Refactor thermistor components and update board dependencies

- Remove heating and NTC functionality from communication module
- Convert Infrared from template to runtime array-based implementation
- Refactor Led to support multiple LEDs with compile-time name
  validation
- Simplify main to remove direct hardware initialization
- Update west manifest for dr2501a board and add ch9438 module

include/com.hpp

@@ -1,9 +1,7 @@
 #ifndef __THER_COM_HPP__
 #define __THER_COM_HPP__
 
-#include "heating.hpp"
 #include "led.hpp"
-#include "ntc.hpp"
 #include <led_strip_indicator/led_strip_indicator.hpp>
 #include <uart_com/simple_protocal.hpp>
 #include <zephyr/drivers/hwinfo.h>
@@ -50,9 +48,7 @@ private:
         return;
       }
       if (data[0] == RUNNING) {
-        InfLed::On();
       } else {
-        InfLed::Off();
       }
       printk("set ledsrtip to %d", data[0]);
       const uint8_t id = data[0];
@@ -61,40 +57,33 @@ private:
       });
     }
     static auto WHeatingState(uart_com::DataType data) -> void {
-      if (data.size() != 1) {
+      // if (data.size() != 1) {
-        return;
+      //   return;
-      }
+      // }
-      const bool state = (data[0] > 0);
+      // const bool state = (data[0] > 0);
-      if (state) {
+      // if (state) {
-        HeatingPad::Start(sensor_value{data[0], 0});
+      //   HeatingPad::Start(sensor_value{data[0], 0});
-      } else {
+      // } else {
-        HeatingPad::Stop();
+      //   HeatingPad::Stop();
-      }
+      // }
     }
     static auto RHeatingState(uart_com::DataType data) -> void {
-      if (data.size() != 0) {
+      // if (data.size() != 0) {
-        return;
+      //   return;
-      }
+      // }
-      const sensor_value temp = HeatingPad::CurrentTemp();
+      // const sensor_value temp = HeatingPad::CurrentTemp();
-      const uint8_t state[] = {s_heating_state, (uint8_t)temp.val1,
+      // const uint8_t state[] = {s_heating_state, (uint8_t)temp.val1,
-                               (uint8_t)temp.val2};
+      //                          (uint8_t)temp.val2};
-      s_proto->Send(R_HEATING_STATE, state);
+      // s_proto->Send(R_HEATING_STATE, state);
     }
     /// Read one pole NTC by index (0~7).
     static auto ReadPoleNtcTemperature(uart_com::DataType data) -> void {
       if (data.size() != 1) {
         return;
       }
-      const sensor_value temp = NtcGroup::GetSensorValue(data[0]);
-      const uint8_t payload[] = {(uint8_t)temp.val1, (uint8_t)temp.val2};
-      s_proto->Send(R_TEMP_POLE_NTC, payload);
     }
     /// Read heating pad NTC (onboard ADC).
-    static auto ReadHeatingPadNtcTemperature(uart_com::DataType data) -> void {
+    static auto ReadHeatingPadNtcTemperature(uart_com::DataType data) -> void {}
-      const sensor_value temp = HeatingPad::CurrentTemp();
-      const uint8_t payload[] = {(uint8_t)temp.val1, (uint8_t)temp.val2};
-      s_proto->Send(R_TEMP_HETING_PAD_NTC, payload);
-    }
   };
   constexpr static std::pair<const uint8_t,
                              uart_com::SimpleProtocal::CallbackType>
@@ -113,7 +102,6 @@ private:
   inline static auto s_proto =
       (uart_com::SimpleProtocal *)(DEVICE_DT_GET(DT_NODELABEL(pm_protocal)));
   inline static auto s_heating_state = false;
-  using InfLed = ther::Led<LED_DT_SPEC_GET(DT_NODELABEL(inf_led))>;
 };
 } // namespace ther
 

include/infrared.hpp

@@ -1,5 +1,8 @@
 #ifndef __THER_INFRARED_HPP__
 #define __THER_INFRARED_HPP__
+#include <etl/algorithm.h>
+#include <etl/bitset.h>
+#include <etl/tuple.h>
 #include <zephyr/device.h>
 #include <zephyr/drivers/sensor.h>
 #include <zpp/result.hpp>
@@ -7,41 +10,64 @@
 #include <zpp/work_queue.hpp>
 namespace ther {
 
