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The great renaming, part 1
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This commit is contained in:
Erki 2021-06-08 23:18:56 +03:00
parent c335211ef8
commit 60bad24319
23 changed files with 436 additions and 478 deletions
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6
Messaging/Inc/messaging_packet.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef MESSAGING_INC_MESSAGING_PACKET_HPP_ #ifndef SKULLC_MESSAGING_PACKET_HPP_
#define MESSAGING_INC_MESSAGING_PACKET_HPP_ #define SKULLC_MESSAGING_PACKET_HPP_
#include <array> #include <array>
#include <cstdint> #include <cstdint>
@ -106,4 +106,4 @@ constexpr std::uint8_t Packet<N>::preamble[2];
}// namespace Messaging }// namespace Messaging
#endif /* MESSAGING_INC_MESSAGING_PACKET_HPP_ */ #endif /* SKULLC_MESSAGING_PACKET_HPP_ */

78
Messaging/Inc/messaging_parser.hpp
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@ -2,8 +2,8 @@
// Created by erki on 27.03.21. // Created by erki on 27.03.21.
// //
#ifndef SKULLC_MESSAGING_PARSER_HPP #ifndef SKULLC_MESSAGING_PARSER_HPP_
#define SKULLC_MESSAGING_PARSER_HPP #define SKULLC_MESSAGING_PARSER_HPP_
#include <array> #include <array>
#include <cstdint> #include <cstdint>
@ -27,10 +27,10 @@ public:
void reset() void reset()
{ {
_state = _State::Preamble; state_ = State_::Preamble;
_expected = sizeof(P::preamble); expected_ = sizeof(P::preamble);
_current_pos = 0; current_pos_ = 0;
_current_offset = 0; current_offset_ = 0;
} }
void pushByte(const std::uint8_t byte) void pushByte(const std::uint8_t byte)
@ -38,41 +38,41 @@ public:
if (packetReady()) if (packetReady())
return; return;
const std::uint32_t buffer_loc = _current_offset + _current_pos; const std::uint32_t buffer_loc = current_offset_ + current_pos_;
switch (_state) switch (state_)
{ {
case _State::Preamble: case State_::Preamble:
if (byte != P::preamble[_current_pos]) if (byte != P::preamble[current_pos_])
{ {
reset(); reset();
return; return;
} }
[[fallthrough]]; [[fallthrough]];
case _State::Length: case State_::Length:
case _State::Body: case State_::Body:
_buffer[buffer_loc] = byte; buffer_[buffer_loc] = byte;
_current_pos++; current_pos_++;
break; break;
default: default:
break; break;
} }
if (_current_pos == _expected) if (current_pos_ == expected_)
{ {
_setupNextState(); setupNextState_();
} }
} }
bool packetReady() const { return _state == _State::Done; } bool packetReady() const { return state_ == State_::Done; }
bool getPacket(Packet& packet) const bool getPacket(Packet& packet) const
{ {
return packet.deserialize(_buffer.data(), _current_offset); return packet.deserialize(buffer_.data(), current_offset_);
} }
private: private:
enum class _State : std::uint32_t enum class State_ : std::uint32_t
{ {
Preamble, Preamble,
Length, Length,
@ -80,17 +80,17 @@ private:
Done Done
}; };
std::array<std::uint8_t, N> _buffer; std::array<std::uint8_t, N> buffer_;
_State _state = _State::Preamble; State_ state_ = State_::Preamble;
std::uint32_t _current_pos = 0; std::uint32_t current_pos_ = 0;
std::uint32_t _current_offset = 0; std::uint32_t current_offset_ = 0;
std::uint32_t _expected = 0; std::uint32_t expected_ = 0;
template<typename T> template<typename T>
T _deserializeLength(const std::uint32_t offset) T deserializeLength_(const std::uint32_t offset)
{ {
std::uint8_t* begin = _buffer.data() + offset; std::uint8_t* begin = buffer_.data() + offset;
T len(0); T len(0);
std::memcpy(&len, begin, sizeof(T)); std::memcpy(&len, begin, sizeof(T));
@ -98,30 +98,30 @@ private:
return len; return len;
} }
void _setupNextState() void setupNextState_()
{ {
switch (_state) switch (state_)
{ {
case _State::Preamble: case State_::Preamble:
_state = _State::Length; state_ = State_::Length;
_expected = sizeof(typename P::length_type); expected_ = sizeof(typename P::length_type);
break; break;
case _State::Length: case State_::Length:
_state = _State::Body; state_ = State_::Body;
_expected = _deserializeLength<typename P::length_type>(_current_offset); expected_ = deserializeLength_<typename P::length_type>(current_offset_);
break; break;
case _State::Body: case State_::Body:
_state = _State::Done; state_ = State_::Done;
break; break;
default: default:
break; break;
} }
_current_offset += _current_pos; current_offset_ += current_pos_;
_current_pos = 0; current_pos_ = 0;
} }
}; };
}// namespace Messaging }// namespace Messaging
#endif// SKULLC_MESSAGING_PARSER_HPP #endif// SKULLC_MESSAGING_PARSER_HPP_

6
Peripherals/Inc/peripherals_adc.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_INC_PERIPHERALS_ADC_HPP_ #ifndef SKULLC_PERIPHERALS_ADC_HPP_
#define PERIPHERALS_INC_PERIPHERALS_ADC_HPP_ #define SKULLC_PERIPHERALS_ADC_HPP_
#include <array> #include <array>
#include <cstdint> #include <cstdint>
@ -59,4 +59,4 @@ struct Adc
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_INC_PERIPHERALS_ADC_HPP_ */ #endif /* SKULLC_PERIPHERALS_ADC_HPP_ */

30
Peripherals/Inc/peripherals_button.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_BUTTON_HPP_ #ifndef SKULLC_PERIPHERALS_BUTTON_HPP_
#define PERIPHERALS_BUTTON_HPP_ #define SKULLC_PERIPHERALS_BUTTON_HPP_
#include <cstdint> #include <cstdint>
@ -39,38 +39,38 @@ public:
void update() void update()
{ {
const bool is_pressed = sw.Read(); const bool is_pressed = sw.read();
ButtonPress new_state = ButtonPress::NOT_PRESSED; ButtonPress new_state = ButtonPress::NOT_PRESSED;
if (is_pressed && !_was_pressed) if (is_pressed && !was_pressed_)
{ {
_time_pressed_down = hal::GetMillis(); time_pressed_down_ = hal::getMillis();
} else if (!is_pressed && _was_pressed) } else if (!is_pressed && was_pressed_)
{ {
const std::uint32_t time_held = hal::GetMillis() - _time_pressed_down; const std::uint32_t time_held = hal::getMillis() - time_pressed_down_;
if (time_held > TIMEOUT_LONG_PRESS) if (time_held > TIMEOUT_LONG_PRESS)
new_state = ButtonPress::LONG_PRESS; new_state = ButtonPress::LONG_PRESS;
else if (time_held > TIMEOUT_SHORT_PRESS) else if (time_held > TIMEOUT_SHORT_PRESS)
new_state = ButtonPress::SHORT_PRESS; new_state = ButtonPress::SHORT_PRESS;
_time_pressed_down = 0; time_pressed_down_ = 0;
} }
_was_pressed = is_pressed; was_pressed_ = is_pressed;
_current_state = new_state; current_state_ = new_state;
} }
[[nodiscard]] ButtonPress getState() const [[nodiscard]] ButtonPress getState() const
{ {
return _current_state; return current_state_;
} }
private: private:
bool _was_pressed = false; bool was_pressed_ = false;
std::uint32_t _time_pressed_down = 0; std::uint32_t time_pressed_down_ = 0;
ButtonPress _current_state = ButtonPress::NOT_PRESSED; ButtonPress current_state_ = ButtonPress::NOT_PRESSED;
}; };
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_BUTTON_HPP_ */ #endif /* SKULLC_PERIPHERALS_BUTTON_HPP_ */

