From 9431b65a1756d34b75e6934abc0bc4b1487a04fe Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Sat, 1 Jul 2023 17:14:14 +0200
Subject: [PATCH] [ADS131] Implemented new 8 channels driver and removed unused
driver
---
cmake/boardcore.cmake | 1 +
src/shared/sensors/ADS131M04/ADS131M04.cpp | 70 ++-
.../sensors/ADS131M04/ADS131M04HighFreq.cpp | 166 -------
.../sensors/ADS131M04/ADS131M04HighFreq.h | 96 ----
src/shared/sensors/ADS131M08/ADS131M08.cpp | 422 ++++++++++++++++++
src/shared/sensors/ADS131M08/ADS131M08.h | 335 ++++++++++++++
.../ADS131M08Data.h} | 40 +-
src/tests/sensors/test-ads131m08.cpp | 80 ++++
8 files changed, 908 insertions(+), 302 deletions(-)
delete mode 100644 src/shared/sensors/ADS131M04/ADS131M04HighFreq.cpp
delete mode 100644 src/shared/sensors/ADS131M04/ADS131M04HighFreq.h
create mode 100644 src/shared/sensors/ADS131M08/ADS131M08.cpp
create mode 100644 src/shared/sensors/ADS131M08/ADS131M08.h
rename src/shared/sensors/{ADS131M04/ADS131M04HighFreqData.h => ADS131M08/ADS131M08Data.h} (50%)
create mode 100644 src/tests/sensors/test-ads131m08.cpp
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 6fd4ba2d0..3e29187ee 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -84,6 +84,7 @@ foreach(OPT_BOARD ${BOARDS})
# Sensors
${SBS_BASE}/src/shared/sensors/ADS1118/ADS1118.cpp
${SBS_BASE}/src/shared/sensors/ADS131M04/ADS131M04.cpp
+ ${SBS_BASE}/src/shared/sensors/ADS131M08/ADS131M08.cpp
${SBS_BASE}/src/shared/sensors/BME280/BME280.cpp
${SBS_BASE}/src/shared/sensors/BME280/BME280I2C.cpp
${SBS_BASE}/src/shared/sensors/BMP280/BMP280.cpp
diff --git a/src/shared/sensors/ADS131M04/ADS131M04.cpp b/src/shared/sensors/ADS131M04/ADS131M04.cpp
index 8c7a46e2d..3b7387c41 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.cpp
+++ b/src/shared/sensors/ADS131M04/ADS131M04.cpp
@@ -142,25 +142,24 @@ void ADS131M04::setChannelOffset(Channel channel, uint32_t offset)
{
// Set the correct registers based on the selected channel
Registers regMSB, regLSB;
- if (static_cast<int>(channel) == 0)
+ switch (static_cast<int>(channel))
{
- regMSB = Registers::REG_CH0_OCAL_MSB;
- regLSB = Registers::REG_CH0_OCAL_LSB;
- }
- else if (static_cast<int>(channel) == 1)
- {
- regMSB = Registers::REG_CH0_OCAL_MSB;
- regLSB = Registers::REG_CH0_OCAL_LSB;
- }
- else if (static_cast<int>(channel) == 1)
- {
- regMSB = Registers::REG_CH0_OCAL_MSB;
- regLSB = Registers::REG_CH0_OCAL_LSB;
- }
- else
- {
- regMSB = Registers::REG_CH0_OCAL_MSB;
- regLSB = Registers::REG_CH0_OCAL_LSB;
+ case 0:
+ regMSB = Registers::REG_CH0_OCAL_MSB;
+ regLSB = Registers::REG_CH0_OCAL_LSB;
+ break;
+ case 1:
+ regMSB = Registers::REG_CH1_OCAL_MSB;
+ regLSB = Registers::REG_CH1_OCAL_LSB;
+ break;
+ case 2:
+ regMSB = Registers::REG_CH2_OCAL_MSB;
+ regLSB = Registers::REG_CH2_OCAL_LSB;
+ break;
+ default:
+ regMSB = Registers::REG_CH3_OCAL_MSB;
+ regLSB = Registers::REG_CH3_OCAL_LSB;
+ break;
}
writeRegister(regMSB, static_cast<uint16_t>(offset) >> 16);
@@ -175,25 +174,24 @@ void ADS131M04::setChannelGainCalibration(Channel channel, double gain)
// Set the correct registers based on the selected channel
Registers regMSB, regLSB;
- if (static_cast<int>(channel) == 0)
- {
- regMSB = Registers::REG_CH0_GCAL_MSB;
