Issue #32: ecu stm32 create base unit test

Core/Src/main.c

@@ -77,7 +77,7 @@ static void MX_TIM3_Init(void);
 void StartDefaultTask(void *argument);
 
 /* USER CODE BEGIN PFP */
-
+void buzzer_manager_task(void *);
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -158,6 +158,13 @@ int main(void)
 
   ul_ulog_init();
 
+  static const osThreadAttr_t buzzer_task_attrs = {
+    .name = "buzzer",
+    .stack_size = 64 * 4,
+    .priority = (osPriority_t) osPriorityHigh,
+  };
+  (void) osThreadNew(buzzer_manager_task, NULL, &buzzer_task_attrs);
+
 
   /* USER CODE END RTOS_THREADS */
 

KPI_Rover/Buzzer/driver.c

@@ -0,0 +1,284 @@
+#include <stddef.h>
+
+#include "stm32f4xx_hal.h"
+
+#include "generic.h"
+#include "driver.h"
+
+#define BUZZER_BLOCKING_TIME_LIMIT 1000
+
+#define CHECK_ERROR(condition, err_value) do { \
+		if (condition) { \
+			errors = (err_value); \
+			goto fail; \
+		} \
+	} while (0)
+
+
+static uint8_t count_bits_16bit(uint16_t value)
+{
+	uint8_t result = 0;
+
+	for ( ; value; value >>= 1)
+		result += value & 1;
+
+	return result;
+}
+
+static uint32_t Buzzer_SetON(struct BuzzerObject * const self)
+{
+	uint32_t errors = 0;
+
+	CHECK_ERROR(!self->c.initialized, BUZZER_NOT_INITIALIZED_ERROR);
+
+	HAL_GPIO_WritePin(self->c.GPIO_port, self->c.GPIO_pin, GPIO_PIN_SET);
+
+fail:
+	return errors;
+}
+
+static uint32_t Buzzer_SetOFF(struct BuzzerObject * const self)
+{
+	uint32_t errors = 0;
+
+	CHECK_ERROR(!self->c.initialized, BUZZER_NOT_INITIALIZED_ERROR);
+
+	HAL_GPIO_WritePin(self->c.GPIO_port, self->c.GPIO_pin, GPIO_PIN_RESET);
+
+fail:
+	return errors;
+}
+
+
+static void Buzzer_OFF_Enter(struct BuzzerObject * const self, const struct BuzzerEvent * const ev)
+{
+	Buzzer_SetOFF(self);
+}
+
+static void Buzzer_OFF_Handle(struct BuzzerObject * const self)
+{
+
+}
+
+static void Buzzer_OFF_Leave(struct BuzzerObject * const self)
+{
+	Buzzer_SetOFF(self);
+}
+
+
+static void Buzzer_ON_Enter(struct BuzzerObject * const self, const struct BuzzerEvent * const ev)
+{
+	Buzzer_SetON(self);
+}
+
+static void Buzzer_ON_Handle(struct BuzzerObject * const self)
+{
+
+}
+
+static void Buzzer_ON_Leave(struct BuzzerObject * const self)
+{
+	Buzzer_SetON(self);
+}
+
+
+static void Buzzer_PULSE_Enter(struct BuzzerObject * const self, const struct BuzzerEvent * const ev)
+{
+	self->ps.config.pulse_on_for = ev->pulse_on_for;
+	self->ps.config.pulse_off_for = ev->pulse_off_for;
+	self->ps.config.pulse_total_for = ev->pulse_total_for;
+
+	self->ps.current_state = BUZZER_TO_ON;
+}
+
+static void Buzzer_PULSE_Handle(struct BuzzerObject * const self)
+{
+	uint32_t tss;
+
+	switch (self->ps.current_state) {
+	case BUZZER_TO_ON:
+		Buzzer_SetON(self);
+		self->ps.current_state_since = HAL_GetTick();
+
+		tss = ticks_elapsed_since(self->s.current_state_since);
+
+		if ((tss + self->ps.config.pulse_on_for) >= self->ps.config.pulse_total_for) {
+			self->ps.current_state = BUZZER_FINAL_DELAY;
+			self->ps.state_lifetime_override = self->ps.config.pulse_total_for - tss;
+		} else {
+			self->ps.current_state = BUZZER_DELAY_BEFORE_OFF;
+		}
+
+		break;
+	case BUZZER_DELAY_BEFORE_OFF:
+		if (ticks_elapsed_since(self->ps.current_state_since) >= self->ps.config.pulse_on_for)
+			self->ps.current_state = BUZZER_TO_OFF;
+
+		break;
+	case BUZZER_TO_OFF:
+		Buzzer_SetOFF(self);
+		self->ps.current_state_since = HAL_GetTick();
+
+		tss = ticks_elapsed_since(self->s.current_state_since);
+
+		if ((tss + self->ps.config.pulse_off_for) >= self->ps.config.pulse_total_for) {