38
Peripherals/Inc/peripherals_encoder.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_ENCODER_HPP_ #ifndef SKULLC_PERIPHERALS_ENCODER_HPP_
#define PERIPHERALS_ENCODER_HPP_ #define SKULLC_PERIPHERALS_ENCODER_HPP_
#include <cstdint> #include <cstdint>
@ -26,7 +26,7 @@ public:
Encoder() = delete; Encoder() = delete;
explicit Encoder(TIM_HandleTypeDef* htim, const std::uint32_t channels) explicit Encoder(TIM_HandleTypeDef* htim, const std::uint32_t channels)
: _htim(htim), _channels(channels) : htim_(htim), channels_(channels)
{} {}
Encoder(const Encoder&) = delete; Encoder(const Encoder&) = delete;
@ -36,40 +36,40 @@ public:
void start() void start()
{ {
HAL_TIM_Base_Start_IT(_htim); HAL_TIM_Base_Start_IT(htim_);
HAL_TIM_Encoder_Start_IT(_htim, _channels); HAL_TIM_Encoder_Start_IT(htim_, channels_);
} }
void stop() void stop()
{ {
HAL_TIM_Encoder_Stop_IT(_htim, _channels); HAL_TIM_Encoder_Stop_IT(htim_, channels_);
} }
void reset() void reset()
{ {
__HAL_TIM_SET_COUNTER(_htim, 0); __HAL_TIM_SET_COUNTER(htim_, 0);
_full_revolutions = 0; full_revolutions_ = 0;
} }
void setRevolutionTickCount(const std::uint16_t& count) void setRevolutionTickCount(const std::uint16_t& count)
{ {
__HAL_TIM_SET_AUTORELOAD(_htim, count); __HAL_TIM_SET_AUTORELOAD(htim_, count);
} }
std::uint16_t getCurrentClicks() const std::uint16_t getCurrentClicks() const
{ {
const std::uint16_t val = __HAL_TIM_GET_COUNTER(_htim); const std::uint16_t val = __HAL_TIM_GET_COUNTER(htim_);
return val; return val;
} }
std::int32_t getFullRevolutions() const std::int32_t getFullRevolutions() const
{ {
return _full_revolutions; return full_revolutions_;
} }
Dirs getDirection() const Dirs getDirection() const
{ {
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(_htim)) if (__HAL_TIM_IS_TIM_COUNTING_DOWN(htim_))
return Dirs::BACKWARD; return Dirs::BACKWARD;
else else
return Dirs::FORWARD; return Dirs::FORWARD;
@ -77,20 +77,20 @@ public:
void timerUpdateEvent() void timerUpdateEvent()
{ {
if (!__HAL_TIM_IS_TIM_COUNTING_DOWN(_htim)) if (!__HAL_TIM_IS_TIM_COUNTING_DOWN(htim_))
_full_revolutions++; full_revolutions_++;
else else
_full_revolutions--; full_revolutions_--;
} }
private: private:
TIM_HandleTypeDef* _htim; TIM_HandleTypeDef* htim_;
std::uint32_t _channels; std::uint32_t channels_;
std::int32_t _full_revolutions = 0; std::int32_t full_revolutions_ = 0;
}; };
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_ENCODER_HPP_ */ #endif /* SKULLC_PERIPHERALS_ENCODER_HPP_ */

126
Peripherals/Inc/peripherals_hal_st.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_INC_PERIPHERALS_HAL_ST_HPP_ #ifndef SKULLC_PERIPHERALS_HAL_ST_HPP_
#define PERIPHERALS_INC_PERIPHERALS_HAL_ST_HPP_ #define SKULLC_PERIPHERALS_HAL_ST_HPP_
#include <main.h> #include <main.h>
@ -36,7 +36,7 @@ IsrCallbackFn<Origin> createCallback(Handler& h_in)
struct StaticHal struct StaticHal
{ {
static void Initialize() static void initialize()
{ {
#ifdef USE_DELAY_US #ifdef USE_DELAY_US
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
@ -45,17 +45,17 @@ struct StaticHal
#endif #endif
} }
static std::uint32_t GetMillis() static std::uint32_t getMillis()
{ {
return HAL_GetTick(); return HAL_GetTick();
} }
static void Delay(const std::uint32_t milliseconds) static void delay(const std::uint32_t milliseconds)
{ {
HAL_Delay(milliseconds); HAL_Delay(milliseconds);
} }
static void DelayUs(const std::uint32_t micros) static void delayUs(const std::uint32_t micros)
{ {
#ifdef USE_DELAY_US #ifdef USE_DELAY_US
const std::uint32_t tick_start = DWT->CYCCNT; const std::uint32_t tick_start = DWT->CYCCNT;
@ -85,14 +85,14 @@ struct Gpio
explicit Gpio(GPIO_TypeDef* port, const std::uint16_t pin, const bool inverted) explicit Gpio(GPIO_TypeDef* port, const std::uint16_t pin, const bool inverted)
: port(port), pin(pin), inverted(inverted) {} : port(port), pin(pin), inverted(inverted) {}
void Set(const bool& state) void set(const bool& state)
{ {
HAL_GPIO_WritePin(port, pin, GPIO_PinState(inverted ? !state : state)); HAL_GPIO_WritePin(port, pin, GPIO_PinState(inverted ? !state : state));
} }
void Toggle() { HAL_GPIO_TogglePin(port, pin); } void toggle() { HAL_GPIO_TogglePin(port, pin); }
bool Read() const { return inverted ? !bool(HAL_GPIO_ReadPin(port, pin)) : bool(HAL_GPIO_ReadPin(port, pin)); } bool read() const { return inverted ? !bool(HAL_GPIO_ReadPin(port, pin)) : bool(HAL_GPIO_ReadPin(port, pin)); }
}; };
#define CREATE_GPIO(name) \ #define CREATE_GPIO(name) \
@ -104,10 +104,10 @@ struct Gpio
template< template<
typename T, typename T,
HAL_StatusTypeDef (*transmit)( HAL_StatusTypeDef (*transmit_)(
T*, std::uint8_t* data, std::uint16_t data_len, std::uint32_t timeout), T*, std::uint8_t* data, std::uint16_t data_len, std::uint32_t timeout),
HAL_StatusTypeDef (*receive)(T*, std::uint8_t* data, HAL_StatusTypeDef (*receive_)(T*, std::uint8_t* data,
std::uint16_t data_len, std::uint32_t timeout)> std::uint16_t data_len, std::uint32_t timeout)>
struct SerialInterface struct SerialInterface
{ {
using underlying_handle_type = T; using underlying_handle_type = T;
@ -116,38 +116,38 @@ struct SerialInterface
SerialInterface() = delete; SerialInterface() = delete;
explicit SerialInterface(underlying_handle_type* handle) : handle(handle) {} explicit SerialInterface(underlying_handle_type* handle) : handle(handle) {}
bool Transmit(std::uint8_t* data, const std::uint32_t data_len) bool transmit(std::uint8_t* data, const std::uint32_t data_len)
{ {
return transmit(handle, data, data_len, 100) == HAL_StatusTypeDef::HAL_OK; return transmit_(handle, data, data_len, 100) == HAL_StatusTypeDef::HAL_OK;
} }
template<typename Td, std::size_t N> template<typename Td, std::size_t N>
bool Transmit(std::array<Td, N>& array) bool transmit(std::array<Td, N>& array)
{ {
static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large."); static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large.");
return Transmit(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N)); return transmit(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N));
} }
bool Receive(std::uint8_t* data, const std::uint32_t data_len) bool receive(std::uint8_t* data, const std::uint32_t data_len)
{ {
return receive(handle, data, data_len, 100) == HAL_StatusTypeDef::HAL_OK; return receive_(handle, data, data_len, 100) == HAL_StatusTypeDef::HAL_OK;
} }
template<typename Td, std::size_t N> template<typename Td, std::size_t N>
bool Receive(std::array<Td, N>& array) bool receive(std::array<Td, N>& array)
{ {
static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large."); static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large.");
return Receive(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N)); return receive(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N));
} }
}; };
template<typename T, template<typename T,
HAL_StatusTypeDef (*transmit)(T*, std::uint8_t* data, HAL_StatusTypeDef (*transmit_)(T*, std::uint8_t* data,
std::uint16_t data_len), std::uint16_t data_len),
HAL_StatusTypeDef (*receive)(T*, std::uint8_t* data, HAL_StatusTypeDef (*receive_)(T*, std::uint8_t* data,
std::uint16_t data_len)> std::uint16_t data_len)>
struct SerialInterfaceAsync struct SerialInterfaceAsync
{ {
using underlying_handle_type = T; using underlying_handle_type = T;
@ -157,30 +157,30 @@ struct SerialInterfaceAsync
explicit SerialInterfaceAsync(underlying_handle_type* handle) explicit SerialInterfaceAsync(underlying_handle_type* handle)
: handle(handle) {} : handle(handle) {}
bool Transmit(std::uint8_t* data, const std::uint32_t data_len) bool transmit(std::uint8_t* data, const std::uint32_t data_len)
{ {
return transmit(handle, data, data_len) == HAL_StatusTypeDef::HAL_OK; return transmit_(handle, data, data_len) == HAL_StatusTypeDef::HAL_OK;
} }
template<typename Td, std::size_t N> template<typename Td, std::size_t N>
bool Transmit(std::array<Td, N>& array) bool transmit(std::array<Td, N>& array)
{ {
static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large."); static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large.");
return Transmit(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N)); return transmit_(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N));
} }
bool Receive(std::uint8_t* data, const std::uint32_t data_len) bool receive(std::uint8_t* data, const std::uint32_t data_len)
{ {
return receive(handle, data, data_len) == HAL_StatusTypeDef::HAL_OK; return receive_(handle, data, data_len) == HAL_StatusTypeDef::HAL_OK;
} }
template<typename Td, std::size_t N> template<typename Td, std::size_t N>
bool Receive(std::array<Td, N>& array) bool receive(std::array<Td, N>& array)
{ {
static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large."); static_assert(sizeof(Td) == sizeof(std::uint8_t), "Data is not a byte large.");
return Receive(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N)); return receive(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N));
} }
}; };
@ -198,63 +198,63 @@ struct SpiRegisters
explicit SpiRegisters(const SpiInterface& handle, const Gpio& cs) explicit SpiRegisters(const SpiInterface& handle, const Gpio& cs)
: handle(handle), chip_select(cs) : handle(handle), chip_select(cs)
{ {
chip_select.Set(true); chip_select.set(true);
} }
void WriteRegister(std::uint8_t reg, uint8_t data) void writeRegister(std::uint8_t reg, uint8_t data)
{ {
chip_select.Set(false); chip_select.set(false);
handle.Transmit(&reg, 1); handle.transmit(&reg, 1);
handle.Transmit(&data, 1); handle.transmit(&data, 1);
chip_select.Set(true); chip_select.set(true);
} }
void WriteRegisterMultibyte(std::uint8_t reg, std::uint8_t* data, void writeRegisterMultibyte(std::uint8_t reg, std::uint8_t* data,
const std::uint32_t len) const std::uint32_t len)
{ {
chip_select.Set(false); chip_select.set(false);
handle.Transmit(&reg, 1); handle.transmit(&reg, 1);
handle.Transmit(data, len); handle.transmit(data, len);
chip_select.Set(true); chip_select.set(true);
} }
std::uint8_t ReadRegister(std::uint8_t reg, std::uint8_t readRegister(std::uint8_t reg,
const std::uint32_t read_delay = 0) const std::uint32_t read_delay = 0)
{ {
chip_select.Set(false); chip_select.set(false);
handle.Transmit(&reg, 1); handle.transmit(&reg, 1);
std::uint8_t output = 255; std::uint8_t output = 255;
if (read_delay) if (read_delay)
StaticHal::DelayUs(read_delay); StaticHal::delayUs(read_delay);
handle.Receive(&output, 1); handle.receive(&output, 1);
chip_select.Set(true); chip_select.set(true);
return output; return output;
} }
void ReadRegisterMultibyte(std::uint8_t reg, std::uint8_t* data, void readRegisterMultibyte(std::uint8_t reg, std::uint8_t* data,
const std::uint32_t len, const std::uint32_t len,
const std::uint32_t read_delay = 0) const std::uint32_t read_delay = 0)
{ {
chip_select.Set(false); chip_select.set(false);
handle.Transmit(&reg, 1); handle.transmit(&reg, 1);
if (read_delay) if (read_delay)
StaticHal::DelayUs(read_delay); StaticHal::delayUs(read_delay);
handle.Receive(data, len); handle.receive(data, len);
chip_select.Set(true); chip_select.set(true);
} }
}; };
@ -281,23 +281,23 @@ struct PwmChannel
explicit PwmChannel(TIM_HandleTypeDef* handle, const std::uint32_t channel) explicit PwmChannel(TIM_HandleTypeDef* handle, const std::uint32_t channel)
: handle(handle), channel(channel) {} : handle(handle), channel(channel) {}
void Enable() { HAL_TIM_PWM_Start(handle, channel); } void enable() { HAL_TIM_PWM_Start(handle, channel); }
void Disable() { HAL_TIM_PWM_Stop(handle, channel); } void disable() { HAL_TIM_PWM_Stop(handle, channel); }
void SetCompare(const std::uint32_t compare) void setCompare(const std::uint32_t compare)
{ {
__HAL_TIM_SET_COMPARE(handle, channel, compare); __HAL_TIM_SET_COMPARE(handle, channel, compare);
} }
std::uint32_t MaxValue() { return handle->Init.Period; } std::uint32_t maxValue() { return handle->Init.Period; }
}; };
#endif// HAL_TIM_MODULE_ENABLED #endif// HAL_TIM_MODULE_ENABLED
struct ItmSerialInterface struct ItmSerialInterface
{ {
bool Transmit(std::uint8_t* data, const std::uint32_t data_len) bool transmit(std::uint8_t* data, const std::uint32_t data_len)
{ {
for (std::uint32_t i = 0; i < data_len; i++) for (std::uint32_t i = 0; i < data_len; i++)
{ {
@ -307,11 +307,11 @@ struct ItmSerialInterface
} }
template<typename T, std::size_t N> template<typename T, std::size_t N>
bool Transmit(std::array<T, N>& array) bool transmit(std::array<T, N>& array)
{ {
static_assert(sizeof(T) == sizeof(std::uint8_t), "Data is not a byte large."); static_assert(sizeof(T) == sizeof(std::uint8_t), "Data is not a byte large.");
return Transmit(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N)); return transmit(reinterpret_cast<std::uint8_t*>(array.data()), std::uint32_t(N));
} }
}; };
@ -319,4 +319,4 @@ struct ItmSerialInterface
}// namespace Hal }// namespace Hal
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_INC_PERIPHERALS_HAL_ST_HPP_ */ #endif /* SKULLC_PERIPHERALS_HAL_ST_HPP_ */

