PeaPod Microcontroller Software

A library written in Arduino C++ for modular plug-and-play low-level control systems through a high-level API. Implemented with PlatformIO and tested on AVR.

Overview

The goals of this library are threefold:

1. Error-free asynchronous communication with a dynamic list of multiplexers and I2C devices;
2. Abstraction from those multiplexer groups into hot-swappable Modules, and I2C devices into Sensors (environment variable getters) and Actuators (environment variable setters);
3. Mapping together Sensors and Actuators into coherent ControlSystems: feedback systems, each with a "parameter" that can be set as the target value of the environment variable of interest;

Installation

This will eventually be migrated to an Arduino library. For now, see #Development##Installation

Development

Testing

pio test -e peapod

API

Object Instance Tree

PeaPod (God Object)
|-ControlSystem*'s HashMap (for instruction handling & calculation)
| |-Control Systems [key: environment variable being controlled]
|   |-Sensor* (envvar getter)
|   |-Actuator* (envvar setter)
|   |-parameter (string)
|   |-target    (float)
|
|-Module List (hardware state change tracking -> Interface lifecycle management)
| |-Sensor* Array
| |-Actuator* Array
| |-Interface* Array (support)
| |-array lengths (byte)

Inheritance Tree

Interface
|-ADC
|-EEPROM
|-GPIO
|-PWM
|-Any I2C Sensors/Actuators (multiple inheritance)

Module (MUX device)

Sensor
|-All Sensors

Actuator
|-All Actuators

Dependency Summary

Not including external libraries or utils/.

Interface
|-MUX (also included in Interface)
|-All other interfaces
|-All I2C Sensors/Actuators

Style Guide

• Sensor and actuator instance-related code should not be const
• Static API code (i.e. ids, factories) should be const (and preferrably PROGMEM)
• Avoid passing around pointers to const pointers. It's already const.

Hardware Spec

Connector Pinouts

• I2C: JST SH 1.00mm 4-pin (1: GND, 2: +5V, 3: SDA, 4: SCL)
• Middleware Output Signals: Molex Micro-Lock PLUS 2-pin (1: Signal, 2: GND)
• Endware Recieving Signals: Molex Micro-Lock PLUS 2-pin (1: GND, 2: Signal)
• Power: Molex Micro-Fit 3.0 2-pin (1: GND, 2: VCC)