From 7e2f5be1379a3ed2d2f8eb1e1cd969402ae7bfaa Mon Sep 17 00:00:00 2001 From: Matteo Pignataro <matteo.pignataro@skywarder.eu> Date: Mon, 7 Feb 2022 23:11:05 +0100 Subject: [PATCH] [ParafoilTestDev] Added wing controller - Compile OK - Execution by the task scheduler OK --- CMakeLists.txt | 3 +- .../ParafoilTestDev/UMLWingControlDiagram.dia | Bin 0 -> 3171 bytes .../ParafoilTestDev/UMLWingControlDiagram.png | Bin 0 -> 73281 bytes src/boards/ParafoilTest/ParafoilTest.h | 26 ++- src/boards/ParafoilTest/ParafoilTestStatus.h | 8 +- .../ParafoilTest/Wing/WingAlgorithm.cpp | 65 ++++++- src/boards/ParafoilTest/Wing/WingAlgorithm.h | 29 +++- src/boards/ParafoilTest/Wing/WingConfig.h | 12 +- .../ParafoilTest/Wing/WingController.cpp | 158 ++++++++++++++++++ src/boards/ParafoilTest/Wing/WingController.h | 143 ++++++++++++++++ src/entrypoints/parafoilTest-entry.cpp | 16 ++ 11 files changed, 433 insertions(+), 27 deletions(-) create mode 100644 data/ParafoilTestDev/UMLWingControlDiagram.dia create mode 100644 data/ParafoilTestDev/UMLWingControlDiagram.png diff --git a/CMakeLists.txt b/CMakeLists.txt index fcab40c68..b26523f56 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -36,7 +36,8 @@ add_executable(parafoilTest-entry src/entrypoints/parafoilTest-entry.cpp src/boards/ParafoilTest/Main/Sensors.cpp src/boards/ParafoilTest/Main/Radio.cpp src/boards/ParafoilTest/Wing/WingServo.cpp - src/boards/ParafoilTest/Wing/WingAlgorithm.cpp) + src/boards/ParafoilTest/Wing/WingAlgorithm.cpp + src/boards/ParafoilTest/Wing/WingController.cpp) sbs_target(parafoilTest-entry stm32f429zi_stm32f4discovery) target_include_directories(parafoilTest-entry PRIVATE src/boards/ParafoilTest src/) diff --git a/data/ParafoilTestDev/UMLWingControlDiagram.dia b/data/ParafoilTestDev/UMLWingControlDiagram.dia new file mode 100644 index 0000000000000000000000000000000000000000..b0e6eef0408c9501493cff203294678c28eba077 GIT binary patch literal 3171 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+54,11 @@ namespace ParafoilTestDev */ Sensors* sensors; + /** + * @brief Wing algorithm controller + */ + WingController* wingController; + /** * @brief Radio that manages the interaction between * the xbee module and mavlink @@ -76,19 +82,22 @@ namespace ParafoilTestDev status.setError(&ParafoilTestStatus::eventBroker); } + //Start the wing controller + wingController -> start(); + //Start the sensors sampling - if(!sensors -> start()) + /*if(!sensors -> start()) { LOG_ERR(log, "Error starting sensors"); status.setError(&ParafoilTestStatus::sensors); - } + }*/ //Start the radio - if(!radio -> start()) + /*if(!radio -> start()) { LOG_ERR(log, "Error starting the radio"); status.setError(&ParafoilTestStatus::radio); - } + }*/ //After all the initializations i log the status logger -> log(status); @@ -140,12 +149,15 @@ namespace ParafoilTestDev //Create the task scheduler scheduler = new TaskScheduler(); + //Create the wing controller + wingController = new WingController(scheduler); + //Create the sensors - SPIBusInterface *spiInterface1 = new SPIBus(SPI1); - sensors = new Sensors(*spiInterface1, scheduler); + //SPIBusInterface *spiInterface1 = new SPIBus(SPI1); + //sensors = new Sensors(*spiInterface1, scheduler); //Create a new radio - radio = new Radio(*spiInterface1); + //radio = new Radio(*spiInterface1); } /** diff --git a/src/boards/ParafoilTest/ParafoilTestStatus.h b/src/boards/ParafoilTest/ParafoilTestStatus.h index 7875c948b..1ddf969e6 100644 --- a/src/boards/ParafoilTest/ParafoilTestStatus.h +++ b/src/boards/ParafoilTest/ParafoilTestStatus.h @@ -44,10 +44,10 @@ namespace ParafoilTestDev uint8_t parafoil_test = OK; //Specific errors - uint8_t logger = OK; - uint8_t eventBroker = OK; - uint8_t sensors = OK; - uint8_t radio = OK; + uint8_t logger = OK; + uint8_t eventBroker = OK; + uint8_t sensors = OK; + uint8_t radio = OK; /** * @brief Method to set a specific component in an error state diff --git a/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp b/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp index 5f88a6291..0afd4b5f8 100644 --- a/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp +++ b/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp @@ -38,13 +38,15 @@ namespace ParafoilTestDev /** * PUBLIC METHODS */ - WingAlgorithm::WingAlgorithm(WingServo* servo1, WingServo* servo2, const