diff --git a/scripts/logdecoder/General/logdecoder.cpp b/scripts/logdecoder/General/logdecoder.cpp
index 73451409ca657ab5d9168ba86829dfd049c4cba4..c2639f17f9dc77a5cce605effb5cb22d7846d97d 100644
--- a/scripts/logdecoder/General/logdecoder.cpp
+++ b/scripts/logdecoder/General/logdecoder.cpp
@@ -106,13 +106,17 @@ void registerTypes(Deserializer& ds)
// RIGv2
ds.registerType<RIGv2::ADC1Data>();
+ ds.registerType<RIGv2::ADC2Data>();
ds.registerType<RIGv2::TC1Data>();
- ds.registerType<RIGv2::VesselWeightData>();
- ds.registerType<RIGv2::TankWeightData>();
- ds.registerType<RIGv2::VesselPressureData>();
- ds.registerType<RIGv2::FillingPressureData>();
- ds.registerType<RIGv2::TopTankPressureData>();
- ds.registerType<RIGv2::BottomTankPressureData>();
+ ds.registerType<RIGv2::OxVesselWeightData>();
+ ds.registerType<RIGv2::OxTankWeightData>();
+ ds.registerType<RIGv2::OxVesselPressureData>();
+ ds.registerType<RIGv2::OxFillingPressureData>();
+ ds.registerType<RIGv2::N2Vessel1PressureData>();
+ ds.registerType<RIGv2::N2Vessel2PressureData>();
+ ds.registerType<RIGv2::N2FillingPressureData>();
+ ds.registerType<RIGv2::OxTankTopPressureData>();
+ ds.registerType<RIGv2::OxTankBottomPressureData>();
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 6709b7eca9046bf014350cc9b2a115683a9757ed..666ae2f71b2185ac68989df5efbef11f8dccdc98 100644
--- a/scripts/logdecoder/RIGv2/logdecoder.cpp
+++ b/scripts/logdecoder/RIGv2/logdecoder.cpp
@@ -54,13 +54,17 @@ void registerTypes(Deserializer& ds)
// Custom types
ds.registerType<ADC1Data>();
+ ds.registerType<ADC2Data>();
ds.registerType<TC1Data>();
- ds.registerType<VesselWeightData>();
- ds.registerType<TankWeightData>();
- ds.registerType<VesselPressureData>();
- ds.registerType<FillingPressureData>();
- ds.registerType<TopTankPressureData>();
- ds.registerType<BottomTankPressureData>();
+ ds.registerType<OxVesselWeightData>();
+ ds.registerType<OxTankWeightData>();
+ ds.registerType<OxVesselPressureData>();
+ ds.registerType<OxFillingPressureData>();
+ ds.registerType<N2Vessel1PressureData>();
+ ds.registerType<N2Vessel2PressureData>();
+ ds.registerType<N2FillingPressureData>();
+ ds.registerType<OxTankTopPressureData>();
+ ds.registerType<OxTankBottomPressureData>();
ds.registerType<ActuatorsData>();
ds.registerType<GroundModeManagerData>();
ds.registerType<TarsActionData>();
diff --git a/src/RIGv2/CanHandler/CanHandler.cpp b/src/RIGv2/CanHandler/CanHandler.cpp
index 055ae6e57bae3043a192eaaa1f7e61c2606e7efc..42494b83b2c866f4996629dfe1c0957cd47b9342 100644
--- a/src/RIGv2/CanHandler/CanHandler.cpp
+++ b/src/RIGv2/CanHandler/CanHandler.cpp
@@ -205,7 +205,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanPressureData data = pressureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanCCPress(data);
+ sensors->setCanCombustionChamberPressure(data);
break;
}
@@ -213,7 +213,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanPressureData data = pressureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanTopTankPress(data);
+ sensors->setCanOxTankTopPressure(data);
break;
}
@@ -221,7 +221,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanPressureData data = pressureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanBottomTankPress(data);
+ sensors->setCanOxTankBottomPressure(data);
break;
}
@@ -229,7 +229,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanTemperatureData data = temperatureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanTankTemp(data);
+ sensors->setCanOxTankTemperature(data);
break;
}
diff --git a/src/RIGv2/Configs/SensorsConfig.h b/src/RIGv2/Configs/SensorsConfig.h
index 21dfeeb7d51eb4257853d9417d1cce5bbe876564..397a5bd8ac3759b9bd86a8d95dfbab42d4be0ea9 100644
--- a/src/RIGv2/Configs/SensorsConfig.h
+++ b/src/RIGv2/Configs/SensorsConfig.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Davide Mor
+ * Authors: Davide Mor, Niccolò Betto
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -42,31 +42,11 @@ namespace Sensors
namespace ADS131M08
{
-
-constexpr Boardcore::ADS131M08Defs::OversamplingRatio OSR =
- Boardcore::ADS131M08Defs::OversamplingRatio::OSR_8192;
+constexpr auto OSR = Boardcore::ADS131M08Defs::OversamplingRatio::OSR_8192;
constexpr bool GLOBAL_CHOP_MODE_EN = true;
-constexpr float CH1_SHUNT_RESISTANCE = 29.4048;
-constexpr float CH2_SHUNT_RESISTANCE = 29.5830;
-constexpr float CH3_SHUNT_RESISTANCE = 29.4973;
-constexpr float CH4_SHUNT_RESISTANCE = 29.8849;
-
-// ADC channels definitions for various sensors
-constexpr Boardcore::ADS131M08Defs::Channel VESSEL_PT_CHANNEL =
- Boardcore::ADS131M08Defs::Channel::CHANNEL_0;
-constexpr Boardcore::ADS131M08Defs::Channel FILLING_PT_CHANNEL =
- Boardcore::ADS131M08Defs::Channel::CHANNEL_1;
-constexpr Boardcore::ADS131M08Defs::Channel BOTTOM_PT_CHANNEL =
- Boardcore::ADS131M08Defs::Channel::CHANNEL_2;
-constexpr Boardcore::ADS131M08Defs::Channel TOP_PT_CHANNEL =
- Boardcore::ADS131M08Defs::Channel::CHANNEL_3;
-constexpr Boardcore::ADS131M08Defs::Channel SERVO_CURRENT_CHANNEL =
- Boardcore::ADS131M08Defs::Channel::CHANNEL_4;
-constexpr Boardcore::ADS131M08Defs::Channel VESSEL_LC_CHANNEL =
- Boardcore::ADS131M08Defs::Channel::CHANNEL_5;
-constexpr Boardcore::ADS131M08Defs::Channel TANK_LC_CHANNEL =
- Boardcore::ADS131M08Defs::Channel::CHANNEL_6;
+constexpr Hertz PERIOD = 100_hz;
+constexpr bool ENABLED = true;
// Servo current sensor calibration data
// - A: 0.0 V: 2.520
@@ -78,11 +58,39 @@ constexpr Boardcore::ADS131M08Defs::Channel TANK_LC_CHANNEL =
// - A: 5.2 V: 2.441
constexpr float SERVO_CURRENT_SCALE = 4.5466;
constexpr float SERVO_CURRENT_ZERO = 2.520 / SERVO_CURRENT_SCALE;
-
-constexpr Hertz PERIOD = 100_hz;
-constexpr bool ENABLED = true;
} // namespace ADS131M08
+namespace ADC_1
+{
+using Channel = Boardcore::ADS131M08Defs::Channel;
+
+constexpr auto OX_VESSEL_PT_CHANNEL = Channel::CHANNEL_0;
+constexpr auto OX_FILLING_PT_CHANNEL = Channel::CHANNEL_1;
+constexpr auto N2_VESSEL_1_PT_CHANNEL = Channel::CHANNEL_2;
+constexpr auto N2_VESSEL_2_PT_CHANNEL = Channel::CHANNEL_3;
