Add and modify Cubewheel files #232

SeirenTDoi · 2023-10-02T07:15:30Z

Issue

- 関連する issue

詳細

CubeWheelに関するコードを追加。

検証結果

ビルドチェック (どちらもチェック)

SILSでのビルドチェックに通った(CIで確認)
vMicroでのビルドチェックに通った

動作確認チェック (いずれかをチェック)

SILSでアルゴリズムが想定通りに動いた
実機でアルゴリズムが想定通りに動いた
(テレコマ試験の場合)コマンドファイルを使った試験をパスした

補足

NA

200km · 2023-10-02T07:21:18Z

@SeirenTDoi ありがとうございます。check_coding_ruleのみで良いのでチェックが通るように修正していただけますと幸いです。

Coding ruleの詳細は下記の通りです。
https://github.com/ut-issl/c2a-core/blob/042cdfa15b0056880398e857cdd5d5a430562fd1/Docs/General/coding_rule.md

SeirenTDoi · 2023-10-03T01:10:02Z

@200km 承知しました。エラー理由がわからず取り急ぎインデントと文字コード対応しましたがまだエラーが出ますので、随時対応していきます。

200km · 2023-10-03T07:01:00Z

コーディングエラーの詳細は、Actionsのdetailsで確認できます。
今出ているのは文字コードがUTF8出ないというエラーなようです。

https://github.com/ut-issl/c2a-aobc/actions/runs/6387032172/job/17334731678?pr=232

github-actions

Remaining comments which cannot be posted as a review comment to avoid GitHub Rate Limit

check_coding_rule

github-actions · 2023-10-04T02:56:50Z

src/src_user/Drivers/Aocs/cubewheel.c

+
+const static uint8_t CUBEWHEEL_kConvertValueOfCurrentFactor_ = 0.48828125;
+
+//Endianがビッグエンディアン


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER '//' OR '//!<'

github-actions · 2023-10-04T02:56:50Z

src/src_user/Drivers/Aocs/cubewheel.c

+  GPIO_set_direction(CUBEWHEEL_driver->info.enable_port_no, GPIO_OUTPUT);
+
+  CUBEWHEEL_driver->info.axis_id = axis_id;
+  CUBEWHEEL_driver->info.maxspeed_in_rpm = 8000; //rpm


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER '//' OR '//!<'

github-actions · 2023-10-04T02:56:50Z

src/src_user/Drivers/Aocs/cubewheel.c

+
+  CUBEWHEEL_driver->info.axis_id = axis_id;
+  CUBEWHEEL_driver->info.maxspeed_in_rpm = 8000; //rpm
+  CUBEWHEEL_driver->info.max_torque = 0.23; //mNm


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER '//' OR '//!<'

github-actions · 2023-10-04T02:56:50Z

src/src_user/Drivers/Aocs/cubewheel.c

+
+  CUBEWHEEL_driver->driver.i2c_write.ch = ch;
+  CUBEWHEEL_driver->driver.i2c_write.frequency_khz = 100;
+  CUBEWHEEL_driver->driver.i2c_write.device_address = (device_address << 1); //write


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER '//' OR '//!<'

github-actions · 2023-10-04T02:56:50Z

src/src_user/Drivers/Aocs/cubewheel.c

+  CUBEWHEEL_driver->driver.i2c_write.timeout_threshold = 500;
+  CUBEWHEEL_driver->driver.i2c_write.rx_length = 8;
+
+  //todo: ここはreopen?


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER '//' OR '//!<'

github-actions · 2023-10-04T02:56:52Z

src/src_user/Drivers/Aocs/cubewheel.c

+  CUBEWHEEL_driver->info.runtime_in_msec = (uint16_t)raw_value;
+
+  raw_value = data[5] << 8; //reserve
+  raw_value += data[4];	//reserve


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T02:56:52Z

src/src_user/Drivers/Aocs/cubewheel.c

+  ReadRegister(CUBEWHEEL_driver, CUBEWHEEL_kCmdIdGetIdentification_, data, CUBEWHEEL_kTlmLengthGetIdentification_);
+
+  // TLM128のdata[0]は8固定。
+  //Printf("ReadID = %d\n", data[0]);	


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T02:56:52Z

src/src_user/Drivers/Aocs/cubewheel.c

+  int i;
+  for (i = 0; i < CUBEWHEEL_kTlmLengthGetStatusErrorFlag_; i++)
+  {
+    //		Printf(data[i], HEX); Printf(" ");


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T02:56:52Z

src/src_user/Drivers/Aocs/cubewheel.c

+  CUBEWHEEL_driver->info.runtime_in_msec = (uint16_t)raw_value;
+
+  raw_value = data[5] << 8; //reserve
+  raw_value += data[4];	//reserve


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER ';'

github-actions · 2023-10-04T02:56:52Z

src/src_user/Drivers/Aocs/cubewheel.c

+
+const static uint8_t CUBEWHEEL_kConvertValueOfCurrentFactor_ = 0.48828125;
+
+//Endianがビッグエンディアン


