Peripherals/Inc/peripherals_adc.hpp

@@ -25,6 +25,7 @@ struct Adc
   static constexpr std::uint32_t readingsCount() { return N; }
 
   Adc() = delete;
+
   explicit Adc(ADC_HandleTypeDef* hadc) : hadc(hadc) {}
 
   Adc(const Adc&) = delete;
@@ -32,7 +33,7 @@ struct Adc
   Adc& operator=(const Adc&) = delete;
   Adc& operator=(Adc&&) = delete;
 
-  std::uint16_t read(const std::uint32_t channel, const std::uint32_t sampling_time, const std::uint32_t timeout = 100)
+  std::uint16_t read(const std::uint8_t channel, std::uint32_t sampling_time)
   {
     ADC_ChannelConfTypeDef conf;
 
@@ -43,7 +44,7 @@ struct Adc
     HAL_ADC_ConfigChannel(hadc, &conf);
 
     HAL_ADC_Start(hadc);
-    HAL_ADC_PollForConversion(hadc, timeout);
+    HAL_ADC_PollForConversion(hadc, 100);
 
     return HAL_ADC_GetValue(hadc);
   }

Peripherals/Inc/peripherals_hal_st.hpp

@@ -70,8 +70,8 @@ struct StaticHal
 
 struct Gpio
 {
-  GPIO_TypeDef* port = nullptr;
+  GPIO_TypeDef* port;
-  std::uint16_t pin = 0;
+  std::uint16_t pin;
 
   Gpio() = delete;
   explicit Gpio(GPIO_TypeDef* port, const std::uint16_t pin)
@@ -87,9 +87,6 @@ struct Gpio
   bool Read() const { return HAL_GPIO_ReadPin(port, pin); }
 };
 
-#define CREATE_GPIO(name) \
-  Peripherals::Hal::St::Gpio { name##_GPIO_Port, name##_Pin }
-
 #endif// HAL_GPIO_MODULE_ENABLED
 
 template<

Peripherals/Inc/peripherals_imu_icm.hpp

@@ -222,11 +222,6 @@ public:
     return float(bit) * _gyro_fs_to_bit_constants[std::uint32_t(_scale_gyro)];
   }
 
-  std::uint8_t readProductId()
-  {
-    return registers.ReadRegister(_Registers::WHO_AM_I | _Registers::READ_MASK);
-  }
-
 private:
   GyroScale _scale_gyro = GyroScale::DPS_2000;
   AccelerometerScale _scale_accel = AccelerometerScale::G16;

Peripherals/Inc/peripherals_ir_sensors.hpp

@@ -1,122 +0,0 @@
-/*
- * peripherals_ir_sensors.hpp
- *
- *  Created on: Apr 10, 2021
- *      Author: erki
- */
-
-#ifndef PERIPHERALS_IR_SENSORS_HPP_
-#define PERIPHERALS_IR_SENSORS_HPP_
-
-#include <cmath>
-#include <initializer_list>
-#include <tuple>
-
-#include <peripherals_adc.hpp>
-
-namespace Peripherals
-{
-
-template<typename G, std::size_t N, std::size_t Average>
-class IrSensors
-{
-public:
-  using gpio = G;
-
-  Adc<N> adc;
-
-  IrSensors() = delete;
-
-  template<typename... Args>
-  explicit IrSensors(ADC_HandleTypeDef* hadc,
-                     const std::array<std::uint32_t, N>& channels,
-                     Args&&... gpios)
-      : adc(hadc), _channels(channels), _gpios{std::forward<Args>(gpios)...}
-  {
-    static_assert(sizeof...(Args) == N, "Not enough GPIOs passed.");
-  }
-
-  void startReading()
-  {
-    for (auto& gpio : _gpios)
-      gpio.Set(true);
-
-    adc.startDma();
-  }
-
-  void stopReading()
-  {
-    for (auto& gpio : _gpios)
-      gpio.Set(false);
-
-    adc.stopDma();
-  }
-
-  void updateReadings()
-  {
-    for (std::size_t i = 0; i < N; i++)
-    {
-      _averages[i] -= _averages[i] / Average;
-      _averages[i] += adc.readings[i] / Average;
-    }
-  }
-
-  std::array<std::pair<float, bool>, N> getDistanceData()
-  {
-    std::array<std::pair<float, bool>, N> data;
-
-    for (std::size_t i = 0; i < N; i++)
-    {
-      const float interim = _averages[i] - _offsets[i];
-
-      data[i].first = _multipliers[i] * std::pow(interim, _exponents[i]);
-      data[i].second = data[i].first < _wall_thresholds[i];
-    }
-
-    return data;
-  }
-
-  void calibrate(const std::uint32_t samples, const std::uint32_t sample_time)
-  {
-    std::array<std::uint32_t, N> measurements;
-
-    for (std::uint32_t i = 0; i < samples; i++)
-    {
-      for (std::uint32_t ch = 0; ch < _channels.size(); ch++)
-        measurements[ch] += adc.read(_channels[ch], sample_time, 100);
-    }
-
-    for (std::uint32_t ch = 0; ch < _channels.size(); ch++)
-      _offsets[ch] = std::uint16_t(measurements[ch] / samples);
-  }
-
-  void setExponents(const std::array<float, N>& e)
-  {
-    _exponents = e;
-  }
-
-  void setMultipliers(const std::array<float, N>& m)
-  {
-    _multipliers = m;
-  }
-
-  void setWallThresholds(const std::array<float, N>& t)
-  {
-    _wall_thresholds = t;
-  }
-
-private:
-  std::array<std::uint32_t, N> _channels;
-  std::array<gpio, N> _gpios;
-  std::array<std::uint16_t, N> _averages;
-
-  std::array<std::uint16_t, N> _offsets;
-  std::array<float, N> _exponents;
-  std::array<float, N> _multipliers;
-  std::array<float, N> _wall_thresholds;
-};
-
-}// namespace Peripherals
-
-
-#endif /* PERIPHERALS_IR_SENSORS_HPP_ */

format.sh

@@ -1,3 +0,0 @@
-#!/bin/bash
-
-find . -regex '.*\.\(cpp\|hpp\|cu\|c\|h\)' -exec clang-format -style=file -i {} \;