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Merged
merged 5 commits into from
Jun 3, 2025
Merged

Update more stuff to fprime v4.0.0a1 #40

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93e5735
Update more stuff to fprime v4.0.0a1
ethancheez May 29, 2025
3997f82
TCP Server works using WiFi.h
ethancheez May 30, 2025
d6daf22
More addition/changes to TcpServer
ethancheez May 30, 2025
73f7528
fix TcpServer GDS reconnection bug
ethancheez May 31, 2025
790f18d
Add TcpClient, small TcpServer cleanup
ethancheez May 31, 2025
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80 changes: 31 additions & 49 deletions Arduino/Drv/AnalogDriver/AnalogDriver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,54 +5,36 @@
// ======================================================================

#include <Arduino/Drv/AnalogDriver/AnalogDriver.hpp>
#include <FpConfig.hpp>
#include <FprimeArduino.hpp>

namespace Arduino
{

// ----------------------------------------------------------------------
// Construction, initialization, and destruction
// ----------------------------------------------------------------------

AnalogDriver ::
AnalogDriver(
const char *const compName) : AnalogDriverComponentBase(compName), m_pin(-1)
{
}

AnalogDriver ::
~AnalogDriver()
{
}

bool AnalogDriver ::open(NATIVE_INT_TYPE pin, GpioDirection direction)
{
m_pin = pin;
pinMode(m_pin, (direction == IN) ? Arduino::DEF_INPUT : Arduino::DEF_OUTPUT);
return true;
}

// ----------------------------------------------------------------------
// Handler implementations for user-defined typed input ports
// ----------------------------------------------------------------------

Fw::Success AnalogDriver ::
readAnalog_handler(
const NATIVE_INT_TYPE portNum,
U16 &val)
{
val = analogRead(m_pin);
return Fw::Success::SUCCESS;
}

Fw::Success AnalogDriver ::
setAnalog_handler(
const NATIVE_INT_TYPE portNum,
U8 val)
{
analogWrite(m_pin, val);
return Fw::Success::SUCCESS;
}

} // end namespace Arduino
namespace Arduino {

// ----------------------------------------------------------------------
// Construction, initialization, and destruction
// ----------------------------------------------------------------------

AnalogDriver ::AnalogDriver(const char* const compName) : AnalogDriverComponentBase(compName), m_pin(-1) {}

AnalogDriver ::~AnalogDriver() {}

bool AnalogDriver ::open(FwIndexType pin, GpioDirection direction) {
m_pin = pin;
pinMode(m_pin, (direction == IN) ? Arduino::DEF_INPUT : Arduino::DEF_OUTPUT);
return true;
}

// ----------------------------------------------------------------------
// Handler implementations for user-defined typed input ports
// ----------------------------------------------------------------------

Fw::Success AnalogDriver ::readAnalog_handler(const FwIndexType portNum, U16& val) {
val = analogRead(m_pin);
return Fw::Success::SUCCESS;
}

Fw::Success AnalogDriver ::setAnalog_handler(const FwIndexType portNum, U8 val) {
analogWrite(m_pin, val);
return Fw::Success::SUCCESS;
}

} // end namespace Arduino
79 changes: 35 additions & 44 deletions Arduino/Drv/AnalogDriver/AnalogDriver.hpp
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Expand Up @@ -9,57 +9,48 @@

#include "Arduino/Drv/AnalogDriver/AnalogDriverComponentAc.hpp"

namespace Arduino
{

class AnalogDriver : public AnalogDriverComponentBase
{

public:
//! configure GPIO
enum GpioDirection
{
IN, //!< input
OUT, //!< output
};
// ----------------------------------------------------------------------
// Construction, initialization, and destruction
// ----------------------------------------------------------------------

//! Construct object AnalogDriver
//!
AnalogDriver(
const char *const compName /*!< The component name*/
);
namespace Arduino {

class AnalogDriver : public AnalogDriverComponentBase {
public:
//! configure GPIO
enum GpioDirection {
IN, //!< input
OUT, //!< output
};
// ----------------------------------------------------------------------
// Construction, initialization, and destruction
// ----------------------------------------------------------------------

//! Destroy object AnalogDriver
//!
~AnalogDriver();
//! Construct object AnalogDriver
//!
AnalogDriver(const char* const compName /*!< The component name*/
);

bool open(NATIVE_INT_TYPE pin, GpioDirection direction);
//! Destroy object AnalogDriver
//!
~AnalogDriver();

PRIVATE :
bool open(FwIndexType pin, GpioDirection direction);

// ----------------------------------------------------------------------
// Handler implementations for user-defined typed input ports
// ----------------------------------------------------------------------
private:
// ----------------------------------------------------------------------
// Handler implementations for user-defined typed input ports
// ----------------------------------------------------------------------

