move timer to utils, drop timer dependency in escdriver

rtlopez · Nov 3, 2024 · a87f8a9 · a87f8a9
1 parent 42aad6a
commit a87f8a9
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Showing 9 changed files with 38 additions and 22 deletions.
diff --git a/lib/EscDriver/src/EscDriverEsp32.cpp b/lib/EscDriver/src/EscDriverEsp32.cpp
@@ -94,7 +94,6 @@ int EscDriverEsp32::begin(const EscConfig& conf)
   _interval = TO_INTERVAL_US(_rate);
   _digital = isDigital(_protocol);
   _dshot_tlm = conf.dshotTelemetry && (_protocol == ESC_PROTOCOL_DSHOT300 || _protocol == ESC_PROTOCOL_DSHOT600);
-  _timer.setInterval(1000000);
 
   return 1;
 }

diff --git a/lib/EscDriver/src/EscDriverEsp32.h b/lib/EscDriver/src/EscDriverEsp32.h
@@ -5,7 +5,6 @@
 
 #include "EscDriver.h"
 #include <driver/rmt.h>
-#include "Timer.h"
 
 class EscDriverEsp32: public EscDriverBase
 {
@@ -120,7 +119,6 @@ class EscDriverEsp32: public EscDriverBase
 
     static bool _tx_end_installed;
     static EscDriverEsp32* instances[];
-    Espfc::Timer _timer;
 };
 
 #endif

diff --git a/lib/Espfc/src/Control/Rates.cpp b/lib/Espfc/src/Control/Rates.cpp
@@ -3,6 +3,8 @@
 
 namespace Espfc {
 
+namespace Control {
+
 constexpr float SETPOINT_RATE_LIMIT = 1998.0f;
 constexpr float RC_RATE_INCREMENTAL = 14.54f;
 
@@ -111,3 +113,5 @@ float FAST_CODE_ATTR Rates::quick(const int axis, float rcCommandf, const float
 }
 
 }
+
+}
diff --git a/lib/Espfc/src/Control/Rates.h b/lib/Espfc/src/Control/Rates.h
@@ -14,6 +14,8 @@ enum RateType {
   RATES_TYPE_QUICK,
 };
 
+namespace Control {
+
 class Rates
 {
   public:
@@ -50,4 +52,6 @@ class Rates
     int16_t rateLimit[3];
 };
 
-} // namespace Espfc
+}
+
+}
diff --git a/lib/Espfc/src/ModelState.h b/lib/Espfc/src/ModelState.h
@@ -12,8 +12,8 @@
 #include "Control/Pid.h"
 #include "Kalman.h"
 #include "Utils/Filter.h"
+#include "Utils/Timer.h"
 #include "Stats.h"
-#include "Timer.h"
 #include "Device/SerialDevice.h"
 #include "Math/FreqAnalyzer.h"
 #include "Msp/Msp.h"
@@ -80,7 +80,7 @@ class BuzzerState
       return idx >= BUZZER_MAX_EVENTS;
     }
 
-    Timer timer;
+    Utils::Timer timer;
     BuzzerEvent events[BUZZER_MAX_EVENTS];
     size_t idx;
     int32_t beeperMask;
@@ -105,7 +105,7 @@ class BatteryState
     float percentage;
     int8_t cells;
     int8_t samples;
-    Timer timer;
+    Utils::Timer timer;
 };
 
 enum CalibrationState {
@@ -196,12 +196,12 @@ struct InputState
 
   Utils::Filter filter[AXIS_COUNT_RPYT];
 
-  Timer timer;
+  Utils::Timer timer;
 };
 
 struct MixerState
 {
-  Timer timer;
+  Utils::Timer timer;
   float minThrottle;
   float maxThrottle;
   bool digitalOutput;
@@ -219,7 +219,7 @@ struct MagState
   VectorInt16 raw;
   VectorFloat adc;
   Utils::Filter filter[3];
-  Timer timer;
+  Utils::Timer timer;
 
   int calibrationSamples;
   int calibrationState;
@@ -277,8 +277,8 @@ struct GyroState
   Utils::Filter rpmFilter[RPM_FILTER_MOTOR_MAX][RPM_FILTER_HARMONICS_MAX][AXIS_COUNT_RPY];
   Utils::Filter rpmFreqFilter[RPM_FILTER_MOTOR_MAX];
 
