Camera works kinda

Author: RobertPendergrast

FprimeZephyrReference/Components/CameraManager/CameraManager.cpp

@@ -6,7 +6,7 @@
 
 #include "FprimeZephyrReference/Components/CameraManager/CameraManager.hpp"
 
-namespace FprimeZephyrReference {
+namespace Components {
 
 // ----------------------------------------------------------------------
 // Component construction and destruction
@@ -21,10 +21,16 @@ CameraManager ::~CameraManager() {}
 // ----------------------------------------------------------------------
 
 void CameraManager ::TAKE_IMAGE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+
     // Prepare the "snap" command to send over UART via out_port
-    Fw::Buffer snapBuffer(0, reinterpret_cast<U64>(snap_cmd), sizeof(snap_cmd) - 1); // exclude null terminator
+    const U8 size = sizeof(this->snapArray);
+
+    // Create a buffer that references this array
+    Fw::Buffer snapBuffer(this->snapArray, size);
+
     // Send the buffer via out_port, check/send status if needed
     Drv::ByteStreamStatus sendStatus = this->out_port_out(0, snapBuffer);
+    
     if (sendStatus != Drv::ByteStreamStatus::OP_OK) {
         this->log_WARNING_HI_TakeImageError();
         this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR);
@@ -33,6 +39,7 @@ void CameraManager ::TAKE_IMAGE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
     else {
         this->log_ACTIVITY_HI_PictureTaken();
     }
+    
     this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
 }
 

FprimeZephyrReference/Components/CameraManager/CameraManager.fpp

@@ -1,11 +1,11 @@
-module FprimeZephyrReference {
+module Components {
     @ Manager for Nicla Vision
-    active component CameraManager {
+    passive component CameraManager {
 
         # One async command/port is required for active components
         # This should be overridden by the developers with a useful command/port
         @ TODO
-        async command TAKE_IMAGE
+        sync command TAKE_IMAGE
 
         event TakeImageError() severity warning high format "Failed to take picture"
 

FprimeZephyrReference/Components/CameraManager/CameraManager.hpp

@@ -9,7 +9,7 @@
 
 #include "FprimeZephyrReference/Components/CameraManager/CameraManagerComponentAc.hpp"
 
-namespace FprimeZephyrReference {
+namespace Components {
 
 class CameraManager final : public CameraManagerComponentBase {
   public:
@@ -24,7 +24,7 @@ class CameraManager final : public CameraManagerComponentBase {
     //! Destroy CameraManager object
     ~CameraManager();
 
-    const char snap_cmd[4] = {'s', 'n', 'a', 'p'};
+    U8 snapArray[5] = {'s', 'n', 'a', 'p', '\n'};
 
   private:
     // ----------------------------------------------------------------------

FprimeZephyrReference/ReferenceDeployment/Main.cpp

@@ -12,6 +12,7 @@
 
 const struct device* serial = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart0));
 const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
+const struct device* peripheral_uart = DEVICE_DT_GET(DT_NODELABEL(uart0));
 
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
@@ -26,6 +27,10 @@ int main(int argc, char* argv[]) {
     inputs.uartDevice = serial;
     inputs.baudRate = 115200;
 
+    // For the uart peripheral config
+    inputs.peripheralBaudRate = 115200; // Minimum is 19200
+    inputs.peripheralUart = peripheral_uart;
+
     // Setup, cycle, and teardown topology
     ReferenceDeployment::setupTopology(inputs);
     ReferenceDeployment::startRateGroups();  // Program loop

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp

@@ -87,6 +87,9 @@ void setupTopology(const TopologyState& state) {
     // for over-the-air communications.
     lora.start(state.loraDevice, Zephyr::TransmitState::DISABLED);
     comDriver.configure(state.uartDevice, state.baudRate);
+
+    // UART from the board to the payload
+    peripheralUartDriver.configure(state.peripheralUart, state.peripheralBaudRate);
 }
 
 void startRateGroups() {

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp

@@ -74,6 +74,8 @@ struct TopologyState {
     U32 baudRate;                         //!< Baud rate for UART communication
     CdhCore::SubtopologyState cdhCore;    //!< Subtopology state for CdhCore
     ComCcsds::SubtopologyState comCcsds;  //!< Subtopology state for ComCcsds
+    const device* peripheralUart;
+    U32 peripheralBaudRate;
 };
 
 namespace PingEntries = ::PingEntries;

FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp

@@ -89,4 +89,10 @@ module ReferenceDeployment {
   instance antennaDeployer: Components.AntennaDeployer base id 0x10029000
 
   instance fsSpace: Components.FsSpace base id 0x10030000
+
+  instance camera: Components.CameraManager base id 0x10031000
+
+  instance peripheralUartDriver: Zephyr.ZephyrUartDriver base id 0x10032000
+
+
 }

FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp

@@ -44,6 +44,8 @@ module ReferenceDeployment {
     # For UART sideband communication
     instance comDriver
     instance fsSpace
+    instance camera
+    instance peripheralUartDriver
 
 
   # ----------------------------------------------------------------------
@@ -161,5 +163,9 @@ module ReferenceDeployment {
       imuManager.magneticFieldGet -> lis2mdlManager.magneticFieldGet
       imuManager.temperatureGet -> lsm6dsoManager.temperatureGet
     }
+
+    connections Camera {
+      camera.out_port -> peripheralUartDriver.$send
+    }
   }
 }

boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5-pinctrl.dtsi

@@ -11,6 +11,16 @@
 			input-enable;
 		};
 	};
+	uart0_default: uart0_default {
+		group1 {
+			pinmux = <UART0_TX_P0>;
+		};
+
+		group2 {
+			pinmux = <UART0_RX_P1>;
+			input-enable;
+		};
+	};
 	spi1_default: spi1_default {
 		group1 {
 			pinmux = <SPI1_SCK_P10>, <SPI1_TX_P11>;

boards/bronco_space/proves_flight_control_board_v5/proves_flight_control_board_v5.dtsi

@@ -100,6 +100,13 @@ zephyr_udc0: &usbd {
 	status = "okay";
 };
 
+&uart0 {
+    status = "okay";
+    pinctrl-0 = <&uart0_default>;
+	current-speed = <115200>;
+    pinctrl-names = "default";
+};
+
 &spi0 {
 	status = "okay";
 	cs-gpios = <&gpio0 15 GPIO_ACTIVE_LOW>;