Merge pull request #1311 from bitcraze/krichardsson/stm-gap8-cpx

Example app for CPX communication with the GAP8

.github/workflows/CI.yml

@@ -97,6 +97,7 @@ jobs:
         - examples/app_hello_file_tree
         - examples/app_peer_to_peer
         - examples/app_p2p_DTR
+        - examples/app_stm_gap8_cpx
         - examples/demos/app_push_demo
         - examples/demos/swarm_demo
         - examples/demos/app_wall_following_demo

examples/app_stm_gap8_cpx/.gitignore

@@ -0,0 +1,2 @@
+bin/*
+cf2.*

examples/app_stm_gap8_cpx/Kbuild

@@ -0,0 +1 @@
+obj-y += src/

examples/app_stm_gap8_cpx/Makefile

@@ -0,0 +1,23 @@
+# The firmware uses the Kbuild build system. There are 'Kbuild' files in this
+# example that outlays what needs to be built. (check src/Kbuild).
+#
+# The firmware is configured using options in Kconfig files, the
+# values of these end up in the .config file in the firmware directory.
+#
+# By setting the OOT_CONFIG (it is '$(PWD)/oot-config' by default) environment
+# variable you can provide a custom configuration. It is important that you
+# enable the app-layer. See app-config in this directory for example.
+
+#
+# We want to execute the main Makefile for the firmware project,
+# it will handle the build for us.
+#
+CRAZYFLIE_BASE := ../..
+
+#
+# We override the default OOT_CONFIG here, we could also name our config
+# to oot-config and that would be the default.
+#
+OOT_CONFIG := $(PWD)/app-config
+
+include $(CRAZYFLIE_BASE)/tools/make/oot.mk

examples/app_stm_gap8_cpx/README.md

@@ -0,0 +1,17 @@
+# STM-GAP8 CPX communication example
+
+This folder contains the app layer application for an example app that communicates with the GAP8 on the AI-deck.
+The intention is to show how CPX can be used to feed data from the STM to the GAP8 or the other way around.
+One possible use case for this type of communication could be to control the Crzyflie from a neural network for instance.
+
+This application is intended to be used with an AI-deck, together with the "stm_gap8_cpx" example in the
+[aideck-gap8-examples](https://github.com/bitcraze/aideck-gap8-examples) repository.
+
+CPX packets are sent from the STM (this app) to the GAP8, containing a counter that is increased for each packet. The
+same number is sent back to the STM in a new CPX packet and the number is printed on the console, that is when a
+number is printed on the console, the counter value has done a round trip STM-GAP8-STM.
+
+
+See the [CPX documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/cpx/).
+
+See App layer API guide and build instructions [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)

examples/app_stm_gap8_cpx/app-config

@@ -0,0 +1,3 @@
+CONFIG_APP_ENABLE=y
+CONFIG_APP_PRIORITY=1
+CONFIG_APP_STACKSIZE=350

examples/app_stm_gap8_cpx/src/Kbuild

@@ -0,0 +1 @@
+obj-y += stm_gap8_cpx.o

examples/app_stm_gap8_cpx/src/stm_gap8_cpx.c

@@ -0,0 +1,72 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2023 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * App layer application that communicates with the GAP8 on an AI deck.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "cpx.h"
+#include "cpx_internal_router.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define DEBUG_MODULE "APP"
+#include "debug.h"
+
+// Callback that is called when a CPX packet arrives
+static void cpxPacketCallback(const CPXPacket_t* cpxRx);
+
+static CPXPacket_t txPacket;
+
+void appMain() {
+  DEBUG_PRINT("Hello! I am the stm_gap8_cpx app\n");
+
+  // Register a callback for CPX packets.
+  // Packets sent to destination=CPX_T_STM32 and function=CPX_F_APP will arrive here
+  cpxRegisterAppMessageHandler(cpxPacketCallback);
+
+  uint8_t counter = 0;
+  while(1) {
+    vTaskDelay(M2T(2000));
+
+    cpxInitRoute(CPX_T_STM32, CPX_T_GAP8, CPX_F_APP, &txPacket.route);
+    txPacket.data[0] = counter;
+    txPacket.dataLength = 1;
+
+    cpxSendPacketBlocking(&txPacket);
+    DEBUG_PRINT("Sent packet to GAP8 (%u)\n", counter);
+    counter++;
+  }
+}
+
+static void cpxPacketCallback(const CPXPacket_t* cpxRx) {
+  DEBUG_PRINT("Got packet from GAP8 (%u)\n", cpxRx->data[0]);
+}