Documentation and cleanup

drivers/include/actuators/led.h

@@ -1,17 +1,28 @@
-#ifndef __ACTUATORS_LED_H
-#define __ACTUATORS_LED_H
+#ifndef ACTUATORS_LED_H
+#define ACTUATORS_LED_H
 
 class LED {
 public:
-    LED(int pin);
-
-    void LED_init(void);
-
-    void LED_on(void);
-
-    void LED_off(void);
+    /**
+     *
+     * @param pin GPIO attached to pin
+     */
+    explicit LED(int pin);
+    /**
+     * @brief Board specific implementation of GPIO initialization
+     */
+    void LED_init() const;
+    /**
+     * @brief Board specific implementation of GPIO high output
+     */
+    void LED_on() const;
+    /**
+     * @brief Board specific implementation of GPIO low output
+     */
+    void LED_off() const;
 
 private:
+    /** GPIO number to whom the LED is connected     */
     int _pin;
 };
 

drivers/include/bsp.h

@@ -1,55 +1,94 @@
-#ifndef __BSP_H__
-#define __BSP_H__
+#ifndef BSP_H_
+#define BSP_H_
 #include "led.h"
 #include "hsm.h"
 
 namespace BSP
 {
-    void BSP_init();
-
-    void BSP_init_actuators();
-
-    void BSP_init_sensors();
-
-    void BSP_LED_on();
-
-    void BSP_LED_off();
-
-    void BSP_alternate_LED_on();
-
-    void BSP_alternate_LED_off();
-
-    void BSP_blue_led_on();
-
-    void BSP_blue_led_off();
-
-    void BSP_green_led_on();
-
-    void BSP_green_led_off();
-
-    void BSP_red_led_on();
-
-    void BSP_red_led_off();
-
-    void BSP_button_read();
-
+    /**
+    * @brief Init all board functions
+    */
+    void init();
+    /**
+    * @brief Configures actuator GPIOs
+    */
+    void init_actuators();
+    /**
+    * @brief Configure sensor GPIOs
+    */
+    void init_sensors();
+    /**
+    * @brief Turn onboard LED ON
+    * @note Init actuators must have been called
+    */
+    void onboard_led_on();
+    /**
+    * @brief Turn onboard LED off
+    */
+    void onboard_led_off();
+    /**
+    * @brief Turn blue LED ON
+    * @note Init actuators must have been called
+    */
+    void blue_led_on();
+    /**
+    * @brief Turn blue LED OFF
+    * @note Init actuators must have been called
+    */
+    void blue_led_off();
+    /**
+    * @brief Turn green LED ON
+    * @note Init actuators must have been called
+    */
+    void green_led_on();
+    /**
+    * @brief Turn green LED OFF
+    * @note Init actuators must have been called
+    */
+    void green_led_off();
+    /**
+    * @brief Turn red LED ON
+    * @note Init actuators must have been called
+    */
+    void red_led_on();
+    /**
+    * @brief Turn red LED OFF
+    * @note Init actuators must have been called
+    */
+    void red_led_off();
+    /**
+    * @brief Check status of trigger and defuse buttons
+    * @note Init sensors must have been called
+    */
+    void trigger_buttons_read();
     /**
      * @brief blocking wait in line
      * @param ms no. of milliseconds to wait
      */
-    void BSP_delay(unsigned int ms);
-
+    void delay(unsigned int ms);
+    /**
+    * @brief Get on dev board led default instance
+    * @return pointer to onboard LED
+    */
     LED* get_default_onboard_led();
-
-    LED* get_alternate_onboard_led();
-
+    /**
+    * @brief Get blue LED default instance
+    * @return pointer to blue LED
+    */
     LED* get_blue_led();
-
+    /**
+    * @brief Get green LED default instance
+    * @return pointer to green LED
+    */
     LED* get_green_led();
-
+    /**
+    * @brief Get red LED  default instance
+    * @return pointer to red LED
+    */
     LED* get_red_led();
 };
 
+/* Custom event signals. Extends from HSM signals */
 enum  EventSignals {
     BUTTON_PRESSED_SIG = USER_SIGNAL,
     BUTTON_RELEASED_SIG,

drivers/ports/ESP32/ESP32_bsp.h

@@ -1,13 +1,13 @@
 #ifndef ESP32_BSP_H
 #define ESP32_BSP_H
-#include "bsp.h"
 #include "freertos/FreeRTOS.h"
 
-
 namespace ESP_BSP
 {
-    void ESP32_BSP_Button_init(void);
-
-    void BSP_button_read(TimerHandle_t xTimer);
+    /**
+     * @brief Trampoline for BSP::trigger_buttons_read
+     * @param xTimer Handle to the timer that triggered the callback
+     */
+    void button_read(TimerHandle_t xTimer);
 }
 #endif //ESP32_BSP_H

drivers/ports/ESP32/actuators/led.cpp

@@ -6,16 +6,16 @@ LED::LED(const int pin) {
     _pin = pin;
 }
 
-void LED::LED_init() {
+void LED::LED_init() const {
     gpio_set_direction(static_cast<gpio_num_t>(_pin), GPIO_MODE_OUTPUT);
     printf("LED init\n");
 }
 