+			self->ps.current_state = BUZZER_FINAL_DELAY;
+			self->ps.state_lifetime_override = self->ps.config.pulse_total_for - tss;
+		} else {
+			self->ps.current_state = BUZZER_DELAY_BEFORE_ON;
+		}
+
+		break;
+	case BUZZER_DELAY_BEFORE_ON:
+		if (ticks_elapsed_since(self->ps.current_state_since) >= self->ps.config.pulse_off_for)
+			self->ps.current_state = BUZZER_TO_ON;
+
+		break;
+	case BUZZER_FINAL_DELAY:
+		if (ticks_elapsed_since(self->ps.current_state_since) < self->ps.state_lifetime_override)
+			break;
+
+		self->e.ev = TO_OFF;
+		break;
+	}
+}
+
+static void Buzzer_PULSE_Leave(struct BuzzerObject * const self)
+{
+	Buzzer_SetOFF(self);
+}
+
+
+static void Buzzer_Reset(struct BuzzerObject * const self)
+{
+	switch (self->s.current_state) {
+	case BUZZER_OFF:
+		Buzzer_OFF_Leave(self);
+		break;
+	case BUZZER_ON:
+		Buzzer_ON_Leave(self);
+		break;
+	case BUZZER_PULSE:
+		Buzzer_PULSE_Leave(self);
+		break;
+	case IMPOSSIBLE_STATE:
+	default:
+		break;
+	}
+
+	self->s.current_state = BUZZER_OFF;
+}
+
+static void Buzzer_ProcessEvent(struct BuzzerObject * const self)
+{
+	if (self->e.ev == NO_EVENT || self->e.ev == IMPOSSIBLE_EVENT)
+		return;
+
+	switch (self->s.current_state) {
+	case BUZZER_ON:
+		Buzzer_ON_Leave(self);
+		break;
+	case BUZZER_OFF:
+		Buzzer_OFF_Leave(self);
+		break;
+	case BUZZER_PULSE:
+		Buzzer_PULSE_Leave(self);
+		break;
+	default:
+		break;
+	}
+
+	switch (self->e.ev) {
+	case TO_ON:
+		self->s.current_state = BUZZER_ON;
+		Buzzer_ON_Enter(self, &(self->e));
+		break;
+	case TO_OFF:
+		self->s.current_state = BUZZER_OFF;
+		Buzzer_OFF_Enter(self, &(self->e));
+		break;
+	case TO_PULSE:
+		self->s.current_state = BUZZER_PULSE;
+		Buzzer_PULSE_Enter(self, &(self->e));
+		break;
+	default:
+		self->s.current_state = IMPOSSIBLE_STATE;
+		break;
+	}
+
+	self->s.current_state_since = HAL_GetTick();
+	self->e.ev = NO_EVENT;
+}
+
+
+uint32_t Buzzer_ConfigurePort(struct BuzzerObject * const self, const GPIO_TypeDef * const gpio_port, const uint16_t gpio_pin)
+{
+	Buzzer_Reset(self);
+
+	uint32_t errors = 0;
+
+	CHECK_ERROR(count_bits_16bit(gpio_pin) != 1, BUZZER_PIN_ERROR);
+
+	self->c.GPIO_port = (GPIO_TypeDef *) gpio_port;
+	self->c.GPIO_pin = (uint16_t) gpio_pin;
+
+	self->c.initialized = 1;
+
+	return errors;
+
+fail:
+	self->c.initialized = 0;
+	return errors;
+}
+
+
+uint32_t Buzzer_Enable(struct BuzzerObject * const self)
+{
+	self->e.ev = TO_ON;
+	return 0;
+}
+
+uint32_t Buzzer_Disable(struct BuzzerObject * const self)
+{
+	self->e.ev = TO_OFF;
+	return 0;
+}
+
+uint32_t Buzzer_Pulse(struct BuzzerObject * const self, const uint32_t on_time_ms, const uint32_t period_time_ms, const uint32_t total_active_time_ms)
+{
+	uint32_t errors = 0;
+
+	const uint32_t off_time_ms = period_time_ms - on_time_ms;
+
+	CHECK_ERROR(!on_time_ms, BUZZER_ZERO_ONTIME_ERROR);
+	CHECK_ERROR(!off_time_ms, BUZZER_ZERO_OFFTIME_ERROR);
+	CHECK_ERROR(!total_active_time_ms, BUZZER_ZERO_ACTIVE_TIME_ERROR);
+
+	self->e.pulse_on_for = on_time_ms;
+	self->e.pulse_off_for = off_time_ms;
+	self->e.pulse_total_for = total_active_time_ms;
+
+	self->e.ev = TO_PULSE;
+
+fail:
+	return errors;
+}
+
+void Buzzer_TimerTask(struct BuzzerObject * const self)
+{
+	(void) Buzzer_ProcessEvent(self);
+
+	switch (self->s.current_state) {
+	case BUZZER_OFF:
+		Buzzer_OFF_Handle(self);
+		break;
+	case BUZZER_ON:
+		Buzzer_ON_Handle(self);
+		break;
+	case BUZZER_PULSE:
+		Buzzer_PULSE_Handle(self);
+		break;
+	default:
+		break;
+	}
+}