//! Handler implementation for readAnalog
//!
Fw::Success
readAnalog_handler(
const NATIVE_INT_TYPE portNum, /*!< The port number*/
U16 &val);
//! Handler implementation for readAnalog
//!
Fw::Success readAnalog_handler(const FwIndexType portNum, /*!< The port number*/
U16& val);

//! Handler implementation for setAnalog
//!
Fw::Success setAnalog_handler(
const NATIVE_INT_TYPE portNum, /*!< The port number*/
U8 val);
//! Handler implementation for setAnalog
//!
Fw::Success setAnalog_handler(const FwIndexType portNum, /*!< The port number*/
U8 val);

PlatformIntType m_pin;
};
PlatformIntType m_pin;
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We are soon getting rid of PlatformIntType. Should replace this with int

};

} // end namespace Arduino
} // end namespace Arduino

#endif
7 changes: 3 additions & 4 deletions Arduino/Drv/HardwareRateDriver/HardwareRateDriverTeensy.cpp
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@@ -1,15 +1,14 @@
#include <FpConfig.hpp>
#include <IntervalTimer.h>
#include <Arduino/Drv/HardwareRateDriver/HardwareRateDriver.hpp>
#include <FprimeArduino.hpp>
#include <IntervalTimer.h>
#include <Fw/Logger/Logger.hpp>

namespace Arduino {
IntervalTimer s_itimer;

void HardwareRateDriver::start() {
U32 microseconds = m_interval * 1000;
(void) s_itimer.begin(HardwareRateDriver::s_timerISR, microseconds);
(void)s_itimer.begin(HardwareRateDriver::s_timerISR, microseconds);
Fw::Logger::log("Starting base rate group clock with period of %" PRIu32 " microseconds\n", microseconds);
}

Expand All @@ -21,4 +20,4 @@ void HardwareRateDriver::s_timerISR() {
s_timer(s_driver);
}

};
}; // namespace Arduino
55 changes: 15 additions & 40 deletions Arduino/Drv/I2cDriver/I2cDriver.cpp
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Expand Up @@ -4,60 +4,35 @@
// \brief cpp file for I2cDriver component implementation class
// ======================================================================


#include <Arduino/Drv/I2cDriver/I2cDriver.hpp>
#include <FpConfig.hpp>
#include "Fw/Types/Assert.hpp"

namespace Arduino {

// ----------------------------------------------------------------------
// Construction, initialization, and destruction
// ----------------------------------------------------------------------

I2cDriver ::
I2cDriver(
const char *const compName
) : I2cDriverComponentBase(compName),
m_port_pointer(static_cast<POINTER_CAST>(NULL))
{

}
// ----------------------------------------------------------------------
// Construction, initialization, and destruction
// ----------------------------------------------------------------------

I2cDriver ::
~I2cDriver()
{
I2cDriver ::I2cDriver(const char* const compName) : I2cDriverComponentBase(compName), m_port_pointer(nullptr) {}

}
I2cDriver ::~I2cDriver() {}

// ----------------------------------------------------------------------
// Handler implementations for user-defined typed input ports
// ----------------------------------------------------------------------
// ----------------------------------------------------------------------
// Handler implementations for user-defined typed input ports
// ----------------------------------------------------------------------

Drv::I2cStatus I2cDriver ::
read_handler(
const NATIVE_INT_TYPE portNum,
U32 addr,
Fw::Buffer &serBuffer
)
{
Drv::I2cStatus I2cDriver ::read_handler(const FwIndexType portNum, U32 addr, Fw::Buffer& serBuffer) {
// Ensure buffer is not a nullptr
FW_ASSERT(serBuffer.getData());

return read_data(addr, serBuffer);
}

Drv::I2cStatus I2cDriver ::
write_handler(
const NATIVE_INT_TYPE portNum,
U32 addr,
Fw::Buffer &serBuffer
)
{
}

Drv::I2cStatus I2cDriver ::write_handler(const FwIndexType portNum, U32 addr, Fw::Buffer& serBuffer) {
// Ensure buffer is not a nullptr
FW_ASSERT(serBuffer.getData());

return write_data(addr, serBuffer);
}
}

} // end namespace Arduino
} // end namespace Arduino
22 changes: 9 additions & 13 deletions Arduino/Drv/I2cDriver/I2cDriverArduino.cpp
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Expand Up @@ -4,27 +4,24 @@
// \brief cpp file for I2cDriver component implementation class
// ======================================================================