18
Peripherals/Inc/peripherals_imu.hpp
View File

@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_IMU_HPP_ #ifndef SKULLC_PERIPHERALS_IMU_HPP_
#define PERIPHERALS_IMU_HPP_ #define SKULLC_PERIPHERALS_IMU_HPP_
#include <cstdint> #include <cstdint>
@ -23,16 +23,16 @@ public:
Z Z
}; };
virtual void Setup() = 0; virtual void setup() = 0;
virtual void Calibrate(const std::uint32_t samples) = 0; virtual void calibrate(const std::uint32_t samples) = 0;
virtual void ReadGyro(float* output) = 0; virtual void readGyro(float* output) = 0;
virtual void ReadGyroRaw(std::int16_t* output) = 0; virtual void readGyroRaw(std::int16_t* output) = 0;
virtual void ReadAccelerometer(float* output) = 0; virtual void readAccelerometer(float* output) = 0;
virtual void ReadAccelerometerRaw(std::int16_t* output) = 0; virtual void readAccelerometerRaw(std::int16_t* output) = 0;
}; };
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_IMU_HPP_ */ #endif /* SKULLC_PERIPHERALS_IMU_HPP_ */

150
Peripherals/Inc/peripherals_imu_icm.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_IMU_ICM_HPP_ #ifndef SKULLC_PERIPHERALS_IMU_ICM_HPP_
#define PERIPHERALS_IMU_ICM_HPP_ #define SKULLC_PERIPHERALS_IMU_ICM_HPP_
#include <array> #include <array>
#include <limits> #include <limits>
@ -45,42 +45,42 @@ public:
ImuIcm() = delete; ImuIcm() = delete;
ImuIcm(const registers_handle& registers) : registers(registers) {} ImuIcm(const registers_handle& registers) : registers(registers) {}
void Setup() override void setup() override
{ {
registers.WriteRegister(_Registers::PWR_MGMT_1 & _Registers::WRITE_MASK, registers.writeRegister(Registers_::PWR_MGMT_1 & Registers_::WRITE_MASK,
0b10000000); 0b10000000);
hal::Delay(10); hal::delay(10);
registers.WriteRegister(_Registers::USER_CTRL & _Registers::WRITE_MASK, registers.writeRegister(Registers_::USER_CTRL & Registers_::WRITE_MASK,
0b00010000); 0b00010000);
hal::Delay(10); hal::delay(10);
registers.WriteRegister(_Registers::PWR_MGMT_1 & _Registers::WRITE_MASK, registers.writeRegister(Registers_::PWR_MGMT_1 & Registers_::WRITE_MASK,
0b00000000); 0b00000000);
hal::Delay(10); hal::delay(10);
registers.WriteRegister(_Registers::PWR_MGMT_1 & _Registers::WRITE_MASK, registers.writeRegister(Registers_::PWR_MGMT_1 & Registers_::WRITE_MASK,
0b00000001); 0b00000001);
hal::Delay(10); hal::delay(10);
registers.WriteRegister(_Registers::CONFIG & _Registers::WRITE_MASK, registers.writeRegister(Registers_::CONFIG & Registers_::WRITE_MASK,
0x03);// DLPF_CFG = 3, gyro filter = 41/59.0, gyro 0x03);// DLPF_CFG = 3, gyro filter = 41/59.0, gyro
// rate = 1KHz, temp filter = 42 // rate = 1KHz, temp filter = 42
hal::Delay(10); hal::delay(10);
SetGyroscopeScale(_scale_gyro); setGyroscopeScale(scale_gyro_);
SetAccelerometerScale(_scale_accel); setAccelerometerScale(scale_accel_);
// ACCEL_FCHOICE_B = 0, A_DLPF_CFG = 3 filter=44.8/61.5 rate=1KHz // ACCEL_FCHOICE_B = 0, A_DLPF_CFG = 3 filter=44.8/61.5 rate=1KHz
registers.WriteRegister(_Registers::ACCEL_CONFIG2 & _Registers::WRITE_MASK, registers.writeRegister(Registers_::ACCEL_CONFIG2 & Registers_::WRITE_MASK,
0x03); 0x03);
hal::Delay(10); hal::delay(10);
// SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) Where // SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) Where
// INTERNAL_SAMPLE_RATE = 1kHz // INTERNAL_SAMPLE_RATE = 1kHz
registers.WriteRegister(_Registers::SMPLRT_DIV & _Registers::WRITE_MASK, 0); registers.writeRegister(Registers_::SMPLRT_DIV & Registers_::WRITE_MASK, 0);
hal::Delay(10); hal::delay(10);
// Enable interrupt // Enable interrupt
@ -88,15 +88,15 @@ public:
// INT/DRDY pin is configured as push-pull. // INT/DRDY pin is configured as push-pull.
// INT/DRDY pin indicates interrupt pulse's width is 50us. // INT/DRDY pin indicates interrupt pulse's width is 50us.
// Interrupt status is cleared only by reading INT_STATUS register // Interrupt status is cleared only by reading INT_STATUS register
registers.WriteRegister(_Registers::INT_PIN_CFG & _Registers::WRITE_MASK, registers.writeRegister(Registers_::INT_PIN_CFG & Registers_::WRITE_MASK,
0); 0);
hal::Delay(10); hal::delay(10);
registers.WriteRegister(_Registers::INT_ENABLE & _Registers::WRITE_MASK, 1); registers.writeRegister(Registers_::INT_ENABLE & Registers_::WRITE_MASK, 1);
hal::Delay(10); hal::delay(10);
} }
void Calibrate(const std::uint32_t samples) override void calibrate(const std::uint32_t samples) override
{ {
std::array<std::int32_t, 3> avg_gyro; std::array<std::int32_t, 3> avg_gyro;
std::array<std::int32_t, 3> avg_accel; std::array<std::int32_t, 3> avg_accel;
@ -109,10 +109,10 @@ public:
out[j] += raw[j]; out[j] += raw[j];
}; };
ReadGyroRaw(raw.data()); readGyroRaw(raw.data());
add_to_avg(avg_gyro); add_to_avg(avg_gyro);
ReadAccelerometerRaw(raw.data()); readAccelerometerRaw(raw.data());
add_to_avg(avg_accel); add_to_avg(avg_accel);
} }
@ -121,128 +121,128 @@ public:
const std::int32_t max = std::numeric_limits<std::int16_t>::max(); const std::int32_t max = std::numeric_limits<std::int16_t>::max();
const std::int32_t min = std::numeric_limits<std::int16_t>::min(); const std::int32_t min = std::numeric_limits<std::int16_t>::min();
_bias_gyro[i] = Clamp(avg_gyro[i], max, min); bias_gyro_[i] = clamp(avg_gyro[i], max, min);
_bias_accel[i] = Clamp(avg_accel[i], max, min); bias_accel_[i] = clamp(avg_accel[i], max, min);
} }
_bias_accel[2] -= AccelerometerReadingToRaw(1); bias_accel_[2] -= accelerometerReadingToRaw(1);
} }
void SetGyroscopeScale(const GyroScale scale) void setGyroscopeScale(const GyroScale scale)
{ {
const std::uint8_t current_config = const std::uint8_t current_config =
registers.ReadRegister(_Registers::GYRO_CONFIG | _Registers::READ_MASK); registers.readRegister(Registers_::GYRO_CONFIG | Registers_::READ_MASK);
const std::uint8_t new_config = const std::uint8_t new_config =
(current_config & 0xE7) | (std::uint8_t(scale) << 3); (current_config & 0xE7) | (std::uint8_t(scale) << 3);
registers.WriteRegister(_Registers::GYRO_CONFIG & _Registers::WRITE_MASK, registers.writeRegister(Registers_::GYRO_CONFIG & Registers_::WRITE_MASK,
new_config); new_config);