-  Timer timer;
-  Timer dynamicFilterTimer;
+  Utils::Timer timer;
+  Utils::Timer dynamicFilterTimer;
 };
 
 struct AccelState
@@ -288,7 +288,7 @@ struct AccelState
   VectorFloat adc;
   VectorFloat prev;
   Utils::Filter filter[AXIS_COUNT_RPY];
-  Timer timer;
+  Utils::Timer timer;
 
   float scale;
   VectorFloat bias;
@@ -345,10 +345,10 @@ struct ModelState
   OutputState output;
 
   int32_t loopRate;
-  Timer loopTimer;
+  Utils::Timer loopTimer;
 
-  Timer actuatorTimer;
-  Timer telemetryTimer;
+  Utils::Timer actuatorTimer;
+  Utils::Timer telemetryTimer;
 
   ModeState mode;
   Stats stats;
@@ -366,7 +366,7 @@ struct ModelState
   int16_t i2cErrorDelta;
 
   SerialPortState serial[SERIAL_UART_COUNT];
-  Timer serialTimer;
+  Utils::Timer serialTimer;
 
   Target::Queue appQueue;
 

diff --git a/lib/Espfc/src/Stats.h b/lib/Espfc/src/Stats.h
@@ -1,7 +1,7 @@
 #ifndef _ESPFC_STATS_H_
 #define _ESPFC_STATS_H_
 
-#include "Timer.h"
+#include "Utils/Timer.h"
 
 namespace Espfc {
 
@@ -201,7 +201,7 @@ class Stats
       }
     }
 
-    Timer timer;
+    Utils::Timer timer;
 
   private:
     uint32_t _start[COUNTER_COUNT];

diff --git a/lib/Espfc/src/Timer.cpp → lib/Espfc/src/Utils/Timer.cpp b/lib/Espfc/src/Timer.cpp → lib/Espfc/src/Utils/Timer.cpp
@@ -1,9 +1,11 @@
 #include <Arduino.h>
-#include "Timer.h"
+#include "Utils/Timer.h"
 #include "Utils/MemoryHelper.h"
 
 namespace Espfc {
 
+namespace Utils {
+
 Timer::Timer(): interval(0), last(0), next(0), iteration(0), delta(0)
 {
 }
@@ -68,3 +70,5 @@ bool FAST_CODE_ATTR Timer::syncTo(const Timer& t, uint32_t slot)
 }
 
 }
+
+}
diff --git a/lib/Espfc/src/Timer.h → lib/Espfc/src/Utils/Timer.h b/lib/Espfc/src/Timer.h → lib/Espfc/src/Utils/Timer.h
@@ -4,6 +4,8 @@
 
 namespace Espfc {
 
+namespace Utils {
+
 class Timer
 {
   public:
@@ -29,3 +31,5 @@ class Timer
 };
 
 }
+
+}
diff --git a/test/test_fc/test_fc.cpp b/test/test_fc/test_fc.cpp
@@ -1,15 +1,18 @@
 #include <unity.h>
 #include <ArduinoFake.h>
 #include <EscDriver.h>
-#include "Timer.h"
+#include "Utils/Timer.h"
 #include "Model.h"
 #include "Control/Controller.h"
 #include "Control/Actuator.h"
 #include "Output/Mixer.h"
 
 using namespace fakeit;
 using namespace Espfc;
-using namespace Espfc::Control;
+using Espfc::Control::Rates;
+using Espfc::Control::Controller;
+using Espfc::Control::Actuator;
+using Espfc::Utils::Timer;
 
 /*void setUp(void)
 {
-Original file line number
+Diff line change
@@ Expand Up / @@ -4,6 +4,8 @@ @@
     namespace Espfc {
+    namespace Utils {
     class Timer
     {
       public:
@@ Expand All / @@ -29,3 +31,5 @@ class Timer @@
     };
     }
+    }