Merge branch 'main' of github.com:proveskit/CircuitPython_RP2040_v4 into beacon-ground-station-split

Author: nateinaction

README.md

@@ -3,9 +3,11 @@
 [![License](https://img.shields.io/badge/license-MIT-blue.svg)](LICENSE)
 ![CI](https://github.com/proveskit/CircuitPython_RP2040_v4/actions/workflows/ci.yaml/badge.svg)
 
-Software for the v4 PROVES Kit flight control board.
+This is the reference software for the v4x PROVES Kit Flight Controller boards. Clone this repository and use the `make install ...` tooling to get your v4x Flight Controller Board up and running!
 
 # Development Getting Started
 We welcome contributions, so please feel free to join us. If you have any questions about contributing please open an issue or a discussion.
 
 You can find our Getting Started Guide [here](https://github.com/proveskit/pysquared/blob/main/docs/dev-guide.md).
+
+If you have a mission specific usecase for the CircuitPython Flight Software you can fork this repo and use it as a baseline for developing your own system!

src/flight-software/repl.py

@@ -1,10 +1,107 @@
+"""
+Built for the PySquared FC Board V4x
+Published: May, 2025
+"""
+
+import os
+import time
+
+import digitalio
+from busio import SPI
+
+try:
+    from board_definitions import proveskit_rp2040_v4 as board
+except ImportError:
+    import board
+
 from lib.proveskit_rp2040_v4.register import Register
+from lib.pysquared.beacon import Beacon
+from lib.pysquared.cdh import CommandDataHandler
 from lib.pysquared.config.config import Config
+from lib.pysquared.hardware.busio import _spi_init, initialize_i2c_bus
+from lib.pysquared.hardware.digitalio import initialize_pin
+from lib.pysquared.hardware.imu.manager.lsm6dsox import LSM6DSOXManager
+from lib.pysquared.hardware.magnetometer.manager.lis2mdl import LIS2MDLManager
+from lib.pysquared.hardware.radio.manager.rfm9x import RFM9xManager
+from lib.pysquared.hardware.radio.packetizer.packet_manager import PacketManager
 from lib.pysquared.logger import Logger
 from lib.pysquared.nvm.counter import Counter
+from lib.pysquared.rtc.manager.microcontroller import MicrocontrollerManager
+from lib.pysquared.sleep_helper import SleepHelper
+from lib.pysquared.watchdog import Watchdog
+from version import __version__
+
+boot_time: float = time.time()
+
+rtc = MicrocontrollerManager()
+
+(boot_count := Counter(index=Register.boot_count)).increment()
+error_count: Counter = Counter(index=Register.error_count)
 
 logger: Logger = Logger(
-    error_counter=Counter(index=Register.error_count),
+    error_counter=error_count,
     colorized=False,
 )
-config: Config = Config("config.json")
+
+logger.info(
+    "Booting",
+    hardware_version=os.uname().version,
+    software_version=__version__,
+)
+
+try:
+    watchdog = Watchdog(logger, board.WDT_WDI)
+
+    logger.debug("Initializing Config")
+    config: Config = Config("config.json")
+
+    # TODO(nateinaction): fix spi init
+    spi0: SPI = _spi_init(
+        logger,
+        board.SPI0_SCK,
+        board.SPI0_MOSI,
+        board.SPI0_MISO,
+    )
+
+    radio = RFM9xManager(
+        logger,
+        config.radio,
+        spi0,
+        initialize_pin(logger, board.SPI0_CS0, digitalio.Direction.OUTPUT, True),
+        initialize_pin(logger, board.RF1_RST, digitalio.Direction.OUTPUT, True),
+    )
+
+    packet_manager = PacketManager(
+        logger,
+        radio,
+        config.radio.license,
+        0.2,
+    )
+
+    i2c1 = initialize_i2c_bus(
+        logger,
+        board.I2C1_SCL,
+        board.I2C1_SDA,
+        100000,
+    )
+
+    magnetometer = LIS2MDLManager(logger, i2c1)
+
+    imu = LSM6DSOXManager(logger, i2c1, 0x6B)
+
+    sleep_helper = SleepHelper(logger, watchdog, config)
+
+    cdh = CommandDataHandler(logger, config, packet_manager)
+
+    beacon = Beacon(
+        logger,
+        config.cubesat_name,
+        packet_manager,
+        boot_time,
+        imu,
+        magnetometer,
+        radio,
+    )
+
+except Exception as e:
+    logger.critical("An exception occurred within repl.py", e)