[PayloadTest] First structure commit

src/boards/PayloadTest/Configs/SensorsConfig.h

+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/**
+ * This class specifies the sensors constants that the sensor manager
+ * needs to know about every device. For example the sample time is
+ * essential to understand how much time a sensor should wait before
+ * another sample.
+ */
+
+#pragma once
+
+#include <sensors/LIS3DSH/LIS3DSH.h>
+
+namespace ParafoilTest
+{
+    static constexpr unsigned int SAMPLE_PERIOD_ACCEL_LIS3DSH = 2; //2 millis
+
+    static constexpr LIS3DSH::OutputDataRate    ACCEL_LIS3DSH_ODR           = LIS3DSH::ODR_800_HZ;
+    static constexpr LIS3DSH::BlockDataUpdate   ACCEL_LIS3DSH_BDU           = LIS3DSH::UPDATE_AFTER_READ_MODE;
+    static constexpr LIS3DSH::FullScale         ACCEL_LIS3DSH_FULL_SCALE    = LIS3DSH::FULL_SCALE_2G;
+}
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src/boards/PayloadTest/Main/Sensors.cpp

+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <Configs/SensorsConfig.h>
+#include "Sensors.h"
+
+using std::bind;
+//using std::function;
+
+using namespace Boardcore;
+
+namespace ParafoilTest
+{
+    /**
+     * PRIVATE METHODS
+     */
+    void Sensors::initLIS3DSH()
+    {
+        //CS PIN which we use to enable the dialgue with the sensor
+        GpioPin cs(GPIOE_BASE, 3);
+        cs.mode(miosix::Mode::OUTPUT);
+
+        accel_sensor = new LIS3DSH(spiInterface,
+                                   cs,
+                                   ACCEL_LIS3DSH_ORD,
+                                   ACCEL_LIS3DSH_BDU,
+                                   ACCEL_LIS3DSH_FULL_SCALE);
+
+        accel_sensor -> init();
+
+        //Create the sensor description binding it to the sample period,
+        //its callback function and if it is DMA access and enabled.
+        SensorInfo info("LIS3DSH", SAMPLE_PERIOD_ACCEL_LIS3DSH,
+                        bind(&Sensors::LIS3DSHCallback, this), false, true);
+
+        //Adding the sensor to the sensors map
+        sensors_map.emplace(std::make_pair(accel_sensor, info));
+    }   
+
+    void Sensors::LIS3DSHCallback()
+    {
+        LoggerService::getInstance() -> log(accel_sensor -> getLastSample());
+    }
+
+    /**
+     * PUBLIC METHODS
+     */
+    Sensors::Sensors(SPIBusInterface& spi, TaskScheduler* scheduler)
+        : spiInterface(spi)
+    {
+        //Sensor init
+        initLIS3DSH();
+
+        //Sensor manager instance
+        //At this point sensors_map contains all the initialized sensors
+        manager = new SensorManager(scheduler, sensors_map);
+    }
+
+    Sensors::~Sensors()
+    {
+        //Delete the sensors
+        delete accel_sensor;
+
+        //Sensor manager stop and delete
+        manager -> stop();
+        delete manager;
+    }
+
+    bool Sensors::start()
+    {
+        return manager -> start();
+    }
+
+    void Sensors::calibrate()
+    {
+
+    }
+}
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src/boards/PayloadTest/Main/Sensors.h

+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#pragma once
+
+#include <sensors/SensorManager.h>
+#include <sensors/LIS3DSH/LIS3DSH.h>
+
+using namespace Boardcore;
+
+/**
+ * This class memorizes all the sensors instances.
+ * Every instance is initialized by the constructor. Also every
+ * sensor has its own status
+ */
+namespace ParafoilTest
+{
+    class Sensors
+    {
+    private:
+        
+        /**
+         * @brief Sensor manager object
+         */
+        SensorManager* manager;
+        
+        /**
+         * @brief Sensor map that contains every sensor istance
+         * that needs to be sampled by the sensor manager
+         */
+        SensorManager::SensorMap_t sensors_map;
+
+        /**
+         * @brief SPI interface passed via constructor
+         */
+        SPIBusInterface& spiInterface;
+
+        /**
+         * @brief initializes the LIS3DSH method
+         */
+        void initLIS3DSH();
+        void LIS3DSHcallback();
+
+
+    public:
+
+        LIS3DSH* accel_sensor;
+
+        /**
+         * @brief Constructor
+         * @param The spi interface used for the sensors
+         * @param The task scheduler
+         */
+        Sensors(SPIBusInterface& spi, TaskScheduler* scheduler);
+
+        /**
+         * @brief Deconstructor
+         */
+        ~Sensors();
+
+        /**
+         * @brief Starts the sensor manager to sample data
+         * @return boolean that indicates operation's result
+         */
+        bool start();
+
+        /**
+         * @brief Calibrates the sensors that need to
+         */
+        void calibrate();
+    }
+}
\ No newline at end of file

src/boards/PayloadTest/PayloadTest.h

+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */ 
+
+#pragma once
+
+#include <Common.h>
+#include <Main/Sensors.h>
+
+using namespace Boardcore;
+
+/**
+ * This class is the main singleton that keeps all the project objects.
+ * It has all the instances and initializes all of them.
+ */
+namespace ParafoilTest
+{
+    class PayloadTest : public Singleton<PayloadTest>
+    {
+    private:
+        
+        /**
+         * @brief Constructor
+         */
+        PayloadTest()
+        {
+            
+        }
+    }
+}
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