[Docs] Add in Doxygen docs generator

.github/workflows/docment.yml

@@ -0,0 +1,17 @@
+name: Generate Documentation
+
+on:
+  pull_request:
+    branches: [ main ]
+
+jobs:
+   generate-documentation:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - run: sudo apt install doxygen python3
+      - run: python3 scripts/generate_documentation.py 
+      - uses: actions/upload-artifact@v3
+        with:
+          name: html-output
+          path: html/

.gitignore

@@ -37,4 +37,6 @@ cppcheckbuild/
 # Bazel files
 bazel-*
 
-.vscode/
+.vscode/
+
+docs_html/

control_loop/bldc/brushless_control_loop.cpp

@@ -202,7 +202,7 @@ void BrushlessControlLoop::update_rotor_position_estimator(
     do {
         estimator_inputs.time = current_time_us;
 
-        bridge_.read_bemf(estimator_inputs.phase_voltage);
+        bridge_.read_phase_voltage(estimator_inputs.phase_voltage);
         bridge_.read_current(estimator_inputs.phase_current);
 
         // Get the commutation step

control_loop/bldc/rotor_estimator.cpp

@@ -18,8 +18,8 @@ app_hal_status_E BldcSensorlessRotorSectorSensor::get_electrical_angle(float& an
     app_hal_status_E ret = APP_HAL_OK;
     do {
         // Get the bemf voltage
-        hwbridge::Bridge3Phase::phase_voltage_t bemf_voltage;
-        ret = bridge_.read_bemf(bemf_voltage);
+        hwbridge::Bridge3Phase::phase_voltage_t phase_voltage;
+        ret = bridge_.read_phase_voltage(phase_voltage);
         const utime_t current_time = clock_.get_time_us();
 
         if (ret != APP_HAL_OK) {
@@ -31,7 +31,7 @@ app_hal_status_E BldcSensorlessRotorSectorSensor::get_electrical_angle(float& an
             control_loop::Bldc6Step::determine_commutation_step_from_theta(estimated_electrical_angle_);
 
         // Check if a zero crossing has occurred
-        const bool zero_crossing = zero_crossing_detected(bemf_voltage, step);
+        const bool zero_crossing = zero_crossing_detected(phase_voltage, step);
 
         // If we detect a zero crossing, then we should store the time of the zero crossing
         // NOTE: time_of_last_zero_crossing_ is only set to zero when the rotor position estimator is reset
@@ -67,21 +67,21 @@ app_hal_status_E BldcSensorlessRotorSectorSensor::get_electrical_angle(float& an
 }
 
 bool BldcSensorlessRotorSectorSensor::zero_crossing_detected(
-    const hwbridge::Bridge3Phase::phase_voltage_t& bemf_voltage,
+    const hwbridge::Bridge3Phase::phase_voltage_t& phase_voltage,
     control_loop::Bldc6Step::commutation_step_t current_commutation_step) {
     float phase_sum = 0.0f;
     control_loop::Bldc6Step::CommutationSignal zero_crossing_signal = control_loop::Bldc6Step::CommutationSignal::Z_RISING;
     float undriven_phase_voltage = 0.0f;
 
-    const float bemf_voltages[hwbridge::Bridge3Phase::NUM_PHASES] = {bemf_voltage.u, bemf_voltage.v, bemf_voltage.w};
+    const float phase_voltages[hwbridge::Bridge3Phase::NUM_PHASES] = {phase_voltage.u, phase_voltage.v, phase_voltage.w};
 
     for (uint8_t i = 0; i < hwbridge::Bridge3Phase::NUM_PHASES; i++) {
         if ((current_commutation_step.signals[i] != control_loop::Bldc6Step::CommutationSignal::Z_FALLING) &&
             (current_commutation_step.signals[i] != control_loop::Bldc6Step::CommutationSignal::Z_RISING)) {
-            phase_sum += bemf_voltages[i];
+            phase_sum += phase_voltages[i];
         } else {
             zero_crossing_signal = current_commutation_step.signals[i];
-            undriven_phase_voltage = bemf_voltages[i];
+            undriven_phase_voltage = phase_voltages[i];
         }
     }
 

control_loop/bldc/rotor_estimator.hpp

@@ -17,12 +17,12 @@ class ElectricalRotorPosEstimator {
     class EstimatorInputs {
        public:
         utime_t time = 0;
-        hwbridge::Bridge3Phase::phase_voltage_t phase_voltage = {0.0f, 0.0f, 0.0f};
+        hwbridge::Bridge3Phase::phase_voltage_t phase_voltage;
         control_loop::Bldc6Step::commutation_step_t current_commutation_step = {
             control_loop::Bldc6Step::CommutationSignal::Z_FALLING, control_loop::Bldc6Step::CommutationSignal::HIGH,
             control_loop::Bldc6Step::CommutationSignal::LOW};
 
-        hwbridge::Bridge3Phase::phase_current_t phase_current = {0.0f, 0.0f, 0.0f};
+        hwbridge::Bridge3Phase::phase_current_t phase_current;
         float V_alpha = 0.0f;
         float V_beta = 0.0f;
         float phase_resistance = 0.0f;
@@ -91,7 +91,7 @@ class BldcSensorlessRotorSectorSensor : public BldcRotorSectorSensor {
     app_hal_status_E get_electrical_angle(float& angle) override;
 
    protected:
-    bool zero_crossing_detected(const hwbridge::Bridge3Phase::phase_voltage_t& bemf_voltage,
+    bool zero_crossing_detected(const hwbridge::Bridge3Phase::phase_voltage_t& phase_voltage,
                                 control_loop::Bldc6Step::commutation_step_t current_commutation_step);
     hwbridge::Bridge3Phase& bridge_;
     float estimated_electrical_angle_ = 0.0f;

hal/hal_clock.hpp

@@ -6,7 +6,10 @@
 
 namespace basilisk_hal {
 
-// Create a clock class that can be used to get the current time in microseconds via singleton pattern
+/**
+ * @brief Abstract class for a clock that keeps track of the time since boot
+ * @note This class should provide a way to get the current time in microseconds
+ */
 class HAL_CLOCK {
    public:
     HAL_CLOCK() = default;
@@ -39,7 +42,9 @@ class HAL_CLOCK {
      */
     static float get_dt_s(utime_t t1, utime_t t2) { return static_cast<float>(get_dt_us(t1, t2)) / kMicrosecondsPerSecond; }
 
-    // Add a constant for the number of microseconds in a second
+    /**
+     * @brief Number of microseconds per second
+     */
     static constexpr float kMicrosecondsPerSecond = 1000000.0f;
 };
 

hwbridge/3phase/bridge_3phase.hpp

@@ -5,54 +5,119 @@
 
 namespace hwbridge {
 
-// Define a generic 3-phase bridge class
-
+/**
+ * @brief Abstract class for a 3-phase bridge that can be used to control a 3-phase inverter
+ * @note This class is intended to be used as an interface for a 3-phase bridge with a complementary PWM output and a fast ADC
+ * system for current sensing
+ */
 class Bridge3Phase {
    public:
     Bridge3Phase() = default;
     virtual ~Bridge3Phase() = default;
 
-    typedef struct phase_command {
+    /**
+     * @brief Phase command typedef to hold the duty cycle and invert low side flag
+     */
+    class phase_command_t {
+       public:
+        /**
+         * @brief Duty cycle for the high side PWM channel assuming complementary PWM
+         * @note The duty cycle is between 0.0f and 1.0f, where 0.5 is 50% duty cycle and represents 0V (assumes complementary
+         * pwm)
+         */
         float duty_cycle_high_side;
+        /**
+         * @brief Invert the low side PWM channel
+         * @note The invert low side flag is used to invert the low side PWM channel (if complementary PWM is used)
+         * @note Note that the invert low side flag, if set to false, is used to High-Z the bridge output. Caution should be used
+         * in allowing an abstracted bridge to allow a non-inverted output to be commanded to a duty cycle that is not 0.0f
+         */
         bool invert_low_side;
-    } phase_command_t;
-
-    // Define a struct to return the PHASE (not backemf) voltage
-    typedef struct phase_voltage {
-        float u;
-        float v;
-        float w;
-    } phase_voltage_t;
-
-    // Define a struct to return the current
-    typedef struct phase_current {
-        float u;
-        float v;
-        float w;
-    } phase_current_t;
-
-    class phase_params {
+    };
+
+    /**
+     * @brief Phase voltage readings in Volts
+     */
+    class phase_voltage_t {
        public:
-        float resistance;
-        float inductance;
+        /**
+         * @brief Phase U voltage
+         */
+        float u = 0.0f;
+
+        /**
+         * @brief Phase V voltage
+         */
+        float v = 0.0f;
+
+        /**
+         * @brief Phase W voltage
+         */
+        float w = 0.0f;
     };
 
+    /**
+     * @brief Phase current readings in Amps
+     */
+    class phase_current_t {
+       public:
+        /**
+         * @brief Phase U current
+         */
+        float u = 0.0f;
+        /**
+         * @brief Phase V current
+         */
+        float v = 0.0f;
+        /**
+         * @brief Phase W current
+         */
+        float w = 0.0f;
+    };
+
+    /**
+     * @brief Initialize the 3-phase bridge
+     * @return app_hal_status_E The status of the operation
+     */
     virtual app_hal_status_E init() = 0;
 
-    // Define a virtual function to set the individual phases' duty cycles and enable/disable the phase
+    /**
+     * @brief Set the phase voltages
+     * @param u The phase U voltage
+     * @param v The phase V voltage
+     * @param w The phase W voltage
+     * @return app_hal_status_E The status of the operation
+     */
     virtual app_hal_status_E set_phase(const phase_command_t& u, const phase_command_t& v, const phase_command_t& w) = 0;
 
