From 2288a64e510d80a9e6dd5305b18a4da102014bdf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 19 Mar 2025 22:55:13 +0100
Subject: [PATCH] [RIGv2] Repurpose OX tank top/bottom PTs to N2 and OX tanks
---
scripts/logdecoder/General/logdecoder.cpp | 4 +-
scripts/logdecoder/RIGv2/logdecoder.cpp | 4 +-
src/RIGv2/CanHandler/CanHandler.cpp | 4 +-
src/RIGv2/Configs/SensorsConfig.h | 32 ++++----
src/RIGv2/Radio/Radio.cpp | 11 +--
src/RIGv2/Sensors/Sensors.cpp | 98 +++++++++++------------
src/RIGv2/Sensors/Sensors.h | 28 +++----
src/RIGv2/Sensors/SensorsData.h | 12 +--
src/RIGv2/StateMachines/TARS1/TARS1.cpp | 2 +-
9 files changed, 97 insertions(+), 98 deletions(-)
diff --git a/scripts/logdecoder/General/logdecoder.cpp b/scripts/logdecoder/General/logdecoder.cpp
index c2639f17f..056abac66 100644
--- a/scripts/logdecoder/General/logdecoder.cpp
+++ b/scripts/logdecoder/General/logdecoder.cpp
@@ -115,8 +115,8 @@ void registerTypes(Deserializer& ds)
ds.registerType<RIGv2::N2Vessel1PressureData>();
ds.registerType<RIGv2::N2Vessel2PressureData>();
ds.registerType<RIGv2::N2FillingPressureData>();
- ds.registerType<RIGv2::OxTankTopPressureData>();
- ds.registerType<RIGv2::OxTankBottomPressureData>();
+ ds.registerType<RIGv2::OxTankPressureData>();
+ ds.registerType<RIGv2::N2TankPressureData>();
ds.registerType<RIGv2::ActuatorsData>();
ds.registerType<RIGv2::GroundModeManagerData>();
ds.registerType<RIGv2::TarsActionData>();
diff --git a/scripts/logdecoder/RIGv2/logdecoder.cpp b/scripts/logdecoder/RIGv2/logdecoder.cpp
index 666ae2f71..66050b858 100644
--- a/scripts/logdecoder/RIGv2/logdecoder.cpp
+++ b/scripts/logdecoder/RIGv2/logdecoder.cpp
@@ -63,8 +63,8 @@ void registerTypes(Deserializer& ds)
ds.registerType<N2Vessel1PressureData>();
ds.registerType<N2Vessel2PressureData>();
ds.registerType<N2FillingPressureData>();
- ds.registerType<OxTankTopPressureData>();
- ds.registerType<OxTankBottomPressureData>();
+ ds.registerType<OxTankPressureData>();
+ ds.registerType<N2TankPressureData>();
ds.registerType<ActuatorsData>();
ds.registerType<GroundModeManagerData>();
ds.registerType<TarsActionData>();
diff --git a/src/RIGv2/CanHandler/CanHandler.cpp b/src/RIGv2/CanHandler/CanHandler.cpp
index 42494b83b..ddfefe9bd 100644
--- a/src/RIGv2/CanHandler/CanHandler.cpp
+++ b/src/RIGv2/CanHandler/CanHandler.cpp
@@ -213,7 +213,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanPressureData data = pressureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanOxTankTopPressure(data);
+ sensors->setCanOxTankPressure(data);
break;
}
@@ -221,7 +221,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanPressureData data = pressureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanOxTankBottomPressure(data);
+ sensors->setCanN2TankPressure(data);
break;
}
diff --git a/src/RIGv2/Configs/SensorsConfig.h b/src/RIGv2/Configs/SensorsConfig.h
index 225da353d..6a48598b8 100644
--- a/src/RIGv2/Configs/SensorsConfig.h
+++ b/src/RIGv2/Configs/SensorsConfig.h
@@ -87,8 +87,8 @@ constexpr bool ENABLED = true;
using Channel = Boardcore::ADS131M08Defs::Channel;
-constexpr auto OX_TANK_TOP_PT_CHANNEL = Channel::CHANNEL_0;
-constexpr auto OX_TANK_BOTTOM_PT_CHANNEL = Channel::CHANNEL_1;
+constexpr auto OX_TANK_PT_CHANNEL = Channel::CHANNEL_0;
+constexpr auto N2_TANK_PT_CHANNEL = Channel::CHANNEL_1;
constexpr float CH0_SHUNT_RESISTANCE = 29.0; // TODO: measure
constexpr float CH1_SHUNT_RESISTANCE = 29.0; // TODO: measure
@@ -102,25 +102,25 @@ constexpr bool ENABLED = true;
namespace Trafag
{