+constexpr auto SERVO_CURRENT_CHANNEL = Channel::CHANNEL_4;
+constexpr auto OX_VESSEL_LC_CHANNEL = Channel::CHANNEL_5;
+constexpr auto OX_TANK_LC_CHANNEL = Channel::CHANNEL_6;
+constexpr auto N2_FILLING_PT_CHANNEL = Channel::CHANNEL_7;
+
+constexpr float CH0_SHUNT_RESISTANCE = 29.4048; // TODO: check
+constexpr float CH1_SHUNT_RESISTANCE = 29.5830; // TODO: check
+constexpr float CH2_SHUNT_RESISTANCE = 29.4973; // TODO: check
+constexpr float CH3_SHUNT_RESISTANCE = 29.8849; // TODO: check
+constexpr float CH7_SHUNT_RESISTANCE = 29.0; // TODO: measure
+} // namespace ADC_1
+
+namespace ADC_2
+{
+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 float CH0_SHUNT_RESISTANCE = 29.0; // TODO: measure
+constexpr float CH1_SHUNT_RESISTANCE = 29.0; // TODO: measure
+} // namespace ADC_2
+
namespace MAX31856
{
constexpr Hertz PERIOD = 10_hz;
@@ -91,18 +99,25 @@ constexpr bool ENABLED = true;
namespace Trafag
{
-constexpr float FILLING_SHUNT_RESISTANCE = ADS131M08::CH2_SHUNT_RESISTANCE;
-constexpr float TANK_TOP_SHUNT_RESISTANCE = ADS131M08::CH4_SHUNT_RESISTANCE;
-constexpr float TANK_BOTTOM_SHUNT_RESISTANCE = ADS131M08::CH3_SHUNT_RESISTANCE;
-constexpr float VESSEL_SHUNT_RESISTANCE = ADS131M08::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_TOP_SHUNT_RESISTANCE = ADC_2::CH0_SHUNT_RESISTANCE;
+constexpr float OX_TANK_BOTTOM_SHUNT_RESISTANCE = ADC_2::CH1_SHUNT_RESISTANCE;
constexpr float MIN_CURRENT = 4;
constexpr float MAX_CURRENT = 20;
-constexpr float FILLING_MAX_PRESSURE = 250; // bar
-constexpr float TANK_TOP_MAX_PRESSURE = 250; // bar
-constexpr float TANK_BOTTOM_MAX_PRESSURE = 100; // bar
-constexpr float VESSEL_MAX_PRESSURE = 100; // bar
+// 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
} // namespace Trafag
namespace LoadCell
@@ -152,8 +167,7 @@ constexpr float VESSEL_P1_MASS = 8.720;
namespace InternalADC
{
-constexpr Boardcore::InternalADC::Channel BATTERY_VOLTAGE_CHANNEL =
- Boardcore::InternalADC::CH14;
+constexpr auto BATTERY_VOLTAGE_CHANNEL = Boardcore::InternalADC::CH14;
constexpr float BATTERY_VOLTAGE_SCALE = 4.7917;
constexpr Hertz PERIOD = 10_hz;
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index 4e6b17fbfdbd187712ec007641aa21fad607d7c4..d35a38d320976c5db850cdb0160b87ef4697b56c 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -546,26 +546,19 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.timestamp = TimestampTimer::getTimestamp();
// Sensors
- tm.rocket_mass = sensors->getTankWeightLastSample().load;
- tm.n2o_vessel_mass = sensors->getVesselWeightLastSample().load;
-
- // TODO: methods below have mismatching names
- tm.n2o_filling_pressure =
- sensors->getVesselPressLastSample().pressure;
- tm.n2_filling_pressure =
- sensors->getFillingPressLastSample().pressure;
- tm.n2o_vessel_pressure =
- sensors->getBottomTankPressLastSample().pressure;
- tm.n2_vessel_1_pressure =
- sensors->getTopTankPressLastSample().pressure;
-
- tm.n2_vessel_2_pressure = -1.f; // TODO
-
- tm.battery_voltage = sensors->getBatteryVoltageLastSample().voltage;
- tm.current_consumption =
- sensors->getServoCurrentLastSample().current;
+ tm.rocket_mass = sensors->getOxTankWeight().load;
+ tm.n2o_vessel_mass = sensors->getOxVesselWeight().load;
+
+ tm.n2o_vessel_pressure = sensors->getOxVesselPressure().pressure;
+ tm.n2o_filling_pressure = sensors->getOxFillingPressure().pressure;
+ tm.n2_filling_pressure = sensors->getN2FillingPressure().pressure;
+ tm.n2_vessel_1_pressure = sensors->getN2Vessel1Pressure().pressure;
+ tm.n2_vessel_2_pressure = sensors->getN2Vessel2Pressure().pressure;
+
+ tm.battery_voltage = sensors->getBatteryVoltage().voltage;
+ tm.current_consumption = sensors->getServoCurrent().current;
tm.umbilical_current_consumption =
- sensors->getUmbilicalCurrentLastSample().current;
+ sensors->getUmbilicalCurrent().current;
// Log data
LoggerStats stats = sdLogger.getStats();
@@ -641,15 +634,13 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.timestamp = TimestampTimer::getTimestamp();
// Sensors (either CAN or local)
- tm.top_tank_pressure =
- sensors->getTopTankPressLastSample().pressure;
+ tm.top_tank_pressure = sensors->getOxTankTopPressure().pressure;
tm.bottom_tank_pressure =
- sensors->getBottomTankPressLastSample().pressure;
+ sensors->getOxTankBottomPressure().pressure;
tm.combustion_chamber_pressure =
- sensors->getCCPressLastSample().pressure;
- tm.tank_temperature = sensors->getTankTempLastSample().temperature;
- tm.battery_voltage =
- sensors->getMotorBatteryVoltageLastSample().voltage;
+ sensors->getCombustionChamberPressure().pressure;
+ tm.tank_temperature = sensors->getOxTankTemperature().temperature;
+ tm.battery_voltage = sensors->getMotorBatteryVoltage().voltage;
// Valve states
tm.main_valve_state =
@@ -708,12 +699,39 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
tm.channel_7 =
data.getVoltage(ADS131M08Defs::Channel::CHANNEL_7).voltage;
tm.timestamp = data.timestamp;
- strcpy(tm.sensor_name, "ADS131M08");
+ strcpy(tm.sensor_name, "ADS131M08_1");
mavlink_msg_adc_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID, &msg,
&tm);
enqueuePacket(msg);
+
+ data = getModule<Sensors>()->getADC2LastSample();
+
+ tm.channel_0 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_0).voltage;
+ tm.channel_1 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_1).voltage;
+ tm.channel_2 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_2).voltage;
+ tm.channel_3 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_3).voltage;
+ tm.channel_4 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_4).voltage;
+ tm.channel_5 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_5).voltage;
+ tm.channel_6 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_6).voltage;
+ tm.channel_7 =
+ data.getVoltage(ADS131M08Defs::Channel::CHANNEL_7).voltage;
+ tm.timestamp = data.timestamp;
+ strcpy(tm.sensor_name, "ADS131M08_2");
+
+ mavlink_msg_adc_tm_encode(Config::Radio::MAV_SYSTEM_ID,
+ Config::Radio::MAV_COMPONENT_ID, &msg,
