Merge branch 'main' into basic-system-manager

AttitudeManager/FlightModes/Inc/AM_ControlAlgorithm.hpp

@@ -13,9 +13,9 @@
 
 namespace AM {
 
-class ControlAlgorithm {
+class Flightmode {
    public:
-    ControlAlgorithm(){};
+    Flightmode(){};
 
     /// @brief Run the controls algorithm for the given flight model.
     /// @param

AttitudeManager/Inc/AM.hpp

@@ -23,7 +23,7 @@ class AttitudeManager {
 
     static AttitudeManagerInput getControlInputs();
 
-    AttitudeManager(ControlAlgorithm* control_algorithm) : control_algorithm(control_algorithm){};
+    AttitudeManager(Flightmode* control_algorithm) : control_algorithm(control_algorithm){};
 
     void runControlLoopIteration(const AttitudeManagerInput& instructions);
 
@@ -34,7 +34,7 @@ class AttitudeManager {
 
     static struct AttitudeManagerInput control_inputs;
 
-    ControlAlgorithm* control_algorithm;
+    Flightmode* control_algorithm;
 };
 
 }  // namespace AM

Boardfiles/discoveryl562qe/discoveryl562qe.cmake

@@ -28,7 +28,7 @@ set(CMAKE_SIZE arm-none-eabi-size CACHE INTERNAL "")
 
 # ARM compiler options    
 set(MCU_CPU cortex-m33)    
-set(MCU_FLOAT_ABI soft) # since we don't have a floating point unit on this chip. Otherwise should be hard    
+set(MCU_FLOAT_ABI hard)   
 set(MCU_FLAGS "-mcpu=${MCU_CPU} -mthumb -mfloat-abi=${MCU_FLOAT_ABI}")    
 
 set(COMMON_FLAGS "${MCU_FLAGS} -g -Wall -Wextra -Wno-unused-parameter -ffunction-sections -fdata-sections")    

Boardfiles/nucleol552zeq/nucleol552zeq.cmake

@@ -29,7 +29,7 @@ set(CMAKE_SIZE arm-none-eabi-size CACHE INTERNAL "")
 
 # ARM compiler options
 set(MCU_CPU cortex-m33)
-set(MCU_FLOAT_ABI soft) # since we don't have a floating point unit on this chip. Otherwise should be hard
+set(MCU_FLOAT_ABI hard)
 set(MCU_FLAGS "-mcpu=${MCU_CPU} -mthumb -mfloat-abi=${MCU_FLOAT_ABI}")
 
 set(COMMON_FLAGS "${MCU_FLAGS} -g -Wall -Wextra -Wno-unused-parameter -ffunction-sections -fdata-sections")

Models/config_foundation.hpp

@@ -0,0 +1,99 @@
+#ifndef ZPSW3_CONFIG_FOUNDATION_HPP
+#define ZPSW3_CONFIG_FOUNDATION_HPP
+
+#include <cstdint>
+
+#include "AM_ControlAlgorithm.hpp"
+#include "temp_drivers.hpp"
+
+namespace config
+{
+    using percentage_t = float;
+
+    //Define factory function to create drivers and flightmodes
+    template <class BaseClass, class DerivedClass, auto... args>
+    BaseClass* constructObject() {
+        return new DerivedClass(args...);
+    }
+
+    //Typedef pointer to factory function
+    template <class BaseClass>
+    using ObjectFactory = BaseClass* (*)(void);
+
+
+
+    /* Motor declarations */
+
+    typedef enum {
+        yaw,
+        pitch,
+        roll,
+        throttle
+    } ControlAxis_t;
+
+    typedef struct {
+        ControlAxis_t axis;
+        bool isInverted = false;
+        ObjectFactory<MotorChannel> driverConstructor;
+    } Motor_t;
+
+
+
+    /* RC input declarations */
+
+    typedef struct {
+        //TODO: determine other config fields relevant to the RC input type
+        ObjectFactory<RCInputDriver> driverConstructor;
+    } RCInput_t;
+
+
+
+    /* GPS declarations */
+
+    typedef struct {
+        ObjectFactory<GPSDriver> driverConstructor;
+    } GPS_t;
+
+
+
+    /* Flightmode declarations */
+
+    typedef struct {
+        bool isEnabled = false;
+        float p = 0.0f;
+        float i = 0.0f;
+        float d = 0.0f;
+    } AxisPID_t;
+
+    typedef struct {
+        AxisPID_t yawPID = {};
+        AxisPID_t pitchPID = {};
+        AxisPID_t rollPID = {};
+        AxisPID_t throttlePID = {};
+    } ControlPID_t;
+
+    typedef struct {
+        percentage_t min = 0.0f;
+        percentage_t max = 100.0f;
+    } AxisLimits_t;
+
+    typedef struct {
+        AxisLimits_t yawLimit = {};
+        AxisLimits_t pitchLimit = {};
+        AxisLimits_t rollLimit = {};
+        AxisLimits_t throttleLimit = {};
+    } ControlLimits_t;
+
+    typedef struct {
+        ControlPID_t PIDValues = {};
+        ControlLimits_t controlLimits = {};
+    } ControlTuning_t;
+
+    typedef struct {
+        ControlTuning_t tuningData;
+        ObjectFactory<AM::Flightmode> flightmodeConstructor;
+    } Flightmode_t;
+
+}
+
+#endif // ZPSW3_CONFIG_FOUNDATION_HPP

