From db32e307a0e39d1cb26115d536891e1693338b54 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Sat, 22 Mar 2025 11:33:27 +0100
Subject: [PATCH] [RIGv2] Add ADC testing entrypoint
`rig-v-adc-test` prints ADC values for all channels to serial output, mainly used for shunt resistance testing. The voltage printed is averaged over time with a moving average.
---
CMakeLists.txt | 4 +
src/RIGv2/rig-v2-adc-test.cpp | 275 ++++++++++++++++++++++++++++++++++
2 files changed, 279 insertions(+)
create mode 100644 src/RIGv2/rig-v2-adc-test.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d44bbc9de..a1510b8c6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -72,6 +72,10 @@ add_executable(rig-v2-entry src/RIGv2/rig-v2-entry.cpp ${RIG_V2_COMPUTER})
target_include_directories(rig-v2-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(rig-v2-entry stm32f767zi_rig_v2)
+add_executable(rig-v2-adc-test src/RIGv2/rig-v2-adc-test.cpp ${RIG_V2_COMPUTER})
+target_include_directories(rig-v2-adc-test PRIVATE ${OBSW_INCLUDE_DIRS})
+sbs_target(rig-v2-adc-test stm32f767zi_rig_v2)
+
add_executable(con_rig-entry src/ConRIG/con_rig-entry.cpp ${CON_RIG_COMPUTER})
target_include_directories(con_rig-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(con_rig-entry stm32f429zi_con_rig)
diff --git a/src/RIGv2/rig-v2-adc-test.cpp b/src/RIGv2/rig-v2-adc-test.cpp
new file mode 100644
index 000000000..5dda0ffe7
--- /dev/null
+++ b/src/RIGv2/rig-v2-adc-test.cpp
@@ -0,0 +1,275 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: Davide Mor
+ *
+ * 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 <RIGv2/Actuators/Actuators.h>
+#include <RIGv2/BoardScheduler.h>
+#include <RIGv2/Buses.h>
+#include <RIGv2/CanHandler/CanHandler.h>
+#include <RIGv2/Radio/Radio.h>
+#include <RIGv2/Registry/Registry.h>
+#include <RIGv2/Sensors/Sensors.h>
+#include <RIGv2/StateMachines/GroundModeManager/GroundModeManager.h>
+#include <RIGv2/StateMachines/TARS1/TARS1.h>
+#include <common/Events.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
+#include <diagnostic/StackLogger.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <events/EventBroker.h>
+#include <events/EventData.h>
+#include <events/utils/EventSniffer.h>
+
+#include <chrono>
+#include <iomanip>
+#include <iostream>
+#include <thread>
+
+using namespace std::chrono;
+using namespace Boardcore;
+using namespace Common;
+using namespace RIGv2;
+using namespace miosix;
+
+int main()
+{
+ DependencyManager manager;
+
+ Buses* buses = new Buses();
+ BoardScheduler* scheduler = new BoardScheduler();
+
+ Sensors* sensors = new Sensors();
+ Actuators* actuators = new Actuators();
+ Registry* registry = new Registry();
+ CanHandler* canHandler = new CanHandler();
+ GroundModeManager* gmm = new GroundModeManager();
+ TARS1* tars1 = new TARS1();
+ Radio* radio = new Radio();
+
+ Logger& sdLogger = Logger::getInstance();
+ EventBroker& broker = EventBroker::getInstance();
+
+ // Setup event sniffer
+ EventSniffer sniffer(broker,
+ [&](uint8_t event, uint8_t topic)
+ {
+ EventData data{TimestampTimer::getTimestamp(),
+ event, topic};
+ sdLogger.log(data);
+ });
+
+ // Insert modules
+ bool initResult = manager.insert<Buses>(buses) &&
+ manager.insert<BoardScheduler>(scheduler) &&
+ manager.insert<Actuators>(actuators) &&
+ manager.insert<Sensors>(sensors) &&
+ manager.insert<Radio>(radio) &&
+ manager.insert<CanHandler>(canHandler) &&
+ manager.insert<Registry>(registry) &&
+ manager.insert<GroundModeManager>(gmm) &&
+ manager.insert<TARS1>(tars1) && manager.inject();
+
+ if (!initResult)
+ {
+ std::cout << "Failed to inject dependencies" << std::endl;
+ return 0;
+ }
+
+ // Status led indicators
+ // led1: Sensors ok
+ // led2: Radio ok
+ // led3: CanBus ok
