From 3b5f4dde56bacfbbde1d31e18150bbd193917874 Mon Sep 17 00:00:00 2001
From: Pietro Bortolus <Pietro.bortolus@skywarder.eu>
Date: Thu, 23 Jan 2025 12:35:30 +0100
Subject: [PATCH] [ND015A] Implemented all of the basic functionality of the
 driver

---
 src/shared/sensors/ND015X/ND015A.cpp | 108 ++++++++++++++++++++++
 src/shared/sensors/ND015X/ND015A.h   | 129 +++++++++++++++++++++++++++
 src/shared/sensors/ND015X/ND015X.cpp |  59 ------------
 src/shared/sensors/ND015X/ND015X.h   |  70 ---------------
 4 files changed, 237 insertions(+), 129 deletions(-)
 create mode 100644 src/shared/sensors/ND015X/ND015A.cpp
 create mode 100644 src/shared/sensors/ND015X/ND015A.h
 delete mode 100644 src/shared/sensors/ND015X/ND015X.cpp
 delete mode 100644 src/shared/sensors/ND015X/ND015X.h

diff --git a/src/shared/sensors/ND015X/ND015A.cpp b/src/shared/sensors/ND015X/ND015A.cpp
new file mode 100644
index 000000000..0b62f09df
--- /dev/null
+++ b/src/shared/sensors/ND015X/ND015A.cpp
@@ -0,0 +1,108 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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 "ND015A.h"
+
+#include <drivers/timer/TimestampTimer.h>
+#include <math.h>
+
+namespace Boardcore
+{
+ND015A::ND015A(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig)
+    : slave(bus, cs, spiConfig)
+{
+}
+
+bool ND015A::init()
+{
+    uint8_t data[10];
+
+    SPITransaction spi(slave);
+
+    spi.read(data, sizeof(data));
+
+    // the following monstrosity is needed to check if the model number read
+    // from the SPI is correct, the numbers are the ASCII encoding of "ND015A"
+
+    if (data[9] == 0x41 && data[8] == 0x35 && data[7] == 0x31 &&
+        data[6] == 0x30 && data[5] == 0x44 && data[4] == 0x4E)
+    {
+        return true;
+    }
+    else
+    {
+        LOG_ERR(logger, "sensor model number did not match");
+        return false;
+    }
+}
+
+bool ND015A::selfTest() { return true; }
+
+void ND015A::setOutputDataRate(uint8_t odr)
+{
+    if (odr < 0x100)
+    {
+        rateByte = odr;
+    }
+    else
+    {
+        LOG_ERR(logger, "odr setting not valid, using default value (0x1C)");
+        rateByte = 0x1C;
+    }
+}
+
+void ND015A::setIOWatchdog(IOWatchdogEnable iow)
+{
+    modeByte = (modeByte & ~IO_WATCHDOG_MASK) | iow;
+}
+
+void ND015A::setBWLimitFilter(BWLimitFilter bwl)
+{
+    modeByte = (modeByte & ~BW_LIMIT_MASK) | bwl;
+}
+
+void ND015A::setNotch(NotchEnable ntc)
+{
+    modeByte = (modeByte & ~NOTCH_MASK) | ntc;
+}
+
+ND015XData ND015A::sampleImpl()
+{
+    ND015XData data;
+    SPIDataOut = (modeByte << 8) | rateByte;
+
+    SPITransaction spi(slave);
+
+    spi.transfer16(SPIDataOut);  // we need to make an SPI transaction before
+                                 // reading the data to make sure the proper
+                                 // settings are used
+
+    SPIDataIn = spi.transfer16(SPIDataOut);
+
+    data.pressure =
+        ((short)SPIDataIn - 0.05 * pow(2, 16)) / (0.9 * pow(2, 16)) * 15;
+    data.pressureTimestamp = TimestampTimer::getTimestamp();
+
+    return data;
+}
+
+}  // namespace Boardcore
diff --git a/src/shared/sensors/ND015X/ND015A.h b/src/shared/sensors/ND015X/ND015A.h
new file mode 100644
index 000000000..710dee5e6
--- /dev/null
+++ b/src/shared/sensors/ND015X/ND015A.h
@@ -0,0 +1,129 @@
+
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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 <diagnostic/PrintLogger.h>
+#include <drivers/spi/SPIDriver.h>
+#include <sensors/Sensor.h>
+
+#include "ND015XData.h"
+
+namespace Boardcore
+{
+
+class ND015A : public Sensor<ND015XData>
+{
+public:
+    /**
+     * The datasheet is unclear about the unit of measure,
+     * it could be either psi or inH2O but I believe it's the latter
+     */
+    enum FullScaleRange : uint8_t
+    {
+        FS_1  = 0x02,  // 1.0  psi
+        FS_2  = 0x03,  // 2.0  psi
+        FS_4  = 0x04,  // 4.0  psi
+        FS_5  = 0x05,  // 5.0  psi
+        FS_10 = 0x06,  // 10.0 psi
+        FS_15 = 0x07,  // 15.0 psi
+    };
+
+    enum BWLimitFilter : uint8_t
+    {
+        BWL_1   = 0x00,  // 1.0 Hz