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions

Remaining comments which cannot be posted as a review comment to avoid GitHub Rate Limit

check_coding_rule

github-actions · 2023-10-04T03:19:12Z

src/src_user/Drivers/Aocs/cubewheel.c

+  CUBEWHEEL_driver->info.runtime_in_msec = (uint16_t)raw_value;
+
+  raw_value = data[5] << 8; // reserve
+  raw_value += data[4];	// reserve


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE '//'

github-actions · 2023-10-04T03:19:12Z

src/src_user/Drivers/Aocs/cubewheel.c

+  CUBEWHEEL_driver->info.runtime_in_msec = (uint16_t)raw_value;
+
+  raw_value = data[5] << 8; // reserve
+  raw_value += data[4];	// reserve


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T03:19:13Z

src/src_user/Drivers/Aocs/cubewheel.c

+  ReadRegister(CUBEWHEEL_driver, CUBEWHEEL_kCmdIdGetIdentification_, data, CUBEWHEEL_kTlmLengthGetIdentification_);
+
+  // TLM128のdata[0]は8固定。
+  // Printf("ReadID = %d\n", data[0]);	


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T03:19:13Z

src/src_user/Drivers/Aocs/cubewheel.c

+  CUBEWHEEL_driver->info.runtime_in_msec = (uint16_t)raw_value;
+
+  raw_value = data[5] << 8; // reserve
+  raw_value += data[4];	// reserve


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER ';'

github-actions · 2023-10-04T03:19:13Z

src/src_user/Drivers/Aocs/cubewheel.h

+C2A_MATH_ERROR CUBEWHEEL_set_rotation_direction_b(CUBEWHEEL_Driver* CUBEWHEEL_driver,
+  const float rotation_direction_b[PHYSICAL_CONST_THREE_DIM]);
+
+#endif


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TOO MANY LINE BREAKS AT EOF

github-actions · 2023-10-04T03:19:14Z

src/src_user/Drivers/Aocs/cubewheel.h

+	bool motor_state;
+	bool hall_sensor_state;
+	bool encoder_state;
+	bool error_flag;


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T03:19:15Z

src/src_user/Drivers/Aocs/cubewheel.h

+	bool hall_sensor_state;
+	bool encoder_state;
+	bool error_flag;
+	float gain_pwm;


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T03:19:15Z

src/src_user/Drivers/Aocs/cubewheel.h

+	bool encoder_state;
+	bool error_flag;
+	float gain_pwm;
+	uint8_t gain_pwm_multiplier;


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T03:19:15Z

src/src_user/Drivers/Aocs/cubewheel.h

+	bool error_flag;
+	float gain_pwm;
+	uint8_t gain_pwm_multiplier;
+	uint16_t feedback_gain;


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions · 2023-10-04T03:19:15Z

src/src_user/Drivers/Aocs/cubewheel.h

+	float gain_pwm;
+	uint8_t gain_pwm_multiplier;
+	uint16_t feedback_gain;
+	uint8_t feedback_gain_multiplier;


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
TAB IS NOT PERMITTED

github-actions

Remaining comments which cannot be posted as a review comment to avoid GitHub Rate Limit

check_coding_rule

src/src_user/Applications/DriverInstances/di_cubewheel.h|47| SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR
src/src_user/Applications/DriverInstances/di_cubewheel.h|48| SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR
src/src_user/Applications/DriverInstances/di_cubewheel.h|50| SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T03:47:36Z

src/src_user/Drivers/Aocs/cubewheel.h

@@ -0,0 +1,111 @@
+// CubeWheel.h
+
+#ifndef _CUBEWHEEL_h


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
INCLUDE GUARD DOES NOT MEET CODING RULE

github-actions · 2023-10-04T03:47:36Z

src/src_user/Applications/DriverInstances/di_cubewheel.c

+{
+  const uint8_t* param = CCP_get_param_head(packet);
+  CUBEWHEEL_IDX cubewheel_idx;
+  uint8_t raw_val[4] = { 0,0,0,0 };


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER ','

github-actions · 2023-10-04T03:47:36Z

src/src_user/Applications/DriverInstances/di_cubewheel.c

+{
+  const uint8_t* param = CCP_get_param_head(packet);
+  CUBEWHEEL_IDX cubewheel_idx;
+  uint8_t raw_val[4] = { 0,0,0,0 };


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER ','

github-actions · 2023-10-04T03:47:36Z

src/src_user/Applications/DriverInstances/di_cubewheel.c

+  return ret;
+}
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Enable(const CTCP* packet)


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T03:47:36Z

src/src_user/Applications/DriverInstances/di_cubewheel.c

+  return DS_conv_cmd_err_to_ccp_exec_sts(ret);
+}
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Init(const CTCP* packet)


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T03:47:38Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetSpeed(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetDutyCycle(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetControlMode(const CTCP* packet);


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T03:47:38Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetSpeed(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetDutyCycle(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetControlMode(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetPwmGain(const CTCP* packet);


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T03:47:38Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetDutyCycle(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetControlMode(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetPwmGain(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetMainGain(const CTCP* packet);


