Fixed thermocouples, added telecommands and solenoid control

.vscode/settings.json

@@ -112,6 +112,7 @@
         "Alain",
         "ARPE",
         "BDTR",
+        "Boardcore",
         "Carlucci",
         "CCER",
         "CCMR",
@@ -123,6 +124,7 @@
         "fedetft's",
         "Gpio",
         "GPIOB",
+        "GPIOC",
         "GPIOD",
         "GPIOG",
         "HSCMAND",
@@ -132,6 +134,7 @@
         "Matteo",
         "miosix",
         "mosi",
+        "Nidasio",
         "nsamples",
         "OSSI",
         "OSSR",
@@ -151,7 +154,8 @@
         "USART",
         "WWDG",
         "WWDGEN",
-        "Xbee"
+        "Xbee",
+        "Zangari"
     ],
     "C_Cpp.errorSquiggles": "Disabled",
     "cSpell.enabled": true

skyward-boardcore @ 19f3ea98

-Subproject commit e61a8fc6d279c0681434c3dca161215a3758916c
+Subproject commit 19f3ea9886246d9e9d8080d789e967b08330a25f

src/board/Actuators/Actuators.cpp

@@ -43,6 +43,9 @@ void Actuators::init()
     servo1.enable();
     servo2.enable();
 
+    solenoid.mode(Mode::OUTPUT);
+    solenoid.low();
+
     // Register the buttons callback
     ButtonHandler::getInstance().registerButtonCallback(
         ui::button1::getPin(), std::bind(&Actuators::buttonCallback, this, _1));

src/board/Actuators/Actuators.h

@@ -44,6 +44,7 @@ public:
     Boardcore::Servo servo1;
     Boardcore::Servo servo2;
     Boardcore::Buzzer buzzer;
+    miosix::GpioPin solenoid = miosix::GpioPin(GPIOC_BASE, 3);
 
     void init();
 

src/board/CLI/CLI.cpp

@@ -24,8 +24,10 @@
 
 #include <board/Actuators/Actuators.h>
 #include <board/Configs.h>
+#include <board/Events.h>
 #include <board/Sensors/Sensors.h>
 #include <drivers/timer/TimestampTimer.h>
+#include <events/EventBroker.h>
 
 #include <iostream>
 
@@ -78,13 +80,57 @@ void CLI::printStep()
 
 void CLI::run()
 {
-    int servoNum     = 0;
-    float percentage = 0;
 
     while (!shouldStop())
     {
         std::string line;
         std::getline(std::cin, line);
+
+        if (line.c_str()[0] == '?')
+        {
+            printf("Configured load cell: %d\n",
+                   static_cast<uint16_t>(Sensors::getInstance().loadCellScale));
+        }
+        else if (line.c_str()[0] == 'L')
+        {
+            uint16_t loadCellScale = 0;
+            int result = sscanf(line.c_str(), "L%hu", &loadCellScale);
+
+            if (result == 1)
+                Sensors::getInstance().setLoadCellScale(
+                    static_cast<LoadCell>(loadCellScale));
+            else
+                printf("Unrecognized command\n");
+        }
+        else if (line.compare("START_REC") == 0)
+        {
+            EventBroker::getInstance().post(Events::EV_BTN_SWITCH_ON,
+                                            Topics::TOPIC_BTN);
+        }
+        else if (line.compare("STOP_REC") == 0)
+        {
+            EventBroker::getInstance().post(Events::EV_BTN_SWITCH_OFF,
+                                            Topics::TOPIC_BTN);
+        }
+        else if (line.compare("SOL_ON") == 0)
+        {
+            Actuators::getInstance().solenoid.high();
+            printf("Solenoid turned on\n");
+        }
+        else if (line.compare("SOL_OFF") == 0)
+        {
+            Actuators::getInstance().solenoid.low();
+            printf("Solenoid turned off\n");
+        }
+        else if (line.compare("CALIBRATE") == 0)
+        {
+            EventBroker::getInstance().post(Events::EV_BTN_BUTTON_LONG_PRESS,
+                                            Topics::TOPIC_BTN);
+        }
+        else
+        {
+            int servoNum     = 0;
+            float percentage = 0;
             int result = sscanf(line.c_str(), "%d.%f", &servoNum, &percentage);
 
             // Move the servo if applicable
@@ -102,5 +148,6 @@ void CLI::run()
             }
         }
     }
+}
 
 }  // namespace HRETestStand

src/board/Sensors/Sensors.cpp

@@ -54,15 +54,38 @@ bool Sensors::start()
 
 void Sensors::stop() { sensorManager->stop(); }
 
+void Sensors::setLoadCellScale(LoadCell loadCellScale)
+{
+    switch (loadCellScale)
+    {
+        case LoadCell::KG_20:
+            loadCell->setScale(4.552863e-6);
+            break;
+        case LoadCell::KG_110:
+            loadCell->setScale(23.376577e-6);
+            break;
+        case LoadCell::KG_2000:
+            loadCell->setScale(453.914981e-6);
+            break;
+
+        default:
+            printf("Unrecognized load cell!\n");
+            return;
+    }
+
+    printf("Changed load cell scale to %dKg\n",
+           static_cast<uint16_t>(loadCellScale));
+}
+
 Sensors::Sensors() : averageLoad(100) {}
 
 void Sensors::loadCellInit()
 {
     loadCell =
         new HX711(Buses::getInstance().spi4, sensors::hx711::sck::getPin());
+
     loadCell->setOffset(-53873);
-    // loadCell->setScale(4.552863e-6); // 20Kg load cell
-    loadCell->setScale(23.376577e-6);  // 100Kg load cell
+    setLoadCellScale(loadCellScale);
 
