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 `
  ..