 
-void LED::LED_on() {
+void LED::LED_on() const {
     gpio_set_level(static_cast<gpio_num_t>(_pin), 1);
 }
 
-void LED::LED_off() {
+void LED::LED_off() const {
     gpio_set_level(static_cast<gpio_num_t>(_pin), 0);
 }

drivers/ports/ESP32/bsp.cpp

@@ -8,19 +8,19 @@
 #include "timebomb.h"
 
 namespace BSP{
-    void BSP_init() {
-        BSP_init_actuators();
-        BSP_init_sensors();
+    void init() {
+        init_actuators();
+        init_sensors();
     }
 
-    void BSP_init_actuators() {
+    void init_actuators() {
         get_default_onboard_led()->LED_init();
         get_blue_led()->LED_init();
         get_red_led()->LED_init();
         get_green_led()->LED_init();
     }
 
-    void BSP_init_sensors() {
+    void init_sensors() {
         gpio_set_direction(GPIO_NUM_25, GPIO_MODE_INPUT);
         gpio_set_pull_mode(GPIO_NUM_25, GPIO_PULLDOWN_ONLY);
 
@@ -29,23 +29,15 @@ namespace BSP{
     }
 
 
-    void BSP_LED_on() {
+    void onboard_led_on() {
         get_default_onboard_led()->LED_on();
     }
 
-    void BSP_LED_off() {
+    void onboard_led_off() {
         get_default_onboard_led()->LED_off();
     }
 
-    void BSP_alternate_LED_on() {
-        get_alternate_onboard_led()->LED_on();
-    }
-
-    void BSP_alternate_LED_off() {
-        get_alternate_onboard_led()->LED_off();
-    }
-
-    void BSP_delay(unsigned int ms) {
+    void delay(unsigned int ms) {
         vTaskDelay(ms/portTICK_PERIOD_MS);
     }
 
@@ -55,37 +47,32 @@ namespace BSP{
         return &led;
     }
 
-    LED* get_alternate_onboard_led() {
-        static LED led(12);
-        return &led;
-    }
-
-    void BSP_blue_led_on() {
+    void blue_led_on() {
         get_blue_led()->LED_on();
     }
 
-    void BSP_blue_led_off() {
+    void blue_led_off() {
         get_blue_led()->LED_off();
     }
 
-    void BSP_green_led_on() {
+    void green_led_on() {
         get_green_led()->LED_on();
     }
 
-    void BSP_green_led_off() {
+    void green_led_off() {
         get_green_led()->LED_off();
     }
 
 
-    void BSP_red_led_on() {
+    void red_led_on() {
         get_red_led()->LED_on();
     }
 
-    void BSP_red_led_off() {
+    void red_led_off() {
         get_red_led()->LED_off();
     }
 
-    void BSP_button_read() {
+    void trigger_buttons_read() {
         int button_status[2] = {};
 
         /* state of button. static to persist between func calls */
@@ -113,20 +100,20 @@ namespace BSP{
 
         if (tmp) { /*change of button state has occurred */
             if (button_status[0]) { /* button pressed */
-                static const Event button_pressed_event = {BUTTON_PRESSED_SIG};
+                static constexpr Event button_pressed_event = {BUTTON_PRESSED_SIG};
                 TimeBomb::get_default_instance()->_post(&button_pressed_event);
             } else { /* button released */
-                static const Event button_released_event = {BUTTON_RELEASED_SIG};
+                static constexpr Event button_released_event = {BUTTON_RELEASED_SIG};
                 TimeBomb::get_default_instance()->_post(&button_released_event);
             }
         }
 
         if (tmp2) { /*change of button 2 state has occurred */
             if (button_status[1]) { /* button 2 pressed */
-                static const Event button2_pressed_event = {BUTTON2_PRESSED_SIG};
+                static constexpr Event button2_pressed_event = {BUTTON2_PRESSED_SIG};
                 TimeBomb::get_default_instance()->_post(&button2_pressed_event);
             } else { /* button 2 released */
-                static const Event button2_released_event = {BUTTON2_RELEASED_SIG};
+                static constexpr Event button2_released_event = {BUTTON2_RELEASED_SIG};
                 TimeBomb::get_default_instance()->_post(&button2_released_event);
             }
         }
@@ -153,7 +140,7 @@ namespace BSP{
 
 namespace ESP_BSP
 {
-    void BSP_button_read(TimerHandle_t xTimer) {
-        BSP::BSP_button_read();
+    void button_read(TimerHandle_t xTimer) {
+        BSP::trigger_buttons_read();
     }
 }

drivers/ports/mbed-common/actuators/led.cpp

@@ -6,18 +6,18 @@ LED::LED(const int pin) {
     _pin = pin;
 }
 
-void LED::LED_init() {
+void LED::LED_init() const {
     printf("LED init\n");
 }
 
 
-void LED::LED_on() {
+void LED::LED_on() const{
     DigitalOut onboard_led(static_cast<PinName>(_pin));
     onboard_led.write(1);
     printf("LED on\n");
 }
 
-void LED::LED_off() {
+void LED::LED_off() const{
     DigitalInOut onboard_led(static_cast<PinName>(_pin));
     onboard_led.output();
     onboard_led.write(0);