+        BWL_2   = 0x10,  // 2.0 Hz
+        BWL_5   = 0x20,  // 5.0 Hz
+        BWL_10  = 0x30,  // 10  Hz
+        BWL_20  = 0x40,  // 20  Hz
+        BWL_50  = 0x50,  // 50  Hz
+        BWL_100 = 0x60,  // 100 Hz
+        BWL_200 = 0x70,  // 200 Hz
+    };
+
+    enum IOWatchdogEnable : uint8_t
+    {
+        DISABLED = 0x00,
+        ENABLED  = 0x08,
+    };
+
+    enum NotchEnable : uint8_t
+    {
+        DISABLED = 0x00,
+        ENABLED  = 0x80,
+    };
+
+    ND015A(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig);
+
+    bool init() override;
+
+    bool selfTest() override;
+
+    /**
+     * @brief function to set the output data rate
+     *
+     * @param odr   output data rate for the sensor,
+     *              the actual odr is calculated as
+     *              444Hz / odr
+     */
+    void setOutputDataRate(u_int8_t odr);
+
+    /**
+     * @brief function is not implemented as the sensor has a fixed fullscale
+     */
+    void setFullScaleRange();
+
+    /**
+     * @brief function to enable the IO watchdog
+     *
+     * @param iow  setting
+     */
+    void setIOWatchdog(IOWatchdogEnable iow);
+
+    void setBWLimitFilter(BWLimitFilter bwl);
+
+    void setNotch(NotchEnable ntc);
+
+protected:
+    ND015XData sampleImpl() override;
+
+private:
+    SPISlave slave;
+    uint8_t modeByte = 0xF7;  // settings for the mode control register
+    uint8_t rateByte = 0x1C;  // settings for the rate control register
+    uint16_t SPIDataIn;
+    uint16_t SPIDataOut;
+
+    enum RegisterMask : uint8_t
+    {
+        FS_MASK          = 0x07,
+        IO_WATCHDOG_MASK = 0x08,
+        BW_LIMIT_MASK    = 0x70,
+        NOTCH_MASK       = 0x80,
+    };
+
+    PrintLogger logger = Logging::getLogger("nd015a");
+};
+
+}  // namespace Boardcore
+
diff --git a/src/shared/sensors/ND015X/ND015X.cpp b/src/shared/sensors/ND015X/ND015X.cpp
deleted file mode 100644
index 99f4d0060..000000000
--- a/src/shared/sensors/ND015X/ND015X.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-/* Copyright (c) 2025 Skyward Experimental Rocketry
- * Author: Pietro Bortolus
- *
- * 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 "ND015X.h"
-
-#include <drivers/timer/TimestampTimer.h>
-
-namespace Boardcore
-{
-ND015X::ND015X(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig)
-    : slave(bus, cs, spiConfig)
-{
-}
-
-bool ND015X::init() { return true; }
-
-bool ND015X::selfTest() {}
-
-void ND015X::setOutputDataRate(OutputDataRate odr)
-{
-    SPIDataIn = (SPIDataIn & (255 << 8)) | odr;
-}
-
-void ND015X::setFullScaleRange(FullScaleRange fs)
-{
-    SPIDataIn = (SPIDataIn & 255) | (fs << 8);
-}
-
-ND015XData ND015X::sampleImpl()
-{
-    ND015XData data;
-
-    SPITransaction spi(slave);
-
-    SPIDataOut = spi.transfer16(SPIDataOut);
-
-    return data;
-}
-
-}  // namespace Boardcore
diff --git a/src/shared/sensors/ND015X/ND015X.h b/src/shared/sensors/ND015X/ND015X.h
deleted file mode 100644
index 9aaf40112..000000000
--- a/src/shared/sensors/ND015X/ND015X.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/* Copyright (c) 2025 Skyward Experimental Rocketry
- * Author: Pietro Bortolus
- *
- * 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 <drivers/spi/SPIDriver.h>
-#include <sensors/Sensor.h>
-
-#include "ND015XData.h"
-
-namespace Boardcore
-{
-
-class ND015X : public Sensor<ND015XData>
-{
-public:
-    enum OutputDataRate : uint16_t
-    {
-        ODR_50   = 0x00,
-        ODR_100  = 0x08,
-        ODR_400  = 0x10,
-        ODR_1000 = 0x18,
-    };
-
-    enum FullScaleRange : uint8_t
-    {
-        FS_6  = 0x00,
-        FS_12 = 0x10,
-        FS_24 = 0x30,
-    };
-
-    ND015X(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig);
-
-    bool init() override;
-
-    bool selfTest() override;
-
-    void setOutputDataRate(OutputDataRate odr);
-
-    void setFullScaleRange(FullScaleRange fs);
-
-protected:
-    ND015XData sampleImpl() override;
-
-private:
-    SPISlave slave;
-    uint16_t SPIDataIn;
-    uint16_t SPIDataOut;
-}
-
-}  // namespace Boardcore
-- 
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