- regLSB = Registers::REG_CH0_GCAL_LSB;
- }
- else if (static_cast<int>(channel) == 1)
- {
- regMSB = Registers::REG_CH0_GCAL_MSB;
- regLSB = Registers::REG_CH0_GCAL_LSB;
- }
- else if (static_cast<int>(channel) == 1)
- {
- regMSB = Registers::REG_CH0_GCAL_MSB;
- regLSB = Registers::REG_CH0_GCAL_LSB;
- }
- else
+ switch (static_cast<int>(channel))
{
- regMSB = Registers::REG_CH0_GCAL_MSB;
- regLSB = Registers::REG_CH0_GCAL_LSB;
+ case 0:
+ regMSB = Registers::REG_CH0_GCAL_MSB;
+ regLSB = Registers::REG_CH0_GCAL_LSB;
+ break;
+ case 1:
+ regMSB = Registers::REG_CH1_GCAL_MSB;
+ regLSB = Registers::REG_CH1_GCAL_LSB;
+ break;
+ case 2:
+ regMSB = Registers::REG_CH2_GCAL_MSB;
+ regLSB = Registers::REG_CH2_GCAL_LSB;
+ break;
+ default:
+ regMSB = Registers::REG_CH3_GCAL_MSB;
+ regLSB = Registers::REG_CH3_GCAL_LSB;
+ break;
}
// Compute the correct gain register parameter
diff --git a/src/shared/sensors/ADS131M04/ADS131M04HighFreq.cpp b/src/shared/sensors/ADS131M04/ADS131M04HighFreq.cpp
deleted file mode 100644
index 7c56c6947..000000000
--- a/src/shared/sensors/ADS131M04/ADS131M04HighFreq.cpp
+++ /dev/null
@@ -1,166 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * 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
- * 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 "ADS131M04HighFreq.h"
-
-#include <fmt/format.h>
-#include <kernel/scheduler/scheduler.h>
-
-#include <thread>
-
-namespace Boardcore
-{
-
-ADS131M04HighFreq::ADS131M04HighFreq(SPISlave spiSlave, SPIType *spi,
- DMAStream rxStream,
- DMAStream::Channel dmaChannel,
- SPISignalGenerator spiSignalGenerator,
- int bufSize, const std::string logFileName)
- : ADS131M04(spiSlave), spi(spi), rxStream(rxStream), dmaChannel(dmaChannel),
- spiSignalGenerator(spiSignalGenerator), bufSize(bufSize),
- logFileName(logFileName)
-{
- // Allocate the buffers
- buffer1 = static_cast<ADS131M04HighFreqData *>(
- malloc(bufSize * sizeof(ADS131M04HighFreqData)));
- buffer2 = static_cast<ADS131M04HighFreqData *>(
- malloc(bufSize * sizeof(ADS131M04HighFreqData)));
-}
-
-void ADS131M04HighFreq::startHighFreqSampling()
-{
- // Setup spi as a slave
- spi.reset();
- spi.set16BitFrameFormat();
- spi.setMode(spiSlave.config.mode);
- spi.enableRxDMARequest();
- spi.enable();
-
- // Setup DMA stream
- rxStream.reset();
- rxStream.setPeripheralAddress(const_cast<uint32_t *>(&(spi.getSpi()->DR)));
- rxStream.setMemory0Address(reinterpret_cast<uint32_t *>(buffer1));
- rxStream.setMemory1Address(reinterpret_cast<uint32_t *>(buffer2));
- rxStream.setMemoryDataSize(DMAStream::MemoryDataSize::HALF_WORD);
- rxStream.setPeripheralDataSize(DMAStream::PeripheralDataSize::HALF_WORD);
- rxStream.setNumberOfDataItems(bufSize * sizeof(ADS131M04HighFreqData) / 2);
- rxStream.setStreamChannel(dmaChannel);
- rxStream.setStreamPriorityLevel(DMAStream::PriorityLevel::VERY_HIGH);
- rxStream.enableMemoryIncrement();
- rxStream.enableTransferCompleteInterrupt();
- rxStream.enableCircularMode();
- rxStream.enableDoubleBufferMode();
- rxStream.enable();
-
- // Start the clock generator
- spiSignalGenerator.configure();
- spiSignalGenerator.enable();
-
- highFreqSamplingStarted = true;
-}
-
-void ADS131M04HighFreq::stopHighFreqSampling()
-{