Models/example_model/config.hpp

@@ -0,0 +1,117 @@
+#ifndef ZPSW3_CONFIG_HPP
+#define ZPSW3_CONFIG_HPP
+
+#include "config_foundation.hpp"
+#include "tim.h"
+
+namespace config
+{
+
+    /* Motor config */
+
+    constexpr Motor_t motors[] = {
+        {   //Yaw servo motor
+            .axis = yaw,
+            .isInverted = false,
+            .driverConstructor = constructObject<MotorChannel, PWMChannel,
+                                                 /*timer*/ &htim1, /*timer_channel*/ 0>
+        },
+        {   //Roll BLDC motor
+            .axis = roll,
+            .isInverted = true,
+            .driverConstructor = constructObject<MotorChannel, TempDSHOTDriver>
+        }
+    };
+
+    constexpr uint8_t NUM_MOTORS = sizeof(motors)/sizeof(Motor_t);
+
+
+
+    /* RC input config */
+
+    //Example array for a model that supports both PPM and SBUS input
+    constexpr RCInput_t RCInputs[] = {
+        {   //PPM input
+            .driverConstructor = constructObject<RCInputDriver, TempPPMDriver>
+        },
+        {   //SBUS input
+            .driverConstructor = constructObject<RCInputDriver, TempSBusDriver>
+        }
+    };
+
+    constexpr uint8_t NUM_RC_INPUTS = sizeof(RCInputs)/sizeof(RCInput_t);
+
+
+
+    /* GPS config */
+
+    //Example array for a model with two GPS modules
+    constexpr GPS_t GPSArray[] = {
+        {   //NEOM8
+            .driverConstructor = constructObject<GPSDriver, TempNEOM8Driver>
+        },
+        {   //Other GPS
+            .driverConstructor = constructObject<GPSDriver, otherGPSDriver>
+        }
+    };
+
+    constexpr uint8_t NUM_GPS = sizeof(GPSArray)/sizeof(GPS_t);
+
+
+
+    /* Flightmode Config */
+
+    constexpr Flightmode_t flightmodes[] = {
+        {   //Flightmode1
+            .tuningData{
+                .PIDValues = {
+                    .yawPID = {
+                        .isEnabled = true,
+                        .p = 1.0f,
+                        .i = 1.0f,
+                        .d = 1.0f
+                    }
+                },
+                .controlLimits = {
+                    .yawLimit = {
+                        .min = 5.0f,
+                        .max = 95.0f
+                    }
+                }
+            },
+            .flightmodeConstructor = constructObject<AM::Flightmode, ExampleFlightmode1>
+        },
+        {   //Flightmode2
+            .tuningData{
+                .PIDValues = {
+                    .yawPID = {
+                        .isEnabled = true,
+                        .p = 1.0f,
+                        .i = 1.0f,
+                        .d = 1.0f
+                    },
+                    .rollPID = {
+                        .isEnabled = true,
+                        .p = 1.0f,
+                        .i = 1.0f,
+                        .d = 1.0f
+                    }
+                },
+                .controlLimits = {
+                    .yawLimit = {
+                        .min = 5.0f,
+                        .max = 95.0f
+                    },
+                    .rollLimit = {
+                        .min = 0.0f,
+                        .max = 100.0f
+                    }
+                }
+            },
+            .flightmodeConstructor = constructObject<AM::Flightmode, ExampleFlightmode2>
+        }
+    };
+
+}
+
+#endif // ZPSW3_CONFIG_HPP

Models/temp_drivers.hpp

@@ -0,0 +1,37 @@
+#ifndef ZPSW3_TEMP_DRIVERS_HPP
+#define ZPSW3_TEMP_DRIVERS_HPP
+
+//TODO: Remove this file when drivers and flightmodes are implemented
+
+#include "ZP_D_PWMChannel.hpp"
+
+class TempDSHOTDriver : public MotorChannel
+{
+    public:
+        TempDSHOTDriver() {}
+        void set(uint8_t percent){}
+};
+class RCInputDriver{};
+class TempPPMDriver : public RCInputDriver{};
+class TempSBusDriver : public RCInputDriver{};
+class GPSDriver{};
+class TempNEOM8Driver : public GPSDriver{};
+class otherGPSDriver : public GPSDriver{};
+
+class ExampleFlightmode1 : public AM::Flightmode{
+    public:
+    ExampleFlightmode1(){}
+    //TODO: Implement control algorithm functions in AM
+    void run();
+    void updatePid();
+};
+
+class ExampleFlightmode2 : public AM::Flightmode{
+    public:
+    ExampleFlightmode2(){}
+    void run();
+    void updatePid();
+};
+
+
+#endif // ZPSW3_TEMP_DRIVERS_HPP