KPI_Rover/Buzzer/driver.h

@@ -0,0 +1,86 @@
+#ifndef __BUZZER_DRIVER
+#define __BUZZER_DRIVER
+
+#include "stm32f4xx_hal.h"
+
+#define BUZZER_PIN_ERROR 0x1U
+#define BUZZER_NOT_INITIALIZED_ERROR 0x2U
+#define BUZZER_HAL_ERROR 0x3U
+#define BUZZER_VALUE_ERROR 0x4U
+#define BUZZER_ZERO_ONTIME_ERROR 0x5U
+#define BUZZER_ZERO_OFFTIME_ERROR 0x6U
+#define BUZZER_ZERO_ACTIVE_TIME_ERROR 0x7U
+#define BUZZER_TIMER_BUSY 0x8U
+
+
+enum BuzzerEventType {
+	NO_EVENT,
+	IMPOSSIBLE_EVENT,
+	TO_ON,
+	TO_OFF,
+	TO_PULSE
+};
+
+struct BuzzerEvent {
+	enum BuzzerEventType ev;
+	uint32_t pulse_on_for;
+	uint32_t pulse_off_for;
+	uint32_t pulse_total_for;
+};
+
+
+enum BuzzerGlobalStateType {
+	IMPOSSIBLE_STATE,
+	BUZZER_OFF,
+	BUZZER_ON,
+	BUZZER_PULSE
+};
+
+struct BuzzerGlobalState {
+	enum BuzzerGlobalStateType current_state;
+	uint32_t current_state_since;
+};
+
+
+enum BuzzerPulseSubStateType {
+	BUZZER_TO_ON,
+	BUZZER_DELAY_BEFORE_OFF,
+	BUZZER_TO_OFF,
+	BUZZER_DELAY_BEFORE_ON,
+	BUZZER_FINAL_DELAY
+};
+
+struct BuzzerPulseConfig {
+	uint32_t pulse_on_for;
+	uint32_t pulse_off_for;
+	uint32_t pulse_total_for;
+};
+
+struct BuzzerPulseSubState {
+	enum BuzzerPulseSubStateType current_state;
+	struct BuzzerPulseConfig config;
+	uint32_t current_state_since;
+	uint32_t state_lifetime_override;
+};
+
+
+struct BuzzerConfig {
+	GPIO_TypeDef *GPIO_port;
+	uint16_t GPIO_pin;
+	int8_t initialized;
+};
+
+struct BuzzerObject {
+	struct BuzzerConfig c;
+	struct BuzzerGlobalState s;
+	struct BuzzerPulseSubState ps;
+	struct BuzzerEvent e;
+};
+
+uint32_t Buzzer_ConfigurePort(struct BuzzerObject * const self, const GPIO_TypeDef * const gpio_port, const uint16_t gpio_pin);
+uint32_t Buzzer_Enable(struct BuzzerObject * const self);
+uint32_t Buzzer_Disable(struct BuzzerObject * const self);
+uint32_t Buzzer_Pulse(struct BuzzerObject * const self, const uint32_t on_time_ms, const uint32_t period_time_ms, const uint32_t total_active_time_ms);
+void Buzzer_TimerTask(struct BuzzerObject * const self);
+
+#endif /* __BUZZER_DRIVER */