- // Stop the clock generator
- spiSignalGenerator.disable();
-
- highFreqSamplingStarted = false;
-}
-
-void ADS131M04HighFreq::resumeHighFreqSampling()
-{
- // Stop the clock generator
- spiSignalGenerator.enable();
-
- highFreqSamplingStarted = true;
-}
-
-void ADS131M04HighFreq::startLogging() { start(); }
-
-ADS131M04Data ADS131M04HighFreq::sampleImpl()
-{
- if (highFreqSamplingStarted)
- {
- // TODO
- return ADS131M04Data{};
- }
- else
- {
- return ADS131M04::sampleImpl();
- }
-}
-
-void ADS131M04HighFreq::run()
-{
- std::string filename = fmt::format("/sd/{}.bin", logFileName);
- remove(filename.c_str());
- FILE *logFile = fopen(filename.c_str(), "a");
-
- if (logFile == 0)
- {
- LOG_ERR(logger, "Could not open file!");
- return;
- }
-
- while (!shouldStop())
- {
- miosix::FastInterruptDisableLock dLock;
- loggerThread = miosix::Thread::getCurrentThread();
-
- while (loggerThread != 0)
- {
- loggerThread->IRQwait();
- {
- miosix::FastInterruptEnableLock eLock(dLock);
- miosix::Thread::yield();
- }
- }
-
- if ((DMA2_Stream0->CR & DMA_SxCR_CT) == 0)
- {
- fwrite(buffer2, sizeof(ADS131M04HighFreqData), bufSize, logFile);
- }
- else
- {
- fwrite(buffer1, sizeof(ADS131M04HighFreqData), bufSize, logFile);
- }
- }
-
- fclose(logFile);
-}
-
-void ADS131M04HighFreq::handleTransferCompleteInterrupt()
-{
- // Wake up the logger thread
- if (loggerThread)
- {
- loggerThread->IRQwakeup();
- if (loggerThread->IRQgetPriority() >
- miosix::Thread::IRQgetCurrentThread()->IRQgetPriority())
- {
- miosix::Scheduler::IRQfindNextThread();
- }
- loggerThread = nullptr;
- }
-}
-
-} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M04/ADS131M04HighFreq.h b/src/shared/sensors/ADS131M04/ADS131M04HighFreq.h
deleted file mode 100644
index 988512e0a..000000000
--- a/src/shared/sensors/ADS131M04/ADS131M04HighFreq.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * 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
- * 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 <ActiveObject.h>
-#include <drivers/dma/DMAStream.h>
-#include <drivers/spi/SPISignalGenerator.h>
-
-#include "ADS131M04.h"
-#include "ADS131M04HighFreqData.h"
-
-namespace Boardcore
-{
-
-/**
- * @brief Driver for ADS131M04 in combination with DMA and timers.
- */
-class ADS131M04HighFreq : public ADS131M04, private ActiveObject
-{
-public:
- ADS131M04HighFreqData* buffer1 = nullptr;
- ADS131M04HighFreqData* buffer2 = nullptr;
-
- ADS131M04HighFreq(SPISlave spiSlave, SPIType* spi, DMAStream rxStream,
- DMAStream::Channel dmaChannel,
- SPISignalGenerator spiSignalGenerator, int bufSize,
- std::string logFileName);
-
- /**
- * @brief Configures DMA and SPI peripherals and starts sampling by enablig
- * the SPI signal generator.
- */
- void startHighFreqSampling();
-
- /**
- * @brief Stops the high frequency sampling by disabling the SPI signal
- * generator.
- *
- * After calling this function DMA and SPI are still correctly configured
- * and transaction can be restarted with resumeHighFreqSampling.
- */
- void stopHighFreqSampling();
-
- /**
- * @brief Resumed the high frequency sampling by enabling the SPI signal
- * generator.
- *
- * DMA and SPI must be already configured, otherwise no data will be read.
