Add runtime VCC measurement as register

- extract logic of undervoltage handling into main.cpp
- fix unit tests
- bump version to 2.1.9 (new register)

src/main.cpp

@@ -24,7 +24,7 @@
 #include "modules/timebase.h"
 #include "modules/motion.h"
 #include "modules/usb_cdc.h"
-#include "modules/undervoltage_check.h"
+#include "modules/voltage.h"
 
 #include "application.h"
 
@@ -140,6 +140,20 @@ void Panic(ErrorCode ec) {
     application.Panic(ec);
 }
 
+void RuntimeHWChecks() {
+    mv::vcc.Step();
+    if (mv::vcc.CurrentVCC() > config::VCCADCThreshold) {
+        // stop all motors at once
+        mm::motion.AbortPlannedMoves();
+        // kill all TMC
+        mm::motion.Disable(mm::Idler);
+        mm::motion.Disable(mm::Selector);
+        mm::motion.Disable(mm::Pulley);
+        // call for help
+        Panic(ErrorCode::MCU_UNDERVOLTAGE_VCC);
+    }
+}
+
 /// Main loop of the firmware
 /// Proposed architecture
 ///   checkMsgs();
@@ -168,7 +182,8 @@ void loop() {
     }
     hal::cpu::Step();
     mu::cdc.Step();
-    muv::uv_vcc.Step();
+
+    RuntimeHWChecks();
 
     application.Step();
 

src/modules/CMakeLists.txt

@@ -18,7 +18,7 @@ target_sources(
           serial.cpp
           speed_table.cpp
           timebase.cpp
-          undervoltage_check.cpp
           usb_cdc.cpp
           user_input.cpp
+          voltage.cpp
   )

src/modules/undervoltage_check.cpp

@@ -1,26 +0,0 @@
-/// @file undervoltage_check.cpp
-#include "undervoltage_check.h"
-#include "../hal/adc.h"
-#include "../logic/error_codes.h"
-#include "../panic.h"
-
-namespace modules {
-namespace undervoltage_check {
-
-Undervoltage_check uv_vcc;
-
-void Undervoltage_check::Step() {
-    uint16_t vcc_val;
-
-    // dummy reads are so that the final measurement is valid
-    for (uint8_t i = 0; i < config::VCCADCReadCnt; i++) {
-        vcc_val = hal::adc::ReadADC(config::VCCADCIndex);
-    }
-
-    if (vcc_val > config::VCCADCThreshold) {
-        Panic(ErrorCode::MCU_UNDERVOLTAGE_VCC);
-    }
-}
-
-} // namespace undervoltage_check
-} // namespace modules

src/modules/undervoltage_check.h

@@ -1,25 +0,0 @@
-/// @file undervoltage_check.h
-#pragma once
-
-#include <stdint.h>
-#include "../config/config.h"
-
-/// The modules namespace contains models of MMU's components
-namespace modules {
-namespace undervoltage_check {
-
-class Undervoltage_check {
-public:
-    inline constexpr Undervoltage_check() = default;
-
-    /// Reads the ADC, checks the value
-    void Step();
-};
-
-/// The one and only instance of Undervoltage_check in the FW
-extern Undervoltage_check uv_vcc;
-
-} // namespace undervoltage_check
-} // namespace modules
-
-namespace muv = modules::undervoltage_check;

src/modules/voltage.cpp

@@ -0,0 +1,22 @@
+/// @file
+#include "voltage.h"
+#include "../hal/adc.h"
+#include "../logic/error_codes.h"
+#include "../panic.h"
+
+namespace modules {
+namespace voltage {
+
+VCC vcc;
+
+void VCC::Step() {
+    uint16_t tmp;
+    // dummy reads are so that the final measurement is valid
+    for (uint8_t i = 0; i < config::VCCADCReadCnt; i++) {
+        tmp = hal::adc::ReadADC(config::VCCADCIndex);
+    }
+    vcc_val = tmp;
+}
+
+} // namespace voltage
+} // namespace modules

