Merge branch 'main' of github.com:Orkavian/kaptan

boards/kakute-f7-mini-v3/src/actuator/tim3_dshot.rs

@@ -1,8 +1,7 @@
 use core::sync::atomic::{AtomicBool, Ordering};
 
-use kaptan_actuator::{
+use kaptan_actuator::dshot::{
-    DshotConfig,
+    ArmSequence, Config, FRAME_SYMBOLS, FrameValue, Throttle, Timing, symbols,
-    dshot::{ArmSequence, FRAME_SYMBOLS, FrameValue, Throttle, Timing, symbols},
 };
 use stm32f7::stm32f722;
 
@@ -34,7 +33,7 @@ impl Tim3Dshot {
         rcc: &stm32f722::RCC,
         timer: stm32f722::TIM3,
         scheduler: stm32f722::TIM5,
-        config: DshotConfig,
+        config: Config,
     ) -> Self {
         let rate = config.rate();
         let dshot_timer_hz = rate.timer_base_hz();

boards/kakute-f7-mini-v3/src/actuator/tim3_pwm.rs

@@ -1,9 +1,6 @@
 use core::sync::atomic::{AtomicU16, Ordering};
 
-use kaptan_actuator::{
+use kaptan_actuator::pwm::{ArmSequence, Config, FrameValue, PulseWidth};
-    PwmConfig,
-    pwm::{ArmSequence, FrameValue, PulseWidth},
-};
 use stm32f7::stm32f722;
 
 const APB1_TIMER_CLOCK_HZ: u32 = 108_000_000;
@@ -28,7 +25,7 @@ pub(super) struct Tim3Pwm {
 }
 
 impl Tim3Pwm {
-    pub(super) fn new(rcc: &stm32f722::RCC, timer: stm32f722::TIM3, config: PwmConfig) -> Self {
+    pub(super) fn new(rcc: &stm32f722::RCC, timer: stm32f722::TIM3, config: Config) -> Self {
         let period_us = match config.frame_rate().period_microseconds() {
             Some(period) => period,
             None => unreachable!(),

boards/kakute-f7-mini-v3/src/board.rs

@@ -36,7 +36,7 @@ pub const LIDAR_ACQUISITION_MODE: AcquisitionMode = AcquisitionMode::WithReceive
 pub const LIDAR_STARTUP_TICKS: u8 = 3;
 /// ESC protocol selected for this board's M1–M4 output route.
 pub const MOTOR_PROTOCOL: MotorProtocol = MotorProtocol::Dshot(
-    match kaptan_actuator::DshotConfig::new(
+    match kaptan_actuator::dshot::Config::new(
         kaptan_actuator::dshot::Rate::Dshot600,
         match kaptan_actuator::dshot::Throttle::new(300) {
             Some(throttle) => throttle,

libs/kaptan-actuator/src/dshot.rs

@@ -1,11 +1,48 @@
 //! DShot framing, timing, and arming policy.
 
+use crate::ArmingDuration;
 use core::sync::atomic::{AtomicBool, AtomicU16, Ordering};
 
 pub const MIN_THROTTLE: u16 = 48;
 pub const MOTOR_STOP: u16 = 0;
 pub const FRAME_SYMBOLS: usize = 18;
 
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub struct Config {
+    rate: Rate,
+    armed_idle_throttle: Throttle,
+    arming_duration: ArmingDuration,
+}
+
+impl Config {
+    pub const fn new(
+        rate: Rate,
+        armed_idle_throttle: Throttle,
+        arming_duration: ArmingDuration,
+    ) -> Option<Self> {
+        if rate.frames_for_millis(arming_duration.milliseconds()) == 0 {
+            return None;
+        }
+        Some(Self {
+            rate,
+            armed_idle_throttle,
+            arming_duration,
+        })
+    }
+
+    pub const fn rate(self) -> Rate {
+        self.rate
+    }
+
+    pub const fn armed_idle_throttle(self) -> Throttle {
+        self.armed_idle_throttle
+    }
+
+    pub const fn arming_duration(self) -> ArmingDuration {
+        self.arming_duration
+    }
+}
+
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub enum Rate {
     Dshot150,
@@ -186,7 +223,8 @@ pub const fn symbols(packet: u16, zero_high: u16, one_high: u16) -> [u16; FRAME_
 