- */
- void resumeHighFreqSampling();
-
- void startLogging();
-
- void waitDataAndThenLog(void*);
-
- void handleTransferCompleteInterrupt();
-
-protected:
- ADS131M04Data sampleImpl() override;
-
- void run() override;
-
-private:
- SPI spi;
- DMAStream rxStream;
- DMAStream::Channel dmaChannel;
- SPISignalGenerator spiSignalGenerator;
- int bufSize;
- std::string logFileName;
-
- bool highFreqSamplingStarted = false;
-
- miosix::Thread* loggerThread = nullptr;
-};
-
-} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M08/ADS131M08.cpp b/src/shared/sensors/ADS131M08/ADS131M08.cpp
new file mode 100644
index 000000000..9ea5204cc
--- /dev/null
+++ b/src/shared/sensors/ADS131M08/ADS131M08.cpp
@@ -0,0 +1,422 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * 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
+ * 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 "ADS131M08.h"
+
+#include <drivers/timer/TimestampTimer.h>
+#include <util/crc16.h>
+#include <utils/CRC.h>
+
+using namespace Boardcore::ADS131M08RegisterBitMasks;
+
+namespace Boardcore
+{
+
+ADS131M08::ADS131M08(SPIBusInterface &bus, miosix::GpioPin cs,
+ SPIBusConfig config)
+ : ADS131M08(SPISlave(bus, cs, config))
+{
+}
+
+ADS131M08::ADS131M08(SPISlave spiSlave) : spiSlave(spiSlave)
+{
+ // Reset the configuration
+ channelsPGAGain[0] = PGA::PGA_1;
+ channelsPGAGain[1] = PGA::PGA_1;
+ channelsPGAGain[2] = PGA::PGA_1;
+ channelsPGAGain[3] = PGA::PGA_1;
+ channelsPGAGain[4] = PGA::PGA_1;
+ channelsPGAGain[5] = PGA::PGA_1;
+ channelsPGAGain[6] = PGA::PGA_1;
+ channelsPGAGain[7] = PGA::PGA_1;
+}
+
+SPIBusConfig ADS131M08::getDefaultSPIConfig()
+{
+ SPIBusConfig spiConfig{};
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
+ spiConfig.mode = SPI::Mode::MODE_1;
+ return spiConfig;
+}
+
+void ADS131M08::setOversamplingRatio(OversamplingRatio ratio)
+{
+ changeRegister(Registers::REG_CLOCK, static_cast<uint16_t>(ratio),
+ REG_CLOCK_OSR);
+}
+
+bool ADS131M08::init()
+{
+ if (!reset())
+ {
+ lastError = SensorErrors::INIT_FAIL;
+ LOG_ERR(logger, "Initialization failed");
+ return false;
+ }
+
+ return true;
+}
+
+bool ADS131M08::reset()
+{
+ // Write all the communication frame which is maximum 6 24bit words
+ uint8_t data[18] = {0};
+
+ // Prepare the command
+ data[1] = static_cast<uint16_t>(Commands::RESET);
+
+ SPITransaction transaction(spiSlave);
+ transaction.write(data, sizeof(data));
+ miosix::delayUs(10);
+ transaction.read(data, 3);
+
+ uint16_t response = data[0] << 8 | data[1];
+
+ // Check for the correct response
+ if (response != 0xFF24)
+ {
+ lastError = SensorErrors::COMMAND_FAILED;
+ LOG_ERR(logger, "Reset command failed, response was {:X}", response);
+ return false;
+ }
+
+ return true;
+}
+
+void ADS131M08::calibrateOffset()
+{
+ int32_t averageValues[8] = {0};
+
+ // Sample the channels and average the samples
+ for (int i = 0; i < 1000; i++)
+ {
+ sample();
+ miosix::delayUs(1);
+
+ for (int ii = 0; ii < 4; ii++)
+ averageValues[ii] +=
+ lastSample.voltage[ii] /
+ PGA_LSB_SIZE[static_cast<uint16_t>(channelsPGAGain[ii])];
+ }
+
+ for (int i = 0; i < 4; i++)
+ averageValues[i] /= 1000;
+
+ // Configure the offset registers
+ writeRegister(Registers::REG_CH0_OCAL_MSB, averageValues[0] >> 8);
+ writeRegister(Registers::REG_CH0_OCAL_LSB, averageValues[0] << 16);
+ writeRegister(Registers::REG_CH1_OCAL_MSB, averageValues[1] >> 8);
+ writeRegister(Registers::REG_CH1_OCAL_LSB, averageValues[1] << 16);
+ writeRegister(Registers::REG_CH2_OCAL_MSB, averageValues[2] >> 8);
+ writeRegister(Registers::REG_CH2_OCAL_LSB, averageValues[2] << 16);
+ writeRegister(Registers::REG_CH3_OCAL_MSB, averageValues[3] >> 8);
+ writeRegister(Registers::REG_CH3_OCAL_LSB, averageValues[3] << 16);
+ writeRegister(Registers::REG_CH3_OCAL_MSB, averageValues[4] >> 8);
+ writeRegister(Registers::REG_CH3_OCAL_LSB, averageValues[4] << 16);
+ writeRegister(Registers::REG_CH3_OCAL_MSB, averageValues[5] >> 8);
+ writeRegister(Registers::REG_CH3_OCAL_LSB, averageValues[5] << 16);
+ writeRegister(Registers::REG_CH3_OCAL_MSB, averageValues[6] >> 8);