-template <device *kDev> class Infrared {
+class Infrared {
 public:
   static auto Init() -> zpp::error {
     static sensor_trigger tri{.type = SENSOR_TRIG_DATA_READY,
                               .chan = SENSOR_CHAN_AMBIENT_TEMP};
-    if (auto r = sensor_trigger_set(
+    for (auto dev : s_dev) {
-            kDev, &tri,
+      if (auto r = sensor_trigger_set(
-            [](const device *dev, const sensor_trigger *trig) {
+              dev, &tri,
-              s_is_data_ready = true;
+              [](const device *dev, const sensor_trigger *trig) {
-            });
+                const size_t id = etl::distance(
-        r != 0) {
+                    s_dev.begin(), etl::find(s_dev.begin(), s_dev.end(), dev));
-      return -ENODEV;
+                s_dev_ready[id] = 1;
-    };
+              });
+          r != 0) {
+        return -ENODEV;
+      }
+    }
+    return zpp::ok();
   }
-  static auto GetSensorValue()
+  /* One-shot fetch of ALL sensors, return the hottest one. */
-      -> zpp::result<zpp::value<zpp::value_type::AMBIENT_TEMP>> {
+  static auto GetMaxSensorValue() -> zpp::result<std::pair<int, sensor_value>> {
-    if (!s_is_data_ready) {
+    bool found = false;
+    int max_id = 0;
+    sensor_value max_val{};
+
+    for (size_t id = 0; id < s_dev.size(); ++id) {
+      /* -ENODATA just means no new sample for this channel; keep going. */
+      if (0 != sensor_sample_fetch(s_dev[id])) {
+        continue;
+      }
+
+      sensor_value val;
+      if (0 != sensor_channel_get(s_dev[id], SENSOR_CHAN_AMBIENT_TEMP, &val)) {
+        s_dev_ready[id] = 0; /* sample consumed, drop the ready flag */
+        continue;
+      }
+
+      s_dev_ready[id] = 0;
+
+      if (!found || val.val1 > max_val.val1 ||
+          (val.val1 == max_val.val1 && val.val2 > max_val.val2)) {
+        found = true;
+        max_id = static_cast<int>(id);
+        max_val = val;
+      }
+    }
+
+    if (!found) {
       return zpp::error_code::k_nodata;
     }
-
+    return std::make_pair(max_id, max_val);
-    if (0 != sensor_sample_fetch(kDev)) {
-      return zpp::error_code::k_io;
-    }
-
-    zpp::value<zpp::value_type::AMBIENT_TEMP> val;
-    if (0 != sensor_channel_get(kDev, SENSOR_CHAN_AMBIENT_TEMP, &val)) {
-      return zpp::error_code::k_io;
-    }
-
-    s_is_data_ready = false;
-    return val;
   }
 
 private:
-  inline static bool s_is_data_ready{false};
+#define INFRARED_DEV(node) DEVICE_DT_GET(node),
+  inline static etl::array s_dev{
+      DT_FOREACH_STATUS_OKAY(godtek_temp_uart, INFRARED_DEV)};
+  inline static etl::bitset<s_dev.size()> s_dev_ready;
 };
 
 } // namespace ther

include/led.hpp

@@ -1,28 +1,95 @@
 #ifndef __THER_LED_HPP__
 #define __THER_LED_HPP__
+#include <etl/algorithm.h>
+#include <etl/array.h>
 #include <zephyr/drivers/led.h>
+#include <zpp/ct_string.hpp>
 #include <zpp/work_queue.hpp>
 namespace ther {
 
-template <led_dt_spec kSpec> class Led {
+/* Compile-time check: every LED name must be distinct so that
+ * Led::On/Off/Flash<kName> name lookup stays unambiguous. */
+template <typename T, std::size_t N>
+consteval auto AreUniqueNames(const etl::array<T, N> &names) -> bool {
+  for (std::size_t i = 0; i < N; ++i) {
+    for (std::size_t j = i + 1; j < N; ++j) {
+      if (names[i] == names[j]) {
+        return false;
+      }
+    }
+  }
+  return true;
+}
+
+#define LED_SPEC(node) led_dt_spec LED_DT_SPEC_GET(node)
+#define LED_DEV_CHILD_SPEC(node) DT_FOREACH_CHILD_SEP(node, LED_SPEC, (, )),
+#define LED_NODE_NAME(node) DT_FOREACH_CHILD_SEP(node, DEVICE_DT_NAME, (, ))
+class Led {
+
+private:
+  template <led_dt_spec> struct Periodic {
+    static auto Flash(led_dt_spec *spec) -> void {
+      bool flag = false;
+      if (flag) {
+        led_on_dt(spec);
+      } else {
+        led_off_dt(spec);
+      }
+      flag = !flag;
+    }
+    static inline zpp::periodic_work<led_dt_spec *> work{Flash};
+  };
+
 public:
-  static auto On() { led_on_dt(&kSpec); }
+  template <zpp::ct_string kName> static auto On() -> zpp::error {
-  static auto Off() { led_off_dt(&kSpec); }
+    static_assert(IsDeviceName<kName>());
-  template <typename TRep, typename TPeriod>
+    const auto id = etl::find(s_led_node_name.begin(), s_led_node_name.end(),
+                              std::string_view(kName)) -
+                    s_led_node_name.begin();
+    return led_on_dt(&s_led_dev[id]);
+  }
+  template <zpp::ct_string kName> static auto Off() -> zpp::error {
+    static_assert(IsDeviceName<kName>());
+    const auto id = etl::find(s_led_node_name.begin(), s_led_node_name.end(),
+                              std::string_view(kName)) -
+                    s_led_node_name.begin();
+    return led_off_dt(&s_led_dev[id]);
+  }
+  template <zpp::ct_string kName, typename TRep, typename TPeriod>
   static auto Flash(std::chrono::duration<TRep, TPeriod> period) {
-    s_work.submit(period);
+    static_assert(IsDeviceName<kName>());
+    const auto id = etl::find(s_led_node_name.begin(), s_led_node_name.end(),
+                              std::string_view(kName)) -
+                    s_led_node_name.begin();
+    Periodic<s_led_dev[id]>::work.submit(period);
   }
 
