Add Hw struct (#177)

Signed-off-by: Javier Balloffet <[email protected]>
Ekumen-OS · Nov 24, 2023 · c2dbd9c · c2dbd9c
1 parent 861e7da
commit c2dbd9c
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Showing 2 changed files with 35 additions and 34 deletions.
diff --git a/andino_firmware/src/app.cpp b/andino_firmware/src/app.cpp
@@ -99,13 +99,13 @@ long arg2;
 
 namespace andino {
 
-Motor App::left_motor_(LEFT_MOTOR_ENABLE_GPIO_PIN, LEFT_MOTOR_FORWARD_GPIO_PIN,
-                       LEFT_MOTOR_BACKWARD_GPIO_PIN);
-Motor App::right_motor_(RIGHT_MOTOR_ENABLE_GPIO_PIN, RIGHT_MOTOR_FORWARD_GPIO_PIN,
-                        RIGHT_MOTOR_BACKWARD_GPIO_PIN);
+Motor App::left_motor_(Hw::kLeftMotorEnableGpioPin, Hw::kLeftMotorForwardGpioPin,
+                       Hw::kLeftMotorBackwardGpioPin);
+Motor App::right_motor_(Hw::kRightMotorEnableGpioPin, Hw::kRightMotorForwardGpioPin,
+                        Hw::kRightMotorBackwardGpioPin);
 
-Encoder App::left_encoder_(LEFT_ENCODER_A_GPIO_PIN, LEFT_ENCODER_B_GPIO_PIN);
-Encoder App::right_encoder_(RIGHT_ENCODER_A_GPIO_PIN, RIGHT_ENCODER_B_GPIO_PIN);
+Encoder App::left_encoder_(Hw::kLeftEncoderChannelAGpioPin, Hw::kLeftEncoderChannelBGpioPin);
+Encoder App::right_encoder_(Hw::kRightEncoderChannelAGpioPin, Hw::kRightEncoderChannelBGpioPin);
 
 PID App::left_pid_controller_(Constants::kPidKp, Constants::kPidKd, Constants::kPidKi,
                               Constants::kPidKo, -Constants::kPwmMax, Constants::kPwmMax);

diff --git a/andino_firmware/src/hw.h b/andino_firmware/src/hw.h
@@ -29,36 +29,37 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
-// PC4 (pin 18), RIGHT ENCODER PIN A
-#define RIGHT_ENCODER_A_GPIO_PIN 18
+namespace andino {
 
-// PC5 (pin 19), RIGHT ENCODER PIN B
-#define RIGHT_ENCODER_B_GPIO_PIN 19
+/// @brief Hardware configuration.
+struct Hw {
+  /// @brief Left encoder channel A pin. Connected to PD2 (digital pin 2).
+  static constexpr int kLeftEncoderChannelAGpioPin{2};
+  /// @brief Left encoder channel B pin. Connected to PD3 (digital pin 3).
+  static constexpr int kLeftEncoderChannelBGpioPin{3};
 
-// PD2 (pin 2), LEFT ENCODER PIN A
-#define LEFT_ENCODER_A_GPIO_PIN 2
+  /// @brief Right encoder channel A pin. Connected to PC4 (digital pin 18, analog pin A4).
+  static constexpr int kRightEncoderChannelAGpioPin{18};
+  /// @brief Right encoder channel B pin. Connected to PC5 (digital pin 19, analog pin A5).
+  static constexpr int kRightEncoderChannelBGpioPin{19};
 
-// PD3 (pin 3), LEFT ENCODER PIN B
-#define LEFT_ENCODER_B_GPIO_PIN 3
+  /// @brief Left motor driver backward pin. Connected to PD6 (digital pin 6).
+  static constexpr int kLeftMotorBackwardGpioPin{6};
+  /// @brief Left motor driver forward pin. Connected to PB2 (digital pin 10).
+  static constexpr int kLeftMotorForwardGpioPin{10};
+  /// @brief Left motor driver enable pin. Connected to PB5 (digital pin 13).
+  /// @note The enable input of the L298N motor driver may be directly jumped to 5V if the board has
+  /// a jumper to do so.
+  static constexpr int kLeftMotorEnableGpioPin{13};
 
-// PD5 (pin 5), RIGHT MOTOR DRIVER BACKWARD PIN
-#define RIGHT_MOTOR_BACKWARD_GPIO_PIN 5
+  /// @brief Right motor driver backward pin. Connected to PD5 (digital pin 5).
+  static constexpr int kRightMotorBackwardGpioPin{5};
+  /// @brief Right motor driver forward pin. Connected to PB1 (digital pin 9).
+  static constexpr int kRightMotorForwardGpioPin{9};
+  /// @brief Right motor driver enable pin. Connected to PB4 (digital pin 12).
+  /// @note The enable input of the L298N motor driver may be directly jumped to 5V if the board has
+  /// a jumper to do so.
+  static constexpr int kRightMotorEnableGpioPin{12};
+};
 
-// PD6 (pin 6), LEFT MOTOR DRIVER BACKWARD PIN
-#define LEFT_MOTOR_BACKWARD_GPIO_PIN 6
-
-// PB1 (pin 9), RIGHT MOTOR DRIVER FORWARD PIN
-#define RIGHT_MOTOR_FORWARD_GPIO_PIN 9
-
-// PB2 (pin 10), LEFT MOTOR DRIVER FORWARD PIN
-#define LEFT_MOTOR_FORWARD_GPIO_PIN 10
-
-// PB4 (pin 12), RIGHT MOTOR DRIVER ENABLE PIN
-#define RIGHT_MOTOR_ENABLE_GPIO_PIN 12
-
-// PB5 (pin 13), LEFT MOTOR DRIVER ENABLE PIN
-#define LEFT_MOTOR_ENABLE_GPIO_PIN 13
-
-// Note: In order to save two pins, the motor driver enable pins could be
-// directly jumped to 5V in case your L298N motor driver board has a jumper to
-// do so.
+}  // namespace andino