-    // Define a virtual function to get the back emf voltage
-    virtual app_hal_status_E read_bemf(phase_voltage_t& bemf_voltage) = 0;
-
-    // Define a virtual function to get the current
+    /**
+     * @brief Read the phase voltages from the bridge
+     * @param phase_voltage The phase voltages in volts
+     * @return app_hal_status_E The status of the operation
+     */
+    virtual app_hal_status_E read_phase_voltage(phase_voltage_t& phase_voltage) = 0;
+
+    /**
+     * @brief Read the phase currents from the bridge
+     * @param current The phase currents in amps
+     * @return app_hal_status_E The status of the operation
+     * @note this function can be called from a high frequency control loop and should be implemented as efficiently as possible
+     * or employ some other system to pre-trigger a current reading that can then be read from a buffer
+     */
     virtual app_hal_status_E read_current(phase_current_t& current) = 0;
 
-    // Define a virtual function to get the bus voltage
+    /**
+     * @brief Read the bus voltage from the bridge
+     * @param bus_voltage The bus voltage in volts
+     * @return app_hal_status_E The status of the operation
+     * @note this function can be called from a high frequency control loop and should be implemented in a way that does not
+     * block for a long time
+     */
     virtual app_hal_status_E read_bus_voltage(float& bus_voltage) = 0;
 
-    virtual app_hal_status_E read_phase_params(phase_params& params) = 0;
-
+    /**
+     * @brief Number of phases in the bridge
+     */
     static constexpr uint8_t NUM_PHASES = 3;
 };
 

hwbridge/h_bridge/bridge_hbridge.hpp

@@ -6,20 +6,46 @@
 
 namespace hwbridge {
 
-// Define a generic h-bridge class
+/**
+ * @brief Abstract class for an H bridge that can be used to control a motor
+ * @note This class assumes the A -> B side is a positive voltage across the H bridge
+ * @note See the `HBridgeInput` class for more information on the input to the H bridge
+ */
 class HBridge {
    public:
     HBridge() = default;
     virtual ~HBridge() = default;
 
+    /**
+     * @brief HBridge input class to hold the input to the HBridge
+     * @note This class only modulates the high side of the H bridge. The low side is assumed to be controlled by a GPIO to reduce
+     * complexity.
+     */
     class HBridgeInput {
        public:
+        /**
+         * Duty cycle for the high side of the A phase PWM
+         */
         float duty_cycle_a_h;
+        /**
+         * @brief The state of the low side A phase GPIO
+         */
         bool low_side_a_gpio_state;
+        /**
+         * @brief Duty cycle for the high side of the B phase PWM
+         */
         float duty_cycle_b_h;
+        /**
+         * @brief The state of the low side B phase GPIO
+         */
         bool low_side_b_gpio_state;
 
-        // Overload the == operator
+        /**
+         * @brief Equality operator
+         * @param other The other HBridgeInput to compare to
+         * @return True if the HBridgeInputs are equal, false otherwise
+         * @note This is used to determine if the HBridgeInput has changed and needs to be updated or for unit testing
+         */
         bool operator==(const HBridgeInput& other) const {
             const bool low_side_gpios_equal =
                 (low_side_a_gpio_state == other.low_side_a_gpio_state) && (low_side_b_gpio_state == other.low_side_b_gpio_state);
@@ -33,7 +59,7 @@ class HBridge {
 
     /**
      * @brief Run the HBridge at a given speed
-     * @param speed The speed to run the HBridge at
+     * @param input The input to the HBridge
      * @return app_hal_status_E The status of the operation
      */
     virtual app_hal_status_E run(HBridgeInput input) = 0;

scripts/generate_documentation.py

@@ -0,0 +1,10 @@
+import subprocess
+
+# First, remove the html directory
+subprocess.call(["rm", "-r", "docs_html"])
+
+# Then, generate the documentation
+ret = subprocess.call(["doxygen", "Doxyfile"])
+if ret != 0:
+    print("doxygen failed")
+    exit(ret)

scripts/setup.sh

@@ -2,7 +2,7 @@
 
 set -euxo pipefail
 
-sudo apt install -y git clang-format clang-tidy build-essential gdb 
+sudo apt install -y git clang-format clang-tidy build-essential gdb doxygen
 
 git submodule update --init --recursive
 

test/mocks/mock_bridge_3phase.hpp

@@ -11,10 +11,9 @@ class MOCK_BRIDGE_3PHASE : public Bridge3Phase {
     MOCK_METHOD(app_hal_status_E, set_phase, (const phase_command_t& u, const phase_command_t& v, const phase_command_t& w),
                 (override));
     MOCK_METHOD(app_hal_status_E, init, (), (override));
-    MOCK_METHOD(app_hal_status_E, read_bemf, (phase_voltage_t & bemf_voltage), (override));
+    MOCK_METHOD(app_hal_status_E, read_phase_voltage, (phase_voltage_t & phase_voltage), (override));
     MOCK_METHOD(app_hal_status_E, read_current, (phase_current_t & current), (override));
     MOCK_METHOD(app_hal_status_E, read_bus_voltage, (float& voltage), (override));
-    MOCK_METHOD(app_hal_status_E, read_phase_params, (phase_params & params), (override));
 };
 
 }  // namespace hwbridge