v2.7.0

v2.7.0

Inc/HALAL/Models/Concepts/Concepts.hpp

@@ -92,3 +92,9 @@ struct total_sizeof<>{
 public:
     static constexpr size_t value = 0;
 };
+
+template<class Type>
+concept Array = std::is_array<Type>::value;
+
+template<class Type>
+concept NotArray = not Array<Type>;

Inc/HALAL/Models/Packets/PacketValue.hpp

@@ -117,7 +117,7 @@ class PacketValue<string> : public PacketValue<>{
     }
 };
 
-template<class Type,size_t N> 
+template<class Type,size_t N>
 class PacketValue<Type(&)[N]>: public PacketValue<> {
 public:
     using value_type = Type;
@@ -140,12 +140,11 @@ class PacketValue<Type(&)[N]>: public PacketValue<> {
 };
 
 #if __cpp_deduction_guides >= 201606
-template<class Type,size_t N> 
+template<class Type,size_t N>
 PacketValue(Type(*)[N])->PacketValue<Type(&)[N]>;
 #endif
 
-
-template<class Type,size_t N> 
+template<class Type,size_t N>
 class PacketValue<Type*(&)[N]>: public PacketValue<> {
 public:
     using value_type = Type*;

Inc/HALAL/Models/TimerPeripheral/TimerPeripheral.hpp

@@ -47,16 +47,17 @@ class TimerPeripheral {
 	struct InitData {
 	private:
 		InitData() = default;
-
 	public:
 		uint32_t prescaler;
 		uint32_t period;
 		uint32_t deadtime;
+		uint32_t polarity;
+		uint32_t negated_polarity;
 		TIM_TYPE type;
 		vector<PWMData> pwm_channels = {};
 		vector<pair<uint32_t, uint32_t>> input_capture_channels = {};
 		InitData(TIM_TYPE type, uint32_t prescaler = 5,
-				uint32_t period = 55000, uint32_t deadtime = 0);
+				uint32_t period = 55000, uint32_t deadtime = 0, uint32_t polarity = TIM_OCPOLARITY_HIGH, uint32_t negated_polarity = TIM_OCPOLARITY_HIGH);
 	};
 
 	TIM_HandleTypeDef* handle;

Inc/HALAL/Services/Communication/Ethernet/TCP/ServerSocket.hpp

@@ -77,6 +77,8 @@ class ServerSocket : public OrderProtocol{
 
 	void send();
 
+	bool is_connected();
+
 private:
 
 	static err_t accept_callback(void* arg, struct tcp_pcb* incomming_control_block, err_t error);

Inc/HALAL/Services/Communication/Ethernet/TCP/Socket.hpp

@@ -75,6 +75,8 @@ class Socket : public OrderProtocol{
 
 	void process_data();
 
+	bool is_connected();
+
 	static err_t connect_callback(void* arg, struct tcp_pcb* client_control_block, err_t error);
 	static err_t receive_callback(void* arg, struct tcp_pcb* client_control_block, struct pbuf* packet_buffer, err_t error);
 	static err_t poll_callback(void* arg, struct tcp_pcb* client_control_block);

Inc/HALAL/Services/PWM/DualPWM/DualPWM.hpp

@@ -16,7 +16,11 @@ class DualPWM : virtual public PWM {
 	DualPWM(Pin& pin, Pin& pin_negated);
 
 	void turn_on();
+	void turn_on_positive();
+	void turn_on_negated();
 	void turn_off();
+	void turn_off_positive();
+	void turn_off_negated();
 
 	friend class DualPhasedPWM;
 };

Inc/ST-LIB_HIGH/Control/Blocks/Derivator.hpp

@@ -57,7 +57,7 @@ class SimpleDerivator : public ControlBlock<double,double>{
         double buffer[N] = {0.0};
         int index = 0;
     public:
-        SimpleDerivator(double period): ControlBlock<double,double>(0.0), period(period){}
+        SimpleDerivator(double period): ControlBlock<double,double>(0.0), period(period){ output_value = 0.0;}
         void execute()override{
             buffer[index] = input_value;
             output_value = (buffer[index] - buffer[((index-1)%(N) + (N))%(N)])/period;

