From 2c754cc2f4b2df6055a9eb0621cf0ba38337f13a Mon Sep 17 00:00:00 2001
From: Davide <davide.mor@skywarder.eu>
Date: Mon, 26 Feb 2024 01:52:43 +0100
Subject: [PATCH] [RIGv2] Added thermocouple to sample and radio
---
src/boards/RIGv2/Configs/SensorsConfig.h | 1 +
src/boards/RIGv2/Radio/Radio.cpp | 3 ++
src/boards/RIGv2/Sensors/Sensors.cpp | 35 +++++++++++++++++++--
src/boards/RIGv2/Sensors/Sensors.h | 6 ++++
src/boards/RIGv2/Sensors/SensorsData.h | 31 ++++++++++++++++--
src/scripts/logdecoder/RIGv2/logdecoder.cpp | 1 +
6 files changed, 73 insertions(+), 4 deletions(-)
diff --git a/src/boards/RIGv2/Configs/SensorsConfig.h b/src/boards/RIGv2/Configs/SensorsConfig.h
index 7f12a6710..28712cd8f 100644
--- a/src/boards/RIGv2/Configs/SensorsConfig.h
+++ b/src/boards/RIGv2/Configs/SensorsConfig.h
@@ -34,6 +34,7 @@ namespace Sensors
{
static constexpr uint32_t ADC_SAMPLE_PERIOD = 10;
+static constexpr uint32_t TC_SAMPLE_PERIOD = 100;
}
diff --git a/src/boards/RIGv2/Radio/Radio.cpp b/src/boards/RIGv2/Radio/Radio.cpp
index b4d51c193..8e5f5d3f1 100644
--- a/src/boards/RIGv2/Radio/Radio.cpp
+++ b/src/boards/RIGv2/Radio/Radio.cpp
@@ -402,7 +402,10 @@ bool Radio::packSystemTm(uint8_t tmId, mavlink_message_t& msg)
{
mavlink_motor_tm_t tm;
+ auto tc1 = modules.get<Sensors>()->getTc1LastSample();
+
tm.timestamp = TimestampTimer::getTimestamp();
+ tm.tank_temperature = tc1.temperature;
tm.top_tank_pressure = 69;
tm.bottom_tank_pressure = 420;
diff --git a/src/boards/RIGv2/Sensors/Sensors.cpp b/src/boards/RIGv2/Sensors/Sensors.cpp
index 4318603df..fabc78951 100644
--- a/src/boards/RIGv2/Sensors/Sensors.cpp
+++ b/src/boards/RIGv2/Sensors/Sensors.cpp
@@ -37,6 +37,7 @@ bool Sensors::start()
{
SensorManager::SensorMap_t map;
adc1Init(map);
+ tc1Init(map);
manager = std::make_unique<SensorManager>(map, &scheduler);
if (!manager->start())
@@ -61,6 +62,12 @@ ADS131M08Data Sensors::getADC1LastSample()
return adc1->getLastSample();
}
+Boardcore::MAX31856Data Sensors::getTc1LastSample()
+{
+ PauseKernelLock l;
+ return tc1->getLastSample();
+}
+
void Sensors::adc1Init(SensorManager::SensorMap_t &map)
{
ModuleManager &modules = ModuleManager::getInstance();
@@ -92,8 +99,32 @@ void Sensors::adc1Callback()
sample.voltage[4], sample.voltage[5],
sample.voltage[6], sample.voltage[7]};
- // For Flavio, fuck Flavio
- LOG_INFO(logger, "{}\t{}", sample.voltage[6], sample.voltage[7]);
+ sdLogger.log(data);
+}
+
+void Sensors::tc1Init(SensorManager::SensorMap_t &map)
+{
+ ModuleManager &modules = ModuleManager::getInstance();
+
+ SPIBusConfig spiConfig = MAX31856::getDefaultSPIConfig();
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
+
+ tc1 =
+ std::make_unique<MAX31856>(modules.get<Buses>()->getMAX31856_1(),
+ sensors::MAX31856_1::cs::getPin(), spiConfig,
+ MAX31856::ThermocoupleType::K_TYPE);
+
+ SensorInfo info("MAX31856_1", Config::Sensors::TC_SAMPLE_PERIOD,
+ [this]() { tc1Callback(); });
+ map.emplace(std::make_pair(tc1.get(), info));
+}
+
+void Sensors::tc1Callback()
+{
+ MAX31856Data sample = tc1->getLastSample();
