From 26530f9dee82c791510f4a6f2313deeccc0bbf9b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Thu, 6 Mar 2025 13:28:08 +0100
Subject: [PATCH] [RIGv2] Improve documentation of actuators initialization
macros
---
src/RIGv2/Actuators/Actuators.cpp | 74 +--------------
src/RIGv2/Actuators/ActuatorsMacros.h | 128 ++++++++++++++++++++++++++
2 files changed, 130 insertions(+), 72 deletions(-)
create mode 100644 src/RIGv2/Actuators/ActuatorsMacros.h
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index 0b6de233d..412562582 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -29,6 +29,8 @@
#include <events/EventBroker.h>
#include <interfaces-impl/hwmapping.h>
+#include "ActuatorsMacros.h"
+
using namespace Boardcore;
using namespace miosix;
using namespace Common;
@@ -113,78 +115,6 @@ bool Actuators::ServoInfo::setOpeningTime(uint32_t time)
return true;
}
-/**
- * @brief Shorthand to create a ServoInfo struct from the servo name
- */
-#define MAKE_SERVO(name) \
- ServoInfo \
- { \
- std::make_unique<Servo>( \
- MIOSIX_SERVOS_##name##_TIM, \
- TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE, \
- Config::Servos::FREQUENCY), \
- ServoInfo::ServoConfig \
- { \
- .limit = Config::Servos::name##_LIMIT, \
- .flipped = Config::Servos::name##_FLIPPED, \
- .defaultOpeningTime = \
- Config::Servos::DEFAULT_##name##_OPENING_TIME, \
- .defaultMaxAperture = \
- Config::Servos::DEFAULT_##name##_MAX_APERTURE, \
- .openingEvent = MOTOR_##name##_OPEN, \
- .closingEvent = MOTOR_##name##_CLOSE, \
- .openingTimeRegKey = CONFIG_ID_##name##_OPENING_TIME, \
- .maxApertureRegKey = CONFIG_ID_##name##_MAX_APERTURE \
- } \
- }
-
-/**
- * @brief Shorthand to create a detach ServoInfo struct from the servo name
- */
-#define MAKE_DETACH_SERVO(name) \
- ServoInfo \
- { \
- std::make_unique<Servo>( \
- MIOSIX_SERVOS_##name##_TIM, \
- TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
- Config::Servos::DETACH_MIN_PULSE, \
- Config::Servos::DETACH_MAX_PULSE, Config::Servos::FREQUENCY), \
- ServoInfo::ServoConfig \
- { \
- .limit = Config::Servos::name##_LIMIT, \
- .flipped = Config::Servos::name##_FLIPPED, \
- .defaultOpeningTime = \
- Config::Servos::DEFAULT_##name##_OPENING_TIME, \
- .defaultMaxAperture = \
- Config::Servos::DEFAULT_##name##_MAX_APERTURE, \
- .openingEvent = MOTOR_##name##_OPEN, \
- .closingEvent = MOTOR_##name##_CLOSE, \
- .openingTimeRegKey = CONFIG_ID_##name##_OPENING_TIME, \
- .maxApertureRegKey = CONFIG_ID_##name##_MAX_APERTURE \
- } \
- }
-
-/**
- * @brief Shorthand to create a non-atomic ServoInfo struct from the servo name
- */
-#define MAKE_SIMPLE_SERVO(name) \
- ServoInfo \
- { \
- std::make_unique<Servo>( \
- MIOSIX_SERVOS_##name##_TIM, \
- TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE, \
- Config::Servos::FREQUENCY), \
- ServoInfo::ServoConfig \
- { \
- .limit = Config::Servos::name##_LIMIT, \
- .flipped = Config::Servos::name##_FLIPPED, \
- .openingEvent = MOTOR_##name##_OPEN, \
- .closingEvent = MOTOR_##name##_CLOSE, \
- } \
- }
-
Actuators::Actuators()
: infos{
MAKE_SERVO(OX_FIL), MAKE_SERVO(OX_REL),
diff --git a/src/RIGv2/Actuators/ActuatorsMacros.h b/src/RIGv2/Actuators/ActuatorsMacros.h
new file mode 100644
index 000000000..3fa941e94
--- /dev/null
+++ b/src/RIGv2/Actuators/ActuatorsMacros.h
@@ -0,0 +1,128 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+/**
+ * @file ActuatorsMacros.h
+ * @brief Macros for the Actuators module
+ *
+ * This file contains macros to simplify the creation of ServoInfo structs
+ * for the Actuators module.
