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refactor circuit_stat and pwm modules
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@AsiiaPine
AsiiaPine committed Jun 18, 2024
1 parent ade1913 commit b6df20b
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Showing 5 changed files with 66 additions and 84 deletions.
33 changes: 24 additions & 9 deletions Src/dronecan_application/application.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,19 +29,34 @@ __attribute__((noreturn)) void application_entry_point() {

uavcanInitApplication(node_id);

CircuitStatusModule& status_module = CircuitStatusModule::get_instance();
PWMModule& pwm_module = PWMModule::get_instance();
LedColor color = LedColor::BLUE_COLOR;

if (!status_module.instance_initialized) {
color = LedColor::RED_COLOR;
}
CircuitStatus circuit_status;
PWMModule pwm_module;

std::array<Module*, 2> modules = { &circuit_status, &pwm_module };

for (auto module : modules) {
module->init();
}
while(true) {
auto health = Module::Status::OK;
auto mode = Module::Mode::OPEARTIONAL;
for (auto module : modules) {
module->process();

if (module->get_health() > health) {
health = module->get_health();
}

if (module->get_mode() > mode) {
mode = module->get_mode();
}
}

auto color = (health == Module::Status::OK) ? LedColor::BLUE_COLOR : LedColor::RED_COLOR;
LedPeriphery::toggle(color);
status_module.spin_once();
pwm_module.spin_once();
uavcanSetNodeHealth((NodeStatusHealth_t) pwm_module.module_status);
uavcanSetNodeHealth((NodeStatusHealth_t)(health));
uavcanSetNodeStatusMode((NodeStatusMode_t)(mode));
uavcanSpinOnce();

WatchdogPeriphery::refresh();
Expand Down
27 changes: 10 additions & 17 deletions Src/dronecan_application/modules/circuit_status/CircuitStatusModule.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,26 +6,15 @@
#include "CircuitStatusModule.hpp"


CircuitStatusModule CircuitStatusModule::instance = CircuitStatusModule();
bool CircuitStatusModule::instance_initialized = false;
Logger CircuitStatusModule::logger = Logger("CircuitStatus");

CircuitStatusModule& CircuitStatusModule::get_instance() {
if (!instance_initialized) {
if (instance.init() != 0) {
logger.log_debug("ADC init error");
} else {
instance_initialized = true;
}
}
return instance;
}
bool CircuitStatus::instance_initialized = false;
Logger CircuitStatus::logger = Logger("CircuitStatus");

int8_t CircuitStatusModule::init() {
return CircuitPeriphery::init();
void CircuitStatus::init() {
CircuitPeriphery::init();
mode = Module::Mode::OPEARTIONAL;
}

void CircuitStatusModule::spin_once() {
void CircuitStatus::spin_once() {
static uint32_t next_temp_pub_ms = 1000;
static uint32_t next_status_pub_ms = 1000;

Expand All @@ -52,5 +41,9 @@ void CircuitStatusModule::spin_once() {
next_status_pub_ms += 1000;
}

if (circuit_status.error_flags != ERROR_FLAG_CLEAR) {
health = Status::MINOR_FAILURE;
}

circuit_status.error_flags = ERROR_FLAG_CLEAR;
}
20 changes: 8 additions & 12 deletions Src/dronecan_application/modules/circuit_status/CircuitStatusModule.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,31 +10,27 @@
#include "uavcan/equipment/temperature/Temperature.h"
#include "periphery/adc/circuit_periphery.hpp"
#include "uavcan/equipment/power/CircuitStatus.h"
#include "common/module.hpp"
#include "logger.hpp"


class CircuitStatusModule {
class CircuitStatus : public Module {
public:
static CircuitStatusModule &get_instance();
void spin_once();
CircuitStatus() : Module(2) {}
void init() override;

protected:
void spin_once() override;

static bool instance_initialized;
private:
static CircuitStatusModule instance;

private:
CircuitStatus_t circuit_status = {};
Temperature_t temperature_status = {};

static Logger logger;

CircuitStatusModule() = default;

uint8_t circuit_status_transfer_id = 0;
uint8_t temperature_transfer_id = 0;

int8_t init();
CircuitStatusModule(const CircuitStatusModule &other) = delete;
void operator=(const CircuitStatusModule &) = delete;
};

#endif // SRC_MODULES_CIRCUIT_STATUS_CIRCUIT_STATUS_HPP_
43 changes: 16 additions & 27 deletions Src/dronecan_application/modules/pwm/PWMModule.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,6 @@ uint16_t PWMModule::ttl_cmd = 500;
uint16_t PWMModule::pwm_freq = 50;
CommandType PWMModule::pwm_cmd_type = CommandType::RAW_COMMAND;

ModuleStatus PWMModule::module_status = ModuleStatus::MODULE_OK;

PWMModule PWMModule::instance = PWMModule();

PWMModule::PWMModule() {
update_params();
init();
}

std::array<PwmChannelInfo, static_cast<uint8_t>(PwmPin::PWM_AMOUNT)> PWMModule::params = {{
{{.min = MIN(1), .max = MAX(1), .def = DEF(1), .ch = CHANNEL(1), .fb = FB(1)}, PwmPin::PWM_1},
Expand All @@ -46,16 +38,11 @@ std::array<PwmChannelInfo, static_cast<uint8_t>(PwmPin::PWM_AMOUNT)> PWMModule::
{{.min = MIN(4), .max = MAX(4), .def = DEF(4), .ch = CHANNEL(4), .fb = FB(4)}, PwmPin::PWM_4},
}};