+ writeRegister(Registers::REG_CH3_OCAL_LSB, averageValues[6] << 16);
+ writeRegister(Registers::REG_CH3_OCAL_MSB, averageValues[7] >> 8);
+ writeRegister(Registers::REG_CH3_OCAL_LSB, averageValues[7] << 16);
+}
+
+void ADS131M08::setChannelPGA(Channel channel, PGA gain)
+{
+ channelsPGAGain[static_cast<int>(channel)] = gain;
+
+ if (channel <= Channel::CHANNEL_3)
+ {
+ int shift = static_cast<int>(channel) * 4;
+ changeRegister(Registers::REG_GAIN_1,
+ static_cast<uint16_t>(gain) << shift,
+ REG_GAIN_PGAGAIN0 << shift);
+ }
+ else
+ {
+ int shift = (static_cast<int>(channel) - 4) * 4;
+ changeRegister(Registers::REG_GAIN_2,
+ static_cast<uint16_t>(gain) << shift,
+ REG_GAIN_PGAGAIN0 << shift);
+ }
+}
+
+void ADS131M08::setChannelOffset(Channel channel, uint32_t offset)
+{
+ // Set the correct registers based on the selected channel
+ Registers regMSB, regLSB;
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ regMSB = Registers::REG_CH0_OCAL_MSB;
+ regLSB = Registers::REG_CH0_OCAL_LSB;
+ break;
+ case 1:
+ regMSB = Registers::REG_CH1_OCAL_MSB;
+ regLSB = Registers::REG_CH1_OCAL_LSB;
+ break;
+ case 2:
+ regMSB = Registers::REG_CH2_OCAL_MSB;
+ regLSB = Registers::REG_CH2_OCAL_LSB;
+ break;
+ case 3:
+ regMSB = Registers::REG_CH3_OCAL_MSB;
+ regLSB = Registers::REG_CH3_OCAL_LSB;
+ break;
+ case 4:
+ regMSB = Registers::REG_CH4_OCAL_MSB;
+ regLSB = Registers::REG_CH4_OCAL_LSB;
+ break;
+ case 5:
+ regMSB = Registers::REG_CH5_OCAL_MSB;
+ regLSB = Registers::REG_CH5_OCAL_LSB;
+ break;
+ case 6:
+ regMSB = Registers::REG_CH6_OCAL_MSB;
+ regLSB = Registers::REG_CH6_OCAL_LSB;
+ break;
+ default:
+ regMSB = Registers::REG_CH7_OCAL_MSB;
+ regLSB = Registers::REG_CH7_OCAL_LSB;
+ break;
+ }
+
+ writeRegister(regMSB, static_cast<uint16_t>(offset) >> 16);
+ writeRegister(regLSB, static_cast<uint16_t>(offset) << 8);
+}
+
+void ADS131M08::setChannelGainCalibration(Channel channel, double gain)
+{
+ // Check gain value
+ if (gain < 0 || gain > 2)
+ return;
+
+ // Set the correct registers based on the selected channel
+ Registers regMSB, regLSB;
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ regMSB = Registers::REG_CH0_GCAL_MSB;
+ regLSB = Registers::REG_CH0_GCAL_LSB;
+ break;
+ case 1:
+ regMSB = Registers::REG_CH1_GCAL_MSB;
+ regLSB = Registers::REG_CH1_GCAL_LSB;
+ break;
+ case 2:
+ regMSB = Registers::REG_CH2_GCAL_MSB;
+ regLSB = Registers::REG_CH2_GCAL_LSB;
+ break;
+ case 3:
+ regMSB = Registers::REG_CH3_GCAL_MSB;
+ regLSB = Registers::REG_CH3_GCAL_LSB;
+ break;
+ case 4:
+ regMSB = Registers::REG_CH4_GCAL_MSB;
+ regLSB = Registers::REG_CH4_GCAL_LSB;
+ break;
+ case 5:
+ regMSB = Registers::REG_CH5_GCAL_MSB;
+ regLSB = Registers::REG_CH5_GCAL_LSB;
+ break;
+ case 6:
+ regMSB = Registers::REG_CH6_GCAL_MSB;
+ regLSB = Registers::REG_CH6_GCAL_LSB;
+ break;
+ default:
+ regMSB = Registers::REG_CH7_GCAL_MSB;
+ regLSB = Registers::REG_CH7_GCAL_LSB;
+ break;
+ }
+
+ // Compute the correct gain register parameter
+ uint32_t rawGain = gain * 8388608; // 2^23
+
+ writeRegister(regMSB, rawGain >> 16);
+ writeRegister(regLSB, rawGain << 8);
+}
+
+void ADS131M08::enableChannel(Channel channel)
+{
+ changeRegister(Registers::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
+ 1 << (static_cast<int>(channel) + 8));
+}
+
+void ADS131M08::disableChannel(Channel channel)
+{
+ changeRegister(Registers::REG_CLOCK, 0,
+ 1 << (static_cast<int>(channel) + 8));
+}
+
+void ADS131M08::enableGlobalChopMode()
+{
+ changeRegister(Registers::REG_CFG, ADS131M08RegisterBitMasks::REG_CFG_GC_EN,
+ ADS131M08RegisterBitMasks::REG_CFG_GC_EN);
+}
+
+void ADS131M08::disableGlobalChopMode()
+{
+ changeRegister(Registers::REG_CFG, 0,
+ ADS131M08RegisterBitMasks::REG_CFG_GC_EN);
+}
+
+ADCData ADS131M08::getVoltage(Channel channel)
+{
+ return {lastSample.timestamp, static_cast<uint8_t>(channel),
+ lastSample.voltage[static_cast<uint8_t>(channel)]};
+}
+
+bool ADS131M08::selfTest()
+{
+ // TODO
+ return true;
+}
+
+ADS131M08Data ADS131M08::sampleImpl()
+{
+ // Send the NULL command and read response
+ uint8_t data[30] = {0};
+
+ data[0] = static_cast<uint16_t>(Commands::NULL_CMD) >> 8;