_scale_gyro = scale; scale_gyro_ = scale;
} }
void SetAccelerometerScale(const AccelerometerScale scale) void setAccelerometerScale(const AccelerometerScale scale)
{ {
const std::uint8_t current_config = registers.ReadRegister( const std::uint8_t current_config = registers.readRegister(
_Registers::ACCEL_CONFIG | _Registers::READ_MASK); Registers_::ACCEL_CONFIG | Registers_::READ_MASK);
const std::uint8_t new_config = const std::uint8_t new_config =
(current_config & 0xE7) | (std::uint8_t(scale) << 3); (current_config & 0xE7) | (std::uint8_t(scale) << 3);
registers.WriteRegister(_Registers::ACCEL_CONFIG & _Registers::WRITE_MASK, registers.writeRegister(Registers_::ACCEL_CONFIG & Registers_::WRITE_MASK,
new_config); new_config);
_scale_accel = scale; scale_accel_ = scale;
} }
void ReadGyro(float* output) override void readGyro(float* output) override
{ {
uint8_t data[6] = {0}; uint8_t data[6] = {0};
registers.ReadRegisterMultibyte( registers.readRegisterMultibyte(
_Registers::GYRO_XOUT_H | _Registers::READ_MASK, data, 6); Registers_::GYRO_XOUT_H | Registers_::READ_MASK, data, 6);
for (std::uint32_t i = 0; i < 3; i++) for (std::uint32_t i = 0; i < 3; i++)
{ {
const std::int16_t bit = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]); const std::int16_t bit = byteToTypeBE<std::int16_t, 2>(&data[i * 2]);
output[i] = GyroRawToReading(bit); output[i] = gyroRawToReading(bit);
} }
} }
void ReadGyroRaw(std::int16_t* output) override void readGyroRaw(std::int16_t* output) override
{ {
uint8_t data[6] = {0}; uint8_t data[6] = {0};
registers.ReadRegisterMultibyte( registers.readRegisterMultibyte(
_Registers::GYRO_XOUT_H | _Registers::READ_MASK, data, 6); Registers_::GYRO_XOUT_H | Registers_::READ_MASK, data, 6);
for (std::uint32_t i = 0; i < 3; i++) for (std::uint32_t i = 0; i < 3; i++)
{ {
output[i] = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]); output[i] = byteToTypeBE<std::int16_t, 2>(&data[i * 2]);
} }
} }
void ReadAccelerometer(float* output) override void readAccelerometer(float* output) override
{ {
uint8_t data[6] = {0}; uint8_t data[6] = {0};
registers.ReadRegisterMultibyte( registers.readRegisterMultibyte(
_Registers::ACCEL_XOUT_H | _Registers::READ_MASK, data, 6); Registers_::ACCEL_XOUT_H | Registers_::READ_MASK, data, 6);
for (std::uint32_t i = 0; i < 3; i++) for (std::uint32_t i = 0; i < 3; i++)
{ {
const std::int16_t bit = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]); const std::int16_t bit = byteToTypeBE<std::int16_t, 2>(&data[i * 2]);
output[i] = AccelerometerRawToReading(bit); output[i] = accelerometerRawToReading(bit);
} }
} }
void ReadAccelerometerRaw(std::int16_t* output) override void readAccelerometerRaw(std::int16_t* output) override
{ {
uint8_t data[6] = {0}; uint8_t data[6] = {0};
registers.ReadRegisterMultibyte( registers.readRegisterMultibyte(
_Registers::ACCEL_XOUT_H | _Registers::READ_MASK, data, 6); Registers_::ACCEL_XOUT_H | Registers_::READ_MASK, data, 6);
for (std::uint32_t i = 0; i < 3; i++) for (std::uint32_t i = 0; i < 3; i++)
{ {
output[i] = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]); output[i] = byteToTypeBE<std::int16_t, 2>(&data[i * 2]);
} }
} }
std::int16_t AccelerometerReadingToRaw(const float& fs) const std::int16_t accelerometerReadingToRaw(const float& fs) const
{ {
return fs / _accel_fs_to_bit_constants[std::uint32_t(_scale_accel)]; return fs / accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)];
} }
std::int16_t GyroReadingToRaw(const float& fs) const std::int16_t gyroReadingToRaw(const float& fs) const
{ {
return fs / _gyro_fs_to_bit_constants[std::uint32_t(_scale_gyro)]; return fs / gyro_fs_to_bit_constants_[std::uint32_t(scale_gyro_)];
} }
float AccelerometerRawToReading(const std::int16_t bit) const float accelerometerRawToReading(const std::int16_t bit) const
{ {
return float(bit) * _accel_fs_to_bit_constants[std::uint32_t(_scale_accel)]; return float(bit) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)];
} }
float GyroRawToReading(const std::int16_t bit) const float gyroRawToReading(const std::int16_t bit) const
{ {
return float(bit) * _gyro_fs_to_bit_constants[std::uint32_t(_scale_gyro)]; return float(bit) * gyro_fs_to_bit_constants_[std::uint32_t(scale_gyro_)];
} }
std::uint8_t readProductId() std::uint8_t readProductId()
{ {
return registers.ReadRegister(_Registers::WHO_AM_I | _Registers::READ_MASK); return registers.readRegister(Registers_::WHO_AM_I | Registers_::READ_MASK);
} }
private: private:
GyroScale _scale_gyro = GyroScale::DPS_2000; GyroScale scale_gyro_ = GyroScale::DPS_2000;
AccelerometerScale _scale_accel = AccelerometerScale::G16; AccelerometerScale scale_accel_ = AccelerometerScale::G16;
std::array<std::int16_t, 3> _bias_gyro; std::array<std::int16_t, 3> bias_gyro_;
std::array<std::int16_t, 3> _bias_accel; std::array<std::int16_t, 3> bias_accel_;
static constexpr float _accel_fs_to_bit_constants[4] = { static constexpr float accel_fs_to_bit_constants_[4] = {
(2.0f / 32768.0f), (4.0f / 32768.0f), (8.0f / 32768.0f), (2.0f / 32768.0f), (4.0f / 32768.0f), (8.0f / 32768.0f),
(16.0f / 32768.0f)}; (16.0f / 32768.0f)};
static constexpr float _gyro_fs_to_bit_constants[4] = { static constexpr float gyro_fs_to_bit_constants_[4] = {
(250.0f / 32768.0f), (500.0f / 32768.0f), (1000.0f / 32768.0f), (250.0f / 32768.0f), (500.0f / 32768.0f), (1000.0f / 32768.0f),
(2000.0f / 32768.0f)}; (2000.0f / 32768.0f)};
struct _Registers struct Registers_
{ {
static constexpr std::uint32_t ICM20689_ID = 0x98; static constexpr std::uint32_t ICM20689_ID = 0x98;
@ -295,11 +295,11 @@ private:
}; };
template<typename T, typename HAL> template<typename T, typename HAL>
constexpr float ImuIcm<T, HAL>::_accel_fs_to_bit_constants[4]; constexpr float ImuIcm<T, HAL>::accel_fs_to_bit_constants_[4];
template<typename T, typename HAL> template<typename T, typename HAL>
constexpr float ImuIcm<T, HAL>::_gyro_fs_to_bit_constants[4]; constexpr float ImuIcm<T, HAL>::gyro_fs_to_bit_constants_[4];
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_IMU_ICM_HPP_ */ #endif /* SKULLC_PERIPHERALS_IMU_ICM_HPP_ */

