fix gpio

RaccoonlabDev · Sep 5, 2024 · 1e43c46 · 1e43c46
1 parent 3bfb656
commit 1e43c46
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Showing 5 changed files with 27 additions and 35 deletions.
diff --git a/Src/applications/cyphal/README.md b/Src/applications/cyphal/README.md
@@ -18,9 +18,10 @@ The node has the following registers:
 | №  | Register name           | Description |
 | -- | ----------------------- | ----------- |
 |  1 | uavcan.node.id          | Defines a node-ID. Allowed values [0,127]. |
-|  2 | system.name             | Defines custom node name. If empty, the node will use the default name. |
-|  3 | system.protocol         | Auto, Cyphal/CAN or DroneCAN |
-|  4 | uavcan.node.description | User/integrator-defined, human-readable description of this specific node. |
+|  2 | system.can_terminator   | Bitmask which switch can terminators (0 - both off, 1 - enables second, 2 - enables first, 3 - enables both). Works only for v3. |
+|  3 | system.name             | Defines custom node name. If empty, the node will use the default name. |
+|  4 | system.protocol         | Auto, Cyphal/CAN or DroneCAN |
+|  5 | uavcan.node.description | User/integrator-defined, human-readable description of this specific node. |
 
 > This docs was automatically generated. Do not edit it manually.
 
diff --git a/Src/common/application.cpp b/Src/common/application.cpp
@@ -25,10 +25,9 @@ static int8_t init_board_periphery() {
     auto libparams_strings_amount = NUM_OF_STR_PARAMS;
     paramsInit(libparams_integers_amount, libparams_strings_amount, -1, 1);
     paramsLoad();
-    #if defined(CAN1_TERMINATOR) && defined(CAN2_TERMINATOR)
+
+#if defined(CAN1_TERMINATOR_Pin) && defined(CAN2_TERMINATOR_Pin)
     auto teminator_parm = paramsGetIntegerValue(IntParamsIndexes::PARAM_SYSTEM_CAN_TEMINATOR);
-    GPIOPeriphery::set(GPIOPin::TERMINATOR1);
-    GPIOPeriphery::set(GPIOPin::TERMINATOR2);
 
     std::bitset<2> terminator_mask(teminator_parm);
     for (uint8_t i = 0; i < 2; i++) {
@@ -38,7 +37,7 @@ static int8_t init_board_periphery() {
             GPIOPeriphery::reset(GPIOPin(i));
         }
     }
-    #endif
+#endif
     return 0;
 }
 

diff --git a/Src/periphery/gpio/gpio.hpp b/Src/periphery/gpio/gpio.hpp
@@ -7,20 +7,18 @@
 #define SRC_PERIPHERY_GPIO_HPP_
 
 #include <stdint.h>
-#include "logger.hpp"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 enum class GPIOPin {
-    TERMINATOR1,
-    TERMINATOR2,
+    CAN_TERMINATOR1,
+    CAN_TERMINATOR2,
     GPIO_AMOUNT,
 };
 
 class GPIOPeriphery {
-    static Logger _logger;
 public:
     static void set(const GPIOPin gpio_pin);
     static bool get(const GPIOPin gpio_pin);

diff --git a/Src/platform/stm32g0b1/gpio.cpp b/Src/platform/stm32g0b1/gpio.cpp
@@ -10,14 +10,12 @@
 
 void GPIOPeriphery::set(GPIOPin gpio_pin) {
     switch (gpio_pin) {
-        case GPIOPin::TERMINATOR1:
-            HAL_GPIO_WritePin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin,
-                              GPIO_PIN_SET);
+        case GPIOPin::CAN_TERMINATOR1:
+            HAL_GPIO_WritePin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin, GPIO_PIN_SET);
             break;
 
-        case GPIOPin::TERMINATOR2:
-            HAL_GPIO_WritePin(CAN2_TERMINATOR_GPIO_Port,
-                              CAN2_TERMINATOR_Pin, GPIO_PIN_SET);
+        case GPIOPin::CAN_TERMINATOR2:
+            HAL_GPIO_WritePin(CAN2_TERMINATOR_GPIO_Port, CAN2_TERMINATOR_Pin, GPIO_PIN_SET);
             break;
         default:
             break;
@@ -26,10 +24,10 @@ void GPIOPeriphery::set(GPIOPin gpio_pin) {
 
 bool GPIOPeriphery::get(GPIOPin gpio_pin) {
     switch (gpio_pin) {
-        case GPIOPin::TERMINATOR1:
+        case GPIOPin::CAN_TERMINATOR1:
             return HAL_GPIO_ReadPin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin);
 
-        case GPIOPin::TERMINATOR2:
+        case GPIOPin::CAN_TERMINATOR2:
             return HAL_GPIO_ReadPin(CAN2_TERMINATOR_GPIO_Port, CAN2_TERMINATOR_Pin);
 
         default:
@@ -38,21 +36,17 @@ bool GPIOPeriphery::get(GPIOPin gpio_pin) {
 }
 
 void GPIOPeriphery::reset() {
-    HAL_GPIO_WritePin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin,
-                      GPIO_PIN_RESET);
-    HAL_GPIO_WritePin(CAN2_TERMINATOR_GPIO_Port, CAN2_TERMINATOR_Pin,
-                      GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(CAN2_TERMINATOR_GPIO_Port, CAN2_TERMINATOR_Pin, GPIO_PIN_RESET);
 }
 
 void GPIOPeriphery::reset(GPIOPin gpio_pin) {
     switch (gpio_pin) {
-        case GPIOPin::TERMINATOR1:
-            HAL_GPIO_WritePin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin,
-                              GPIO_PIN_RESET);
+        case GPIOPin::CAN_TERMINATOR1:
+            HAL_GPIO_WritePin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin, GPIO_PIN_RESET);
             break;
-        case GPIOPin::TERMINATOR2:
-            HAL_GPIO_WritePin(CAN2_TERMINATOR_GPIO_Port, CAN2_TERMINATOR_Pin,
-                              GPIO_PIN_RESET);
+        case GPIOPin::CAN_TERMINATOR2:
+            HAL_GPIO_WritePin(CAN2_TERMINATOR_GPIO_Port, CAN2_TERMINATOR_Pin, GPIO_PIN_RESET);
             break;
         default:
             break;

diff --git a/Src/platform/ubuntu/gpio.cpp b/Src/platform/ubuntu/gpio.cpp
@@ -6,22 +6,22 @@
 
 #include "periphery/gpio/gpio.hpp"
 
+#include <vector>
 #include "main.h"
 
-Logger GPIOPeriphery::_logger = Logger("GPIO");
-bool gpio[(int)GPIOPin::GPIO_AMOUNT];
+static std::vector<bool> gpio((int)GPIOPin::GPIO_AMOUNT, false);
 
 void GPIOPeriphery::set(GPIOPin gpio_pin) {
-    gpio[(int)gpio_pin] = 1;
+    gpio[(int)gpio_pin] = true;
 }
 bool GPIOPeriphery::get(GPIOPin gpio_pin) {
     return gpio[(int)gpio_pin];
 }
 void GPIOPeriphery::reset() {
-    for (uint8_t i = 0; i < (int)GPIOPin::GPIO_AMOUNT; i++ ) {
-        gpio[i] = 0;
+    for (auto gpio_val : gpio) {
+        gpio_val = false;
     }
 }
 void GPIOPeriphery::reset(GPIOPin gpio_pin) {
-    gpio[(int)gpio_pin] = 0;
+    gpio[(int)gpio_pin] = false;
 }