add cyphal circuit status

CMakeLists.txt

@@ -59,6 +59,7 @@ add_executable(${EXECUTABLE}
     ${stm32CubeMxGeneratedFiles}
     ${applicationSourceCode}
     ${BUILD_SRC_DIR}/params.cpp
+    ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/adc.cpp
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/pwm.cpp
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/led.cpp
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/platform_specific.cpp

Src/cyphal_application/CMakeLists.txt

@@ -12,9 +12,11 @@ include(${ROOT_DIR}/Libs/Cyphal/CMakeLists.txt)
 
 set(applicationSourceCode
     ${CYPHAL_SRC}
+    ${ROOT_DIR}/Src/cyphal_application/circuit_status/circuit_status.cpp
     ${ROOT_DIR}/Src/cyphal_application/setpoint/setpoint.cpp
     ${ROOT_DIR}/Src/cyphal_application/feedback/feedback.cpp
     ${ROOT_DIR}/Src/cyphal_application/application.cpp
+    ${ROOT_DIR}/Libs/Cyphal/Udral/circuit_status.cpp
 )
 set(applicationHeaders
     ${ROOT_DIR}/Libs/Cyphal/Cyphal
@@ -30,6 +32,7 @@ set(applicationHeaders
 set(LIBPARAMS_PARAMS
     ${ROOT_DIR}/Libs/Cyphal/Cyphal/params.yaml
     ${CMAKE_CURRENT_LIST_DIR}/params.yaml
+    ${CMAKE_CURRENT_LIST_DIR}/circuit_status/params.yaml
     ${CMAKE_CURRENT_LIST_DIR}/setpoint/params.yaml
     ${CMAKE_CURRENT_LIST_DIR}/feedback/params.yaml
 )

Src/cyphal_application/README.md

@@ -2,8 +2,11 @@ The node has the following interface:
 
 | №  | Type | Message | Topic name  |
 | -- | ---- | ------- | ----------- |
-|   1 | sub | reg.udral.service.actuator.common.sp.Vector31 | setpoint | {'type': 'Port', 'data_type': 'reg.udral.service.actuator.common.sp.Vector31', 'enum_base': 'PARAM_SUB_SETPOINT'}|
-|   2 | pub | reg.udral.service.actuator.common.Feedback.0.1 | feedback | {'type': 'Port', 'data_type': 'reg.udral.service.actuator.common.Feedback.0.1', 'enum_base': 'PARAM_PUB_FEEDBACK_1'}|
+|   1 | pub | uavcan.si.sample.voltage.Scalar.1.0 | crct.5v | {'type': 'Port', 'note': 'Voltage 5V', 'data_type': 'uavcan.si.sample.voltage.Scalar.1.0', 'enum_base': 'PARAM_PUB_CRCT_5V'}|
+|   2 | pub | uavcan.si.sample.voltage.Scalar.1.0 | crct.vin | {'type': 'Port', 'note': 'Voltage Vin', 'data_type': 'uavcan.si.sample.voltage.Scalar.1.0', 'enum_base': 'PARAM_PUB_CRCT_VIN'}|
+|   3 | pub | uavcan.si.sample.temperature.Scalar.1.0 | crct.temperature | {'type': 'Port', 'note': 'STM32 internal temperature', 'data_type': 'uavcan.si.sample.temperature.Scalar.1.0', 'enum_base': 'PARAM_PUB_CRCT_TEMPERATURE'}|
+|   4 | sub | reg.udral.service.actuator.common.sp.Vector31 | setpoint | {'type': 'Port', 'data_type': 'reg.udral.service.actuator.common.sp.Vector31', 'enum_base': 'PARAM_SUB_SETPOINT'}|
+|   5 | pub | reg.udral.service.actuator.common.Feedback.0.1 | feedback | {'type': 'Port', 'data_type': 'reg.udral.service.actuator.common.Feedback.0.1', 'enum_base': 'PARAM_PUB_FEEDBACK_1'}|
 
 The node has the following registers:
 

Src/cyphal_application/application.cpp

@@ -9,6 +9,7 @@
 #include "params.hpp"
 #include "setpoint/setpoint.hpp"
 #include "feedback/feedback.hpp"
+#include "circuit_status/circuit_status.hpp"
 #include "periphery/led/led.hpp"
 
 void init_persistent_storage() {
@@ -33,6 +34,9 @@ void application_entry_point() {
     FeedbackPublisher feedback(&cyphal);
     init_res |= feedback.init();
 
+    CircuitStatus crct(&cyphal);
+    init_res |= crct.init();
+
     while (true) {
         auto led_color = (init_res >= 0) ? LedColor::BLUE_COLOR : LedColor::RED_COLOR;
         LedPeriphery::toggle(led_color);
@@ -41,5 +45,6 @@ void application_entry_point() {
 
         auto crnt_time_ms = HAL_GetTick();
         feedback.process(crnt_time_ms);
+        crct.process(crnt_time_ms);
     }
 }