PWMModule& PWMModule::get_instance() {
static bool instance_initialized = false;
if (!instance_initialized) {
instance_initialized = true;
instance.init();
}
return instance;
}

void PWMModule::init() {
mode = Module::Mode::INITIALIZATION;

update_params();

logger.init("PWMModule");
for (auto param : params) {
PwmPeriphery::init(param.pin);
Expand All @@ -72,10 +59,11 @@ void PWMModule::spin_once() {
static uint32_t next_update_ms = 0;
if (crnt_time_ms > next_update_ms) {
next_update_ms = crnt_time_ms + 1000;
instance.update_params();
instance.apply_params();
update_params();
apply_params();
}

mode = Module::Mode::OPEARTIONAL;
for (auto& pwm : params) {
if (crnt_time_ms > pwm.cmd_end_time_ms) {
pwm.command_val = pwm.def;
Expand All @@ -86,15 +74,15 @@ void PWMModule::spin_once() {
status_pub_timeout_ms = 1;
static uint32_t next_pub_ms = 5000;

if (module_status == ModuleStatus::MODULE_OK && crnt_time_ms > next_pub_ms) {
if (health == Status::OK && crnt_time_ms > next_pub_ms) {
publish_state();
next_pub_ms = crnt_time_ms + status_pub_timeout_ms;
}
}

void PWMModule::update_params() {
module_status = ModuleStatus::MODULE_OK;

health = Status::OK;
mode = Mode::MAINTENANCE;
pwm_freq = paramsGetIntegerValue(IntParamsIndexes::PARAM_PWM_FREQUENCY);
pwm_cmd_type = (CommandType)paramsGetIntegerValue(IntParamsIndexes::PARAM_PWM_CMD_TYPE);

Expand Down Expand Up @@ -135,7 +123,7 @@ void PWMModule::update_params() {
}

if (params_error) {
module_status = ModuleStatus::MODULE_WARN;
health = Status::MINOR_FAILURE;
if (last_warn_pub_time_ms < HAL_GetTick()) {
last_warn_pub_time_ms = HAL_GetTick() + 10000;
logger.log_debug("check parameters");
Expand All @@ -144,6 +132,8 @@ void PWMModule::update_params() {
}

void PWMModule::apply_params() {
mode = Mode::MAINTENANCE;

for (int i = 0; i < static_cast<uint8_t>(PwmPin::PWM_AMOUNT); i++) {
if (PwmPeriphery::get_frequency(params[i].pin) != pwm_freq) {
PwmPeriphery::set_frequency(params[i].pin, pwm_freq);
Expand Down Expand Up @@ -232,7 +222,7 @@ void PWMModule::publish_hardpoint_status() {
}

void PWMModule::raw_command_callback(CanardRxTransfer* transfer) {
if (module_status != ModuleStatus::MODULE_OK || pwm_cmd_type != CommandType::RAW_COMMAND) {
if (pwm_cmd_type != CommandType::RAW_COMMAND) {
return;
}

Expand All @@ -248,7 +238,7 @@ void PWMModule::raw_command_callback(CanardRxTransfer* transfer) {
}

void PWMModule::array_command_callback(CanardRxTransfer* transfer) {
if (module_status != ModuleStatus::MODULE_OK || pwm_cmd_type != CommandType::ARRAY_COMMAND) {
if (pwm_cmd_type != CommandType::ARRAY_COMMAND) {
return;
}

Expand All @@ -274,8 +264,7 @@ void PWMModule::array_command_callback(CanardRxTransfer* transfer) {
}

void PWMModule::hardpoint_callback(CanardRxTransfer* transfer) {
if (module_status != ModuleStatus::MODULE_OK ||
pwm_cmd_type != CommandType::HARDPOINT_COMMAND) {
if (pwm_cmd_type != CommandType::HARDPOINT_COMMAND) {
return;
}

Expand Down
27 changes: 8 additions & 19 deletions Src/dronecan_application/modules/pwm/PWMModule.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,9 @@
#include "params.hpp"
#include "logger.hpp"
#include "periphery/pwm/pwm.hpp"
#include "common/module.hpp"


enum class ModuleStatus: uint8_t {
MODULE_OK = 0, // The module is functioning properly
MODULE_WARN = 1, // The module encountered a minor failure
MODULE_ERROR = 2, // The module encountered a major failure
MODULE_CRITICAL = 3, // The module suffered a fatal malfunction
};

enum class CommandType: uint8_t {
RAW_COMMAND,
ARRAY_COMMAND,
Expand Down Expand Up @@ -52,23 +46,21 @@ struct PwmChannelInfo {
uint8_t fb{0};
};

class PWMModule {
class PWMModule : public Module {
public:
void spin_once();
static PWMModule &get_instance();
static std::array<PwmChannelInfo, static_cast<uint8_t>(PwmPin::PWM_AMOUNT)> params;
static ModuleStatus module_status;
PWMModule() : Module(2) {}
void init() override;

protected:
PWMModule();
void update_params() override;
void spin_once() override;

static std::array<PwmChannelInfo, static_cast<uint8_t>(PwmPin::PWM_AMOUNT)> params;

private:
static PWMModule instance;
void (*callback)(CanardRxTransfer*);
void (*publish_state)();

void init();
void update_params();
void update_pwm();
void apply_params();

Expand All @@ -91,9 +83,6 @@ class PWMModule {

static bool publish_error;
static Logger logger;

PWMModule& operator = (const PWMModule&) = delete;
explicit PWMModule(PWMModule *other) = delete;
};

#endif // SRC_MODULES_PWM_PWMMODULE_HPP_

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