54
Peripherals/Inc/peripherals_ir_sensors.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_IR_SENSORS_HPP_ #ifndef SKULLC_PERIPHERALS_IR_SENSORS_HPP_
#define PERIPHERALS_IR_SENSORS_HPP_ #define SKULLC_PERIPHERALS_IR_SENSORS_HPP_
#include <cmath> #include <cmath>
#include <initializer_list> #include <initializer_list>
@ -31,23 +31,23 @@ public:
explicit IrSensors(ADC_HandleTypeDef* hadc, explicit IrSensors(ADC_HandleTypeDef* hadc,
const std::array<std::uint32_t, N>& channels, const std::array<std::uint32_t, N>& channels,
Args&&... gpios) Args&&... gpios)
: adc(hadc), _channels(channels), _gpios{std::forward<Args>(gpios)...} : adc(hadc), channels_(channels), gpios_{std::forward<Args>(gpios)...}
{ {
static_assert(sizeof...(Args) == N, "Not enough GPIOs passed."); static_assert(sizeof...(Args) == N, "Not enough GPIOs passed.");
} }
void startReading() void startReading()
{ {
for (auto& gpio : _gpios) for (auto& gpio : gpios_)
gpio.Set(true); gpio.set(true);
adc.startDma(); adc.startDma();
} }
void stopReading() void stopReading()
{ {
for (auto& gpio : _gpios) for (auto& gpio : gpios_)
gpio.Set(false); gpio.set(false);
adc.stopDma(); adc.stopDma();
} }
@ -56,8 +56,8 @@ public:
{ {
for (std::size_t i = 0; i < N; i++) for (std::size_t i = 0; i < N; i++)
{ {
_averages[i] -= _averages[i] / Average; averages_[i] -= averages_[i] / Average;
_averages[i] += adc.readings[i] / Average; averages_[i] += adc.readings[i] / Average;
} }
} }
@ -67,10 +67,10 @@ public:
for (std::size_t i = 0; i < N; i++) for (std::size_t i = 0; i < N; i++)
{ {
const float interim = _averages[i] - _offsets[i]; const float interim = averages_[i] - offsets_[i];
data[i].first = _multipliers[i] * std::pow(interim, _exponents[i]); data[i].first = multipliers_[i] * std::pow(interim, exponents_[i]);
data[i].second = data[i].first < _wall_thresholds[i]; data[i].second = data[i].first < wall_thresholds_[i];
} }
return data; return data;
@ -82,41 +82,41 @@ public:
for (std::uint32_t i = 0; i < samples; i++) for (std::uint32_t i = 0; i < samples; i++)
{ {
for (std::uint32_t ch = 0; ch < _channels.size(); ch++) for (std::uint32_t ch = 0; ch < channels_.size(); ch++)
measurements[ch] += adc.read(_channels[ch], sample_time, 100); measurements[ch] += adc.read(channels_[ch], sample_time, 100);
} }
for (std::uint32_t ch = 0; ch < _channels.size(); ch++) for (std::uint32_t ch = 0; ch < channels_.size(); ch++)
_offsets[ch] = std::uint16_t(measurements[ch] / samples); offsets_[ch] = std::uint16_t(measurements[ch] / samples);
} }
void setExponents(const std::array<float, N>& e) void setExponents(const std::array<float, N>& e)
{ {
_exponents = e; exponents_ = e;
} }
void setMultipliers(const std::array<float, N>& m) void setMultipliers(const std::array<float, N>& m)
{ {
_multipliers = m; multipliers_ = m;
} }
void setWallThresholds(const std::array<float, N>& t) void setWallThresholds(const std::array<float, N>& t)
{ {
_wall_thresholds = t; wall_thresholds_ = t;
} }
private: private:
std::array<std::uint32_t, N> _channels; std::array<std::uint32_t, N> channels_;
std::array<gpio, N> _gpios; std::array<gpio, N> gpios_;
std::array<std::uint16_t, N> _averages; std::array<std::uint16_t, N> averages_;
std::array<std::uint16_t, N> _offsets; std::array<std::uint16_t, N> offsets_;
std::array<float, N> _exponents; std::array<float, N> exponents_;
std::array<float, N> _multipliers; std::array<float, N> multipliers_;
std::array<float, N> _wall_thresholds; std::array<float, N> wall_thresholds_;
}; };
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_IR_SENSORS_HPP_ */ #endif /* SKULLC_PERIPHERALS_IR_SENSORS_HPP_ */

68
Peripherals/Inc/peripherals_motors.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_MOTORS_HPP_ #ifndef SKULLC_PERIPHERALS_MOTORS_HPP_
#define PERIPHERALS_MOTORS_HPP_ #define SKULLC_PERIPHERALS_MOTORS_HPP_
namespace Peripherals namespace Peripherals
{ {
@ -22,9 +22,9 @@ struct TwoChannelMotorData
class IMotors class IMotors
{ {
public: public:
virtual void Set(const std::int16_t left, const std::int16_t right) = 0; virtual void set(const std::int16_t left, const std::int16_t right) = 0;
virtual void Coast() = 0; virtual void coast() = 0;
virtual void Break() = 0; virtual void setBreak() = 0;
}; };
template<typename T, typename I> template<typename T, typename I>
@ -36,63 +36,63 @@ public:
DualDrvMotors(const single_motor& left, const single_motor& right, DualDrvMotors(const single_motor& left, const single_motor& right,
const gpio& sleep_pin) const gpio& sleep_pin)
: _left(left), _right(right), _sleep_pin(sleep_pin) : left_(left), right_(right), sleep_pin_(sleep_pin)
{ {
_left.forward.Enable(); left_.forward.enable();
_left.backward.Enable(); left_.backward.enable();
_right.forward.Enable(); right_.forward.enable();
_right.backward.Enable(); right_.backward.enable();
Set(0, 0); set(0, 0);
} }
virtual void Set(const std::int16_t left, const std::int16_t right) override virtual void set(const std::int16_t left, const std::int16_t right) override
{ {
if (left > 0) if (left > 0)
{ {
_left.forward.SetCompare(left); left_.forward.setCompare(left);
_left.backward.SetCompare(0); left_.backward.setCompare(0);
} else } else
{ {
_left.forward.SetCompare(0); left_.forward.setCompare(0);
_left.backward.SetCompare(-1 * left); left_.backward.setCompare(-1 * left);
} }
if (right > 0) if (right > 0)
{ {
_right.forward.SetCompare(right); right_.forward.setCompare(right);
_right.backward.SetCompare(0); right_.backward.setCompare(0);
} else } else
{ {
_right.forward.SetCompare(0); right_.forward.setCompare(0);
_right.backward.SetCompare(-1 * right); right_.backward.setCompare(-1 * right);
} }
} }
virtual void Coast() override virtual void coast() override
{ {
_left.forward.SetCompare(0); left_.forward.setCompare(0);
_left.backward.SetCompare(0); left_.backward.setCompare(0);
_right.forward.SetCompare(0); right_.forward.setCompare(0);
_right.backward.SetCompare(0); right_.backward.setCompare(0);
} }
virtual void Break() override virtual void setBreak() override
{ {
_left.forward.SetCompare(_left.forward.MaxValue()); left_.forward.setCompare(left_.forward.maxValue());
_left.backward.SetCompare(_left.backward.MaxValue()); left_.backward.setCompare(left_.backward.maxValue());
_right.forward.SetCompare(_right.forward.MaxValue()); right_.forward.setCompare(right_.forward.maxValue());
_right.backward.SetCompare(_right.backward.MaxValue()); right_.backward.setCompare(right_.backward.maxValue());
} }
private: private:
single_motor _left; single_motor left_;
single_motor _right; single_motor right_;
gpio _sleep_pin; gpio sleep_pin_;
}; };
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_MOTORS_HPP_ */ #endif /* SKULLC_PERIPHERALS_MOTORS_HPP_ */