+ &tm);
+ enqueuePacket(msg);
+
return true;
}
@@ -722,8 +740,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data =
- getModule<Sensors>()->getVesselPressLastSample();
+ PressureData data = getModule<Sensors>()->getOxVesselPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
@@ -741,8 +758,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data =
- getModule<Sensors>()->getFillingPressLastSample();
+ PressureData data = getModule<Sensors>()->getOxFillingPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
@@ -760,8 +776,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data =
- getModule<Sensors>()->getBottomTankPressLastSample();
+ PressureData data = getModule<Sensors>()->getOxTankBottomPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
@@ -779,8 +794,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data =
- getModule<Sensors>()->getTopTankPressLastSample();
+ PressureData data = getModule<Sensors>()->getOxTankTopPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
@@ -816,8 +830,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_load_tm_t tm;
- LoadCellData data =
- getModule<Sensors>()->getVesselWeightLastSample();
+ LoadCellData data = getModule<Sensors>()->getOxVesselWeight();
tm.timestamp = data.loadTimestamp;
tm.load = data.load;
@@ -835,7 +848,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_load_tm_t tm;
- LoadCellData data = getModule<Sensors>()->getTankWeightLastSample();
+ LoadCellData data = getModule<Sensors>()->getOxTankWeight();
tm.timestamp = data.loadTimestamp;
tm.load = data.load;
@@ -853,8 +866,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_voltage_tm_t tm;
- VoltageData data =
- getModule<Sensors>()->getBatteryVoltageLastSample();
+ VoltageData data = getModule<Sensors>()->getBatteryVoltage();
tm.timestamp = data.voltageTimestamp;
tm.voltage = data.voltage;
diff --git a/src/RIGv2/Sensors/Sensors.cpp b/src/RIGv2/Sensors/Sensors.cpp
index cf83ecd54f1cdb5b89c415926e450b47b1970b13..a6f3aed8463e97951d09bc7171b119663598069a 100644
--- a/src/RIGv2/Sensors/Sensors.cpp
+++ b/src/RIGv2/Sensors/Sensors.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Davide Mor
+ * Authors: Davide Mor, Niccolò Betto
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -40,12 +40,13 @@ bool Sensors::start()
if (Config::Sensors::ADS131M08::ENABLED)
{
adc1Init();
- vesselPressureInit();
- fillingPressureInit();
- topTankPressureInit();
- bottomTankPressureInit();
- vesselWeightInit();
- tankWeightInit();
+ adc2Init();
+ oxVesselPressureInit();
+ oxFillingPressureInit();
+ oxTankTopPressureInit();
+ oxTankBottomPressureInit();
+ oxVesselWeightInit();
+ oxTankWeightInit();
}
if (Config::Sensors::MAX31856::ENABLED)
@@ -71,99 +72,123 @@ ADS131M08Data Sensors::getADC1LastSample()
return adc1 ? adc1->getLastSample() : ADS131M08Data{};
}
+ADS131M08Data Sensors::getADC2LastSample()
+{
+ return adc2 ? adc2->getLastSample() : ADS131M08Data{};
+}
+
MAX31856Data Sensors::getTc1LastSample()
{
return tc1 ? tc1->getLastSample() : MAX31856Data{};
}
-PressureData Sensors::getVesselPressLastSample()
+PressureData Sensors::getOxVesselPressure()
+{
+ return oxVesselPressure ? oxVesselPressure->getLastSample()
+ : PressureData{};
+}
+
+PressureData Sensors::getOxFillingPressure()
{
- return vesselPressure ? vesselPressure->getLastSample() : PressureData{};
+ return oxFillingPressure ? oxFillingPressure->getLastSample()
+ : PressureData{};
}
-PressureData Sensors::getFillingPressLastSample()
+PressureData Sensors::getN2Vessel1Pressure()
{
- return fillingPressure ? fillingPressure->getLastSample() : PressureData{};
+ return n2Vessel1Pressure ? n2Vessel1Pressure->getLastSample()
+ : PressureData{};
}
-PressureData Sensors::getTopTankPressLastSample()
+PressureData Sensors::getN2Vessel2Pressure()
+{
+ return n2Vessel2Pressure ? n2Vessel2Pressure->getLastSample()
+ : PressureData{};
+}
+
+PressureData Sensors::getN2FillingPressure()
+{
+ return n2FillingPressure ? n2FillingPressure->getLastSample()
+ : PressureData{};
+}
+
+PressureData Sensors::getOxTankTopPressure()
{
if (useCanData)
{
- return getCanTopTankPressLastSample();
+ return getCanOxTankTopPressure();
}
else
{
- return topTankPressure ? topTankPressure->getLastSample()
- : PressureData{};
+ return oxTankTopPressure ? oxTankTopPressure->getLastSample()
+ : PressureData{};
}
}
-PressureData Sensors::getBottomTankPressLastSample()
+PressureData Sensors::getOxTankBottomPressure()
{
if (useCanData)
{
- return getCanBottomTankPressLastSample();
+ return getCanOxTankBottomPressure();
}
else
{
- return bottomTankPressure ? bottomTankPressure->getLastSample()
- : PressureData{};
+ return oxTankBottomPressure ? oxTankBottomPressure->getLastSample()
+ : PressureData{};
}
}
-PressureData Sensors::getCCPressLastSample()
+PressureData Sensors::getCombustionChamberPressure()
{
if (useCanData)
- return getCanCCPressLastSample();
+ return getCanCombustionChamberPressure();
else
return PressureData{};
}
-TemperatureData Sensors::getTankTempLastSample()
+TemperatureData Sensors::getOxTankTemperature()
{
if (useCanData)
- return getCanTankTempLastSample();
+ return getCanTankTemperature();
else
return getTc1LastSample();
}
-LoadCellData Sensors::getVesselWeightLastSample()
+LoadCellData Sensors::getOxVesselWeight()
{
- if (vesselWeight)
- return vesselWeight->getLastSample();
+ if (oxVesselWeight)
+ return oxVesselWeight->getLastSample();
else
return {};
}
-LoadCellData Sensors::getTankWeightLastSample()
+LoadCellData Sensors::getOxTankWeight()
{
- if (tankWeight)
- return tankWeight->getLastSample();
+ if (oxTankWeight)
+ return oxTankWeight->getLastSample();
else
return {};
}
-CurrentData Sensors::getUmbilicalCurrentLastSample()
+CurrentData Sensors::getUmbilicalCurrent()
{
- // TODO: Implement this
+ // TODO: Implement umbilical current
return {};
}
-CurrentData Sensors::getServoCurrentLastSample()
+CurrentData Sensors::getServoCurrent()
{
auto sample = getADC1LastSample();
float current =
- (sample
