refactor pwm module, so now it is the same for cyphal and dronecan

RaccoonlabDev · Sep 28, 2024 · 8fd217b · 8fd217b
1 parent c9864ba
commit 8fd217b
Show file tree

Hide file tree

Showing 21 changed files with 476 additions and 408 deletions.
diff --git a/Src/applications/cyphal/CMakeLists.txt b/Src/applications/cyphal/CMakeLists.txt
@@ -11,4 +11,4 @@ include(${SRC_DIR}/modules/cyphal/core/CMakeLists.txt)
 include(${SRC_DIR}/modules/system/CMakeLists.txt)
 include(${SRC_DIR}/modules/circuit_status/cyphal/CMakeLists.txt)
 include(${SRC_DIR}/modules/cyphal/feedback/CMakeLists.txt)
-include(${SRC_DIR}/modules/cyphal/setpoint/CMakeLists.txt)
+include(${SRC_DIR}/modules/pwm/CMakeLists.txt)
diff --git a/Src/applications/cyphal/README.md b/Src/applications/cyphal/README.md
@@ -22,6 +22,25 @@ The node has the following registers:
 |  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. |
+|  6 | system.log_level        | Log level. See [debug.LogLevel](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#loglevel) and [diagnostic.Severity](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/diagnostic/Severity.1.0.dsdl). </br> 0 - Log everything (DEBUG, INFO, WARNING, ERROR) </br> 1 - Log at least INFO level </br> 2 - Log at least WARNING level </br> 3 - Log at least ERROR level </br> 4 - Disable logging </br> By default 3 to show only realy important messages. |
+|  7 | pwm.cmd_ttl_ms          | TTL of specified by pwm.cmd_type commands [ms]. |
+|  8 | pwm.frequency           | PWM frequency [Hz]. |
+|  9 | pwm1.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  10 | pwm1.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  11 | pwm1.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  12 | pwm1.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+|  13 | pwm2.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  14 | pwm2.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  15 | pwm2.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  16 | pwm2.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+|  17 | pwm3.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  18 | pwm3.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  19 | pwm3.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  20 | pwm3.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+|  21 | pwm4.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  22 | pwm4.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  23 | pwm4.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  24 | pwm4.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
 
 > This docs was automatically generated. Do not edit it manually.
 
diff --git a/Src/applications/dronecan/CMakeLists.txt b/Src/applications/dronecan/CMakeLists.txt
@@ -12,7 +12,7 @@ include(${SRC_DIR}/modules/system/CMakeLists.txt)
 include(${SRC_DIR}/modules/dronecan/arming/CMakeLists.txt)
 include(${SRC_DIR}/modules/circuit_status/dronecan/CMakeLists.txt)
 include(${SRC_DIR}/modules/dronecan/feedback/CMakeLists.txt)
-include(${SRC_DIR}/modules/dronecan/pwm/CMakeLists.txt)
+include(${SRC_DIR}/modules/pwm/CMakeLists.txt)
 
 if(USE_PLATFORM_NODE_V3)
     include(${SRC_DIR}/modules/imu/CMakeLists.txt)

