freyja-gcs-software

installation of zephyr env

download and install stm32 cube prog https://www.st.com/en/development-tools/stm32cubeprog.html

then move to app directory:

cd app

setup python env

with pip:

python3 -m venv .venv
source .venv/bin/activate
pip install .

or with uv:

uv venv
source .venv/bin/activate
uv sync

download zephyr

west update

register zephyr as cmake package

west zephyr-export

install zephyr python packages

with pip:

pip install -U -r ext/zephyr/scripts/requirements-base.txt

or with uv:

uv pip install -U -r ext/zephyr/scripts/requirements-base.txt

install zephyr sdk

west sdk install --toolchains arm-zephyr-eabi

build app

to build:

make

to flash over usb enter bootloader by holding the upper button while pressing the lower button briefly. and then:

make flash-app

installation of dashboard env

cd dashboard/backend

with pip:

python3 -m venv .venv
source .venv/bin/activate
pip install .

or with uv:

uv venv
source .venv/bin/activate
uv sync

starting the dashboard

To run the backend (which serves the frontend)

cd backend
uv run uvicorn main:app --reload  

To run the frontend (from dashboard/frontend)

npm run dev

To build the frontend (from dashboard/frontend)

npm run build

can message specification

gcs (board) to gcs (RaspPi)

USB ID	bit	data	type
0x700	0	gcs test mode	bool

gcs to fjalar

CAN ID	bit	data	type
0x701	0	ready/arm fjalar	bool
0x702	0	launch	bool
0x703	0	launch sequence number	uint8

fjalar to gcs

CAN ID	byte	data	type
0x720	0	flight state	uint8
	1	loki state	uint8
	2	loki substate	uint8
	3	drogue deployed	bool
	4	main deployed/line cut	bool
	5	gnss fix	bool
0x721	0~3	fafnir main valve percantage	f32
	4	fafnir motor solenoid 1	bool
	5	fafnir motor solenoid 2	bool
	6	fafnir motor solenoid 3	bool
	7	fafnir motor solenoid 4	bool
0x722	0~3	thrust (from loadcell)	f32
0x723	0	freyr airbrake safety solenoid	bool
	1~4	airbrake percantage	f32
0x724	0	pyro1 fired/connected	bool
	1	pyro2 fired/connected	bool
	2	pyro3 fired/connected	bool
0x725	0~3	ax	f32
	4~7	ay	f32
0x726	0~3	az	f32
0x727	0~3	vx	f32
	4~7	vy	f32
0x72A	0~3	vz	f32
0x72B	0~3	roll	f32
	4~7	pitch	f32
0x72C	0~3	yaw	f32
0x72D	0~3	longitude	f32
	4~7	latitude	f32
0x72E	0~3	altitude	f32
0x72F	0~3	sigurd temperature 1	f32
	4~7	sigurd temperature 2	f32
0x730	0~3	sigurd temperature 3	f32
	4~7	sigurd temperature 4	f32
0x731	0~3	fjalar bat voltage	f32
	4~7	loki bat voltage	f32

usb message specification

the can packets are packaged with a header that's for byte long and then sent over usb cdc acm.

byte	data	description
0	0xAA	header byte 1
1	0xAA	header byte 2
2~9	x	milliseconds since 1970-01-01 UTC
10	x	packet type i.e. CAN ID - 0x700
11	x	length of CAN packet
12~19	x	CAN packet

note that the CAN packet's size is between 1 and 8 bytes.