- .voltage[(int)Config::Sensors::ADS131M08::SERVO_CURRENT_CHANNEL] -
+ (sample.voltage[(int)Config::Sensors::ADC_1::SERVO_CURRENT_CHANNEL] -
Config::Sensors::ADS131M08::SERVO_CURRENT_ZERO) *
Config::Sensors::ADS131M08::SERVO_CURRENT_SCALE;
// Current reading are flipped
return {sample.timestamp, -current / 5.0f * 50.0f};
}
-VoltageData Sensors::getBatteryVoltageLastSample()
+VoltageData Sensors::getBatteryVoltage()
{
auto sample = getInternalADCLastSample();
@@ -174,66 +199,66 @@ VoltageData Sensors::getBatteryVoltageLastSample()
return {sample.timestamp, voltage};
}
-VoltageData Sensors::getMotorBatteryVoltageLastSample()
+VoltageData Sensors::getMotorBatteryVoltage()
{
if (useCanData)
- return getCanMotorBatteryVoltageLastSample();
+ return getCanMotorBatteryVoltage();
else
return VoltageData{};
}
-PressureData Sensors::getCanTopTankPressLastSample()
+PressureData Sensors::getCanOxTankTopPressure()
{
Lock<FastMutex> lock{canMutex};
- return canTopTankPressure;
+ return canOxTankBottomPressure;
}
-PressureData Sensors::getCanBottomTankPressLastSample()
+PressureData Sensors::getCanOxTankBottomPressure()
{
Lock<FastMutex> lock{canMutex};
- return canBottomTankPressure;
+ return canOxTankTopPressure;
}
-PressureData Sensors::getCanCCPressLastSample()
+PressureData Sensors::getCanCombustionChamberPressure()
{
Lock<FastMutex> lock{canMutex};
- return canCCPressure;
+ return canCombustionChamberPressure;
}
-TemperatureData Sensors::getCanTankTempLastSample()
+TemperatureData Sensors::getCanTankTemperature()
{
Lock<FastMutex> lock{canMutex};
- return canTankTemperature;
+ return canOxTankTemperature;
}
-VoltageData Sensors::getCanMotorBatteryVoltageLastSample()
+VoltageData Sensors::getCanMotorBatteryVoltage()
{
Lock<FastMutex> lock{canMutex};
return canMotorBatteryVoltage;
}
-void Sensors::setCanTopTankPress(PressureData data)
+void Sensors::setCanOxTankTopPressure(PressureData data)
{
Lock<FastMutex> lock{canMutex};
- canTopTankPressure = data;
+ canOxTankBottomPressure = data;
}
-void Sensors::setCanBottomTankPress(PressureData data)
+void Sensors::setCanOxTankBottomPressure(PressureData data)
{
Lock<FastMutex> lock{canMutex};
- canBottomTankPressure = data;
+ canOxTankTopPressure = data;
}
-void Sensors::setCanCCPress(PressureData data)
+void Sensors::setCanCombustionChamberPressure(PressureData data)
{
Lock<FastMutex> lock{canMutex};
- canCCPressure = data;
+ canCombustionChamberPressure = data;
}
-void Sensors::setCanTankTemp(TemperatureData data)
+void Sensors::setCanOxTankTemperature(TemperatureData data)
{
Lock<FastMutex> lock{canMutex};
- canTankTemperature = data;
+ canOxTankTemperature = data;
}
void Sensors::setCanMotorBatteryVoltage(VoltageData data)
@@ -246,20 +271,20 @@ void Sensors::switchToCanSensors() { useCanData = true; }
void Sensors::calibrate()
{
- Stats vesselStats, tankStats;
+ Stats oxVesselStats, oxTankStats;
for (unsigned int i = 0;
i < Config::Sensors::LoadCell::CALIBRATE_SAMPLE_COUNT; i++)
{
// Tank readings WITHOUT offsets
- vesselStats.add(vesselWeight->getLastSample().load);
- tankStats.add(tankWeight->getLastSample().load);
+ oxVesselStats.add(oxVesselWeight->getLastSample().load);
+ oxTankStats.add(oxTankWeight->getLastSample().load);
Thread::sleep(Config::Sensors::LoadCell::CALIBRATE_SAMPLE_PERIOD);
}
- vesselWeight->updateOffset(vesselStats.getStats().mean);
- tankWeight->updateOffset(tankStats.getStats().mean);
+ oxVesselWeight->updateOffset(oxVesselStats.getStats().mean);
+ oxTankWeight->updateOffset(oxTankStats.getStats().mean);
}
std::vector<SensorInfo> Sensors::getSensorInfos()
@@ -268,32 +293,25 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
{
std::vector<SensorInfo> infos{};
- if (vesselWeight)
- infos.push_back(manager->getSensorInfo(vesselWeight.get()));
-
- if (tankWeight)
- infos.push_back(manager->getSensorInfo(tankWeight.get()));
-
- if (vesselPressure)
- infos.push_back(manager->getSensorInfo(vesselPressure.get()));
-
- if (fillingPressure)
- infos.push_back(manager->getSensorInfo(fillingPressure.get()));
-
- if (topTankPressure)
- infos.push_back(manager->getSensorInfo(topTankPressure.get()));
-
- if (bottomTankPressure)
- infos.push_back(manager->getSensorInfo(bottomTankPressure.get()));
-
- if (internalAdc)
- infos.push_back(manager->getSensorInfo(internalAdc.get()));
-
- if (adc1)
- infos.push_back(manager->getSensorInfo(adc1.get()));
-
- if (tc1)
- infos.push_back(manager->getSensorInfo(tc1.get()));
+#define PUSH_SENSOR_INFO(instance, name) \
+ if (instance) \
+ infos.push_back(manager->getSensorInfo(instance.get())); \
+ else \
+ infos.push_back(SensorInfo { #name, 0, nullptr, false })
+
+ PUSH_SENSOR_INFO(adc1, "ADC1");
+ PUSH_SENSOR_INFO(adc2, "ADC2");
+ PUSH_SENSOR_INFO(tc1, "TC1");
+ PUSH_SENSOR_INFO(internalAdc, "InternalADC");
+ PUSH_SENSOR_INFO(oxVesselPressure, "OxVesselPressure");
+ PUSH_SENSOR_INFO(oxFillingPressure, "OxFillingPressure");
+ 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(oxVesselWeight, "OxVesselWeight");
+ PUSH_SENSOR_INFO(oxTankWeight, "OxTankWeight");
return infos;
}
@@ -333,65 +351,101 @@ void Sensors::adc1Init()
Config::Sensors::ADS131M08::GLOBAL_CHOP_MODE_EN;
// Disable all channels
- config.channelsConfig[0].enabled = false;
- config.channelsConfig[1].enabled = false;
- config.channelsConfig[2].enabled = false;
- config.channelsConfig[3].enabled = false;
- config.channelsConfig[4].enabled = false;
- config.channelsConfig[5].enabled = false;
- config.channelsConfig[6].enabled = false;
- config.channelsConfig[7].enabled = false;
+ for (auto& channel : config.channelsConfig)
+ channel.enabled = false;
// Configure all required channels
- config.channelsConfig[(int)Config::Sensors::ADS131M08::VESSEL_PT_CHANNEL] =
+ config.channelsConfig[(int)Config::Sensors::ADC_1::OX_VESSEL_PT_CHANNEL] = {
+ .enabled = true,
+ .pga = ADS131M08Defs::PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0};
+
+ config.channelsConfig[(int)Config::Sensors::ADC_1::OX_FILLING_PT_CHANNEL] =
+ {.enabled = true,