+ *
+ * The hardware mapping (hwmapping.h), the actuators configuration
+ * (ActuatorsConfig.h) and the registry keys (Registry.h) have been created with
+ * a specific naming convention to allow the use of these macros, to reduce the
+ * amount of code repetition and to make the code more readable during servo
+ * creation.
+ *
+ * The following naming convention is used:
+ * - The servo name is an uppercase string code (e.g. OX_FIL)
+ * - Constants are expected to be in the Config::Servos namespace
+ * - The servo name is used to create the following constants:
+ * - MIOSIX_SERVOS_{servo}_TIM (hwmapping)
+ * - MIOSIX_SERVOS_{servo}_CHANNEL (hwmapping)
+ * - {servo}_LIMIT (ActuatorsConfig)
+ * - {servo}_FLIPPED (ActuatorsConfig)
+ * - Common::MOTOR_{servo}_OPEN (Events)
+ * - Common::MOTOR_{servo}_CLOSE (Events)
+ * - DEFAULT_{servo}_OPENING_TIME (ActuatorsConfig)
+ * - DEFAULT_{servo}_MAX_APERTURE (ActuatorsConfig)
+ * - CONFIG_ID_{servo}_OPENING_TIME (Registry)
+ * - CONFIG_ID_{servo}_MAX_APERTURE (Registry)
+ * - The following constants are used for all servos:
+ * - MIN_PULSE
+ * - MAX_PULSE
+ * - FREQUENCY
+ */
+
+/**
+ * @brief Shorthand to create a ServoInfo struct from the servo name
+ */
+#define MAKE_SERVO(name) \
+ ServoInfo \
+ { \
+ std::make_unique<Servo>( \
+ MIOSIX_SERVOS_##name##_TIM, \
+ TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
+ Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE, \
+ Config::Servos::FREQUENCY), \
+ ServoInfo::ServoConfig \
+ { \
+ .limit = Config::Servos::name##_LIMIT, \
+ .flipped = Config::Servos::name##_FLIPPED, \
+ .defaultOpeningTime = \
+ Config::Servos::DEFAULT_##name##_OPENING_TIME, \
+ .defaultMaxAperture = \
+ Config::Servos::DEFAULT_##name##_MAX_APERTURE, \
+ .openingEvent = Common::MOTOR_##name##_OPEN, \
+ .closingEvent = Common::MOTOR_##name##_CLOSE, \
+ .openingTimeRegKey = CONFIG_ID_##name##_OPENING_TIME, \
+ .maxApertureRegKey = CONFIG_ID_##name##_MAX_APERTURE \
+ } \
+ }
+
+/**
+ * @brief Shorthand to create a detach ServoInfo struct from the servo name
+ */
+#define MAKE_DETACH_SERVO(name) \
+ ServoInfo \
+ { \
+ std::make_unique<Servo>( \
+ MIOSIX_SERVOS_##name##_TIM, \
+ TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
+ Config::Servos::DETACH_MIN_PULSE, \
+ Config::Servos::DETACH_MAX_PULSE, Config::Servos::FREQUENCY), \
+ ServoInfo::ServoConfig \
+ { \
+ .limit = Config::Servos::name##_LIMIT, \
+ .flipped = Config::Servos::name##_FLIPPED, \
+ .defaultOpeningTime = \
+ Config::Servos::DEFAULT_##name##_OPENING_TIME, \
+ .defaultMaxAperture = \
+ Config::Servos::DEFAULT_##name##_MAX_APERTURE, \
+ .openingEvent = Common::MOTOR_##name##_OPEN, \
+ .closingEvent = Common::MOTOR_##name##_CLOSE, \
+ .openingTimeRegKey = CONFIG_ID_##name##_OPENING_TIME, \
+ .maxApertureRegKey = CONFIG_ID_##name##_MAX_APERTURE \
+ } \
+ }
+
+/**
+ * @brief Shorthand to create a non-atomic ServoInfo struct from the servo name
+ */
+#define MAKE_SIMPLE_SERVO(name) \
+ ServoInfo \
+ { \
+ std::make_unique<Servo>( \
+ MIOSIX_SERVOS_##name##_TIM, \
+ TimerUtils::Channel::MIOSIX_SERVOS_##name##_CHANNEL, \
+ Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE, \
+ Config::Servos::FREQUENCY), \
+ ServoInfo::ServoConfig \
+ { \
+ .limit = Config::Servos::name##_LIMIT, \
+ .flipped = Config::Servos::name##_FLIPPED, \
+ .openingEvent = Common::MOTOR_##name##_OPEN, \
+ .closingEvent = Common::MOTOR_##name##_CLOSE, \
+ } \
+ }
--
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