-constexpr float OX_VESSEL_SHUNT_RESISTANCE = ADC_1::CH0_SHUNT_RESISTANCE;
-constexpr float OX_FILLING_SHUNT_RESISTANCE = ADC_1::CH1_SHUNT_RESISTANCE;
-constexpr float N2_VESSEL1_SHUNT_RESISTANCE = ADC_1::CH2_SHUNT_RESISTANCE;
-constexpr float N2_VESSEL2_SHUNT_RESISTANCE = ADC_1::CH3_SHUNT_RESISTANCE;
-constexpr float N2_FILLING_SHUNT_RESISTANCE = ADC_1::CH7_SHUNT_RESISTANCE;
-constexpr float OX_TANK_TOP_SHUNT_RESISTANCE = ADC_2::CH0_SHUNT_RESISTANCE;
-constexpr float OX_TANK_BOTTOM_SHUNT_RESISTANCE = ADC_2::CH1_SHUNT_RESISTANCE;
+constexpr float OX_VESSEL_SHUNT_RESISTANCE = ADC_1::CH0_SHUNT_RESISTANCE;
+constexpr float OX_FILLING_SHUNT_RESISTANCE = ADC_1::CH1_SHUNT_RESISTANCE;
+constexpr float N2_VESSEL1_SHUNT_RESISTANCE = ADC_1::CH2_SHUNT_RESISTANCE;
+constexpr float N2_VESSEL2_SHUNT_RESISTANCE = ADC_1::CH3_SHUNT_RESISTANCE;
+constexpr float N2_FILLING_SHUNT_RESISTANCE = ADC_1::CH7_SHUNT_RESISTANCE;
+constexpr float OX_TANK_SHUNT_RESISTANCE = ADC_2::CH0_SHUNT_RESISTANCE;
+constexpr float N2_TANK_SHUNT_RESISTANCE = ADC_2::CH1_SHUNT_RESISTANCE;
constexpr float MIN_CURRENT = 4;
constexpr float MAX_CURRENT = 20;
// TODO: check depending on which trafags are used
-constexpr float OX_VESSEL_MAX_PRESSURE = 100; // bar
-constexpr float OX_FILLING_MAX_PRESSURE = 250; // bar
-constexpr float N2_VESSEL1_MAX_PRESSURE = 400; // bar
-constexpr float N2_VESSEL2_MAX_PRESSURE = 400; // bar
-constexpr float N2_FILLING_MAX_PRESSURE = 400; // bar
-constexpr float OX_TANK_TOP_MAX_PRESSURE = 250; // bar
-constexpr float OX_TANK_BOTTOM_MAX_PRESSURE = 100; // bar
+constexpr float OX_VESSEL_MAX_PRESSURE = 100; // bar
+constexpr float OX_FILLING_MAX_PRESSURE = 250; // bar
+constexpr float N2_VESSEL1_MAX_PRESSURE = 400; // bar
+constexpr float N2_VESSEL2_MAX_PRESSURE = 400; // bar
+constexpr float N2_FILLING_MAX_PRESSURE = 400; // bar
+constexpr float OX_TANK_MAX_PRESSURE = 250; // bar
+constexpr float N2_TANK_MAX_PRESSURE = 100; // bar
} // namespace Trafag
namespace LoadCell
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index 794a4abc2..5422349cb 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -654,9 +654,10 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.timestamp = TimestampTimer::getTimestamp();
// Sensors (either CAN or local)
- tm.ox_tank_top_pressure = sensors->getOxTankTopPressure().pressure;
- tm.ox_tank_bot_pressure =
- sensors->getOxTankBottomPressure().pressure;
+ tm.ox_tank_top_pressure = sensors->getN2TankPressure()
+ .pressure; // TODO: rename in mavlink
+ tm.ox_tank_bot_pressure = sensors->getOxTankPressure()
+ .pressure; // TODO: rename in mavlink
tm.combustion_chamber_pressure =
sensors->getCombustionChamberPressure().pressure;
tm.ox_tank_temperature =
@@ -796,7 +797,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data = getModule<Sensors>()->getOxTankBottomPressure();
+ PressureData data = getModule<Sensors>()->getOxTankPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
@@ -814,7 +815,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data = getModule<Sensors>()->getOxTankTopPressure();
+ PressureData data = getModule<Sensors>()->getN2TankPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
diff --git a/src/RIGv2/Sensors/Sensors.cpp b/src/RIGv2/Sensors/Sensors.cpp
index 5eec560c6..969505aa9 100644
--- a/src/RIGv2/Sensors/Sensors.cpp
+++ b/src/RIGv2/Sensors/Sensors.cpp
@@ -55,8 +55,8 @@ bool Sensors::start()
if (Config::Sensors::ADC_2::ENABLED)
{
adc2Init();
- oxTankTopPressureInit();
- oxTankBottomPressureInit();
+ oxTankPressureInit();
+ n2TankPressureInit();
}