+ .pga = ADS131M08Defs::PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0};
+
+ config.channelsConfig[(int)Config::Sensors::ADC_1::N2_VESSEL_1_PT_CHANNEL] =
{.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
- config.channelsConfig[(int)Config::Sensors::ADS131M08::FILLING_PT_CHANNEL] =
+ config.channelsConfig[(int)Config::Sensors::ADC_1::N2_VESSEL_2_PT_CHANNEL] =
{.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
- config.channelsConfig[(int)Config::Sensors::ADS131M08::BOTTOM_PT_CHANNEL] =
+ config.channelsConfig[(int)Config::Sensors::ADC_1::SERVO_CURRENT_CHANNEL] =
{.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
- config.channelsConfig[(int)Config::Sensors::ADS131M08::TOP_PT_CHANNEL] = {
+ config.channelsConfig[(int)Config::Sensors::ADC_1::OX_VESSEL_LC_CHANNEL] = {
.enabled = true,
- .pga = ADS131M08Defs::PGA::PGA_1,
+ .pga = ADS131M08Defs::PGA::PGA_32,
.offset = 0,
.gain = 1.0};
- config.channelsConfig[(
- int)Config::Sensors::ADS131M08::SERVO_CURRENT_CHANNEL] = {
+ config.channelsConfig[(int)Config::Sensors::ADC_1::OX_TANK_LC_CHANNEL] = {
.enabled = true,
- .pga = ADS131M08Defs::PGA::PGA_1,
+ .pga = ADS131M08Defs::PGA::PGA_32,
.offset = 0,
.gain = 1.0};
- config.channelsConfig[(int)Config::Sensors::ADS131M08::VESSEL_LC_CHANNEL] =
+ config.channelsConfig[(int)Config::Sensors::ADC_1::N2_FILLING_PT_CHANNEL] =
{.enabled = true,
- .pga = ADS131M08Defs::PGA::PGA_32,
+ .pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
- config.channelsConfig[(int)Config::Sensors::ADS131M08::TANK_LC_CHANNEL] = {
+ adc1 = std::make_unique<ADS131M08>(getModule<Buses>()->getADS131M08_1(),
+ sensors::ADS131_1::cs::getPin(),
+ spiConfig, config);
+}
+
+void Sensors::adc1Callback() { sdLogger.log(ADC1Data{getADC1LastSample()}); }
+
+void Sensors::adc2Init()
+{
+ SPIBusConfig spiConfig = {};
+ spiConfig.mode = SPI::Mode::MODE_0;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
+
+ ADS131M08::Config config = {};
+ // Setup global configurations
+ config.oversamplingRatio = Config::Sensors::ADS131M08::OSR;
+ config.globalChopModeEnabled =
+ Config::Sensors::ADS131M08::GLOBAL_CHOP_MODE_EN;
+
+ // Disable all channels
+ for (auto& channel : config.channelsConfig)
+ 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_BOTTOM_PT_CHANNEL] = {
.enabled = true,
- .pga = ADS131M08Defs::PGA::PGA_32,
+ .pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
- adc1 = std::make_unique<ADS131M08>(getModule<Buses>()->getADS131M08_1(),
- sensors::ADS131_1::cs::getPin(),
+ adc2 = std::make_unique<ADS131M08>(getModule<Buses>()->getADS131M08_2(),
+ sensors::ADS131_2::cs::getPin(),
spiConfig, config);
}
-void Sensors::adc1Callback() { sdLogger.log(ADC1Data{getADC1LastSample()}); }
+void Sensors::adc2Callback() { sdLogger.log(ADC2Data{getADC2LastSample()}); }
void Sensors::tc1Init()
{
@@ -405,94 +459,155 @@ void Sensors::tc1Init()
void Sensors::tc1Callback() { sdLogger.log(TC1Data{getTc1LastSample()}); }
-void Sensors::vesselPressureInit()
+void Sensors::oxVesselPressureInit()
{
- vesselPressure = std::make_unique<TrafagPressureSensor>(
+ oxVesselPressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADC1LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::VESSEL_PT_CHANNEL);
+ Config::Sensors::ADC_1::OX_VESSEL_PT_CHANNEL);
},
- Config::Sensors::Trafag::VESSEL_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::VESSEL_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_VESSEL_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_VESSEL_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
}
-void Sensors::vesselPressureCallback()
+void Sensors::oxVesselPressureCallback()
{
- sdLogger.log(VesselPressureData{getVesselPressLastSample()});
+ sdLogger.log(OxVesselPressureData{getOxVesselPressure()});
}
-void Sensors::fillingPressureInit()
+void Sensors::oxFillingPressureInit()
{
- fillingPressure = std::make_unique<TrafagPressureSensor>(
+ oxFillingPressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADC1LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::FILLING_PT_CHANNEL);
+ Config::Sensors::ADC_1::OX_FILLING_PT_CHANNEL);
},
- Config::Sensors::Trafag::FILLING_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::FILLING_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_FILLING_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_FILLING_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
}
-void Sensors::fillingPressureCallback()
+void Sensors::oxFillingPressureCallback()
{
- sdLogger.log(FillingPressureData{getFillingPressLastSample()});
+ sdLogger.log(OxFillingPressureData{getOxFillingPressure()});
}
-void Sensors::topTankPressureInit()
+void Sensors::n2Vessel1PressureInit()
{
- topTankPressure = std::make_unique<TrafagPressureSensor>(
+ n2Vessel1Pressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADC1LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TOP_PT_CHANNEL);
+ Config::Sensors::ADC_1::N2_VESSEL_1_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_TOP_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_TOP_MAX_PRESSURE,
+ Config::Sensors::Trafag::N2_VESSEL1_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::N2_VESSEL1_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
}
-void Sensors::topTankPressureCallback()
+void Sensors::n2Vessel1PressureCallback()
{
- sdLogger.log(TopTankPressureData{topTankPressure->getLastSample()});
+ sdLogger.log(N2Vessel1PressureData{getN2Vessel1Pressure()});
}
-void Sensors::bottomTankPressureInit()
+void Sensors::n2Vessel2PressureInit()
{
- bottomTankPressure = std::make_unique<TrafagPressureSensor>(
+ n2Vessel2Pressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADC1LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::BOTTOM_PT_CHANNEL);
+ Config::Sensors::ADC_1::N2_VESSEL_2_PT_CHANNEL);
+ },
+ Config::Sensors::Trafag::N2_VESSEL2_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::N2_VESSEL2_MAX_PRESSURE,
+ Config::Sensors::Trafag::MIN_CURRENT,
+ Config::Sensors::Trafag::MAX_CURRENT);
+}
+
+void Sensors::n2Vessel2PressureCallback()