43
Peripherals/Inc/peripherals_pwm_channel.hpp
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@ -1,43 +0,0 @@
/*
* peripherals_pwm.hpp
*
* Created on: Feb 24, 2021
* Author: erki
*/
#ifndef PERIPHERALS_PWM_CHANNEL_HPP_
#define PERIPHERALS_PWM_CHANNEL_HPP_
#include <cstdint>
#include <tim.h>
#include "peripherals_io.hpp"
namespace Peripherals
{
struct PwmChannel
{
TIM_HandleTypeDef* timer;
std::uint32_t channel;
std::uint32_t timer_code;
Io pin;
PwmChannel() = delete;
PwmChannel(TIM_HandleTypeDef* timer, const std::uint32_t channel,
const std::uint32_t timer_code, const Io& pin);
void PinToPwm();
void PinToGpio();
void Enable();
void Disable();
void SetCompare(const std::uint32_t compare);
};
}// namespace Peripherals
#endif /* PERIPHERALS_PWM_CHANNEL_HPP_ */

58
Peripherals/Inc/peripherals_rgb.hpp
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@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_INC_PERIPHERALS_RGB_HPP_ #ifndef SKULLC_PERIPHERALS_RGB_HPP_
#define PERIPHERALS_INC_PERIPHERALS_RGB_HPP_ #define SKULLC_PERIPHERALS_RGB_HPP_
namespace Peripherals namespace Peripherals
{ {
@ -38,54 +38,54 @@ struct Rgb
Rgb(const IOType& r, const IOType& g, const IOType& b) Rgb(const IOType& r, const IOType& g, const IOType& b)
: red(r), green(g), blue(b) : red(r), green(g), blue(b)
{ {
Set(RgbColor::OFF); set(RgbColor::OFF);
} }
void Set(const RgbColor& new_color) void set(const RgbColor& new_color)
{ {
color = new_color; color = new_color;
switch (color) switch (color)
{ {
case RgbColor::OFF: case RgbColor::OFF:
red.Set(false); red.set(false);
green.Set(false); green.set(false);
blue.Set(false); blue.set(false);
break; break;
case RgbColor::RED: case RgbColor::RED:
red.Set(true); red.set(true);
green.Set(false); green.set(false);
blue.Set(false); blue.set(false);
break; break;
case RgbColor::GREEN: case RgbColor::GREEN:
red.Set(false); red.set(false);
green.Set(true); green.set(true);
blue.Set(false); blue.set(false);
break; break;
case RgbColor::BLUE: case RgbColor::BLUE:
red.Set(false); red.set(false);
green.Set(false); green.set(false);
blue.Set(true); blue.set(true);
break; break;
case RgbColor::CYAN: case RgbColor::CYAN:
red.Set(false); red.set(false);
green.Set(true); green.set(true);
blue.Set(true); blue.set(true);
break; break;
case RgbColor::PINK: case RgbColor::PINK:
red.Set(true); red.set(true);
green.Set(false); green.set(false);
blue.Set(true); blue.set(true);
break; break;
case RgbColor::YELLOW: case RgbColor::YELLOW:
red.Set(true); red.set(true);
green.Set(true); green.set(true);
blue.Set(false); blue.set(false);
break; break;
case RgbColor::WHITE: case RgbColor::WHITE:
red.Set(true); red.set(true);
green.Set(true); green.set(true);
blue.Set(true); blue.set(true);
break; break;
} }
} }
@ -93,4 +93,4 @@ struct Rgb
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_INC_PERIPHERALS_RGB_HPP_ */ #endif /* SKULLC_PERIPHERALS_RGB_HPP_ */

56
Peripherals/Inc/peripherals_ssd1306_display.hpp
View File

@ -40,30 +40,30 @@ struct SSD1306WriteAdapter
*/ */
void writeCommand(std::uint8_t data) void writeCommand(std::uint8_t data)
{ {
dc.Set(false); dc.set(false);
cs.Set(false); cs.set(false);
registers.Transmit(&data, 1); registers.transmit(&data, 1);
cs.Set(true); cs.set(true);
} }
void writeCommand(std::uint8_t command, std::uint8_t data) void writeCommand(std::uint8_t command, std::uint8_t data)
{ {
dc.Set(false); dc.set(false);
cs.Set(false); cs.set(false);
registers.Transmit(&command, 1); registers.transmit(&command, 1);
registers.Transmit(&data, 1); registers.transmit(&data, 1);
cs.Set(true); cs.set(true);
} }
void writeData(std::uint8_t* data, const std::uint32_t len) void writeData(std::uint8_t* data, const std::uint32_t len)
{ {
dc.Set(true); dc.set(true);
cs.Set(false); cs.set(false);
registers.Transmit(data, len); registers.transmit(data, len);
cs.Set(true); cs.set(true);
} }
}; };
@ -100,29 +100,29 @@ public:
void setup() void setup()
{ {
hal::Delay(1); hal::delay(1);
reset_.Set(false); reset_.set(false);
hal::Delay(5); hal::delay(5);
reset_.Set(true); reset_.set(true);
hal::Delay(5); hal::delay(5);
// reference impl: https://gitlab.com/TTYRobotiklubi/micromouse/mousetrap2/-/blob/master/Src/Peripherals/lcd.c // reference impl: https://gitlab.com/TTYRobotiklubi/micromouse/mousetrap2/-/blob/master/Src/Peripherals/lcd.c
//Set the display to sleep mode for the rest of the init. //set the display to sleep mode for the rest of the init.
registers_.writeCommand(Regs_::DISPLAY_OFF_YES_SLEEP); registers_.writeCommand(Regs_::DISPLAY_OFF_YES_SLEEP);
//Set the clock speed, nominal ~105FPS //set the clock speed, nominal ~105FPS
//Low nibble is divide ratio //Low nibble is divide ratio
//High level is oscillator frequency. Should be about 177 Hz. //High level is oscillator frequency. Should be about 177 Hz.
registers_.writeCommand(Regs_::CLOCK_DIVIDE_PREFIX, 0x80); registers_.writeCommand(Regs_::CLOCK_DIVIDE_PREFIX, 0x80);
//Set the multiplex ratio to 1/32 //set the multiplex ratio to 1/32
//Default is 0x3F (1/64 Duty), we need 0x1F (1/32 Duty) //Default is 0x3F (1/64 Duty), we need 0x1F (1/32 Duty)
registers_.writeCommand(Regs_::MULTIPLEX_RATIO_PREFIX, 0x1F); registers_.writeCommand(Regs_::MULTIPLEX_RATIO_PREFIX, 0x1F);
//Set the display offset to 0 (default) //set the display offset to 0 (default)
registers_.writeCommand(Regs_::DISPLAY_OFFSET_PREFIX, 0x00); registers_.writeCommand(Regs_::DISPLAY_OFFSET_PREFIX, 0x00);
//Set the display RAM display start line to 0 (default) //set the display RAM display start line to 0 (default)
//Bits 0-5 can be set to 0-63 with a bitwise or //Bits 0-5 can be set to 0-63 with a bitwise or
registers_.writeCommand(Regs_::DISPLAY_START_LINE); registers_.writeCommand(Regs_::DISPLAY_START_LINE);
@ -132,24 +132,24 @@ public:
//Map the columns correctly for our OLED glass layout. //Map the columns correctly for our OLED glass layout.
registers_.writeCommand(Regs_::SEG0_IS_COL_0); registers_.writeCommand(Regs_::SEG0_IS_COL_0);
//Set COM output scan correctly for our OLED glass layout. //set COM output scan correctly for our OLED glass layout.
registers_.writeCommand(Regs_::SCAN_DIR_UP); registers_.writeCommand(Regs_::SCAN_DIR_UP);
//Set COM pins correctly for our OLED glass layout //set COM pins correctly for our OLED glass layout
registers_.writeCommand(Regs_::COM_CONFIG_PREFIX, Regs_::COM_CONFIG_SEQUENTIAL_LEFT); registers_.writeCommand(Regs_::COM_CONFIG_PREFIX, Regs_::COM_CONFIG_SEQUENTIAL_LEFT);
// Contrast. // Contrast.
registers_.writeCommand(Regs_::CONTRAST_PREFIX, 0xBF); registers_.writeCommand(Regs_::CONTRAST_PREFIX, 0xBF);
// Set precharge (low nibble) / discharge (high nibble) timing. // set precharge (low nibble) / discharge (high nibble) timing.
// precharge = 1 clock // precharge = 1 clock
// discharge = 15 clocks // discharge = 15 clocks
registers_.writeCommand(Regs_::PRECHARGE_PERIOD_PREFIX, 0xF1); registers_.writeCommand(Regs_::PRECHARGE_PERIOD_PREFIX, 0xF1);
// Set VCOM deselect level. // set VCOM deselect level.
registers_.writeCommand(Regs_::VCOMH_DESELECT_PREFIX, Regs_::VCOMH_DESELECT_0p83xVCC); registers_.writeCommand(Regs_::VCOMH_DESELECT_PREFIX, Regs_::VCOMH_DESELECT_0p83xVCC);
// Set display to normal. // set display to normal.
registers_.writeCommand(Regs_::ENTIRE_DISPLAY_NORMAL); registers_.writeCommand(Regs_::ENTIRE_DISPLAY_NORMAL);
// Uninvert the display. // Uninvert the display.