if (Config::Sensors::MAX31856::ENABLED)
@@ -122,29 +122,29 @@ PressureData Sensors::getN2FillingPressure()
: PressureData{};
}
-PressureData Sensors::getOxTankTopPressure()
+PressureData Sensors::getOxTankPressure()
{
if (useCanData)
{
- return getCanOxTankTopPressure();
+ return getCanOxTankPressure();
}
else
{
- return oxTankTopPressure ? oxTankTopPressure->getLastSample()
- : PressureData{};
+ return oxTankPressure ? oxTankPressure->getLastSample()
+ : PressureData{};
}
}
-PressureData Sensors::getOxTankBottomPressure()
+PressureData Sensors::getN2TankPressure()
{
if (useCanData)
{
- return getCanOxTankBottomPressure();
+ return getCanN2TankPressure();
}
else
{
- return oxTankBottomPressure ? oxTankBottomPressure->getLastSample()
- : PressureData{};
+ return n2TankPressure ? n2TankPressure->getLastSample()
+ : PressureData{};
}
}
@@ -217,16 +217,16 @@ VoltageData Sensors::getMotorBatteryVoltage()
return VoltageData{};
}
-PressureData Sensors::getCanOxTankTopPressure()
+PressureData Sensors::getCanN2TankPressure()
{
Lock<FastMutex> lock{canMutex};
- return canOxTankBottomPressure;
+ return canN2TankPressure;
}
-PressureData Sensors::getCanOxTankBottomPressure()
+PressureData Sensors::getCanOxTankPressure()
{
Lock<FastMutex> lock{canMutex};
- return canOxTankTopPressure;
+ return canOxTankPressure;
}
PressureData Sensors::getCanCombustionChamberPressure()
@@ -247,16 +247,16 @@ VoltageData Sensors::getCanMotorBatteryVoltage()
return canMotorBatteryVoltage;
}
-void Sensors::setCanOxTankTopPressure(PressureData data)
+void Sensors::setCanOxTankPressure(PressureData data)
{
Lock<FastMutex> lock{canMutex};
- canOxTankBottomPressure = data;
+ canN2TankPressure = data;
}
-void Sensors::setCanOxTankBottomPressure(PressureData data)
+void Sensors::setCanN2TankPressure(PressureData data)
{
Lock<FastMutex> lock{canMutex};
- canOxTankTopPressure = data;
+ canOxTankPressure = data;
}
void Sensors::setCanCombustionChamberPressure(PressureData data)
@@ -318,8 +318,8 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
PUSH_SENSOR_INFO(n2Vessel1Pressure, "N2Vessel1Pressure");
PUSH_SENSOR_INFO(n2Vessel2Pressure, "N2Vessel2Pressure");
PUSH_SENSOR_INFO(n2FillingPressure, "N2FillingPressure");
- PUSH_SENSOR_INFO(oxTankTopPressure, "OxTankTopPressure");
- PUSH_SENSOR_INFO(oxTankBottomPressure, "OxTankBotPressure");
+ PUSH_SENSOR_INFO(oxTankPressure, "OxTankPressure");
+ PUSH_SENSOR_INFO(n2TankPressure, "N2TankPressure");
PUSH_SENSOR_INFO(oxVesselWeight, "OxVesselWeight");
PUSH_SENSOR_INFO(oxTankWeight, "OxTankWeight");
@@ -437,14 +437,13 @@ void Sensors::adc2Init()
channel.enabled = false;
// Configure all required channels
- config.channelsConfig[(int)Config::Sensors::ADC_2::OX_TANK_TOP_PT_CHANNEL] =
- {.enabled = true,
- .pga = ADS131M08Defs::PGA::PGA_1,
- .offset = 0,
- .gain = 1.0};
+ config.channelsConfig[(int)Config::Sensors::ADC_2::OX_TANK_PT_CHANNEL] = {
+ .enabled = true,
+ .pga = ADS131M08Defs::PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0};
- config.channelsConfig[(
- int)Config::Sensors::ADC_2::OX_TANK_BOTTOM_PT_CHANNEL] = {
+ config.channelsConfig[(int)Config::Sensors::ADC_2::N2_TANK_PT_CHANNEL] = {
.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
@@ -569,45 +568,44 @@ void Sensors::n2FillingPressureCallback()
sdLogger.log(N2FillingPressureData{getN2FillingPressure()});
}
-void Sensors::oxTankTopPressureInit()
+void Sensors::oxTankPressureInit()
{
- oxTankTopPressure = std::make_unique<TrafagPressureSensor>(
+ oxTankPressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADC2LastSample();