     SensorInfo infoLoadCell(LOAD_CELL_NAME, LOAD_CELL_SAMPLE_PERIOD,
                             std::bind(&Sensors::loadCellCallback, this));
@@ -110,12 +133,12 @@ void Sensors::thermocouplesInit()
 {
     Buses& buses = Buses::getInstance();
 
-    thermocouple1 = new MAX6675(buses.spi5, sensors::max31855::cs1::getPin());
-    thermocouple2 = new MAX6675(buses.spi5, sensors::max31855::cs2::getPin());
-    thermocouple3 = new MAX6675(buses.spi5, sensors::max31855::cs3::getPin());
-    thermocouple4 = new MAX6675(buses.spi5, sensors::max31855::cs4::getPin());
-    thermocouple5 = new MAX6675(buses.spi5, sensors::max31855::cs5::getPin());
-    thermocouple6 = new MAX6675(buses.spi5, sensors::max31855::cs6::getPin());
+    thermocouple1 = new MAX31855(buses.spi5, sensors::max31855::cs1::getPin());
+    thermocouple2 = new MAX31855(buses.spi5, sensors::max31855::cs2::getPin());
+    thermocouple3 = new MAX31855(buses.spi5, sensors::max31855::cs3::getPin());
+    thermocouple4 = new MAX31855(buses.spi5, sensors::max31855::cs4::getPin());
+    thermocouple5 = new MAX31855(buses.spi5, sensors::max31855::cs5::getPin());
+    thermocouple6 = new MAX31855(buses.spi5, sensors::max31855::cs6::getPin());
 
     SensorInfo info1(THERMOCOUPLE_1_NAME, THERMOCOUPLE_SAMPLE_PERIOD,
                      std::bind(&Sensors::thermocouple1Callback, this));

src/board/Sensors/Sensors.h

@@ -28,7 +28,7 @@
 #include <miosix.h>
 #include <sensors/ADS131M04/ADS131M04.h>
 #include <sensors/HX711/HX711.h>
-#include <sensors/MAX6675/MAX6675.h>
+#include <sensors/MAX31855/MAX31855.h>
 #include <sensors/SensorManager.h>
 #include <sensors/analog/AnalogLoadCell.h>
 #include <sensors/analog/pressure/AnalogPressureSensor.h>
@@ -40,6 +40,13 @@
 namespace HRETestStand
 {
 
+enum class LoadCell : uint16_t
+{
+    KG_20   = 20,
+    KG_110  = 110,
+    KG_2000 = 2000,
+};
+
 struct Sensors : Boardcore::Singleton<Sensors>
 {
     friend class Boardcore::Singleton<Sensors>;
@@ -48,12 +55,12 @@ struct Sensors : Boardcore::Singleton<Sensors>
     Boardcore::ADS131M04* adcPressureSensors = nullptr;
     PressureSensors* pressureSensors         = nullptr;
 
-    Boardcore::MAX6675* thermocouple1 = nullptr;
-    Boardcore::MAX6675* thermocouple2 = nullptr;
-    Boardcore::MAX6675* thermocouple3 = nullptr;
-    Boardcore::MAX6675* thermocouple4 = nullptr;
-    Boardcore::MAX6675* thermocouple5 = nullptr;
-    Boardcore::MAX6675* thermocouple6 = nullptr;
+    Boardcore::MAX31855* thermocouple1 = nullptr;
+    Boardcore::MAX31855* thermocouple2 = nullptr;
+    Boardcore::MAX31855* thermocouple3 = nullptr;
+    Boardcore::MAX31855* thermocouple4 = nullptr;
+    Boardcore::MAX31855* thermocouple5 = nullptr;
+    Boardcore::MAX31855* thermocouple6 = nullptr;
     ThermocouplesData thermocouplesData;
 
     Boardcore::SensorManager* sensorManager = nullptr;
@@ -64,12 +71,16 @@ struct Sensors : Boardcore::Singleton<Sensors>
     Boardcore::MovingAverage<float> averagePressure3;
     Boardcore::MovingAverage<float> averagePressure4;
 
+    LoadCell loadCellScale = LoadCell::KG_2000;
+
     void init();
 
     bool start();
 
     void stop();
 
+    void setLoadCellScale(LoadCell loadCellScale);
+
 private:
     /**
      * @brief Initializes all the board sensors.

src/tests/test-thermocouples.cpp

 /* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
+ * Author: Alberto Nidasio
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal