From 6fd57022bdb5b43e168ff9a23057a99b5d2a99e1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Thu, 13 Mar 2025 11:25:55 +0100
Subject: [PATCH] [RIGv2] Improve sensor initialization
* Add missing pressure transducers initialization
* Improve failure reporting
* Add ADC specific enable flags
---
src/RIGv2/Configs/SensorsConfig.h | 5 ++++-
src/RIGv2/Sensors/Sensors.cpp | 26 ++++++++++++++++++--------
src/RIGv2/rig-v2-entry.cpp | 9 +++++----
3 files changed, 27 insertions(+), 13 deletions(-)
diff --git a/src/RIGv2/Configs/SensorsConfig.h b/src/RIGv2/Configs/SensorsConfig.h
index 397a5bd8a..225da353d 100644
--- a/src/RIGv2/Configs/SensorsConfig.h
+++ b/src/RIGv2/Configs/SensorsConfig.h
@@ -46,7 +46,6 @@ constexpr auto OSR = Boardcore::ADS131M08Defs::OversamplingRatio::OSR_8192;
constexpr bool GLOBAL_CHOP_MODE_EN = true;
constexpr Hertz PERIOD = 100_hz;
-constexpr bool ENABLED = true;
// Servo current sensor calibration data
// - A: 0.0 V: 2.520
@@ -62,6 +61,8 @@ constexpr float SERVO_CURRENT_ZERO = 2.520 / SERVO_CURRENT_SCALE;
namespace ADC_1
{
+constexpr bool ENABLED = true;
+
using Channel = Boardcore::ADS131M08Defs::Channel;
constexpr auto OX_VESSEL_PT_CHANNEL = Channel::CHANNEL_0;
@@ -82,6 +83,8 @@ constexpr float CH7_SHUNT_RESISTANCE = 29.0; // TODO: measure
namespace ADC_2
{
+constexpr bool ENABLED = true;
+
using Channel = Boardcore::ADS131M08Defs::Channel;
constexpr auto OX_TANK_TOP_PT_CHANNEL = Channel::CHANNEL_0;
diff --git a/src/RIGv2/Sensors/Sensors.cpp b/src/RIGv2/Sensors/Sensors.cpp
index a6f3aed84..5eec560c6 100644
--- a/src/RIGv2/Sensors/Sensors.cpp
+++ b/src/RIGv2/Sensors/Sensors.cpp
@@ -26,6 +26,9 @@
#include <drivers/timer/TimestampTimer.h>
#include <interfaces-impl/hwmapping.h>
+#include <chrono>
+
+using namespace std::chrono;
using namespace Boardcore;
using namespace miosix;
using namespace RIGv2;
@@ -37,18 +40,25 @@ bool Sensors::start()
if (Config::Sensors::InternalADC::ENABLED)
internalAdcInit();
- if (Config::Sensors::ADS131M08::ENABLED)
+ if (Config::Sensors::ADC_1::ENABLED)
{
adc1Init();
- adc2Init();
oxVesselPressureInit();
oxFillingPressureInit();
- oxTankTopPressureInit();
- oxTankBottomPressureInit();
+ n2Vessel1PressureInit();
+ n2Vessel2PressureInit();
+ n2FillingPressureInit();
oxVesselWeightInit();
oxTankWeightInit();
}
+ if (Config::Sensors::ADC_2::ENABLED)
+ {
+ adc2Init();
+ oxTankTopPressureInit();
+ oxTankBottomPressureInit();
+ }
+
if (Config::Sensors::MAX31856::ENABLED)
tc1Init();
@@ -297,11 +307,11 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
if (instance) \
infos.push_back(manager->getSensorInfo(instance.get())); \
else \
- infos.push_back(SensorInfo { #name, 0, nullptr, false })
+ infos.push_back(SensorInfo{name, 0ns, nullptr, false})
- PUSH_SENSOR_INFO(adc1, "ADC1");
- PUSH_SENSOR_INFO(adc2, "ADC2");
- PUSH_SENSOR_INFO(tc1, "TC1");
+ PUSH_SENSOR_INFO(adc1, "ADS131M08_1");
+ PUSH_SENSOR_INFO(adc2, "ADS131M08_2");
+ PUSH_SENSOR_INFO(tc1, "MAX31856_1");
PUSH_SENSOR_INFO(internalAdc, "InternalADC");
PUSH_SENSOR_INFO(oxVesselPressure, "OxVesselPressure");
PUSH_SENSOR_INFO(oxFillingPressure, "OxFillingPressure");
diff --git a/src/RIGv2/rig-v2-entry.cpp b/src/RIGv2/rig-v2-entry.cpp
index b8ec84e95..013353999 100644
--- a/src/RIGv2/rig-v2-entry.cpp
+++ b/src/RIGv2/rig-v2-entry.cpp
@@ -37,9 +37,11 @@
#include <events/EventData.h>
#include <events/utils/EventSniffer.h>
+#include <chrono>
#include <iomanip>
#include <iostream>
+using namespace std::chrono;
using namespace Boardcore;
using namespace Common;
using namespace RIGv2;
@@ -83,8 +85,6 @@ int main()
manager.insert<GroundModeManager>(gmm) &&
manager.insert<TARS1>(tars1) && manager.inject();
- manager.graphviz(std::cout);
-
if (!initResult)
{
std::cout << "Failed to inject dependencies" << std::endl;
@@ -208,11 +208,12 @@ int main()
std::cout << "Sensor status:" << std::endl;
for (auto info : sensors->getSensorInfos())
{
- auto statusStr = !info.isEnabled ? "Disabled"
+ // The period being 0 means the sensor is disabled
+ auto statusStr = info.period == 0ns ? "Disabled"
: info.isInitialized ? "Ok"
: "Error";
- std::cout << "\t" << std::setw(16) << std::left << info.id << " "
+ std::cout << "\t" << std::setw(20) << std::left << info.id << " "
<< statusStr << std::endl;
}
--
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