Tools/Firmware/CMakeLists.txt

@@ -41,6 +41,10 @@ include_directories(
     ${ROOT_DIR}/Boardfiles/${FOLDER_NAME}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
     ${ROOT_DIR}/Boardfiles/${FOLDER_NAME}/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_${PORTABLE_NAME}
     ${ROOT_DIR}/Boardfiles/${FOLDER_NAME}/Middlewares/Third_Party/FreeRTOS/Source/include
+
+    ## Models Includes ##
+    ${ROOT_DIR}/Models
+    ${ROOT_DIR}/Models/${MODEL_NAME}
 )
 
 ## Boardfile Sources ##

Tools/default_config.txt

@@ -2,6 +2,7 @@
 
 COMPILE_TYPE="Firmware"
 PLATFORM="nucleol552zeq"
+MODEL_NAME="example_model"
 
 # --- Compile settings end ---
 

Tools/tools.bash

@@ -51,7 +51,7 @@ if [[ $# -eq 0 ]]; then
 elif [[ $1 == "compile" ]]; then
     RUN_TEST=false
     CLEAN=false   
-    shift 1 && while getopts :t:p:c opt
+    shift 1 && while getopts :t:p:m:c opt
     do
         case ${opt} in
             t) 
@@ -60,6 +60,9 @@ elif [[ $1 == "compile" ]]; then
             p) 
                 PLATFORM=${OPTARG}
                 ;;
+            m) 
+                MODEL_NAME=${OPTARG}
+                ;;
             c) 
             CLEAN=true
             ;;
@@ -114,7 +117,7 @@ if [[ $RUN_TEST == false ]]; then
     echo "Building ZeroPilot for $(echo $COMPILE_TYPE | tr '[:upper:]' '[:lower:]')."  
     COMPILE_DIR="$SCRIPT_PATH/$COMPILE_TYPE/build" 
     if [[ $COMPILE_TYPE == "Firmware" ]]; then
-        echo "Building for $PLATFORM."
+        echo "Building for platform $PLATFORM and model $MODEL_NAME."
     fi 
     if [[ $CLEAN == true ]]; then
         echo "Cleaning old $(echo $COMPILE_TYPE | tr '[:upper:]' '[:lower:]') build environment."
@@ -131,6 +134,7 @@ if [[ $RUN_TEST == false ]]; then
                 -G "${GENERATOR}" \
                 -DCMAKE_BUILD_TYPE="Debug" \
                 -DCMAKE_TOOLCHAIN_FILE="../../../Boardfiles/$PLATFORM/$PLATFORM.cmake" \
+                -DMODEL_NAME="$MODEL_NAME" \
                 -Wdev \
                 -Wdeprecated \
                 ../

Tools/tools.ps1

@@ -8,7 +8,8 @@ param(
     [string] $t,
     [string] $p,
     [switch] $c,
-    [string] $f
+    [string] $f,
+    [string] $m
 )
 
 # read defaults from file, and set variable intial value
@@ -29,6 +30,7 @@ foreach($line in Get-Content "$PSScriptRoot/default_config.txt") {
 $COMPILE_TYPE = if ($t) {$t} else {$COMPILE_TYPE}
 $PLATFORM = if ($p) {$p} else {$PLATFORM}
 $TEST_FILTER = if ($f) {$f} else {$TEST_FILTER}
+$MODEL_NAME = if ($m) {$m} else {$MODEL_NAME}
 
 
 # ====================
@@ -61,7 +63,7 @@ if($FUNCTION -eq "compile") {
     Write-Host "Building ZeroPilot for $($COMPILE_TYPE.ToLower())."
     $COMPILE_DIR = "$PSScriptRoot/$COMPILE_TYPE/build"
     if($COMPILE_TYPE -eq "Firmware") {
-        Write-Host "Building for $PLATFORM."
+        Write-Host "Building for platform $PLATFORM and model $MODEL_NAME."
     }
     if($c) {
         Write-Host "Cleaning old $($COMPILE_TYPE.ToLower()) build environment."
@@ -77,6 +79,7 @@ if($FUNCTION -eq "compile") {
                 -G "${GENERATOR}" `
                 -DCMAKE_BUILD_TYPE="Debug" `
                 -DCMAKE_TOOLCHAIN_FILE="../../../Boardfiles/$PLATFORM/$PLATFORM.cmake" `
+                -DMODEL_NAME="$MODEL_NAME" `
                 -Wdev `
                 -Wdeprecated `
                 ..