+{
+ sdLogger.log(N2Vessel2PressureData{getN2Vessel2Pressure()});
+}
+
+void Sensors::n2FillingPressureInit()
+{
+ n2FillingPressure = std::make_unique<TrafagPressureSensor>(
+ [this]()
+ {
+ auto sample = getADC1LastSample();
+ return sample.getVoltage(
+ Config::Sensors::ADC_1::N2_FILLING_PT_CHANNEL);
+ },
+ Config::Sensors::Trafag::N2_FILLING_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::N2_FILLING_MAX_PRESSURE,
+ Config::Sensors::Trafag::MIN_CURRENT,
+ Config::Sensors::Trafag::MAX_CURRENT);
+}
+
+void Sensors::n2FillingPressureCallback()
+{
+ sdLogger.log(N2FillingPressureData{getN2FillingPressure()});
+}
+
+void Sensors::oxTankTopPressureInit()
+{
+ oxTankTopPressure = std::make_unique<TrafagPressureSensor>(
+ [this]()
+ {
+ auto sample = getADC2LastSample();
+ return sample.getVoltage(
+ Config::Sensors::ADC_2::OX_TANK_TOP_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_BOTTOM_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_TOP_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_TOP_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
}
-void Sensors::bottomTankPressureCallback()
+void Sensors::oxTankTopPressureCallback()
{
- sdLogger.log(BottomTankPressureData{bottomTankPressure->getLastSample()});
+ sdLogger.log(OxTankTopPressureData{oxTankTopPressure->getLastSample()});
}
-void Sensors::vesselWeightInit()
+void Sensors::oxTankBottomPressureInit()
{
- vesselWeight = std::make_unique<TwoPointAnalogLoadCell>(
+ oxTankBottomPressure = std::make_unique<TrafagPressureSensor>(
+ [this]()
+ {
+ auto sample = getADC2LastSample();
+ return sample.getVoltage(
+ Config::Sensors::ADC_2::OX_TANK_BOTTOM_PT_CHANNEL);
+ },
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::MIN_CURRENT,
+ Config::Sensors::Trafag::MAX_CURRENT);
+}
+
+void Sensors::oxTankBottomPressureCallback()
+{
+ sdLogger.log(
+ OxTankBottomPressureData{oxTankBottomPressure->getLastSample()});
+}
+
+void Sensors::oxVesselWeightInit()
+{
+ oxVesselWeight = std::make_unique<TwoPointAnalogLoadCell>(
[this]()
{
auto sample = getADC1LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::VESSEL_LC_CHANNEL);
+ Config::Sensors::ADC_1::OX_VESSEL_LC_CHANNEL);
},
Config::Sensors::LoadCell::VESSEL_P0_VOLTAGE,
Config::Sensors::LoadCell::VESSEL_P0_MASS,
@@ -500,19 +615,19 @@ void Sensors::vesselWeightInit()
Config::Sensors::LoadCell::VESSEL_P1_MASS);
}
-void Sensors::vesselWeightCallback()
+void Sensors::oxVesselWeightCallback()
{
- sdLogger.log(VesselWeightData{getVesselWeightLastSample()});
+ sdLogger.log(OxVesselWeightData{getOxVesselWeight()});
}
-void Sensors::tankWeightInit()
+void Sensors::oxTankWeightInit()
{
- tankWeight = std::make_unique<TwoPointAnalogLoadCell>(
+ oxTankWeight = std::make_unique<TwoPointAnalogLoadCell>(
[this]()
{
auto sample = getADC1LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_LC_CHANNEL);
+ Config::Sensors::ADC_1::OX_TANK_LC_CHANNEL);
},
Config::Sensors::LoadCell::TANK_P0_VOLTAGE,
Config::Sensors::LoadCell::TANK_P0_MASS,
@@ -520,9 +635,9 @@ void Sensors::tankWeightInit()
Config::Sensors::LoadCell::TANK_P1_MASS);
}
-void Sensors::tankWeightCallback()
+void Sensors::oxTankWeightCallback()
{
- sdLogger.log(TankWeightData{getTankWeightLastSample()});
+ sdLogger.log(OxTankWeightData{getOxTankWeight()});
}
bool Sensors::sensorManagerInit()
@@ -534,7 +649,7 @@ bool Sensors::sensorManagerInit()
if (internalAdc)
{
- SensorInfo info("InternalAdc", Config::Sensors::InternalADC::PERIOD,
+ SensorInfo info("InternalADC", Config::Sensors::InternalADC::PERIOD,
[this]() { internalAdcCallback(); });
map.emplace(internalAdc.get(), info);
}
@@ -546,6 +661,13 @@ bool Sensors::sensorManagerInit()
map.emplace(std::make_pair(adc1.get(), info));
}
+ if (adc2)
+ {
+ SensorInfo info("ADS131M08_2", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { adc2Callback(); });
+ map.emplace(std::make_pair(adc2.get(), info));
+ }
+
if (tc1)
{
SensorInfo info("MAX31856_1", Config::Sensors::MAX31856::PERIOD,
@@ -553,47 +675,67 @@ bool Sensors::sensorManagerInit()
map.emplace(std::make_pair(tc1.get(), info));
}
- if (vesselPressure)
+ if (oxVesselPressure)
+ {
+ SensorInfo info("OxVesselPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxVesselPressureCallback(); });
+ map.emplace(std::make_pair(oxVesselPressure.get(), info));
+ }
+
+ if (oxFillingPressure)
+ {
+ SensorInfo info("OxFillingPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxFillingPressureCallback(); });
+ map.emplace(std::make_pair(oxFillingPressure.get(), info));
+ }
+
+ if (n2Vessel1Pressure)
+ {
+ SensorInfo info("N2Vessel1Pressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { n2Vessel1PressureCallback(); });
+ map.emplace(std::make_pair(n2Vessel1Pressure.get(), info));
+ }
+
+ if (n2Vessel2Pressure)
{
- SensorInfo info("VesselPressure", Config::Sensors::ADS131M08::PERIOD,
- [this]() { vesselPressureCallback(); });
- map.emplace(std::make_pair(vesselPressure.get(), info));
+ SensorInfo info("N2Vessel2Pressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { n2Vessel2PressureCallback(); });
+ map.emplace(std::make_pair(n2Vessel2Pressure.get(), info));
}
- if (fillingPressure)
+ if (n2FillingPressure)
{
- SensorInfo info("FillingPressure", Config::Sensors::ADS131M08::PERIOD,
- [this]() { fillingPressureCallback(); });
- map.emplace(std::make_pair(fillingPressure.get(), info));
+ SensorInfo info("N2FillingPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { n2FillingPressureCallback(); });
+ map.emplace(std::make_pair(n2FillingPressure.get(), info));
}
- if (topTankPressure)
+ if (oxTankTopPressure)
{
- SensorInfo info("TopTankPressure", Config::Sensors::ADS131M08::PERIOD,
- [this]() { topTankPressureCallback(); });
- map.emplace(std::make_pair(topTankPressure.get(), info));
+ SensorInfo info("OxTankTopPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxTankTopPressureCallback(); });
+ map.emplace(std::make_pair(oxTankTopPressure.get(), info));
}
- if (bottomTankPressure)
+ if (oxTankBottomPressure)
{