+ data[1] = static_cast<uint16_t>(Commands::NULL_CMD);
+
+ SPITransaction transaction(spiSlave);
+ transaction.transfer(data, sizeof(data));
+
+ // Extract each channel value
+ int32_t rawValue[8];
+ rawValue[0] = static_cast<uint32_t>(data[3]) << 16 |
+ static_cast<uint32_t>(data[4]) << 8 |
+ static_cast<uint32_t>(data[5]);
+ rawValue[1] = static_cast<uint32_t>(data[6]) << 16 |
+ static_cast<uint32_t>(data[7]) << 8 |
+ static_cast<uint32_t>(data[8]);
+ rawValue[2] = static_cast<uint32_t>(data[9]) << 16 |
+ static_cast<uint32_t>(data[10]) << 8 |
+ static_cast<uint32_t>(data[11]);
+ rawValue[3] = static_cast<uint32_t>(data[12]) << 16 |
+ static_cast<uint32_t>(data[13]) << 8 |
+ static_cast<uint32_t>(data[14]);
+ rawValue[4] = static_cast<uint32_t>(data[15]) << 16 |
+ static_cast<uint32_t>(data[16]) << 8 |
+ static_cast<uint32_t>(data[17]);
+ rawValue[5] = static_cast<uint32_t>(data[18]) << 16 |
+ static_cast<uint32_t>(data[19]) << 8 |
+ static_cast<uint32_t>(data[20]);
+ rawValue[6] = static_cast<uint32_t>(data[21]) << 16 |
+ static_cast<uint32_t>(data[22]) << 8 |
+ static_cast<uint32_t>(data[23]);
+ rawValue[7] = static_cast<uint32_t>(data[24]) << 16 |
+ static_cast<uint32_t>(data[25]) << 8 |
+ static_cast<uint32_t>(data[26]);
+
+ // Extract and verify the CRC
+ uint16_t dataCrc =
+ static_cast<uint32_t>(data[27]) << 8 | static_cast<uint32_t>(data[28]);
+ uint16_t calculatedCrc = CRCUtils::crc16(data, sizeof(data) - 3);
+
+ if (dataCrc != calculatedCrc)
+ {
+ lastError = SensorErrors::BUS_FAULT;
+ LOG_ERR(logger, "Failed CRC check during sensor sampling");
+
+ // Return and don't convert the corrupted data
+ return lastSample;
+ }
+
+ // Set the two complement
+ for (int i = 0; i < 8; i++)
+ {
+ // Check for the sign bit
+ if (rawValue[i] & 0x800000)
+ rawValue[i] |= 0xFF000000; // Extend the sign bit
+ }
+
+ // Convert values
+ ADS131M08Data adcData;
+ adcData.timestamp = TimestampTimer::getTimestamp();
+ for (int i = 0; i < 8; i++)
+ {
+ adcData.voltage[i] =
+ rawValue[i] *
+ PGA_LSB_SIZE[static_cast<uint16_t>(channelsPGAGain[i])];
+ }
+
+ return adcData;
+}
+
+uint16_t ADS131M08::readRegister(Registers reg)
+{
+ uint8_t data[3] = {0};
+
+ // Prepare the command
+ data[0] = static_cast<uint16_t>(Commands::RREG) >> 8 |
+ static_cast<uint16_t>(reg) >> 1;
+ data[1] = static_cast<uint16_t>(reg) << 7;
+
+ SPITransaction transaction(spiSlave);
+ transaction.write(data, sizeof(data));
+ transaction.read(data, sizeof(data));
+
+ return data[0] << 8 | data[1];
+}
+
+void ADS131M08::writeRegister(Registers reg, uint16_t data)
+{
+ uint8_t writeCommand[6] = {0};
+
+ // Prepare the command
+ writeCommand[0] = static_cast<uint16_t>(Commands::WREG) >> 8 |
+ static_cast<uint16_t>(reg) >> 1;
+ writeCommand[1] = static_cast<uint16_t>(reg) << 7;
+ writeCommand[3] = data >> 8;
+ writeCommand[4] = data;
+
+ SPITransaction transaction(spiSlave);
+ transaction.write(writeCommand, sizeof(writeCommand));
+
+ // Check response
+ transaction.read(writeCommand, 3);
+ uint16_t response = writeCommand[0] << 8 | writeCommand[1];
+ if (response != (0x4000 | (static_cast<uint16_t>(reg) << 7)))
+ {
+ lastError = SensorErrors::COMMAND_FAILED;
+ LOG_ERR(logger, "Write command failed, response was {:X}", response);
+ }
+}
+
+void ADS131M08::changeRegister(Registers reg, uint16_t newValue, uint16_t mask)
+{
+ // Read the clock register
+ uint16_t regValue = readRegister(reg);
+
+ // Remove the OSR configuration
+ regValue &= ~mask;
+
+ // Set the OSR
+ regValue |= newValue;
+
+ // Write the new value
+ writeRegister(reg, regValue);
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M08/ADS131M08.h b/src/shared/sensors/ADS131M08/ADS131M08.h
new file mode 100644
index 000000000..0d2d3c733
--- /dev/null
+++ b/src/shared/sensors/ADS131M08/ADS131M08.h
@@ -0,0 +1,335 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * 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
+ * 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 "ADS131M08Data.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Driver for ADS131M08 8 simultaneous channels adc.