diff --git a/Src/applications/dronecan/README.md b/Src/applications/dronecan/README.md
@@ -7,30 +7,29 @@ The node has the following registers:
 |  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. |
-|  6 | stats.engaged_time      | Total engaged time of node in seconds. |
-|  7 | pwm.cmd_ttl_ms          | TTL of specified by pwm.cmd_type commands [ms]. |
-|  8 | pwm.frequency           | PWM frequency [Hz]. |
-|  9 | pwm.cmd_type            | 0 means RawCommand, 1 means ArrayCommand, 2 is reserved for hardpoint.Command. |
-|  10 | pwm.1_ch                | Index of setpoint channel. [-1; 255]. -1 means disabled, |
-|  11 | pwm.1_min               | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
-|  12 | pwm.1_max               | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
-|  13 | pwm.1_def               | PWM duration when setpoint is negative or there is no setpoint at all. |
-|  14 | pwm.1_feedback          | Indicates the operational mode of the node. 0 means disabled. When set to 1, the command of corresponding Status type for cmd_type will be transmitted (esc.RawCommand - esc.Status, actuator.ArrayCommand - actuator.Status) with frequency 1 Hz. When set to 2 - 10 Hz. |
-|  15 | pwm.2_ch                | Index of setpoint channel. [-1; 255]. -1 means disabled, |
-|  16 | pwm.2_min               | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
-|  17 | pwm.2_max               | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
-|  18 | pwm.2_def               | PWM duration when setpoint is negative or there is no setpoint at all. |
-|  19 | pwm.2_feedback          | Indicates the operational mode of the node. 0 means disabled. When set to 1, the command of corresponding Status type for cmd_type will be transmitted (esc.RawCommand - esc.Status, actuator.ArrayCommand - actuator.Status) with frequency 1 Hz. When set to 2 - 10 Hz. |
-|  20 | pwm.3_ch                | Index of setpoint channel. [-1; 255]. -1 means disabled, |
-|  21 | pwm.3_min               | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
-|  22 | pwm.3_max               | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
-|  23 | pwm.3_def               | PWM duration when setpoint is negative or there is no setpoint at all. |
-|  24 | pwm.3_feedback          | Indicates the operational mode of the node. 0 means disabled. When set to 1, the command of corresponding Status type for cmd_type will be transmitted (esc.RawCommand - esc.Status, actuator.ArrayCommand - actuator.Status) with frequency 1 Hz. When set to 2 - 10 Hz. |
-|  25 | pwm.4_ch                | Index of setpoint channel. [-1; 255]. -1 means disabled, |
-|  26 | pwm.4_min               | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
-|  27 | pwm.4_max               | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
-|  28 | pwm.4_def               | PWM duration when setpoint is negative or there is no setpoint at all. |
-|  29 | pwm.4_feedback          | Indicates the operational mode of the node. 0 means disabled. When set to 1, the command of corresponding Status type for cmd_type will be transmitted (esc.RawCommand - esc.Status, actuator.ArrayCommand - actuator.Status) with frequency 1 Hz. When set to 2 - 10 Hz. |
-|  30 | imu.enable              | Enable or disable IMU publisher. |
+|  6 | system.log_level        | Log level. See [debug.LogLevel](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#loglevel) and [diagnostic.Severity](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/diagnostic/Severity.1.0.dsdl). </br> 0 - Log everything (DEBUG, INFO, WARNING, ERROR) </br> 1 - Log at least INFO level </br> 2 - Log at least WARNING level </br> 3 - Log at least ERROR level </br> 4 - Disable logging </br> By default 3 to show only realy important messages. |
+|  7 | stats.engaged_time      | Total engaged time of node in seconds. |
+|  8 | crct.bitmask            | Bit mask to enable CircuitStatus features: </br> Bit 1 - enable dev.Temperature with device_id=NODE_ID, </br> Bit 2 - enable 5v publisher, </br> Bit 3 - enable Vin publisher. </br> Bit 4 - enable overvoltage, undervoltage, overcurrent and overheat checks. </br> By default 15 that mean enable all publishers |
+|  9 | feedback.type           | Indicates the operational mode of the node. 0 means disabled. When set to 1, the command of corresponding Status type for cmd_type will be transmitted (esc.RawCommand - esc.Status, actuator.ArrayCommand - actuator.Status) with frequency 1 Hz. When set to 2 - 10 Hz. |
+|  10 | pwm.cmd_ttl_ms          | TTL of specified by pwm.cmd_type commands [ms]. |
+|  11 | pwm.frequency           | PWM frequency [Hz]. |
+|  12 | pwm1.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  13 | pwm1.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  14 | pwm1.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  15 | pwm1.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+|  16 | pwm2.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  17 | pwm2.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  18 | pwm2.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  19 | pwm2.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+|  20 | pwm3.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  21 | pwm3.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  22 | pwm3.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  23 | pwm3.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+|  24 | pwm4.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+|  25 | pwm4.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+|  26 | pwm4.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+|  27 | pwm4.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+|  28 | pwm.cmd_type            | 0 means RawCommand, 1 means ArrayCommand, 2 is reserved for hardpoint.Command. |
 
 > This docs was automatically generated. Do not edit it manually.
+
diff --git a/Src/modules/cyphal/setpoint/CMakeLists.txt b/Src/modules/cyphal/setpoint/CMakeLists.txt
diff --git a/Src/modules/cyphal/setpoint/params.yaml b/Src/modules/cyphal/setpoint/params.yaml
diff --git a/Src/modules/cyphal/setpoint/setpoint.cpp b/Src/modules/cyphal/setpoint/setpoint.cpp
diff --git a/Src/modules/cyphal/setpoint/setpoint.hpp b/Src/modules/cyphal/setpoint/setpoint.hpp
diff --git a/Src/modules/dronecan/feedback/feedback.hpp b/Src/modules/dronecan/feedback/feedback.hpp
@@ -16,7 +16,8 @@
 #include "publisher.hpp"
 #include "subscriber.hpp"
 
-#include "modules/dronecan/pwm/PWMModule.hpp"
+#include "modules/pwm/main.hpp"
+#include "modules/pwm/dronecan_frontend/dronecan_frontend.hpp"
 
 enum class FeedbackType: uint8_t {
     DISABLED,

diff --git a/Src/modules/dronecan/pwm/CMakeLists.txt b/Src/modules/dronecan/pwm/CMakeLists.txt