XY2_100 protocol up and running

.github/workflows/build.yml

@@ -6,7 +6,7 @@ on:
       - review_requested
   push:
 
-concurrency: 
+concurrency:
   group: dev-build-${{ github.head_ref || github.ref_name }}
   cancel-in-progress: true
 
@@ -46,9 +46,9 @@ jobs:
 
       - if: matrix.os == 'ubuntu-latest'
         run: |
-            sudo apt-get install -y lcov
-            lcov -d .pio/build/native/ -c -o lcov.info
-            lcov --remove lcov.info '*/usr/*' '*/Platforms/*' '*/bootloader/*' '*/.pio/*' '*/HAL/*' '*/test/*' '*/network/*' -o lcov.info
+          sudo apt-get install -y lcov
+          lcov -d .pio/build/native/ -c -o lcov.info
+          lcov --remove lcov.info '*/usr/*' '*/Platforms/*' '*/bootloader/*' '*/.pio/*' '*/HAL/*' '*/test/*' '*/network/*' -o lcov.info
 
       - if: matrix.os == 'ubuntu-latest'
         name: Coveralls
@@ -59,8 +59,7 @@ jobs:
     needs: tests-run
     runs-on: ubuntu-latest
     steps:
-    - run: echo "Tests succeed!"
-
+      - run: echo "Tests succeed!"
 
   code-format:
     name: Code format
@@ -77,7 +76,7 @@ jobs:
       - name: Set up Node
         uses: actions/setup-node@v2
         with:
-          node-version: '14'
+          node-version: "14"
 
       - name: Install dependencies
         run: npm install -g [email protected]
@@ -90,20 +89,23 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        project_folders: [examples/projects/l0,
-                          examples/projects/Arduino,
-                          examples/projects/NUCLEO-L432KC,
-                          examples/projects/STM32F4-discovery,
-                          examples/projects/NUCLEO-F401RE,
-                          examples/projects/NUCLEO-F410RB,
-                          examples/projects/NUCLEO-G431KB,
-                          examples/projects/NUCLEO-G474RE,
-                          examples/projects/NUCLEO-F072RB,
-                          examples/projects/NUCLEO-L073RZ,
-                          examples/projects/STM32L4S5_discovery,
-                          examples/projects/ESP32,
-                          examples/projects/native
-                          ]
+        project_folders:
+          [
+            examples/projects/l0,
+            examples/projects/Arduino,
+            examples/projects/NUCLEO-L432KC,
+            examples/projects/NUCLEO-L476RG,
+            examples/projects/STM32F4-discovery,
+            examples/projects/NUCLEO-F401RE,
+            examples/projects/NUCLEO-F410RB,
+            examples/projects/NUCLEO-G431KB,
+            examples/projects/NUCLEO-G474RE,
+            examples/projects/NUCLEO-F072RB,
+            examples/projects/NUCLEO-L073RZ,
+            examples/projects/STM32L4S5_discovery,
+            examples/projects/ESP32,
+            examples/projects/native,
+          ]
         os: [macos-latest, windows-latest, ubuntu-latest]
 
     steps:
@@ -152,4 +154,4 @@ jobs:
     needs: examples-build
     runs-on: ubuntu-latest
     steps:
-    - run: echo "Build succeed!"
+      - run: echo "Build succeed!"

examples/projects/NUCLEO-L476RG/laser/lib/Galvo/galvo.c

@@ -5,16 +5,22 @@
  * @version 0.0.0
  ******************************************************************************/
 #include "galvo.h"
-#include "_galvo.h"
 #include "xy2-100.h"
+#include "product_config.h"
 
 /*******************************************************************************
  * Definitions
  ******************************************************************************/
-uint8_t buf[40] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                   11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
-                   21, 22, 23, 24, 25, 26, 27, 28, 29, 30,
-                   31, 32, 33, 34, 35, 36, 37, 38, 39, 40};
+typedef struct
+{
+    uint16_t x;
+    uint16_t y;
+} __attribute__((packed)) pos_2d_t;
+
+pos_2d_t stream_buf[512];
+streaming_channel_t stream;
+time_luos_t period;
+control_t control;
 
 /*******************************************************************************
  * Variables
@@ -24,6 +30,7 @@ uint8_t buf[40] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
  * Function
  ******************************************************************************/
 static void Galvo_MsgHandler(service_t *service, const msg_t *msg);
+
 /******************************************************************************
  * @brief init must be call in project init
  * @param None
@@ -34,9 +41,12 @@ void Galvo_Init(void)
     Xy_Init();
 
     revision_t revision = {.major = 1, .minor = 0, .build = 0};
-    Luos_CreateService(Galvo_MsgHandler, STATE_TYPE, "galvo", revision);
-    Xy_Start(buf, 40);
+    Luos_CreateService(Galvo_MsgHandler, GRAPH_2D, "galvo", revision);
+    stream       = Streaming_CreateChannel(stream_buf, 41, 2 * sizeof(uint16_t));
+    period       = TimeOD_TimeFrom_s(1.0 / 100.0); // Configure the trajectory samplerate at 100Hz
+    control.flux = STOP;
 }
+
 /******************************************************************************
  * @brief loop must be call in project loop
  * @param None
@@ -45,6 +55,7 @@ void Galvo_Init(void)
 void Galvo_Loop(void)
 {
 }
+
 /******************************************************************************
  * @brief Msg Handler call back when a msg receive for this service
  * @param Service destination
@@ -55,12 +66,27 @@ static void Galvo_MsgHandler(service_t *service, const msg_t *msg)
 {
     if (msg->header.cmd == GET_CMD)
     {
+        // The galvo don't send anything back
         return;
     }
-}
-
-uint32_t Galvo_GetData(uint8_t **data)
-{
-    *data = buf;
-    return 40;
+    if (msg->header.cmd == CONTROL)
+    {
+        // Get the control value
+        control_t last_control = control;
+        ControlOD_ControlFromMsg(&control, msg);
+        if (control.flux == PLAY && last_control.flux != PLAY)
+        {
+            // Start the trajectory
+            Xy_Start(&stream, period);
+        }
+        else
+        {
+            // Stop the trajectory
+            Xy_Stop();
+        }
+    }
+    if (msg->header.cmd == POSITION_2D)
+    {
+        Luos_ReceiveStreaming(service, msg, &stream);
+    }
 }

examples/projects/NUCLEO-L476RG/laser/lib/Galvo/galvo_config.h

@@ -46,6 +46,11 @@
     #define GALVO_Y_PIN GPIO_PIN_3
 #endif
 
+// ENABLE Pinout
+#ifndef GALVO_ENABLE_PIN
+    #define GALVO_ENABLE_PIN GPIO_PIN_4
+#endif
+
 // ********************* TIMER *********************
 #ifndef GALVO_TIMER
     #define GALVO_TIMER TIM6
@@ -84,4 +89,9 @@
     #define GALVO_DMA_IRQHANDLER() DMA1_Channel3_IRQHandler()
 #endif
 
+// ********************* BUFFER *********************
+#ifndef GALVO_BUFFER_SIZE
+    #define GALVO_BUFFER_SIZE 4000 // Buffer size need to be a multiple of 40
+#endif
+
 #endif /* _GALVO_HAL_CONFIG_H_ */