char* filename) + WingAlgorithm::WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2, const char* filename) : parser(filename) { - this -> servo1 = servo1; - this -> servo2 = servo2; + setServo(servo1, servo2); } + WingAlgorithm::WingAlgorithm(const char* filename) + : parser(filename){} + bool WingAlgorithm::init() { //Returns a std::vector which contains @@ -56,6 +58,37 @@ namespace ParafoilTestDev return fileValid; } + void WingAlgorithm::setServo(ServoInterface* servo1, ServoInterface* servo2) + { + if(servo1 != NULL) + { + this -> servo1 = servo1; + } + else + { + //In this case i create a standard servo from the wing config file + servo1 = new WingServo(WING_SERVO1_TIMER, + WING_SERVO1_PWM_CHANNEL, + WING_SERVO1_MIN_POSITION, + WING_SERVO1_MAX_POSITION, + WING_SERVO1_RESET_POSITION); + } + + if(servo2 != NULL) + { + this -> servo2 = servo2; + } + else + { + //In this case i create a standard servo from the wing config file + servo2 = new WingServo(WING_SERVO2_TIMER, + WING_SERVO2_PWM_CHANNEL, + WING_SERVO2_MIN_POSITION, + WING_SERVO2_MAX_POSITION, + WING_SERVO2_RESET_POSITION); + } + } + void WingAlgorithm::addStep(WingAlgorithmData step) { //I do it if and only if the file is invalid, because @@ -70,6 +103,7 @@ namespace ParafoilTestDev void WingAlgorithm::begin() { running = true; + shouldReset = true; //Set the current timestamp timeStart = TimestampTimer::getInstance().getTimestamp(); } @@ -86,11 +120,17 @@ namespace ParafoilTestDev */ void WingAlgorithm::step() { - //Variable to remember the what is the stab that has to be done + //Variable to remember what is the step that has to be done static unsigned int stepIndex = 0; uint64_t currentTimestamp = TimestampTimer::getInstance().getTimestamp(); - - + + if(shouldReset) + { + //If the algorithm has been stopped + //i want to start from the beginning + stepIndex = 0; + shouldReset = false; + } if(stepIndex >= steps.size()) { @@ -104,9 +144,16 @@ namespace ParafoilTestDev if(currentTimestamp - timeStart >= steps[stepIndex].timestamp) { - //I need to execute the current step - servo1->set(steps[stepIndex].servo1Angle); - servo2->set(steps[stepIndex].servo1Angle); + //TODO log the action + //I need to execute the current step (if not null servos) + if(servo1 != NULL) + { + servo1->set(steps[stepIndex].servo1Angle); + } + if(servo2 != NULL) + { + servo2->set(steps[stepIndex].servo2Angle); + } //finally increment the stepIndex stepIndex++; diff --git a/src/boards/ParafoilTest/Wing/WingAlgorithm.h b/src/boards/ParafoilTest/Wing/WingAlgorithm.h index d4d345a3f..2887948de 100644 --- a/src/boards/ParafoilTest/Wing/WingAlgorithm.h +++ b/src/boards/ParafoilTest/Wing/WingAlgorithm.h @@ -63,7 +63,7 @@ namespace ParafoilTestDev { struct WingAlgorithmData { - uint64_t timestamp; //First timestamp is 0 + uint64_t timestamp; //First timestamp is 0 (in microseconds) float servo1Angle; //degrees float servo2Angle; //degrees }; @@ -79,7 +79,14 @@ namespace ParafoilTestDev * @param servo2 The second servo * @param filename The csv file where all the operations are stored */ - WingAlgorithm(WingServo* servo1, WingServo* servo2, const char* filename); + WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2, const char* filename); + + /** + * @brief Construct a new Wing Algorithm object + * + * @param filename The csv file where all the operations are stored + */ + WingAlgorithm(const char* filename); /** * @brief This method parses the file and stores it into a std::vector @@ -89,6 +96,13 @@ namespace ParafoilTestDev */ bool init() override; + /** + * @brief Set the Servos objects + * @param servo1 The first algorithm servo + * @param servo2 The second algorithm servo + */ + void setServo(ServoInterface* servo1, ServoInterface* servo2); + /** * @brief Adds manually the step in case of fast debug needs * @@ -113,14 +127,19 @@ namespace ParafoilTestDev void step() override; //Actuators - WingServo* servo1; - WingServo* servo2; + ServoInterface* servo1; + ServoInterface* servo2; //Offset timestamp uint64_t timeStart; //Procedure std::vector<WingAlgorithmData> steps; //File parser CSVParser<WingAlgorithmData> parser; - bool fileValid = false; + bool fileValid = false; + //This boolean is used to understand when to reset + //the index where the algorithm has stopped. + //In case of end call, we want to be able to perform + //another time this algorithm starting from 0 + bool shouldReset = false; }; } \ No newline at end of file diff --git a/src/boards/ParafoilTest/Wing/WingConfig.h b/src/boards/ParafoilTest/Wing/WingConfig.h index b4e5e7e70..213f00bf3 100644 --- a/src/boards/ParafoilTest/Wing/WingConfig.h +++ b/src/boards/ParafoilTest/Wing/WingConfig.h @@ -31,6 +31,16 @@ using namespace Boardcore; */ namespace ParafoilTestDev { + /** + * ALGORITHM CONFIGURATION + */ + static const uint32_t WING_UPDATE_PERIOD = 10; //milliseconds + static const uint8_t WING_CONTROLLER_ID = 100; //TODO define a correct ID + + /** + * SERVOS CONFIGURATIONS + */ + //16 bit, 45MHz, no DMA timer static TIM_TypeDef* WING_SERVO1_TIMER = TIM13; static TIM_TypeDef* WING_SERVO2_TIMER = TIM14; @@ -40,7 +50,7 @@ namespace ParafoilTestDev //Servo dipendent variables static const unsigned int WING_SERVO_MIN_PULSE = 1000; - static const unsigned int WING_SERVO_MAX_PULSE = 2000; + static const unsigned int WING_SERVO_MAX_PULSE = 2500; static const unsigned int WING_SERVO_FREQUENCY = 50; static const float WING_SERVO1_MAX_POSITION = 180; //degrees diff --git a/src/boards/ParafoilTest/Wing/WingController.cpp b/src/boards/ParafoilTest/Wing/WingController.cpp index e69de29bb..ecd4ea7b7 100644 --- a/src/boards/ParafoilTest/Wing/WingController.cpp +++ b/src/boards/ParafoilTest/Wing/WingController.cpp @@ -0,0 +1,158 @@ +/* Copyright (c) 2022 Skyward Experimental Rocketry + * Author: Matteo Pignataro + * + * 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. + */ +#include <Wing/WingConfig.h> +#include <Wing/WingController.h> + +namespace ParafoilTestDev +{ + /** + * PUBLIC METHODS + */ + WingController::WingController(TaskScheduler* scheduler) + { + //Assign the task scheduler + this -> scheduler = scheduler; + + //Set the current running state + this -> running = false; + + //Set the current selected algorithm to 0 + this -> selectedAlgorithm = 0; + + //Initialize the servos, enable them, + //register the task into the task scheduler + init(); + } + + WingController::~WingController() + { + //Delete the servos + delete servo1; + delete servo2; + } + + void WingController::addAlgorithm(const char* filename) + { + //Create the algorithm + WingAlgorithm* algorithm = new WingAlgorithm(servo1, servo2, filename); + + //Add the algorithm to the vector and init it + algorithms.push_back(algorithm); + //If init fails[Beacuse of inexistent file or stuff] doesn't matter + //Because the algorithm is empty and so it won't do anything + algorithms[algorithms.size() - 1] -> init(); + } + + void WingController::addAlgorithm(WingAlgorithm* algorithm) + { + //Ensure that the servos are correct + algorithm->setServo(servo1, servo2); + + //Add the algorithm to the vector + algorithms.push_back(algorithm); + } + + void WingController::selectAlgorithm(unsigned int index) + { + if(index >= 0 && index < algorithms.size()) + { + selectedAlgorithm = index; + } + else + { + //I select the 0 algorithm + selectedAlgorithm = 0; + } + } + + void WingController::start() + { + //If the selected algorithm is valid --> also the + //algorithms array is not empty i start the whole thing + if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size()) + { + //Set the boolean that enables the update method to true + running = true; + + //Begin the selected algorithm + algorithms[selectedAlgorithm] -> begin(); + + //Also start the scheduler + scheduler -> start(); + } + } + + void WingController::stop() + { + //Set running to false so that the update method doesn't act + running = false; + //Stop the algorithm if selected + if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size()) + { + algorithms[selectedAlgorithm] -> end(); + } + } + + void WingController::update() + { + //Check if the algorithm is running + if(!running) + { + return; + } + + //If the selected algorithm is valid i can update it + if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size()) + { + algorithms[selectedAlgorithm] -> update(); + } + } + + /** + * PRIVATE METHODS + */ + void WingController::init() + { + //Instanciate the servos + servo1 = new WingServo(WING_SERVO1_TIMER, + WING_SERVO1_PWM_CHANNEL, + WING_SERVO1_MIN_POSITION, + WING_SERVO1_MAX_POSITION, + WING_SERVO1_RESET_POSITION); + + servo2 = new