+ *
+ * The ADS131M08 is a four-channel, simultaneously-sampling, 24-bit,
+ * delta-sigma (ΔΣ), analog-to-digital converter (ADC). The individual ADC
+ * channels can be independently configured depending on the sensor input. A
+ * low-noise, programmable gain amplifier (PGA) provides gains ranging from 1
+ * to 128 to amplify low-level signals.
+ *
+ * Each channel on the ADS131M08 contains a digital decimation filter that
+ * demodulates the output of the ΔΣ modulators. Offset and gain calibration
+ * registers can be programmed to automatically adjust output samples for
+ * measured offset and gain errors.
+ *
+ * The device features a "global-chop mode" to reduce offset error and offset
+ * drift inherent to the device due to mismatch in the internal circuitry to
+ * very low levels. When global-chop mode is enabled by setting the GC_EN bit in
+ * the GLOBAL_CHOP_CFG register, the device uses the conversion results from two
+ * consecutive internal conversions taken with opposite input polarity to cancel
+ * the device offset voltage.
+ *
+ * Each channel has a dedicated input multiplexer that controls which signals
+ * are routed to the ADC channels:
+ * - The analog input pins corresponding to the given channel
+ * - AGND, which is helpfu for offset calibraton
+ * - Positive DC test signal
+ * - Negative DC test signal
+ *
+ * Each channel also feature an integrated programmable gain amplifier (PGA)
+ * that provides gains of 1 to 128. Each channel has an independent PGA.
+ *
+ * The device communicates via SPI, the maximum allowed frequency is 25MHz.
+ *
+ * The ADC can work on 3 different power configurations depending on the clock
+ * frequency:
+ * - High-resulution: 250-32KSPS
+ * - Low-power: 125-16KSPS
+ * - Very-low-power: 62.5-8KSPS
+ * You will probably have the ADC in high resolution mode.
+ */
+class ADS131M08 : public Sensor<ADS131M08Data>
+{
+public:
+ /**
+ * @brief ADC's oversampling ratio configurations.
+ *
+ * The OSR determins the output data rate, depending on the master clock
+ * frequency.
+ *
+ * ODR = f_CLK / 2 / OSR
+ *
+ * On Skyward's boards an 8.192MHz clock is used.
+ */
+ enum class OversamplingRatio : uint16_t
+ {
+ OSR_128 = 0, // ODR is 32KHz
+ OSR_256 = 0x1 << 2, // ODR is 16KHz
+ OSR_512 = 0x2 << 2, // ODR is 8KHz
+ OSR_1024 = 0x3 << 2, // ODR is 4KHz
+ OSR_2048 = 0x4 << 2, // ODR is 2KHz
+ OSR_4096 = 0x5 << 2, // ODR is 1KHz
+ OSR_8192 = 0x6 << 2, // ODR is 500Hz
+ OSR_16256 = 0x7 << 2 // ODR is 250Hz
+ };
+
+ enum class PGA : uint16_t
+ {
+ PGA_1 = 0, ///< Full scale resolution is ±1.2V
+ PGA_2 = 0x1, ///< Full scale resolution is ±600mV
+ PGA_4 = 0x2, ///< Full scale resolution is ±300mV
+ PGA_8 = 0x3, ///< Full scale resolution is ±150mV
+ PGA_16 = 0x4, ///< Full scale resolution is ±75mV
+ PGA_32 = 0x5, ///< Full scale resolution is ±37.5mV
+ PGA_64 = 0x6, ///< Full scale resolution is ±18.75mV
+ PGA_128 = 0x7 ///< Full scale resolution is ±9.375mV
+ };
+
+ enum class Channel : uint8_t
+ {
+ CHANNEL_0 = 0,
+ CHANNEL_1 = 1,
+ CHANNEL_2 = 2,
+ CHANNEL_3 = 3,
+ CHANNEL_4 = 3,
+ CHANNEL_5 = 3,
+ CHANNEL_6 = 3,
+ CHANNEL_7 = 3
+ };
+
+ ADS131M08(SPIBusInterface &bus, miosix::GpioPin cs,
+ SPIBusConfig config = getDefaultSPIConfig());
+
+ explicit ADS131M08(SPISlave spiSlave);
+
+ /**
+ * Constructs the default config for SPI Bus.