Inc/ST-LIB_HIGH/Control/Blocks/Integrator.hpp

@@ -23,7 +23,7 @@ class Integrator<IntegratorType::Trapezoidal> : public ControlBlock<double,doubl
         double ki;
         bool first_execution = true;
     public:
-        Integrator(double period, double ki):ControlBlock<double,double>(0.0), period(period), ki(ki){}
+        Integrator(double period, double ki):ControlBlock<double,double>(0.0), period(period), ki(ki){output_value = 0.0;}
         void execute() override	{
             buffer[index] = input_value;
             if(first_execution){
@@ -98,7 +98,7 @@ class Integrator<IntegratorType::BackwardEuler>: public ControlBlock<double,doub
         double ki;
         bool first_execution = true;
     public:
-        Integrator(double period, double ki):ControlBlock<double,double>(0.0), period(period), ki(ki) {}
+        Integrator(double period, double ki):ControlBlock<double,double>(0.0), period(period), ki(ki) {output_value = 0.0;}
         void execute() override	{
             buffer[index] = input_value;
             if(first_execution){

Inc/ST-LIB_HIGH/Control/Blocks/MovingAverage.hpp

@@ -3,8 +3,6 @@
 #include "stdio.h"
 #include "../ControlSystem.hpp"
 
-double computeMA(double input_value);
-
 template<size_t N>
 class MovingAverage : public ControlBlock<double,double> {
     private:

Inc/ST-LIB_HIGH/Protections/ProtectionManager.hpp

@@ -50,7 +50,7 @@ class ProtectionManager {
 	static constexpr uint16_t fault_id = 2;
 	static char* message;
 	static size_t message_size;
-	static constexpr const char* format = "{\"boardId\": %s, \"timestamp\":{%s}, %s}";
+	static constexpr const char* format = "{\"boardId\": %s, \"timestamp\":{%s}, %s}\0";
 
     static Boards::ID board_id;
     static vector<Protection> low_frequency_protections;

Inc/ST-LIB_LOW/HalfBridge/HalfBridge.hpp

@@ -26,10 +26,11 @@ class HalfBridge {
 	void set_phase(float phase);
 	float get_phase();
 
+	DualPhasedPWM positive_pwm;
+	DualPhasedPWM negative_pwm;
 private:
 	bool is_dual;
 
-	DualPhasedPWM positive_pwm;
-	DualPhasedPWM negative_pwm;
+
 	uint8_t enable;
 };

Inc/ST-LIB_LOW/ST-LIB_LOW.hpp

@@ -15,6 +15,7 @@
 #include "Sensors/LinearSensor/LinearSensor.hpp"
 #include "Sensors/LookupSensor/LookupSensor.hpp"
 #include "Sensors/EncoderSensor/EncoderSensor.hpp"
+#include "Sensors/NTC/NTC.hpp"
 
 class STLIB_LOW {
 public:

Inc/ST-LIB_LOW/Sensors/Common/PT100.hpp

@@ -5,18 +5,17 @@
 #include "Control/ControlBlock.hpp"
 #include "Control/Blocks/MovingAverage.hpp"
 
+
+template<size_t N>
 class PT100{
 public:
 	static constexpr float k = 841.836735;
 	static constexpr float offset = -492.204082;
+	MovingAverage<N>* filter = nullptr;
 
-	ControlBlock<float,float>* filter = nullptr;
-
-	template<size_t N>
 	PT100(Pin& pin, float* value, MovingAverage<N>& filter);
 	PT100(Pin& pin, float* value);
 
-	template<size_t N>
 	PT100(Pin& pin, float& value, MovingAverage<N>& filter);
 	PT100(Pin& pin, float& value);
 
@@ -27,28 +26,31 @@ class PT100{
 };
 
 template<size_t N>
-PT100::PT100(Pin& pin, float* value, MovingAverage<N>& filter) : value(value), filter(&filter){
+PT100<N>::PT100(Pin& pin, float* value, MovingAverage<N>& filter) : value(value), filter(&filter){
 	id = ADC::inscribe(pin);
 	Sensor::adc_id_list.push_back(id);
 }
 
 template<size_t N>
-PT100::PT100(Pin& pin, float& value, MovingAverage<N>& filter) : value(&value), filter(&filter){
+PT100<N>::PT100(Pin& pin, float& value, MovingAverage<N>& filter) : value(&value), filter(&filter){
 	id = ADC::inscribe(pin);
 	Sensor::adc_id_list.push_back(id);
 }
 
-PT100::PT100(Pin& pin, float* value) : value(value){
+template<size_t N>
+PT100<N>::PT100(Pin& pin, float* value) : value(value){
 	id = ADC::inscribe(pin);
 	Sensor::adc_id_list.push_back(id);
 }
 
-PT100::PT100(Pin& pin, float& value) : value(&value){
+template<size_t N>
+PT100<N>::PT100(Pin& pin, float& value) : value(&value){
 	id = ADC::inscribe(pin);
 	Sensor::adc_id_list.push_back(id);
 }
 
-void PT100::read(){
+template<size_t N>
+void PT100<N>::read(){
 	float val = ADC::get_value(id);
 	if(filter != nullptr){
 		filter->input(k/val + offset);