return sample.getVoltage(
- Config::Sensors::ADC_2::OX_TANK_TOP_PT_CHANNEL);
+ Config::Sensors::ADC_2::OX_TANK_PT_CHANNEL);
},
- Config::Sensors::Trafag::OX_TANK_TOP_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::OX_TANK_TOP_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
}
-void Sensors::oxTankTopPressureCallback()
+void Sensors::oxTankPressureCallback()
{
- sdLogger.log(OxTankTopPressureData{oxTankTopPressure->getLastSample()});
+ sdLogger.log(OxTankPressureData{oxTankPressure->getLastSample()});
}
-void Sensors::oxTankBottomPressureInit()
+void Sensors::n2TankPressureInit()
{
- oxTankBottomPressure = std::make_unique<TrafagPressureSensor>(
+ n2TankPressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADC2LastSample();
return sample.getVoltage(
- Config::Sensors::ADC_2::OX_TANK_BOTTOM_PT_CHANNEL);
+ Config::Sensors::ADC_2::N2_TANK_PT_CHANNEL);
},
- Config::Sensors::Trafag::OX_TANK_BOTTOM_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::OX_TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::N2_TANK_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::N2_TANK_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
}
-void Sensors::oxTankBottomPressureCallback()
+void Sensors::n2TankPressureCallback()
{
- sdLogger.log(
- OxTankBottomPressureData{oxTankBottomPressure->getLastSample()});
+ sdLogger.log(N2TankPressureData{n2TankPressure->getLastSample()});
}
void Sensors::oxVesselWeightInit()
@@ -720,18 +718,18 @@ bool Sensors::sensorManagerInit()
map.emplace(std::make_pair(n2FillingPressure.get(), info));
}
- if (oxTankTopPressure)
+ if (oxTankPressure)
{
- SensorInfo info("OxTankTopPressure", Config::Sensors::ADS131M08::PERIOD,
- [this]() { oxTankTopPressureCallback(); });
- map.emplace(std::make_pair(oxTankTopPressure.get(), info));
+ SensorInfo info("OxTankPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxTankPressureCallback(); });
+ map.emplace(std::make_pair(oxTankPressure.get(), info));
}
- if (oxTankBottomPressure)
+ if (n2TankPressure)
{
- SensorInfo info("OxTankBotPressure", Config::Sensors::ADS131M08::PERIOD,
- [this]() { oxTankBottomPressureCallback(); });
- map.emplace(std::make_pair(oxTankBottomPressure.get(), info));
+ SensorInfo info("N2TankPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { n2TankPressureCallback(); });
+ map.emplace(std::make_pair(n2TankPressure.get(), info));
}
if (oxVesselWeight)
diff --git a/src/RIGv2/Sensors/Sensors.h b/src/RIGv2/Sensors/Sensors.h
index 06a5ceb1f..e38a2de50 100644
--- a/src/RIGv2/Sensors/Sensors.h
+++ b/src/RIGv2/Sensors/Sensors.h
@@ -64,8 +64,8 @@ public:
Boardcore::PressureData getN2Vessel1Pressure();
Boardcore::PressureData getN2Vessel2Pressure();
Boardcore::PressureData getN2FillingPressure();
- Boardcore::PressureData getOxTankTopPressure();
- Boardcore::PressureData getOxTankBottomPressure();
+ Boardcore::PressureData getOxTankPressure();
+ Boardcore::PressureData getN2TankPressure();
Boardcore::PressureData getCombustionChamberPressure();
Boardcore::TemperatureData getOxTankTemperature();
@@ -77,16 +77,16 @@ public:
Boardcore::VoltageData getBatteryVoltage();
Boardcore::VoltageData getMotorBatteryVoltage();
- Boardcore::PressureData getCanOxTankTopPressure();
- Boardcore::PressureData getCanOxTankBottomPressure();
+ Boardcore::PressureData getCanOxTankPressure();
+ Boardcore::PressureData getCanN2TankPressure();
Boardcore::PressureData getCanCombustionChamberPressure();
Boardcore::TemperatureData getCanTankTemperature();
Boardcore::VoltageData getCanMotorBatteryVoltage();