 private:
-  inline static zpp::periodic_work<> s_work{[]() {
+  template <zpp::ct_string kName> static consteval auto IsDeviceName() {
-    static bool is_on = false;
+    for (size_t i = 0; i < s_led_node_name.size(); ++i) {
-    if (is_on) {
+      if (s_led_node_name[i] == std::string_view(kName)) {
-      Off();
+        return true;
-    } else {
+      }
-      On();
     }
-    is_on = !is_on;
+    return false;
-  }};
+  }
+
+  static auto Flash(led_dt_spec *spec) -> void {
+    static bool flag = false;
+    if (flag) {
+      led_off_dt(spec);
+    } else {
+      led_on_dt(spec);
+    }
+    flag = !flag;
+  }
+  inline static constexpr etl::array s_led_dev{
+      DT_FOREACH_STATUS_OKAY(gpio_leds, LED_DEV_CHILD_SPEC)};
+  inline static constexpr auto s_led_node_name =
+      etl::make_array<std::string_view>(
+          DT_FOREACH_STATUS_OKAY(gpio_leds, LED_NODE_NAME));
+  static_assert(AreUniqueNames(s_led_node_name),
+                "LED node names must be unique");
 };
 
 } // namespace ther

src/main.cpp

@@ -1,65 +1,8 @@
-#include <com.hpp>
-#include <heating.hpp>
-#include <infrared.hpp>
-#include <led.hpp>
-#include <ntc.hpp>
-#include <optional>
-#include <watchdog.hpp>
-namespace {
-using StatusLed = ther::Led<LED_DT_SPEC_GET(DT_NODELABEL(status_led))>;
-bool is_infrared_ready = false;
-auto infrared = DEVICE_DT_GET(DT_NODELABEL(godtek));
-auto GetmaxTemp() -> std::optional<sensor_value> {
-  if (is_infrared_ready) {
-    sensor_value max_val{};
-    bool found = false;
 
-    // NTC 8 路最大值
+#include <zephyr/kernel.h>
-    auto ntc_result = ther::NtcGroup::GetSensorValue();
-    if (ntc_result) {
-      max_val = *ntc_result;
-      found = true;
-    }
-    // 红外数据就绪时参与比较
-    sensor_value ir_val{};
-    if (0 == sensor_sample_fetch_chan(infrared, SENSOR_CHAN_AMBIENT_TEMP)) {
-      if (0 ==
-          sensor_channel_get(infrared, SENSOR_CHAN_AMBIENT_TEMP, &ir_val)) {
-        double ir_t = sensor_value_to_double(&ir_val);
-        // printk("[ir]  = %.2f°C\n", ir_t);
-        if (!found || ir_val.val1 > max_val.val1 ||
-            (ir_val.val1 == max_val.val1 && ir_val.val2 > max_val.val2)) {
-          max_val = ir_val;
-        }
-        max_val = ir_val;
 
-        // printk("[out] sent = %.2f°C\n", sensor_value_to_double(&max_val));
-        is_infrared_ready = false;
-      }
-    }
-    return max_val;
-  }
-  return std::nullopt;
-}
-} // namespace
 auto main(void) -> int {
-  using namespace std::chrono_literals;
-  printk("app on board %s\n", CONFIG_BOARD);
-  // auto wdt = app::WatchDogConfig{};
-  StatusLed::Flash(1s);
-  ther::Com::Init();
-  ther::HeatingPad::Start(1.0f);
-  // ther::HeatingPad::Start(sensor_value{42, 0});
-  sensor_trigger tri{.type = SENSOR_TRIG_DATA_READY,
-                     .chan = SENSOR_CHAN_AMBIENT_TEMP};
-  sensor_trigger_set(infrared, &tri,
-                     [](const device *dev, const sensor_trigger *trig) {
-                       is_infrared_ready = true;
-                     });
   while (1) {
-    if (auto v = GetmaxTemp(); v.has_value()) {
-      ther::Com::Send(v.value());
-    }
 
     k_sleep(K_MSEC(20));
   }

west.yml

@@ -22,8 +22,8 @@ manifest:
     path: modules/zpp
     remote: robotstorm
     revision: dev
-  - name: dr2501a_g070rb
+  - name: dr2501a
-    path: boards/dr2501a_g070rb
+    path: boards/dr2501a
     remote: robotstorm
     revision: main
   - name: led_strip_indicator
@@ -34,6 +34,10 @@ manifest:
     path: modules/godtek_temp
     remote: robotstorm
     revision: main
+  - name: ch9438
+    path: modules/ch9438
+    remote: robotstorm
+    revision: main
   # - name: heading_pad
   #   path: modules/heading_pad
   #   revision: main