Src/cyphal_application/circuit_status/circuit_status.cpp

@@ -0,0 +1,74 @@
+/// This software is distributed under the terms of the MIT License.
+/// Copyright (c) 2024 Dmitry Ponomarev.
+/// Author: Dmitry Ponomarev <[email protected]>
+
+#include "circuit_status.hpp"
+#include <algorithm>
+#include "cyphal.hpp"
+#include "params.hpp"
+#include "periphery/adc/adc.hpp"
+
+#include "uavcan/si/sample/electric_current/Scalar_1_0.h"
+#include "uavcan/si/sample/voltage/Scalar_1_0.h"
+#include "uavcan/si/sample/temperature/Scalar_1_0.h"
+
+#define ADC_RAW_TO_5V  (3.3f * 2.0f / 4095.0f)
+#define ADC_RAW_TO_VIN (3.3f * 19.0f / 4095.0f)
+
+#ifdef STM32G0B1xx
+    static const uint16_t TEMP_REF = 30;
+    static const uint16_t ADC_REF = 943;    ///< v_ref / 3.3 * 4095
+    static const uint16_t AVG_SLOPE = 3.1;  ///< avg_slope/(3.3/4096)
+#else  // STM32F103xB
+    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)
+#endif
+
+int8_t CircuitStatus::init() {
+    AdcPeriphery::init();
+    return 0;
+}
+
+void CircuitStatus::process(uint32_t crnt_time_ms) {
+    if (_prev_pub_ts_ms + 500 > crnt_time_ms) {
+        return;
+    }
+    _prev_pub_ts_ms = crnt_time_ms;
+
+    {
+        voltage_5v_publisher.setPortId(paramsGetIntegerValue(PARAM_PUB_CRCT_5V_ID));
+        if (voltage_5v_publisher.isEnabled()) {
+            uavcan_si_sample_voltage_Scalar_1_0 msg{
+                0,
+                AdcPeriphery::get(AdcChannel::ADC_5V) * ADC_RAW_TO_5V
+            };
+            voltage_5v_publisher.publish(msg);
+        }
+    }
+
+    {
+        voltage_vin_publisher.setPortId(paramsGetIntegerValue(PARAM_PUB_CRCT_VIN_ID));
+        if (voltage_vin_publisher.isEnabled()) {
+            uavcan_si_sample_voltage_Scalar_1_0 msg{
+                0,
+                AdcPeriphery::get(AdcChannel::ADC_VIN) * ADC_RAW_TO_VIN
+            };
+            voltage_vin_publisher.publish(msg);
+        }
+    }
+
+    {
+        temperature_publisher.setPortId(paramsGetIntegerValue(PARAM_PUB_CRCT_TEMPERATURE_ID));
+        if (temperature_publisher.isEnabled()) {
+            uint16_t raw_temperature = AdcPeriphery::get(AdcChannel::ADC_TEMPERATURE);
+            float temperature = (ADC_REF - raw_temperature) / AVG_SLOPE + TEMP_REF + 273;
+            uavcan_si_sample_temperature_Scalar_1_0 msg{
+                0,
+                temperature
+            };
+            temperature_publisher.publish(msg);
+        }
+    }
+
+}

Src/cyphal_application/circuit_status/circuit_status.hpp

@@ -0,0 +1,33 @@
+/// This software is distributed under the terms of the MIT License.
+/// Copyright (c) 2024 Dmitry Ponomarev.
+/// Author: Dmitry Ponomarev <[email protected]>
+
+#ifndef SRC_CYPHAL_APPLICATION_CIRCUIT_STATUS_CIRCUIT_STATUS_HPP_
+#define SRC_CYPHAL_APPLICATION_CIRCUIT_STATUS_CIRCUIT_STATUS_HPP_
+
+#include "cyphal_publishers.hpp"
+#include "Udral/circuit_status.hpp"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+class CircuitStatus {
+public:
+    explicit CircuitStatus(cyphal::Cyphal* driver) : voltage_5v_publisher(driver, 65535),
+                                                     voltage_vin_publisher(driver, 65535),
+                                                     temperature_publisher(driver, 65535) {};
+    int8_t init();
+    void process(uint32_t crnt_time_ms);
+private:
+    RaccoonLab::CircuitStatusVoltagePublisher voltage_5v_publisher;
+    RaccoonLab::CircuitStatusVoltagePublisher voltage_vin_publisher;
+    RaccoonLab::CircuitStatusTemperaturePublisher temperature_publisher;
+    uint32_t _prev_pub_ts_ms = 0;
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // SRC_CYPHAL_APPLICATION_CIRCUIT_STATUS_CIRCUIT_STATUS_HPP_

Src/cyphal_application/circuit_status/params.yaml

@@ -0,0 +1,22 @@
+# This is a short form that generates Integer & String registers related to the subscriber with PORT_NAME=feedback:
+# - Integer register with name `uavcan.pub.feedback.id`
+# - String register with name `uavcan.pub.feedback.type`
+# The generated registers have proper flags, data type and min, max and default values.
+# They correspond the standard: https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/register/384.Access.1.0.dsdl
+uavcan.pub.crct.5v:
+  type: Port
+  note: Voltage 5V
+  data_type: uavcan.si.sample.voltage.Scalar.1.0
+  enum_base: PARAM_PUB_CRCT_5V
+
+uavcan.pub.crct.vin:
+  type: Port
+  note: Voltage Vin
+  data_type: uavcan.si.sample.voltage.Scalar.1.0
+  enum_base: PARAM_PUB_CRCT_VIN
+
+uavcan.pub.crct.temperature:
+  type: Port
+  note: STM32 internal temperature
+  data_type: uavcan.si.sample.temperature.Scalar.1.0
+  enum_base: PARAM_PUB_CRCT_TEMPERATURE