- SensorInfo info("BottomTankPressure",
- Config::Sensors::ADS131M08::PERIOD,
- [this]() { bottomTankPressureCallback(); });
- map.emplace(std::make_pair(bottomTankPressure.get(), info));
+ SensorInfo info("OxTankBotPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxTankBottomPressureCallback(); });
+ map.emplace(std::make_pair(oxTankBottomPressure.get(), info));
}
- if (vesselWeight)
+ if (oxVesselWeight)
{
- SensorInfo info("VesselWeight", Config::Sensors::ADS131M08::PERIOD,
- [this]() { vesselWeightCallback(); });
- map.emplace(std::make_pair(vesselWeight.get(), info));
+ SensorInfo info("OxVesselWeight", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxVesselWeightCallback(); });
+ map.emplace(std::make_pair(oxVesselWeight.get(), info));
}
- if (tankWeight)
+ if (oxTankWeight)
{
- SensorInfo info("TankWeight", Config::Sensors::ADS131M08::PERIOD,
- [this]() { tankWeightCallback(); });
- map.emplace(std::make_pair(tankWeight.get(), info));
+ SensorInfo info("OxTankWeight", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxTankWeightCallback(); });
+ map.emplace(std::make_pair(oxTankWeight.get(), info));
}
manager = std::make_unique<SensorManager>(map, &scheduler);
diff --git a/src/RIGv2/Sensors/Sensors.h b/src/RIGv2/Sensors/Sensors.h
index c349b48b95fc2b8e668de38f629501d4cd6d3866..06a5ceb1f46d841d454c63717cfd155ad9a94bd5 100644
--- a/src/RIGv2/Sensors/Sensors.h
+++ b/src/RIGv2/Sensors/Sensors.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Davide Mor
+ * Authors: Davide Mor, Niccolò Betto
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -55,55 +55,70 @@ public:
// Getters for raw data coming from sensors
Boardcore::InternalADCData getInternalADCLastSample();
Boardcore::ADS131M08Data getADC1LastSample();
+ Boardcore::ADS131M08Data getADC2LastSample();
Boardcore::MAX31856Data getTc1LastSample();
// Getters for processed data
- Boardcore::PressureData getVesselPressLastSample();
- Boardcore::PressureData getFillingPressLastSample();
- Boardcore::PressureData getTopTankPressLastSample();
- Boardcore::PressureData getBottomTankPressLastSample();
- Boardcore::PressureData getCCPressLastSample();
- Boardcore::TemperatureData getTankTempLastSample();
- Boardcore::LoadCellData getVesselWeightLastSample();
- Boardcore::LoadCellData getTankWeightLastSample();
- Boardcore::CurrentData getUmbilicalCurrentLastSample();
- Boardcore::CurrentData getServoCurrentLastSample();
- Boardcore::VoltageData getBatteryVoltageLastSample();
- Boardcore::VoltageData getMotorBatteryVoltageLastSample();
-
- Boardcore::PressureData getCanTopTankPressLastSample();
- Boardcore::PressureData getCanBottomTankPressLastSample();
- Boardcore::PressureData getCanCCPressLastSample();
- Boardcore::TemperatureData getCanTankTempLastSample();
- Boardcore::VoltageData getCanMotorBatteryVoltageLastSample();
+ Boardcore::PressureData getOxVesselPressure();
+ Boardcore::PressureData getOxFillingPressure();
+ Boardcore::PressureData getN2Vessel1Pressure();
+ Boardcore::PressureData getN2Vessel2Pressure();
+ Boardcore::PressureData getN2FillingPressure();
+ Boardcore::PressureData getOxTankTopPressure();
+ Boardcore::PressureData getOxTankBottomPressure();
+ Boardcore::PressureData getCombustionChamberPressure();
+
+ Boardcore::TemperatureData getOxTankTemperature();
+ Boardcore::LoadCellData getOxVesselWeight();
+ Boardcore::LoadCellData getOxTankWeight();
+
+ Boardcore::CurrentData getUmbilicalCurrent();
+ Boardcore::CurrentData getServoCurrent();
+ Boardcore::VoltageData getBatteryVoltage();
+ Boardcore::VoltageData getMotorBatteryVoltage();
+
+ Boardcore::PressureData getCanOxTankTopPressure();
+ Boardcore::PressureData getCanOxTankBottomPressure();
+ Boardcore::PressureData getCanCombustionChamberPressure();
+ Boardcore::TemperatureData getCanTankTemperature();
+ Boardcore::VoltageData getCanMotorBatteryVoltage();
std::vector<Boardcore::SensorInfo> getSensorInfos();
- void setCanTopTankPress(Boardcore::PressureData data);
- void setCanBottomTankPress(Boardcore::PressureData data);
- void setCanCCPress(Boardcore::PressureData data);
- void setCanTankTemp(Boardcore::TemperatureData data);
+ void setCanOxTankTopPressure(Boardcore::PressureData data);
+ void setCanOxTankBottomPressure(Boardcore::PressureData data);
+ void setCanCombustionChamberPressure(Boardcore::PressureData data);
+ void setCanOxTankTemperature(Boardcore::TemperatureData data);
void setCanMotorBatteryVoltage(Boardcore::VoltageData data);
void switchToCanSensors();
private:
- void vesselPressureInit();
- void vesselPressureCallback();
+ void oxVesselPressureInit();
+ void oxVesselPressureCallback();
- void fillingPressureInit();
- void fillingPressureCallback();
+ void oxFillingPressureInit();
+ void oxFillingPressureCallback();
- void topTankPressureInit();
- void topTankPressureCallback();
+ void n2Vessel1PressureInit();
+ void n2Vessel1PressureCallback();
- void bottomTankPressureInit();
- void bottomTankPressureCallback();
+ void n2Vessel2PressureInit();
+ void n2Vessel2PressureCallback();
- void vesselWeightInit();
- void vesselWeightCallback();
+ void n2FillingPressureInit();
+ void n2FillingPressureCallback();
- void tankWeightInit();
- void tankWeightCallback();
+ void oxTankTopPressureInit();
+ void oxTankTopPressureCallback();
+
+ void oxTankBottomPressureInit();
+ void oxTankBottomPressureCallback();
+
+ void oxVesselWeightInit();
+ void oxVesselWeightCallback();
+
+ void oxTankWeightInit();
+ void oxTankWeightCallback();
void internalAdcInit();
void internalAdcCallback();
@@ -111,6 +126,9 @@ private:
void adc1Init();
void adc1Callback();
+ void adc2Init();
+ void adc2Callback();
+
void tc1Init();
void tc1Callback();
@@ -123,22 +141,28 @@ private:
std::atomic<bool> useCanData{false};
miosix::FastMutex canMutex;
- Boardcore::PressureData canCCPressure;
- Boardcore::PressureData canBottomTankPressure;
- Boardcore::PressureData canTopTankPressure;
- Boardcore::TemperatureData canTankTemperature;
+
+ Boardcore::PressureData canOxTankTopPressure;