 #[cfg(test)]
 mod tests {
-    use super::{ArmSequence, FrameValue, Rate, Throttle, Timing, packet, symbols};
+    use super::{ArmSequence, Config, FrameValue, Rate, Throttle, Timing, packet, symbols};
+    use crate::ArmingDuration;
 
     #[test]
     fn packet_matches_standard_dshot_vectors() {
@@ -219,4 +257,11 @@ mod tests {
             assert!(Timing::from_timer_clock(rate.timer_base_hz(), rate).is_some());
         }
     }
+
+    #[test]
+    fn requires_an_arming_interval_with_frames() {
+        let duration = ArmingDuration::from_millis(2_000).unwrap();
+        let throttle = Throttle::new(300).unwrap();
+        assert!(Config::new(Rate::Dshot600, throttle, duration).is_some());
+    }
 }

libs/kaptan-actuator/src/lib.rs

@@ -3,10 +3,30 @@
 #![no_std]
 
 pub mod dshot;
-mod protocol;
 pub mod pwm;
 
-pub use protocol::{ArmingDuration, DshotConfig, MotorProtocol, PwmConfig};
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub struct ArmingDuration(u16);
+
+impl ArmingDuration {
+    pub const fn from_millis(milliseconds: u16) -> Option<Self> {
+        if milliseconds != 0 && milliseconds <= 8_000 {
+            Some(Self(milliseconds))
+        } else {
+            None
+        }
+    }
+
+    pub const fn milliseconds(self) -> u16 {
+        self.0
+    }
+}
+
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum MotorProtocol {
+    Pwm(pwm::Config),
+    Dshot(dshot::Config),
+}
 
 /// Flight-control and MAVLink boundary for motor outputs.
 pub trait MotorOutput {

libs/kaptan-actuator/src/protocol.rs

@@ -1,132 +0,0 @@
-use crate::{dshot, pwm};
-
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct ArmingDuration(u16);
-
-impl ArmingDuration {
-    pub const fn from_millis(milliseconds: u16) -> Option<Self> {
-        if milliseconds != 0 && milliseconds <= 8_000 {
-            Some(Self(milliseconds))
-        } else {
-            None
-        }
-    }
-
-    pub const fn milliseconds(self) -> u16 {
-        self.0
-    }
-}
-
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct PwmConfig {
-    frame_rate: pwm::Rate,
-    minimum_pulse: pwm::PulseWidth,
-    armed_idle_pulse: pwm::PulseWidth,
-    arming_duration: ArmingDuration,
-}
-
-impl PwmConfig {
-    pub const fn new(
-        frame_rate: pwm::Rate,
-        minimum_pulse: pwm::PulseWidth,
-        armed_idle_pulse: pwm::PulseWidth,
-        arming_duration: ArmingDuration,
-    ) -> Option<Self> {
-        match frame_rate.period_microseconds() {
-            Some(period)
-                if minimum_pulse.microseconds() <= armed_idle_pulse.microseconds()
-                    && armed_idle_pulse.microseconds() <= period =>
-            {
-                Some(Self {
-                    frame_rate,
-                    minimum_pulse,
-                    armed_idle_pulse,
-                    arming_duration,
-                })
-            }
-            _ => None,
-        }
-    }
-
-    pub const fn frame_rate(self) -> pwm::Rate {
-        self.frame_rate
-    }
-    pub const fn minimum_pulse(self) -> pwm::PulseWidth {
-        self.minimum_pulse
-    }
-    pub const fn armed_idle_pulse(self) -> pwm::PulseWidth {
-        self.armed_idle_pulse
-    }
-    pub const fn arming_duration(self) -> ArmingDuration {
-        self.arming_duration
-    }
-}
-
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct DshotConfig {
-    rate: dshot::Rate,
-    armed_idle_throttle: dshot::Throttle,
-    arming_duration: ArmingDuration,
-}
-
-impl DshotConfig {
-    pub const fn new(
-        rate: dshot::Rate,
-        armed_idle_throttle: dshot::Throttle,
-        arming_duration: ArmingDuration,
-    ) -> Option<Self> {
-        if rate.frames_for_millis(arming_duration.milliseconds()) == 0 {
-            return None;
-        }
-        Some(Self {
-            rate,
-            armed_idle_throttle,
-            arming_duration,
-        })
-    }
-
-    pub const fn rate(self) -> dshot::Rate {
-        self.rate
-    }
-    pub const fn armed_idle_throttle(self) -> dshot::Throttle {
-        self.armed_idle_throttle
-    }
-    pub const fn arming_duration(self) -> ArmingDuration {
-        self.arming_duration
-    }
-}
-
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub enum MotorProtocol {
-    Pwm(PwmConfig),
-    Dshot(DshotConfig),
-}
-
-#[cfg(test)]
-mod tests {
-    use super::{ArmingDuration, DshotConfig, MotorProtocol, PwmConfig};
-    use crate::{dshot, pwm};
-
-    const ARMING: ArmingDuration = match ArmingDuration::from_millis(2_000) {
-        Some(duration) => duration,
-        None => panic!("test duration must be valid"),
-    };
-
-    #[test]
-    fn pwm_configuration_requires_an_exact_frame_and_ordered_pulses() {
-        let rate = pwm::Rate::new(400).unwrap();
-        let minimum = pwm::PulseWidth::new(1_000).unwrap();
-        let idle = pwm::PulseWidth::new(1_100).unwrap();
-        assert!(PwmConfig::new(rate, minimum, idle, ARMING).is_some());
-        assert!(PwmConfig::new(pwm::Rate::new(333).unwrap(), minimum, idle, ARMING).is_none());
-        assert!(PwmConfig::new(rate, idle, minimum, ARMING).is_none());
-    }
-
-    #[test]
-    fn motor_protocol_contains_only_validated_policies() {
-        let idle = dshot::Throttle::new(300).unwrap();
-        let config = DshotConfig::new(dshot::Rate::Dshot600, idle, ARMING).unwrap();
-        assert_eq!(MotorProtocol::Dshot(config), MotorProtocol::Dshot(config));
-        assert!(ArmingDuration::from_millis(0).is_none());
-    }
-}

libs/kaptan-actuator/src/pwm.rs

@@ -1,7 +1,56 @@
 //! Conventional PWM framing and arming policy.
 
+use crate::ArmingDuration;
 use core::sync::atomic::{AtomicBool, AtomicU16, Ordering};
 
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub struct Config {
+    frame_rate: Rate,
+    minimum_pulse: PulseWidth,
+    armed_idle_pulse: PulseWidth,
+    arming_duration: ArmingDuration,
+}
+
+impl Config {
+    pub const fn new(
+        frame_rate: Rate,
+        minimum_pulse: PulseWidth,
+        armed_idle_pulse: PulseWidth,
+        arming_duration: ArmingDuration,
+    ) -> Option<Self> {
+        match frame_rate.period_microseconds() {
+            Some(period)
+                if minimum_pulse.microseconds() <= armed_idle_pulse.microseconds()
+                    && armed_idle_pulse.microseconds() <= period =>
+            {
+                Some(Self {
+                    frame_rate,
+                    minimum_pulse,
+                    armed_idle_pulse,
+                    arming_duration,
+                })
+            }
+            _ => None,
+        }
+    }
+
+    pub const fn frame_rate(self) -> Rate {
+        self.frame_rate
+    }
+
+    pub const fn minimum_pulse(self) -> PulseWidth {
+        self.minimum_pulse
+    }
+
+    pub const fn armed_idle_pulse(self) -> PulseWidth {
+        self.armed_idle_pulse
+    }
+
+    pub const fn arming_duration(self) -> ArmingDuration {
+        self.arming_duration
+    }
+}
+
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct Rate(u16);
 
@@ -114,7 +163,8 @@ impl ArmSequence {
 
 #[cfg(test)]
 mod tests {
-    use super::{ArmSequence, FrameValue, PulseWidth, Rate};
+    use super::{ArmSequence, Config, FrameValue, PulseWidth, Rate};
+    use crate::ArmingDuration;
 
     #[test]
     fn rate_describes_an_exact_400_hertz_frame() {
@@ -134,4 +184,15 @@ mod tests {
         sequence.disarm();
         assert_eq!(sequence.next_frame(), None);
     }
+
+    #[test]
+    fn requires_an_exact_frame_and_ordered_pulses() {
+        let duration = ArmingDuration::from_millis(2_000).unwrap();
+        let rate = Rate::new(400).unwrap();
+        let minimum = PulseWidth::new(1_000).unwrap();
+        let idle = PulseWidth::new(1_100).unwrap();
+        assert!(Config::new(rate, minimum, idle, duration).is_some());
+        assert!(Config::new(Rate::new(333).unwrap(), minimum, idle, duration).is_none());
+        assert!(Config::new(rate, idle, minimum, duration).is_none());
+    }
 }