std::vector<Boardcore::SensorInfo> getSensorInfos();
- void setCanOxTankTopPressure(Boardcore::PressureData data);
- void setCanOxTankBottomPressure(Boardcore::PressureData data);
+ void setCanOxTankPressure(Boardcore::PressureData data);
+ void setCanN2TankPressure(Boardcore::PressureData data);
void setCanCombustionChamberPressure(Boardcore::PressureData data);
void setCanOxTankTemperature(Boardcore::TemperatureData data);
void setCanMotorBatteryVoltage(Boardcore::VoltageData data);
@@ -108,11 +108,11 @@ private:
void n2FillingPressureInit();
void n2FillingPressureCallback();
- void oxTankTopPressureInit();
- void oxTankTopPressureCallback();
+ void oxTankPressureInit();
+ void oxTankPressureCallback();
- void oxTankBottomPressureInit();
- void oxTankBottomPressureCallback();
+ void n2TankPressureInit();
+ void n2TankPressureCallback();
void oxVesselWeightInit();
void oxVesselWeightCallback();
@@ -142,8 +142,8 @@ private:
std::atomic<bool> useCanData{false};
miosix::FastMutex canMutex;
- Boardcore::PressureData canOxTankTopPressure;
- Boardcore::PressureData canOxTankBottomPressure;
+ Boardcore::PressureData canOxTankPressure;
+ Boardcore::PressureData canN2TankPressure;
Boardcore::PressureData canCombustionChamberPressure;
// TODO: N2 tank pressure from CAN
Boardcore::TemperatureData canOxTankTemperature;
@@ -155,8 +155,8 @@ private:
std::unique_ptr<Boardcore::TrafagPressureSensor> n2Vessel1Pressure;
std::unique_ptr<Boardcore::TrafagPressureSensor> n2Vessel2Pressure;
std::unique_ptr<Boardcore::TrafagPressureSensor> n2FillingPressure;
- std::unique_ptr<Boardcore::TrafagPressureSensor> oxTankTopPressure;
- std::unique_ptr<Boardcore::TrafagPressureSensor> oxTankBottomPressure;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> oxTankPressure;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> n2TankPressure;
std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> oxVesselWeight;
std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> oxTankWeight;
diff --git a/src/RIGv2/Sensors/SensorsData.h b/src/RIGv2/Sensors/SensorsData.h
index c598c0a2a..71ae7b241 100644
--- a/src/RIGv2/Sensors/SensorsData.h
+++ b/src/RIGv2/Sensors/SensorsData.h
@@ -129,24 +129,24 @@ struct N2FillingPressureData : Boardcore::PressureData
N2FillingPressureData() {}
};
-struct OxTankTopPressureData : Boardcore::PressureData
+struct OxTankPressureData : Boardcore::PressureData
{
- explicit OxTankTopPressureData(const Boardcore::PressureData& data)
+ explicit OxTankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
- OxTankTopPressureData() {}
+ OxTankPressureData() {}
};
-struct OxTankBottomPressureData : Boardcore::PressureData
+struct N2TankPressureData : Boardcore::PressureData
{
- explicit OxTankBottomPressureData(const Boardcore::PressureData& data)
+ explicit N2TankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
- OxTankBottomPressureData() {}
+ N2TankPressureData() {}
};
} // namespace RIGv2
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.cpp b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
index 2d1e27c00..bc092337b 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.cpp
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
@@ -257,7 +257,7 @@ void TARS1::sample()
{
Sensors* sensors = getModule<Sensors>();
- pressureFilter.add(sensors->getOxTankBottomPressure().pressure);
+ pressureFilter.add(sensors->getOxTankPressure().pressure);
massFilter.add(sensors->getOxTankWeight().load);
medianSamples++;
--
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