+ Boardcore::PressureData canOxTankBottomPressure;
+ Boardcore::PressureData canCombustionChamberPressure;
+ // TODO: N2 tank pressure from CAN
+ Boardcore::TemperatureData canOxTankTemperature;
Boardcore::VoltageData canMotorBatteryVoltage;
// Analog sensors
- std::unique_ptr<Boardcore::TrafagPressureSensor> vesselPressure;
- std::unique_ptr<Boardcore::TrafagPressureSensor> fillingPressure;
- std::unique_ptr<Boardcore::TrafagPressureSensor> topTankPressure;
- std::unique_ptr<Boardcore::TrafagPressureSensor> bottomTankPressure;
- std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> vesselWeight;
- std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> tankWeight;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> oxVesselPressure;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> oxFillingPressure;
+ 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::TwoPointAnalogLoadCell> oxVesselWeight;
+ std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> oxTankWeight;
// Digital sensors
std::unique_ptr<Boardcore::ADS131M08> adc1;
+ std::unique_ptr<Boardcore::ADS131M08> adc2;
std::unique_ptr<Boardcore::MAX31856> tc1;
std::unique_ptr<Boardcore::InternalADC> internalAdc;
std::unique_ptr<Boardcore::SensorManager> manager;
diff --git a/src/RIGv2/Sensors/SensorsData.h b/src/RIGv2/Sensors/SensorsData.h
index 5f418da1ef30262444e114f47359ae3954a11428..c598c0a2a0f9d87e8fc19f7e0df682450a0a194b 100644
--- a/src/RIGv2/Sensors/SensorsData.h
+++ b/src/RIGv2/Sensors/SensorsData.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Authors: Davide Mor
+ * Authors: Davide Mor, Niccolò Betto
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -39,6 +39,16 @@ struct ADC1Data : Boardcore::ADS131M08Data
ADC1Data() {}
};
+struct ADC2Data : Boardcore::ADS131M08Data
+{
+ explicit ADC2Data(const Boardcore::ADS131M08Data& data)
+ : Boardcore::ADS131M08Data(data)
+ {
+ }
+
+ ADC2Data() {}
+};
+
struct TC1Data : Boardcore::MAX31856Data
{
explicit TC1Data(const Boardcore::MAX31856Data& data)
@@ -49,64 +59,94 @@ struct TC1Data : Boardcore::MAX31856Data
TC1Data() {}
};
-struct VesselWeightData : Boardcore::LoadCellData
+struct OxVesselWeightData : Boardcore::LoadCellData
{
- explicit VesselWeightData(const Boardcore::LoadCellData& data)
+ explicit OxVesselWeightData(const Boardcore::LoadCellData& data)
: Boardcore::LoadCellData(data)
{
}
- VesselWeightData() {}
+ OxVesselWeightData() {}
};
-struct TankWeightData : Boardcore::LoadCellData
+struct OxTankWeightData : Boardcore::LoadCellData
{
- explicit TankWeightData(const Boardcore::LoadCellData& data)
+ explicit OxTankWeightData(const Boardcore::LoadCellData& data)
: Boardcore::LoadCellData(data)
{
}
- TankWeightData() {}
+ OxTankWeightData() {}
+};
+
+struct OxVesselPressureData : Boardcore::PressureData
+{
+ explicit OxVesselPressureData(const Boardcore::PressureData& data)
+ : Boardcore::PressureData(data)
+ {
+ }
+
+ OxVesselPressureData() {}
+};
+
+struct OxFillingPressureData : Boardcore::PressureData
+{
+ explicit OxFillingPressureData(const Boardcore::PressureData& data)
+ : Boardcore::PressureData(data)
+ {
+ }
+
+ OxFillingPressureData() {}
+};
+
+struct N2Vessel1PressureData : Boardcore::PressureData
+{
+ explicit N2Vessel1PressureData(const Boardcore::PressureData& data)
+ : Boardcore::PressureData(data)
+ {
+ }
+
+ N2Vessel1PressureData() {}
};
-struct VesselPressureData : Boardcore::PressureData
+struct N2Vessel2PressureData : Boardcore::PressureData
{
- explicit VesselPressureData(const Boardcore::PressureData& data)
+ explicit N2Vessel2PressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
- VesselPressureData() {}
+ N2Vessel2PressureData() {}
};
-struct FillingPressureData : Boardcore::PressureData
+struct N2FillingPressureData : Boardcore::PressureData
{
- explicit FillingPressureData(const Boardcore::PressureData& data)
+ explicit N2FillingPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
- FillingPressureData() {}
+ N2FillingPressureData() {}
};
-struct TopTankPressureData : Boardcore::PressureData
+struct OxTankTopPressureData : Boardcore::PressureData
{
- explicit TopTankPressureData(const Boardcore::PressureData& data)
+ explicit OxTankTopPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
- TopTankPressureData() {}
+ OxTankTopPressureData() {}
};
-struct BottomTankPressureData : Boardcore::PressureData
+struct OxTankBottomPressureData : Boardcore::PressureData
{
- explicit BottomTankPressureData(const Boardcore::PressureData& data)
+ explicit OxTankBottomPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
- BottomTankPressureData() {}
+ OxTankBottomPressureData() {}
};
} // namespace RIGv2
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.cpp b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
index 50a1f90d7c405769b4f0a03bf1a42ec5f420ca55..b6806abf3b158366ba876131d98024c2cbd8c86a 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.cpp
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
@@ -257,8 +257,8 @@ void TARS1::sample()
{
Sensors* sensors = getModule<Sensors>();
- pressureFilter.add(sensors->getBottomTankPressLastSample().pressure);
- massFilter.add(sensors->getTankWeightLastSample().load);
+ pressureFilter.add(sensors->getOxTankBottomPressure().pressure);
+ massFilter.add(sensors->getOxTankWeight().load);
medianSamples++;
if (medianSamples == Config::TARS1::MEDIAN_SAMPLE_NUMBER)
diff --git a/src/RIGv2/rig-v2-entry.cpp b/src/RIGv2/rig-v2-entry.cpp
index ebc6174462b608020ed3757a216a2adaf8dbbdb6..b8ec84e95f5c374fc1cbf0caed1bce28ce6375f1 100644
--- a/src/RIGv2/rig-v2-entry.cpp
+++ b/src/RIGv2/rig-v2-entry.cpp
@@ -208,8 +208,12 @@ int main()
std::cout << "Sensor status:" << std::endl;
for (auto info : sensors->getSensorInfos())
{
+ auto statusStr = !info.isEnabled ? "Disabled"
+ : info.isInitialized ? "Ok"
+ : "Error";
+
std::cout << "\t" << std::setw(16) << std::left << info.id << " "
- << (info.isInitialized ? "Ok" : "Error") << std::endl;
+ << statusStr << std::endl;
}
// Periodic statistics