12
Peripherals/Inc/peripherals_utility.hpp
View File

@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef PERIPHERALS_UTILITY_HPP_ #ifndef SKULLC_PERIPHERALS_UTILITY_HPP_
#define PERIPHERALS_UTILITY_HPP_ #define SKULLC_PERIPHERALS_UTILITY_HPP_
#include <cstdint> #include <cstdint>
#include <cstring> #include <cstring>
@ -20,7 +20,7 @@ namespace Peripherals
#define SKULLC_TAG struct SKULLC_CONCAT(SkullCTag_, __COUNTER__) #define SKULLC_TAG struct SKULLC_CONCAT(SkullCTag_, __COUNTER__)
template<typename T> template<typename T>
constexpr const T& Clamp(const T& v, const T& lo, const T& hi) constexpr const T& clamp(const T& v, const T& lo, const T& hi)
{ {
if (v > hi) if (v > hi)
return hi; return hi;
@ -31,7 +31,7 @@ constexpr const T& Clamp(const T& v, const T& lo, const T& hi)
} }
template<typename T, std::size_t N> template<typename T, std::size_t N>
T ByteToTypeBE(const std::uint8_t a[N]) T byteToTypeBE(const std::uint8_t a[N])
{ {
T t(0); T t(0);
@ -44,7 +44,7 @@ T ByteToTypeBE(const std::uint8_t a[N])
} }
template<typename T, std::size_t N> template<typename T, std::size_t N>
T ByteToTypeLE(const std::uint8_t a[N]) T byteToTypeLE(const std::uint8_t a[N])
{ {
T t(0); T t(0);
@ -69,4 +69,4 @@ constexpr T zeroInitialized()
}// namespace Peripherals }// namespace Peripherals
#endif /* PERIPHERALS_UTILITY_HPP_ */ #endif /* SKULLC_PERIPHERALS_UTILITY_HPP_ */

43
Utility/Inc/utility_asynclogger.hpp
View File

@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef UTILITY_INC_UTILITY_ASYNCLOGGER_HPP_ #ifndef SKULLC_UTILITY_ASYNCLOGGER_HPP_
#define UTILITY_INC_UTILITY_ASYNCLOGGER_HPP_ #define SKULLC_UTILITY_ASYNCLOGGER_HPP_
#include "utility_atomicscopeguard.hpp" #include "utility_atomicscopeguard.hpp"
#include "utility_ilogger.hpp" #include "utility_ilogger.hpp"
@ -28,7 +28,7 @@ public:
using hal = H; using hal = H;
AsyncLogger() = delete; AsyncLogger() = delete;
explicit AsyncLogger(const serial_interface& serial) : _serial(serial) {} explicit AsyncLogger(const serial_interface& serial) : serial_(serial) {}
AsyncLogger(const AsyncLogger&) = delete; AsyncLogger(const AsyncLogger&) = delete;
AsyncLogger(AsyncLogger&&) = delete; AsyncLogger(AsyncLogger&&) = delete;
@ -40,23 +40,23 @@ public:
{ {
AtomicScopeGuard<hal> s; AtomicScopeGuard<hal> s;
if (_buffer_queue.size() == _buffer_queue.max_size()) if (buffer_queue_.size() == buffer_queue_.max_size())
return; return;
} }
std::va_list args; std::va_list args;
va_start(args, format); va_start(args, format);
_Data& tail = (*_buffer_queue.end()); Data_& tail = (*buffer_queue_.end());
tail.length = tail.length =
vsnprintf(tail.buffer.data(), tail.buffer.size(), format, args); vsnprintf(tail.buffer.data(), tail.buffer.size(), format, args);
{ {
AtomicScopeGuard<hal> s; AtomicScopeGuard<hal> s;
_buffer_queue.increment_tail(); buffer_queue_.increment_tail();
if (!_in_flight) if (!in_flight_)
_sendNextLog(); sendNextLog_();
} }
va_end(args); va_end(args);
@ -64,34 +64,35 @@ public:
void txCompleteCallback() void txCompleteCallback()
{ {
if (!_buffer_queue.empty()) if (!buffer_queue_.empty())
_sendNextLog(); sendNextLog_();
else else
_in_flight = false; in_flight_ = false;
} }
private: private:
struct _Data struct Data_
{ {
std::array<char, BufferSize> buffer; std::array<char, BufferSize> buffer;
std::int32_t length = 0; std::int32_t length = 0;
}; };
Ringbuffer<_Data, BufferCount> _buffer_queue; Ringbuffer<Data_, BufferCount> buffer_queue_;
serial_interface _serial; serial_interface serial_;
bool _in_flight = false; /// @todo: thread safety
bool in_flight_ = false;
void _sendNextLog() void sendNextLog_()
{ {
_in_flight = true; in_flight_ = true;
_Data& head = _buffer_queue.front(); Data_& head = buffer_queue_.front();
_serial.Transmit(reinterpret_cast<uint8_t*>(head.buffer.data()), serial_.transmit(reinterpret_cast<uint8_t*>(head.buffer.data()),
head.length); head.length);
_buffer_queue.pop_front(); buffer_queue_.pop_front();
} }
}; };
}// namespace Utility }// namespace Utility
#endif /* UTILITY_INC_UTILITY_ASYNCLOGGER_HPP_ */ #endif /* SKULLC_UTILITY_ASYNCLOGGER_HPP_ */

16
Utility/Inc/utility_atomicscopeguard.hpp
View File

@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef UTILITY_INC_UTILITY_ATOMICSCOPEGUARD_HPP_ #ifndef SKULLC_UTILITY_ATOMICSCOPEGUARD_HPP_
#define UTILITY_INC_UTILITY_ATOMICSCOPEGUARD_HPP_ #define SKULLC_UTILITY_ATOMICSCOPEGUARD_HPP_
#include <cstdint> #include <cstdint>
@ -20,7 +20,7 @@ struct AtomicScopeGuard
AtomicScopeGuard() AtomicScopeGuard()
{ {
hal::disableInterrupts(); hal::disableInterrupts();
_reentrancy_counter++; reentrancy_counter_++;
} }
AtomicScopeGuard(const AtomicScopeGuard&) = delete; AtomicScopeGuard(const AtomicScopeGuard&) = delete;
@ -30,19 +30,19 @@ struct AtomicScopeGuard
~AtomicScopeGuard() ~AtomicScopeGuard()
{ {
_reentrancy_counter--; reentrancy_counter_--;
if (!_reentrancy_counter) if (!reentrancy_counter_)
hal::enableInterrupts(); hal::enableInterrupts();
} }
private: private:
static std::int32_t _reentrancy_counter; static std::int32_t reentrancy_counter_;
}; };
template<typename H> template<typename H>
std::int32_t AtomicScopeGuard<H>::_reentrancy_counter = 0; std::int32_t AtomicScopeGuard<H>::reentrancy_counter_ = 0;
}// namespace Utility }// namespace Utility
#endif /* UTILITY_INC_UTILITY_ATOMICSCOPEGUARD_HPP_ */ #endif /* SKULLC_UTILITY_ATOMICSCOPEGUARD_HPP_ */