+ // led4: Everything ok
+
+ // Start modules
+ std::cout << "Starting EventBroker" << std::endl;
+ if (!broker.start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start EventBroker ***" << std::endl;
+ }
+
+ std::cout << "Starting Registry" << std::endl;
+ if (!registry->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start Registry ***" << std::endl;
+ }
+
+ // Perform an initial registry load
+ std::cout << "Loading backed registry" << std::endl;
+ if (registry->load() != RegistryError::OK)
+ std::cout << "* Warning: could not load a saved registry *"
+ << std::endl;
+
+ std::cout << "Starting Actuators" << std::endl;
+ if (!actuators->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start Actuators ***" << std::endl;
+ }
+
+ std::cout << "Starting Sensors" << std::endl;
+ if (!sensors->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start Sensors ***" << std::endl;
+ }
+ else
+ {
+ led1On();
+ }
+
+ std::cout << "Starting Radio" << std::endl;
+ if (!radio->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start Radio ***" << std::endl;
+ }
+ else
+ {
+ led2On();
+ }
+
+ std::cout << "Starting CanHandler" << std::endl;
+ if (!canHandler->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start CanHandler ***" << std::endl;
+ }
+ else
+ {
+ led3On();
+ }
+
+ std::cout << "Starting GroundModeManager" << std::endl;
+ if (!gmm->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start GroundModeManager ***" << std::endl;
+ }
+
+ std::cout << "Starting TARS1" << std::endl;
+ if (!tars1->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start TARS1 ***" << std::endl;
+ }
+
+ std::cout << "Starting BoardScheduler" << std::endl;
+ if (!scheduler->start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start BoardScheduler ***" << std::endl;
+ }
+
+ // Start logging when system boots
+ std::cout << "Starting Logger" << std::endl;
+ if (!sdLogger.start())
+ {
+ initResult = false;
+ std::cout << "*** Failed to start Logger ***" << std::endl;
+ }
+ else
+ {
+ sdLogger.resetStats();
+ std::cout << "Logger Ok!\n"
+ << "\tLog number: " << sdLogger.getStats().logNumber
+ << std::endl;
+ }
+
+ if (initResult)
+ {
+ broker.post(FMM_INIT_OK, TOPIC_MOTOR);
+ std::cout << "All good!" << std::endl;
+ led4On();
+ }
+ else
+ {
+ broker.post(FMM_INIT_ERROR, TOPIC_MOTOR);
+ std::cout << "*** Init failure ***" << std::endl;
+ }
+
+ std::cout << "Sensor status:" << std::endl;
+ for (auto info : sensors->getSensorInfos())
+ {
+ // The period being 0 means the sensor is disabled
+ auto statusStr = info.period == 0ns ? "Disabled"
+ : info.isInitialized ? "Ok"
+ : "Error";
+
+ std::cout << "\t" << std::setw(20) << std::left << info.id << " "
+ << statusStr << std::endl;
+ }
+
+ ADS131M08Data avg{};
+ size_t count = 0;
+
+ std::atomic<bool> reset{false};
+
+ std::thread inputHandler = std::thread(
+ [&]()
+ {
+ while (true)
+ {
+ char command{};
+ std::cin >> command;
+
+ if (command == 'r')
+ reset = true;
+ }
+ });
+
+ while (true)
+ {
+ Thread::sleep(10);
+
+ // Choose the ADC to sample here
+ auto sample = sensors->getADC1LastSample();
+
+ if (reset == true)
+ {
+ avg = {};
+ count = 0;
+ reset = false;
+ std::cout << "*** Resetting moving average ***\n";
+ }
+
+ // Perform moving average
+ count++;
+ for (int i = 0; i < 8; i++)
+ avg.voltage[i] += (sample.voltage[i] - avg.voltage[i]) / count;
+
+ if (count % 100 != 0)
+ continue;
+
+ std::cout << std::setw(7) << count;
+ for (int i = 0; i < 8; i++)
+ {
+ auto millivolts = avg.voltage[i] * 1000.0f;
+
+ std::cout << "| CH " << i << ": " << std::setw(10) << std::fixed
+ << millivolts << "mV ";
+ }
+ std::cout << '\n';
+ }
+
+ return 0;
+}
--
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