src/modules/voltage.h

@@ -0,0 +1,40 @@
+/// @file
+#pragma once
+
+#include <stdint.h>
+#include "../config/config.h"
+
+/// The modules namespace contains models of MMU's components
+namespace modules {
+namespace voltage {
+
+/// We are measuring the bandgap voltage, Vb=1.1V
+/// To compute the threshold value: `VAL = 1125.3 / AVCC`
+/// So for:
+/// - AVCC=5V, you get VAL=225.06
+/// - AVCC=4.1V, you get VAL=274.46
+/// - AVCC=4V, you get VAL=281.35
+/// - any lower and the board will probably die sooner than being able to report anything
+class VCC {
+public:
+    inline constexpr VCC()
+        : vcc_val(0) {}
+
+    /// Reads the ADC, checks the value
+    void Step();
+
+    /// @returns the current VCC voltage level, platform dependent.
+    /// @note see VCC measurement setup in config.h
+    uint16_t CurrentVCC() const { return vcc_val; }
+
+private:
+    uint16_t vcc_val;
+};
+
+/// The one and only instance of Undervoltage_check in the FW
+extern VCC vcc;
+
+} // namespace voltage
+} // namespace modules
+
+namespace mv = modules::voltage;

src/registers.cpp

@@ -16,6 +16,7 @@
 #include "modules/pulley.h"
 #include "modules/selector.h"
 #include "modules/permanent_storage.h"
+#include "modules/voltage.h"
 
 /** @defgroup register_table Register Table
  *
@@ -163,6 +164,7 @@
 | 0x1eh 30 | uint16   | Set/Get Pulley iRun current| 0-31         | 14h 20      | 20->350mA: see TMC2130 current conversion| Read / Write | M707 A0x1e | M708 A0x1e Xn
 | 0x1fh 31 | uint16  |Set/Get Selector iRun current| 0-31         | 1fh 31      | 31->530mA: see TMC2130 current conversion| Read / Write | M707 A0x1f | M708 A0x1f Xn
 | 0x20h 32 | uint16   | Set/Get Idler iRun current | 0-31         | 1fh 31      | 31->530mA: see TMC2130 current conversion| Read / Write | M707 A0x20 | M708 A0x20 Xn
+| 0x21h 33 | uint16   | Current VCC voltage level  | 225-281 | | 225->5V, 281->4V, higher values mean lower voltage and the board would probably die sooner than reporting anything | Read only | M707 A0x21 | N/A
 */
 
 struct RegisterFlags {
@@ -394,6 +396,10 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
         []() -> uint16_t { return mm::motion.CurrentsForAxis(config::Idler).iRun; },
         [](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); },
         1),
+    // 0x21 Current VCC voltage level R
+    RegisterRec(
+        []() -> uint16_t { return mv::vcc.CurrentVCC(); },
+        2),
 };
 
 static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);

tests/unit/application/CMakeLists.txt

@@ -17,6 +17,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/cut_filament/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/eject_filament/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/failing_tmc/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/feed_to_bondtech/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/feed_to_finda/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/homing/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/load_filament/CMakeLists.txt

@@ -33,6 +33,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/start_up/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/tool_change/CMakeLists.txt

@@ -33,6 +33,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/unload_filament/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

tests/unit/logic/unload_to_finda/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/voltage.cpp
   ${MODULES_STUBS_DIR}/stub_adc.cpp
   ${MODULES_STUBS_DIR}/stub_cpu.cpp
   ${MODULES_STUBS_DIR}/stub_eeprom.cpp

version.cmake

@@ -10,6 +10,6 @@ set(PROJECT_VERSION_MINOR
     CACHE STRING "Project minor version" FORCE
     )
 set(PROJECT_VERSION_REV
-    8
+    9
     CACHE STRING "Project revision" FORCE
     )