6
Utility/Inc/utility_fixedpoint.hpp
View File

@ -2,8 +2,8 @@
// Created by erki on 30.04.21. // Created by erki on 30.04.21.
// //
#ifndef SKULLC_UTILITY_FIXEDPOINT_HPP #ifndef SKULLC_UTILITY_FIXEDPOINT_HPP_
#define SKULLC_UTILITY_FIXEDPOINT_HPP #define SKULLC_UTILITY_FIXEDPOINT_HPP_
#include <cmath> #include <cmath>
#include <cstdint> #include <cstdint>
@ -303,4 +303,4 @@ using Q31 = FixedPoint<std::int32_t, 31>;
}// namespace Peripherals }// namespace Peripherals
#endif//SKULLC_UTILITY_FIXEDPOINT_HPP #endif//SKULLC_UTILITY_FIXEDPOINT_HPP_

6
Utility/Inc/utility_logging.hpp
View File

@ -2,8 +2,8 @@
// Created by erki on 14.03.21. // Created by erki on 14.03.21.
// //
#ifndef UTILITY_LOGGING_HPP_ #ifndef SKULLC_UTILITY_LOGGING_HPP_
#define UTILITY_LOGGING_HPP_ #define SKULLC_UTILITY_LOGGING_HPP_
#include "utility_ilogger.hpp" #include "utility_ilogger.hpp"
@ -34,4 +34,4 @@ void setLogger(ILogger& log);
}// namespace Utility }// namespace Utility
#endif// UTILITY_LOGGING_HPP_ #endif// SKULLC_UTILITY_LOGGING_HPP_

6
Utility/Inc/utility_pixelbuffer_effects.hpp
View File

@ -2,8 +2,8 @@
// Created by erki on 16.05.21. // Created by erki on 16.05.21.
// //
#ifndef SKULLC_UTILITY_PIXELBUFFER_EFFECTS_HPP #ifndef SKULLC_UTILITY_PIXELBUFFER_EFFECTS_HPP_
#define SKULLC_UTILITY_PIXELBUFFER_EFFECTS_HPP #define SKULLC_UTILITY_PIXELBUFFER_EFFECTS_HPP_
#include <cstdint> #include <cstdint>
#include <string_view> #include <string_view>
@ -115,4 +115,4 @@ class ScreenScroll
}// namespace Effects }// namespace Effects
}// namespace Utility }// namespace Utility
#endif//SKULLC_UTILITY_PIXELBUFFER_EFFECTS_HPP #endif//SKULLC_UTILITY_PIXELBUFFER_EFFECTS_HPP_

10
Utility/Inc/utility_rand.hpp
View File

@ -2,12 +2,12 @@
// Created by erki on 29.04.21. // Created by erki on 29.04.21.
// //
#ifndef SKULLC_UTILITY_RAND_HPP #ifndef SKULLC_UTILITY_RAND_HPP_
#define SKULLC_UTILITY_RAND_HPP #define SKULLC_UTILITY_RAND_HPP_
#include <cstdint> #include <cstdint>
namespace Peripherals namespace Utility
{ {
inline std::uint32_t rand32(std::uint32_t& state) inline std::uint32_t rand32(std::uint32_t& state)
@ -35,6 +35,6 @@ inline std::uint64_t rand64(std::uint64_t& state)
void srand(const std::uint32_t& seed); void srand(const std::uint32_t& seed);
std::uint32_t rand(); std::uint32_t rand();
}// namespace Peripherals }// namespace Utility
#endif//SKULLC_UTILITY_RAND_HPP #endif//SKULLC_UTILITY_RAND_HPP_

64
Utility/Inc/utility_ringbuffer.hpp
View File

@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef UTILITY_RINGBUFFER_HPP_ #ifndef SKULLC_UTILITY_RINGBUFFER_HPP_
#define UTILITY_RINGBUFFER_HPP_ #define SKULLC_UTILITY_RINGBUFFER_HPP_
#include <array> #include <array>
#include <cstddef> #include <cstddef>
@ -116,27 +116,27 @@ public:
pointer _arr_end; pointer _arr_end;
}; };
Ringbuffer() : _head(&_data[0], &_data[0], &_data[N]), _tail(_head) {} Ringbuffer() : head_(&data_[0], &data_[0], &data_[N]), tail_(head_) {}
Ringbuffer(const Ringbuffer&) = delete; Ringbuffer(const Ringbuffer&) = delete;
Ringbuffer(Ringbuffer&&) noexcept = default; Ringbuffer(Ringbuffer&&) noexcept = default;
iterator begin() { return _head; } iterator begin() { return head_; }
iterator end() { return _tail; } iterator end() { return tail_; }
void clear() { _head = _tail; } void clear() { head_ = tail_; }
void push_back(const T& value) void push_back(const T& value)
{ {
if (size() == N) if (size() == N)
return; return;
*_tail = value; *tail_ = value;
++_tail; ++tail_;
if (_tail == _head) if (tail_ == head_)
_is_full = true; is_full_ = true;
} }
template<typename... Args> template<typename... Args>
@ -145,16 +145,16 @@ public:
if (size() == N) if (size() == N)
return; return;
new (&*_tail) T(std::forward<Args>(args)...); new (&*tail_) T(std::forward<Args>(args)...);
++_tail; ++tail_;
} }
void increment_tail() void increment_tail()
{ {
if (_is_full) if (is_full_)
++_head; ++head_;
++_tail; ++tail_;
} }
void pop_front() void pop_front()
@ -162,49 +162,49 @@ public:
if (empty()) if (empty())
return; return;
++_head; ++head_;
_is_full = false; is_full_ = false;
} }
reference front() { return *_head; } reference front() { return *head_; }
const_reference front() const { return *_head; } const_reference front() const { return *head_; }
reference back() reference back()
{ {
if (empty()) if (empty())
return *_tail; return *tail_;
else else
return *(_tail - 1); return *(tail_ - 1);
} }
const_reference back() const const_reference back() const
{ {
if (empty()) if (empty())
return *_tail; return *tail_;
else else
return *(_tail - 1); return *(tail_ - 1);
} }
size_type size() const size_type size() const
{ {
if (_head == _tail) if (head_ == tail_)
{ {
if (_is_full) if (is_full_)
return N; return N;
else else
return 0; return 0;
} }
const typename Ringbuffer<T, N>::iterator::difference_type distance = const typename Ringbuffer<T, N>::iterator::difference_type distance =
_tail - _head; tail_ - head_;
if (distance > 0) if (distance > 0)
{ {
return distance; return distance;
} else } else
{ {
return _head - _tail + 1; return head_ - tail_ + 1;
} }
} }
@ -213,13 +213,13 @@ public:
bool empty() const { return size() == 0; } bool empty() const { return size() == 0; }
private: private:
std::array<T, N> _data; std::array<T, N> data_;
bool _is_full = false; bool is_full_ = false;
iterator _head; iterator head_;
iterator _tail; iterator tail_;
}; };
}// namespace Utility }// namespace Utility
#endif /* UTILITY_RINGBUFFER_HPP_ */ #endif /* SKULLC_UTILITY_RINGBUFFER_HPP_ */

16
Utility/Inc/utility_seriallogger.hpp
View File

@ -5,8 +5,8 @@
* Author: erki * Author: erki
*/ */
#ifndef UTILITY_INC_UTILITY_SERIALLOGGER_HPP_ #ifndef SKULLC_UTILITY_SERIALLOGGER_HPP_
#define UTILITY_INC_UTILITY_SERIALLOGGER_HPP_ #define SKULLC_UTILITY_SERIALLOGGER_HPP_
#include <array> #include <array>
#include <cstdarg> #include <cstdarg>
@ -24,7 +24,7 @@ public:
using serial_interface = T; using serial_interface = T;
SerialLogger() = delete; SerialLogger() = delete;
explicit SerialLogger(const serial_interface& serial) : _serial(serial) {} explicit SerialLogger(const serial_interface& serial) : serial_(serial) {}
void log(const char* format, ...) override void log(const char* format, ...) override
{ {
@ -32,19 +32,19 @@ public:
va_start(args, format); va_start(args, format);
const std::int32_t len = const std::int32_t len =
vsnprintf(_buffer.data(), _buffer.size(), format, args); vsnprintf(buffer_.data(), buffer_.size(), format, args);
if (len > 0) if (len > 0)
_serial.Transmit(reinterpret_cast<std::uint8_t*>(_buffer.data()), len); serial_.transmit(reinterpret_cast<std::uint8_t*>(buffer_.data()), len);
va_end(args); va_end(args);
} }
private: private:
serial_interface _serial; serial_interface serial_;
std::array<char, N> _buffer; std::array<char, N> buffer_;
}; };
}// namespace Utility }// namespace Utility
#endif /* UTILITY_INC_UTILITY_SERIALLOGGER_HPP_ */ #endif /* SKULLC_UTILITY_SERIALLOGGER_HPP_ */

4
Utility/Src/utility_rand.cpp
View File

@ -11,7 +11,7 @@ std::uint32_t rand_state = 0;
} }
namespace Peripherals namespace Utility
{ {
void srand(const std::uint32_t& seed) void srand(const std::uint32_t& seed)
@ -24,4 +24,4 @@ std::uint32_t rand()
return rand32(rand_state); return rand32(rand_state);
} }
}// namespace Peripherals }// namespace Utility