+
+ TCsData data{sample.temperatureTimestamp, 1, sample.temperature,
+ sample.coldJunctionTemperature};
sdLogger.log(data);
}
\ No newline at end of file
diff --git a/src/boards/RIGv2/Sensors/Sensors.h b/src/boards/RIGv2/Sensors/Sensors.h
index 14eeef191..43d614ee7 100644
--- a/src/boards/RIGv2/Sensors/Sensors.h
+++ b/src/boards/RIGv2/Sensors/Sensors.h
@@ -23,6 +23,7 @@
#pragma once
#include <sensors/ADS131M08/ADS131M08.h>
+#include <sensors/MAX31856/MAX31856.h>
#include <sensors/SensorManager.h>
#include <memory>
@@ -44,10 +45,14 @@ public:
bool isStarted();
Boardcore::ADS131M08Data getADC1LastSample();
+ Boardcore::MAX31856Data getTc1LastSample();
private:
void adc1Init(Boardcore::SensorManager::SensorMap_t &map);
void adc1Callback();
+
+ void tc1Init(Boardcore::SensorManager::SensorMap_t &map);
+ void tc1Callback();
Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
@@ -55,6 +60,7 @@ private:
std::atomic<bool> started{false};
std::unique_ptr<Boardcore::ADS131M08> adc1;
+ std::unique_ptr<Boardcore::MAX31856> tc1;
std::unique_ptr<Boardcore::SensorManager> manager;
};
diff --git a/src/boards/RIGv2/Sensors/SensorsData.h b/src/boards/RIGv2/Sensors/SensorsData.h
index db59f9eef..ac2a64432 100644
--- a/src/boards/RIGv2/Sensors/SensorsData.h
+++ b/src/boards/RIGv2/Sensors/SensorsData.h
@@ -23,6 +23,7 @@
#pragma once
#include <sensors/ADS131M08/ADS131M08Data.h>
+#include <sensors/MAX31856/MAX31856Data.h>
namespace RIGv2
{
@@ -41,7 +42,7 @@ struct ADCsData : Boardcore::ADS131M08Data
static std::string header()
{
- return "timestamp,adc_number,voltage_channel_1,voltage_channel_2,"
+ return "timestamp,adcNumber,voltage_channel_1,voltage_channel_2,"
"voltage_channel_3,voltage_channel_4,voltage_channel_5,voltage_"
"channel_6,voltage_channel_7,voltage_channel_8\n";
}
@@ -54,4 +55,30 @@ struct ADCsData : Boardcore::ADS131M08Data
<< voltage[7] << "\n";
}
};
-} // namespace RIG
\ No newline at end of file
+
+struct TCsData : Boardcore::MAX31856Data
+{
+ uint8_t tcNumber;
+
+ TCsData() : MAX31856Data{0, 0}, tcNumber{0} {}
+
+ TCsData(uint64_t time, uint8_t num, float temperature,
+ float coldJunctionTemperature)
+ : MAX31856Data{time, temperature, coldJunctionTemperature},
+ tcNumber{num}
+ {
+ }
+
+ static std::string header()
+ {
+ return "temperatureTimestamp,tcNumber,temperature,"
+ "coldJunctionTemperature\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << temperatureTimestamp << "," << (int)tcNumber << "," << temperature
+ << "," << coldJunctionTemperature << "\n";
+ }
+};
+} // namespace RIGv2
\ No newline at end of file
diff --git a/src/scripts/logdecoder/RIGv2/logdecoder.cpp b/src/scripts/logdecoder/RIGv2/logdecoder.cpp
index fddfb7c20..eab10f51c 100644
--- a/src/scripts/logdecoder/RIGv2/logdecoder.cpp
+++ b/src/scripts/logdecoder/RIGv2/logdecoder.cpp
@@ -52,6 +52,7 @@ void registerTypes(Deserializer& ds)
// Custom types
ds.registerType<ADCsData>();
+ ds.registerType<TCsData>();
ds.registerType<ActuatorsData>();
}
--
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