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T03:47:38Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetPwmGain(const CTCP* packet);
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetMainGain(const CTCP* packet);
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_GetStatus(const CTCP* packet);


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T03:47:38Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_GetStatus(const CTCP* packet);
+
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetBackupmode(const CTCP* packet);


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE AND AFTER BINARY OPERATOR

github-actions · 2023-10-04T04:51:37Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+ */
+AppInfo DI_CUBEWHEEL_update(void);
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Enable(const CommonCmdPacket *packet);// 旧 RW_startup


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE '//'

github-actions · 2023-10-04T04:51:37Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+AppInfo DI_CUBEWHEEL_update(void);
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Enable(const CommonCmdPacket *packet);// 旧 RW_startup
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Init(const CommonCmdPacket* packet);// 旧 RW_startup+enable


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED BEFORE '//'

github-actions · 2023-10-04T04:51:37Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+ */
+AppInfo DI_CUBEWHEEL_update(void);
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Enable(const CommonCmdPacket *packet);// 旧 RW_startup


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER ';'

github-actions · 2023-10-04T04:51:37Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+AppInfo DI_CUBEWHEEL_update(void);
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Enable(const CommonCmdPacket *packet);// 旧 RW_startup
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Init(const CommonCmdPacket* packet);// 旧 RW_startup+enable


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
SPACE IS REQUIRED AFTER ';'

github-actions · 2023-10-04T04:51:37Z

src/src_user/Applications/DriverInstances/di_cubewheel.h

+ */
+AppInfo DI_CUBEWHEEL_update(void);
+
+CCP_EXEC_STS Cmd_DI_CUBEWHEEL_Enable(const CommonCmdPacket *packet);// 旧 RW_startup


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
'*' MUST BE PLACED TO THE SIDE OF TYPE AT 'CommonCmdPacket *'

github-actions · 2023-10-04T05:10:45Z

src/src_user/Drivers/Aocs/cubewheel.c

+    Printf("Error: I2C_init in i2c_rw_slave_.\n");
+    return DS_CMD_UNKNOWN_ERR;
+  }
+  else 


🚫 [check_coding_rule] _{reported by reviewdog 🐶}
ANY SPACE AT EOL NEEDS TO BE REMOVED

SeirenTDoi · 2023-10-04T05:18:44Z

@200km ありがとうございます。check_coding_ruleは通りましたので、ご確認をお願いします

200km · 2023-10-04T07:51:34Z

こちらもs2eで指摘させていただいた部分と同様に、cubeとwheelを別単語として扱うよう各種修正をお願いします。

SeirenTDoi · 2023-10-04T08:59:38Z

こちらもs2eで指摘させていただいた部分と同様に、cubeとwheelを別単語として扱うよう各種修正をお願いします。

@200km こちら、対応しました。

200km

ビルドを通すための修正やrefactorは別でやるということで、ここではapproveします。

Add and modify Cubewheel files

5f4f8a8

SeirenTDoi requested review from sksat and a team as code owners October 2, 2023 07:15

SeirenTDoi requested review from 200km, suzuki-toshihir0, t-hosonuma and conjikidow and removed request for a team October 2, 2023 07:15

SeirenTDoi self-assigned this Oct 2, 2023

200km added ✈️ priority::medium priority medium 🐬 minor update Minor update labels Oct 2, 2023

200km added this to the v8.0.0 Major update milestone Oct 2, 2023

Modify indent and character code

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Modify character code

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add a space after //

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modify for coding rule error

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change unused type to used type

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SeirenTDoi added 3 commits October 4, 2023 13:56

modify as coding rule

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modify as coding rule

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modify as coding rule

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modify as coding rule

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SeirenTDoi added 2 commits October 4, 2023 17:28

rename filename to devide cube and wheel

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rename text in file to devide cube and wheel

5016eba

200km mentioned this pull request Oct 4, 2023

cube wheel driverの修正 #236

Open

200km approved these changes Oct 4, 2023

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SeirenTDoi merged commit e64a0e8 into develop Oct 5, 2023
9 of 11 checks passed

SeirenTDoi deleted the feature/add_cubewheel_files branch October 5, 2023 06:15


		const static uint8_t CUBEWHEEL_kConvertValueOfCurrentFactor_ = 0.48828125;

		//Endianがビッグエンディアン

		CCP_EXEC_STS Cmd_DI_CUBEWHEEL_GetStatus(const CTCP* packet);


		CCP_EXEC_STS Cmd_DI_CUBEWHEEL_SetBackupmode(const CTCP* packet);

Add and modify Cubewheel files #232

Add and modify Cubewheel files #232

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SeirenTDoi commented Oct 2, 2023 • edited Loading

Issue

詳細

検証結果

ビルドチェック (どちらもチェック)

動作確認チェック (いずれかをチェック)

補足

200km commented Oct 2, 2023

SeirenTDoi commented Oct 3, 2023 • edited Loading

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SeirenTDoi commented Oct 2, 2023 •

edited

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SeirenTDoi commented Oct 3, 2023 •

edited

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