From 10b69564dfa0462385226cfd62c00804b545d302 Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Tue, 26 Dec 2023 00:27:51 +0300
Subject: [PATCH] add crct.temperature

---
 Src/cyphal_application/CMakeLists.txt     |  2 ++
 Src/cyphal_application/README.md          |  1 +
 Src/cyphal_application/lights/lights.cpp  | 19 +++++++++++++------
 Src/cyphal_application/lights/params.yaml |  5 +++++
 4 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/Src/cyphal_application/CMakeLists.txt b/Src/cyphal_application/CMakeLists.txt
index 410b9a6..0aa6215 100644
--- a/Src/cyphal_application/CMakeLists.txt
+++ b/Src/cyphal_application/CMakeLists.txt
@@ -5,7 +5,9 @@ set(applicationSourceCode
 
     Src/cyphal_application/lights/lights.cpp
     Src/cyphal_application/application.cpp
+
     Libs/Cyphal/Udral/rgbled.cpp
+    Libs/Cyphal/Udral/circuit_status.cpp
 )
 set(applicationHeaders
     Src
diff --git a/Src/cyphal_application/README.md b/Src/cyphal_application/README.md
index 370c41e..b91a6fd 100644
--- a/Src/cyphal_application/README.md
+++ b/Src/cyphal_application/README.md
@@ -3,6 +3,7 @@ The node has the following interface:
 | №  | Type | Message | Topic name  |
 | -- | ---- | ------- | ----------- |
 |   1 | sub | reg.udral.physics.optics.HighColor.0.1 | lights | {'type': 'Port', 'data_type': 'reg.udral.physics.optics.HighColor.0.1', 'enum_base': 'RGBLED'}|
+|   2 | pub | uavcan.si.sample.temperature.Scalar.1.0 | crct.temp | {'type': 'Port', 'data_type': 'uavcan.si.sample.temperature.Scalar.1.0', 'enum_base': 'PARAM_CRCT_TEMPERATURE'}|
 
 The node has the following registers:
 
diff --git a/Src/cyphal_application/lights/lights.cpp b/Src/cyphal_application/lights/lights.cpp
index 7d766f5..3c59be7 100644
--- a/Src/cyphal_application/lights/lights.cpp
+++ b/Src/cyphal_application/lights/lights.cpp
@@ -45,15 +45,22 @@ void RgbLights::update() {
     }
     next_time_ms = HAL_GetTick() + 10;
 
+    // Temperature
+    static const uint16_t TEMP_REF = 25;
+    static const uint16_t ADC_REF = 1750;   ///< v_ref / 3.3 * 4095
+    static const uint16_t AVG_SLOPE = 5;    ///< avg_slope/(3.3/4096)
+    _temp_pub.setPortId(paramsGetIntegerValue(PARAM_CRCT_TEMPERATURE_ID));
+    if (_temp_pub.isEnabled()) {
+        uint16_t adc_measurement = AdcPeriphery::get(AdcChannel::ADC_TEMPERATURE);
+        uavcan_si_sample_temperature_Scalar_1_0 msg;
+        msg.kelvin = (ADC_REF - adc_measurement) / AVG_SLOPE + TEMP_REF + 273;
+        _temp_pub.publish(msg);
+    }
+
+    // Lights
     auto color = _rgbled_sub.get();
     static Leds_Color_t leds;
 
-    // static uint8_t counter = 0;
-    // leds.colors[counter].shades.red = color.red * RED_SCALE;
-    // leds.colors[counter].shades.green = color.green * GREEN_SCALE;
-    // leds.colors[counter].shades.blue = color.blue * BLUE_SCALE;
-    // counter = (counter + 1) % 32;
-
     for (uint_fast8_t led_idx = 0; led_idx < 32; led_idx++) {
         leds.colors[led_idx].shades.red = color.red * RED_SCALE;
         leds.colors[led_idx].shades.green = color.green * GREEN_SCALE;
diff --git a/Src/cyphal_application/lights/params.yaml b/Src/cyphal_application/lights/params.yaml
index 563a703..d1058b5 100644
--- a/Src/cyphal_application/lights/params.yaml
+++ b/Src/cyphal_application/lights/params.yaml
@@ -7,3 +7,8 @@ uavcan.sub.lights:
   type: Port
   data_type: reg.udral.physics.optics.HighColor.0.1
   enum_base: RGBLED
+
+uavcan.pub.crct.temp:
+  type: Port
+  data_type: uavcan.si.sample.temperature.Scalar.1.0
+  enum_base: PARAM_CRCT_TEMPERATURE