WingServo(WING_SERVO2_TIMER, + WING_SERVO2_PWM_CHANNEL, + WING_SERVO2_MIN_POSITION, + WING_SERVO2_MAX_POSITION, + WING_SERVO2_RESET_POSITION); + + //Enable servos + servo1 -> enable(); + servo2 -> enable(); + + //Register the task + TaskScheduler::function_t updateFunction([=]() {update();}); + + scheduler -> addTask(updateFunction, WING_UPDATE_PERIOD, + WING_CONTROLLER_ID); + } +} \ No newline at end of file diff --git a/src/boards/ParafoilTest/Wing/WingController.h b/src/boards/ParafoilTest/Wing/WingController.h index e69de29bb..c0eeace1b 100644 --- a/src/boards/ParafoilTest/Wing/WingController.h +++ b/src/boards/ParafoilTest/Wing/WingController.h @@ -0,0 +1,143 @@ +/* Copyright (c) 2022 Skyward Experimental Rocketry + * Author: Matteo Pignataro + * + * 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 + +#include <Wing/WingAlgorithm.h> +#include <scheduler/TaskScheduler.h> + +/** + * @brief This class allows the user to select the wing algorithm + * that has to be used during the tests. It also registers his + * dedicated function in the task schduler in order to be + * executed every fixed period and to update the two servos position + * depending on the selected algorithm. + * + * Use case example: + * controller = new WingController(scheduler); + * + * controller.addAlgorithm("filename"); + * OR + * controller.addAlgorithm(algorithm); + * + * controller.selectAlgorithm(index); + * + * controller.start(); + * controller.stop(); //If you want to abort the execution + * controller.start(); //If you want to start again from the beginning + */ + +using namespace Boardcore; + +namespace ParafoilTestDev +{ + class WingController + { + private: + /** + * @brief Servo actuators + */ + ServoInterface* servo1; + ServoInterface* servo2; + + /** + * @brief List of loaded algorithms (from SD or not) + */ + std::vector<WingAlgorithm*> algorithms; + + /** + * @brief The common task scheduler + */ + TaskScheduler* scheduler; + + /** + * @brief This attribute is modified by the mavlink radio section. + * The user using the Ground Station can select the pre-enumered algorithm to execute + */ + unsigned int selectedAlgorithm; + + /** + * @brief Internal running state + */ + bool running; + + /** + * @brief Initialization method. It registers the update method + * into the task scheduler + */ + void init(); + + public: + + /** + * @brief Construct a new Wing Controller object + * + * @param scheduler The main used task scheduler + */ + WingController(TaskScheduler* scheduler); + + /** + * @brief Destroy the Wing Controller object. + * In particular destroys the servo instances + */ + ~WingController(); + + /** + * @brief Method to add the algorithm in the list + * + * @param filename The SD file where to read the instructions + */ + void addAlgorithm(const char* filename); + + /** + * @brief Method to add the algorithm in the list + * + * @param algorithm The algorithm with + * all already done (e.g. steps already registered) + */ + void addAlgorithm(WingAlgorithm* algorithm); + + /** + * @brief Selects the algorithm if present. + * + * @param index The algorithms vector index + */ + void selectAlgorithm(unsigned int index); + + /** + * @brief Sets the internal state running and + * starts the selected algorithm + */ + void start(); + + /** + * @brief Sets the internal state to stop and + * stops the selected algorithm + */ + void stop(); + + /** + * @brief Method that is called every time period + * to update the internal wing servos states + */ + void update(); + }; +} \ No newline at end of file diff --git a/src/entrypoints/parafoilTest-entry.cpp b/src/entrypoints/parafoilTest-entry.cpp index 91870acde..e808da322 100644 --- a/src/entrypoints/parafoilTest-entry.cpp +++ b/src/entrypoints/parafoilTest-entry.cpp @@ -19,14 +19,30 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ +#include <miosix.h> #include <ParafoilTest.h> using namespace ParafoilTestDev; int main() { + miosix::GpioPin servo(GPIOA_BASE, 6); + servo.mode(miosix::Mode::ALTERNATE); + servo.alternateFunction(9); + + miosix::GpioPin servo2(GPIOA_BASE, 7); + servo2.mode(miosix::Mode::ALTERNATE); + servo2.alternateFunction(9); + //TODO integrate all the logging stuff ParafoilTest::getInstance().start(); + miosix::Thread::sleep(2000); + ParafoilTest::getInstance().wingController->stop(); + ParafoilTest::getInstance().wingController->start(); + + while(true) + {} + return 0; } -- GitLab