#include <Arduino/Drv/I2cDriver/I2cDriver.hpp>
#include <FpConfig.hpp>
#include "Fw/Types/Assert.hpp"

namespace Arduino {

void I2cDriver::open(TwoWire *wire) {
void I2cDriver::open(TwoWire* wire) {
FW_ASSERT(wire != nullptr);
m_port_pointer = wire;
wire->begin();
}
}

void I2cDriver::close() {
void I2cDriver::close() {
FW_ASSERT(m_port_pointer != 0);
TwoWire* wire_ptr = reinterpret_cast<TwoWire*>(m_port_pointer);
wire_ptr->end();
}
}

Drv::I2cStatus I2cDriver::read_data(U32 addr, Fw::Buffer& fwBuffer)
{
Drv::I2cStatus I2cDriver::read_data(U32 addr, Fw::Buffer& fwBuffer) {
TwoWire* wire_ptr = reinterpret_cast<TwoWire*>(m_port_pointer);

wire_ptr->requestFrom(static_cast<U8>(addr), fwBuffer.getSize());
Expand All @@ -39,10 +36,9 @@ namespace Arduino {
fwBuffer.setSize(count);

return Drv::I2cStatus::I2C_OK;
}
}

Drv::I2cStatus I2cDriver::write_data(U32 addr, Fw::Buffer& fwBuffer)
{
Drv::I2cStatus I2cDriver::write_data(U32 addr, Fw::Buffer& fwBuffer) {
FW_ASSERT(m_port_pointer != 0);
TwoWire* wire_ptr = reinterpret_cast<TwoWire*>(m_port_pointer);

Expand All @@ -51,6 +47,6 @@ namespace Arduino {
wire_ptr->endTransmission();

return Drv::I2cStatus::I2C_OK;
}
}

} // end namespace Arduino
} // end namespace Arduino
11 changes: 5 additions & 6 deletions Arduino/Drv/I2cNodeDriver/I2cNodeDriver.cpp
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Expand Up @@ -5,7 +5,6 @@
// ======================================================================

#include "Arduino/Drv/I2cNodeDriver/I2cNodeDriver.hpp"
#include "FpConfig.hpp"
#include "Fw/Types/Assert.hpp"

namespace Arduino {
Expand All @@ -19,9 +18,9 @@ I2cNodeDriver ::I2cNodeDriver(const char* const compName) : I2cNodeDriverCompone

I2cNodeDriver ::~I2cNodeDriver() {}

void I2cNodeDriver ::configure(const U16 address, TwoWire &wire) {
void I2cNodeDriver ::configure(const U16 address, TwoWire& wire) {
FW_ASSERT(this->m_wire == nullptr);
FW_ASSERT(I2cNodeDriver::s_component == nullptr); // Cannot run multiple I2cNodes at once
FW_ASSERT(I2cNodeDriver::s_component == nullptr); // Cannot run multiple I2cNodes at once
this->m_wire = &wire;
I2cNodeDriver ::s_component = this;
this->m_wire->begin(address);
Expand All @@ -31,14 +30,14 @@ void I2cNodeDriver ::configure(const U16 address, TwoWire &wire) {

void I2cNodeDriver ::write(int size) {
FW_ASSERT(this->m_wire != nullptr);
FW_ASSERT(this->m_wire->available() >= size); // If size was reported available, then at least that size must be
FW_ASSERT(this->m_wire->available() >= size); // If size was reported available, then at least that size must be
this->m_wire->readBytes(this->m_buffer, size);
Fw::Buffer writeData(this->m_buffer, size);
this->write_out(0, this->m_address, writeData);
}

void I2cNodeDriver ::writeCallback(int size) {
FW_ASSERT(I2cNodeDriver::s_component != nullptr); // To reach this statement, this variable must be set
FW_ASSERT(I2cNodeDriver::s_component != nullptr); // To reach this statement, this variable must be set
I2cNodeDriver::s_component->write(size);
}

Expand All @@ -50,7 +49,7 @@ void I2cNodeDriver ::read() {
}

void I2cNodeDriver ::readCallback() {
FW_ASSERT(I2cNodeDriver::s_component != nullptr); // To reach this statement, this variable must be set
FW_ASSERT(I2cNodeDriver::s_component != nullptr); // To reach this statement, this variable must be set
I2cNodeDriver::s_component->read();
}

Expand Down
14 changes: 14 additions & 0 deletions Arduino/Drv/Ip/CMakeLists.txt
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@@ -0,0 +1,14 @@
####
# F prime CMakeLists.txt:
#
# SOURCE_FILES: combined list of source and autocoding files
# MOD_DEPS: (optional) module dependencies
#
####
restrict_platforms(ArduinoFw)

set(SOURCE_FILES

)

register_fprime_module()
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