🎨 (drivers): Update CoreTouchSensor

leka · Jul 27, 2022 · 02c6812 · 02c6812
1 parent e98e385
commit 02c6812
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Showing 4 changed files with 17 additions and 19 deletions.
diff --git a/drivers/CoreTouchSensor/include/CoreTouchSensor.h b/drivers/CoreTouchSensor/include/CoreTouchSensor.h
@@ -15,14 +15,16 @@ namespace leka {
 class CoreTouchSensor : public interface::TouchSensor
 {
   public:
+	static constexpr auto default_max_sensitivity_value = uint16_t {0x0FFF};
+	static constexpr auto default_min_sensitivity_value = uint16_t {0x0000};
+
 	explicit CoreTouchSensor(mbed::interface::DigitalIn &detect_pin, mbed::interface::DigitalOut &power_mode_pin,
 							 interface::QDAC &dac, Channel channel)
 		: _detect_pin(detect_pin), _power_mode_pin(power_mode_pin), _sensitivity_pin({dac, channel}) {};
 	void init() final;
 	auto read() -> bool final;
 	void reset() final;
 	void setSensitivity(uint16_t value, bool saved = false) final;
-	auto getState() -> bool final;
 
   private:
 	enum class PowerMode : uint8_t

diff --git a/drivers/CoreTouchSensor/source/CoreTouchSensor.cpp b/drivers/CoreTouchSensor/source/CoreTouchSensor.cpp
@@ -6,6 +6,8 @@
 
 #include "rtos/ThisThread.h"
 
+#include "MathUtils.h"
+
 using namespace leka;
 using namespace std::chrono_literals;
 
@@ -25,23 +27,21 @@ auto CoreTouchSensor::read() -> bool
 void CoreTouchSensor::reset()
 {
 	setPowerMode(PowerMode::low);
-	rtos::ThisThread::sleep_for(10ms);
+	rtos::ThisThread::sleep_for(1ms);
 	setPowerMode(PowerMode::normal);
-	rtos::ThisThread::sleep_for(10ms);
+	rtos::ThisThread::sleep_for(1ms);
 }
 
 void CoreTouchSensor::setSensitivity(uint16_t value, bool saved)
 {
-	_sensitivity_pin.dac.write(_sensitivity_pin.channel, value, saved);
+	auto inverted_value =
+		utils::math::map<uint16_t, uint16_t>(value, default_min_sensitivity_value, default_max_sensitivity_value,
+											 default_max_sensitivity_value, default_min_sensitivity_value);
+	_sensitivity_pin.dac.write(_sensitivity_pin.channel, inverted_value, saved);
 }
 
 void CoreTouchSensor::setPowerMode(PowerMode power_mode)
 {
 	auto pm = static_cast<uint8_t>(power_mode);
 	_power_mode_pin.write(pm);
 }
-
-auto CoreTouchSensor::getState() -> bool
-{
-	return _state;
-}
diff --git a/drivers/CoreTouchSensor/tests/CoreTouchSensor_test.cpp b/drivers/CoreTouchSensor/tests/CoreTouchSensor_test.cpp
@@ -6,6 +6,7 @@
 
 #include "IOKit/DigitalIn.h"
 #include "IOKit/DigitalOut.h"
+#include "MathUtils.h"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 #include "mocks/leka/CoreI2C.h"
@@ -74,14 +75,10 @@ TEST_F(CoreTouchSensorTest, reset)
 
 TEST_F(CoreTouchSensorTest, setSensitivity)
 {
-	EXPECT_CALL(dac, write(channel, 0x0ABC, false)).Times(1);
-	auto value = 0x0ABC;
+	auto value			= 0x0ABC;
+	auto expected_value = utils::math::map<uint16_t, uint16_t>(
+		value, CoreTouchSensor::default_min_sensitivity_value, CoreTouchSensor::default_max_sensitivity_value,
+		CoreTouchSensor::default_max_sensitivity_value, CoreTouchSensor::default_min_sensitivity_value);
+	EXPECT_CALL(dac, write(channel, expected_value, false)).Times(1);
 	sensor.setSensitivity(value);
 }
-
-TEST_F(CoreTouchSensorTest, getState)
-{
-	auto expected_state = false;
-	auto state			= sensor.getState();
-	EXPECT_EQ(expected_state, state);
-}
diff --git a/include/interface/drivers/TouchSensor.h b/include/interface/drivers/TouchSensor.h
@@ -16,7 +16,6 @@ class TouchSensor
 	virtual auto read() -> bool										= 0;
 	virtual void reset()											= 0;
 	virtual void setSensitivity(uint16_t value, bool saved = false) = 0;
-	virtual auto getState() -> bool									= 0;
 };
 
 }	// namespace leka::interface