
- * in the MAVLink message. This is so if we have a partial message in the queue because
- * an ISR was triggered while we were in the middle of enqueuing a message, we
- * only send completed messages and keep the partial message to be finished after the ISR.
+ * @brief Get the number of bytes until the end of the last full message in the queue
+ * determined by the end flag in the MAVLink message. This is so if we have a partial message 
+ * in the queue because an ISR was triggered while we were in the middle of enqueuing a message, 
+ * we only send completed messages and keep the partial message to be finished after the ISR.
  * These partial messages once filled will be sent during the next transmission.
  *
  * @return int The index of the last full message in the queue determined by the end flag

TelemetryManager/Src/GroundStationCommunication.cpp

@@ -22,24 +22,18 @@ GroundStationCommunication::~GroundStationCommunication() {
 
 void GroundStationCommunication::transmit(TMCircularBuffer &transmissionBuffer) {
  // START: Send the bytes in transmissionBuffer to the ground station via RFD900
+ int bytesToTransmit = transmissionBuffer.bytesUntilLastMessageEnd();
+
+ if (bytesToTransmit > RFD900_BUF_SIZE) {
+ bytesToTransmit = RFD900_BUF_SIZE;
+ }
+
+ for (int i {0}; i < bytesToTransmit; ++i) {
+ internalBuffer_[i] = transmissionBuffer.dequeue();
+ }
+ pRFD900->transmit(internalBuffer_, bytesToTransmit);
 
  // END: Send the bytes in transmissionBuffer to the ground station via RFD900
 
  return;
 }
-
-void GroundStationCommunication::receiveInterruptServiceRoutine() {
- int bytesReceived = 0; // replace with actual number of bytes received
-
- // if GSC.DMAReceiveBuffer has enough space for the new data add it
- // otherwise discard the data
- if (DMAReceiveBuffer.remainingMemory() > bytesReceived) {
- // add the new data to GSC.DMAReceiveBuffer
- } else {
- // discard the new data
- // not a great way to handle this, but it's a start
- }
-
- // end of ISR
- return;
-}