undirbúningur falla fyrir can samskipti og prófun með lyklaborði

docs/diagrams/src/P4-architecture.wsd

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+@startuml P4-architecture
+' Project 4, Part 2.2: Layers of the reduced CANopen node (Node ID 1).
+' Arrows point from the user to the thing it uses.
+
+' skinparam packageStyle rectangle
+skinparam classAttributeIconSize 0
+hide empty members
+
+package "Application layer (uses OSI 7)" {
+    class MotorController {
+        + to_operational()
+        + to_pre_operational()
+        + to_stopped()
+    }
+    abstract class State
+    class SetpointGenerator
+    class PI_controller
+}
+
+package "CANopen layer (OSI 5-7)" {
+    class CanopenNode {
+        + on_frame(frame)
+        + poll(now_ms)
+    }
+    class SdoServer
+    class ObjectDictionary
+    interface NodeApplication {
+        + on_nmt_command(cmd)
+        + set_target_velocity(rpm)
+        + get_velocity() : rpm
+        + get_duty() : 0.1 %
+    }
+    interface CanBus {
+        + send(frame)
+    }
+}
+
+package "Platform layer (Zephyr)" {
+    class ZephyrCanBus
+    class MotorDriver
+    class RotaryEncoderDriver
+}
+
+package "Hardware (OSI 1-2)" {
+    class "CAN controller + transceiver" as CAN
+}
+
+MotorController -> State
+MotorController --> SetpointGenerator
+MotorController --> PI_controller
+MotorController ..|> NodeApplication
+MotorController --> MotorDriver
+MotorController --> RotaryEncoderDriver
+
+CanopenNode --> SdoServer
+SdoServer --> ObjectDictionary
+CanopenNode --> ObjectDictionary
+CanopenNode --> NodeApplication
+CanopenNode --> CanBus
+
+ZephyrCanBus ..|> CanBus
+ZephyrCanBus --> CAN
+
+note top of CanopenNode
+  NMT (0x000), boot-up (0x701),
+  RPDO1 (0x201), TPDO1 (0x181)
+end note
+
+note left of SdoServer
+  0x601 / 0x581, expedited only
+  abort codes 0x06020000, 0x08000022
+end note
+
+note right of ObjectDictionary
+  0x1000, 0x2000-0x2010, 0x606C,
+  0x6083, 0x6084, 0x60FF
+  access rules, little-endian packing
+end note
+
+@enduml

docs/diagrams/src/P4-class-diagram.wsd

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+@startuml 
+' skinparam linetype ortho
+' skinparam nodesep 100
+skinparam ranksep 80
+
+skinparam state {
+    BackgroundColor LightBlue
+}
+
+' hide empty members
+
+Application <|-- CANopen
+
+class Application {
+    {field} state machine
+    {field} controllers
+    {field} setpoint generator
+    {method} hello world
+}
+
+CANopen : Zephyr
+
+Class01 <-- Class02
+Class03 *-- Class04
+Class05 o-- Class06
+Class07 .. Class08
+Class09 -- Class10
+
+@enduml

docs/diagrams/src/motor_state.wsd

@@ -1,50 +0,0 @@
-@startuml
-' skinparam linetype ortho
-' skinparam nodesep 100
-skinparam ranksep 80
-
-skinparam state {
-    BackgroundColor LightBlue
-}
-
-[*] --> Initialization
-
-state Initialization 
-    Initialization : Entry / Stop motor 
-    Initialization : Entry / Initialize internal parameters
-    Initialization : Entry / Reset speed measurement
-    Initialization : Do / Wait 2 seconds
-    Initialization : Exit / Send Boot-up message
-
-state PreOperational
-    PreOperational : Entry / Stop motor
-    PreOperational : Do / Blink LED at 1 Hz
-    PreOperational : Do / Accept Kp and Ti configuration
-    PreOperational : Do / Select P or PI controller [c]
-    PreOperational : Exit / LED off
-
-state Operational 
-    Operational : Entry / LED on
-    Operational : Do / Run speed controller
-    Operational : Exit / Stop motor and LED off
-
-state Stopped
-    Stopped : Entry / Stop motor
-    Stopped : Do / Blink LED at 2 Hz
-    Stopped : Exit / LED off
-
-Initialization -r-> PreOperational : initialization\n complete
-' Initialization -d-> Operational : initialization\n complete
-
-PreOperational -d-> Operational : set operational [o]
-PreOperational -l--> Initialization : reset [r]
-
-Operational -u-> PreOperational : set pre-operational [p]
-Operational -> Initialization : reset [r]
-Operational --> Stopped : fault detected
-
-Stopped -l-> Initialization : reset [r]
-Stopped -> Operational : set operational [o]
-Stopped -u-> PreOperational : set pre-operational [p]
-
-@enduml