Implementation of valve.c

Author: MahirEmran

src/app/utils/valve.c

@@ -0,0 +1,97 @@
+/**
+ * This file is part of the Titan Flight Computer Project
+ * Copyright (c) 2026 UW SARP
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, version 3.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @file app/utils/valve.c
+ * @authors Mahir Emran
+ * @brief Utility functions to actuate valves by name
+ */
+#include "valve.h"
+#include "devices/actuator.h"
+#include "peripheral/gpio.h"
+#include "peripheral/pwm.h"
+#include "peripheral/errc.h"
+
+static uint8_t get_spi_inst(int32_t mosi, int32_t miso) {
+    // TODO: update based on later stuff
+    if (mosi == 46 && miso == 45) return 1;
+    if (mosi == 75 && miso == 74) return 2;
+    if (mosi == 111 && miso == 110) return 3;
+    if (mosi == 5 && miso == 4) return 4;
+    if (mosi == 23 && miso == 22) return 5;
+    if (mosi == 127 && miso == 126) return 6;
+    return 0;
+}
+
+static bool get_pwm_inst_chan(int32_t pin, uint8_t *inst, uint8_t *chan) {
+    // TODO - update based on later stuff
+    if (pin == 37) { *inst = 2; *chan = 1; return true; }
+    if (pin == 38) { *inst = 2; *chan = 2; return true; }
+    if (pin == 39) { *inst = 2; *chan = 3; return true; }
+    if (pin == 40) { *inst = 2; *chan = 4; return true; }
+    if (pin == 45) { *inst = 3; *chan = 1; return true; }
+    if (pin == 46) { *inst = 3; *chan = 2; return true; }
+    if (pin == 49) { *inst = 3; *chan = 3; return true; }
+    if (pin == 50) { *inst = 3; *chan = 4; return true; }
+    if (pin == 133) { *inst = 4; *chan = 1; return true; }
+    if (pin == 134) { *inst = 4; *chan = 2; return true; }
+    if (pin == 136) { *inst = 4; *chan = 3; return true; }
+    if (pin == 137) { *inst = 4; *chan = 4; return true; }
+    return false;
+}
+
+void set_valve(struct valve_t* valve, bool actuated, enum ti_errc_t* errc) {
+    if (errc) *errc = TI_ERRC_NONE;
+    if (!valve) {
+        TI_SET_ERRC(errc, TI_ERRC_INVALID_ARG, "valve parameter is NULL");
+        return;
+    }
+
+    if (valve->is_spi) {
+        actuator_t dev = {0};
+        dev.spi_config.ss_pin = valve->pin_3; // CS pin
+        dev.spi_config.spi_inst = get_spi_inst(valve->pin_1, valve->pin_2);
+        
+        if (dev.spi_config.spi_inst == 0) {
+            TI_SET_ERRC(errc, TI_ERRC_INVALID_ARG, "Invalid SPI pins");
+            return;
+        }
+
+        // TODO: channel config hardcoded? valve might need it
+        actuator_set_channel_enable(&dev, ACTUATOR_CHANNEL_0, actuated, errc);
+        if (errc && *errc != TI_ERRC_NONE) {
+            TI_SET_ERRC(errc, *errc, "Propagated actuator error");
+        }
+    } else {
+        uint8_t inst = 0, chan = 0;
+        if (!get_pwm_inst_chan(valve->pin_1, &inst, &chan)) {
+            TI_SET_ERRC(errc, TI_ERRC_INVALID_ARG, "Invalid PWM pin");
+            return;
+        }
+
+        struct ti_pwm_config_t config = {
+            .channel = chan,
+            .instance = inst,
+            .clock_freq = 4000000,
+            .freq = 100,
+            .duty = actuated ? 1000 : 0
+        };
+
+        ti_set_pwm(config, errc);
+        if (errc && *errc != TI_ERRC_NONE) {
+            TI_SET_ERRC(errc, *errc, "Propagated PWM error");
+        }
+    }
+}

src/app/utils/valve.h

@@ -1,6 +1,6 @@
 /**
  * This file is part of the Titan Flight Computer Project
- * Copyright (c) 2025 UW SARP
+ * Copyright (c) 2026 UW SARP
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -15,25 +15,29 @@
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
  * @file app/utils/valve.h
- * @authors Joshua Beard
+ * @authors Joshua Beard, Mahir Emran
  * @brief Utility functions to actuate valves by name
  */
 
 
-#include "src/util/error.h"
+#include "src/peripheral/errc.h"
+#include <stdbool.h>
+#include <stdint.h>
 
-enum Valve {
-    
+struct valve_t {
+    int32_t pin_1; // pwm pin if PWM, MOSI if spi
+    int32_t pin_2; // nothing if PWM, MISO if spi
+    int32_t pin_3; // CS if SPI, nothing if PWM
+    bool is_spi; // boolean if spi or pwm
 };
 
 /**
  * @param valve Valve name to actuate as defined in the Valve enum
  * @param actuated True if providing power to valve, False if unpowering valve
- * 
+ * @param errc Error code pointer to store any error that occurs
+ *
  * @note The actuated parameter is done this way (instead of open/closed) because some
  * valves may have a different default state and it would become confusing in software
  * to need to track which ones need power or a lack of power to reach a commanded state
  */
-tal_err_t set_valve(enum Valve valve, bool actuated){
-
-}
+void set_valve(struct valve_t* valve, bool actuated, enum ti_errc_t* errc);