+ *
+ * @returns The default SPIBusConfig.
+ */
+ static SPIBusConfig getDefaultSPIConfig();
+
+ bool init() override;
+
+ bool reset();
+
+ /**
+ * @brief Samples each channel, averages the samples and applies offset
+ * compensation in the device.
+ */
+ void calibrateOffset();
+
+ void setOversamplingRatio(OversamplingRatio ratio);
+
+ void setChannelPGA(Channel channel, PGA gain);
+
+ /**
+ * @brief Sets the channel offset.
+ *
+ * Note that the device offset is a 24bit two complement.
+ */
+ void setChannelOffset(Channel channel, uint32_t offset);
+
+ /**
+ * @brief Sets the channel gain calibration.
+ *
+ * The ADS131M08 corrects for gain errors by multiplying the ADC conversion
+ * result using the gain calibration registers.
+ * The gain calibration value is interpreted as a 24bit unsigned. The values
+ * corresponds to n * (1/2^23), ranging from 0 to 2 - (1/2^23).
+ *
+ * This function accepts a value between 0 and 2, it then compute the
+ * correct gain register value.
+ *
+ * @param gain Must be between 0 and 2.
+ */
+ void setChannelGainCalibration(Channel channel, double gain);
+
+ void enableChannel(Channel channel);
+
+ void disableChannel(Channel channel);
+
+ void enableGlobalChopMode();
+
+ void disableGlobalChopMode();
+
+ ADCData getVoltage(Channel channel);
+
+ bool selfTest() override;
+
+protected:
+ ADS131M08Data sampleImpl() override;
+
+private:
+ enum class Registers : uint16_t
+ {
+ // Device settings and indicators
+ REG_ID = 0,
+ REG_STATUS = 0x1,
+
+ // Global settings across channels
+ REG_MODE = 0x2,
+ REG_CLOCK = 0x3,
+ REG_GAIN_1 = 0x4,
+ REG_GAIN_2 = 0x5,
+ REG_CFG = 0x6,
+ REG_THRSHLD_MSB = 0x7,
+ REG_THRSHLD_LSB = 0x8,
+
+ // Channel specific settings
+ REG_CH0_CFG = 0x9,
+ REG_CH0_OCAL_MSB = 0xA,
+ REG_CH0_OCAL_LSB = 0xB,
+ REG_CH0_GCAL_MSB = 0xC,
+ REG_CH0_GCAL_LSB = 0xD,
+ REG_CH1_CFG = 0xE,
+ REG_CH1_OCAL_MSB = 0xF,
+ REG_CH1_OCAL_LSB = 0x10,
+ REG_CH1_GCAL_MSB = 0x11,
+ REG_CH1_GCAL_LSB = 0x12,
+ REG_CH2_CFG = 0x13,
+ REG_CH2_OCAL_MSB = 0x14,
+ REG_CH2_OCAL_LSB = 0x15,
+ REG_CH2_GCAL_MSB = 0x16,
+ REG_CH2_GCAL_LSB = 0x17,
+ REG_CH3_CFG = 0x18,
+ REG_CH3_OCAL_MSB = 0x19,
+ REG_CH3_OCAL_LSB = 0x1A,
+ REG_CH3_GCAL_MSB = 0x1B,
+ REG_CH3_GCAL_LSB = 0x1C,
+ REG_CH4_CFG = 0x1D,
+ REG_CH4_OCAL_MSB = 0x1E,
+ REG_CH4_OCAL_LSB = 0x1F,
+ REG_CH4_GCAL_MSB = 0x20,
+ REG_CH4_GCAL_LSB = 0x21,
+ REG_CH5_CFG = 0x22,
+ REG_CH5_OCAL_MSB = 0x23,
+ REG_CH5_OCAL_LSB = 0x24,
+ REG_CH5_GCAL_MSB = 0x25,
+ REG_CH5_GCAL_LSB = 0x26,
+ REG_CH6_CFG = 0x27,
+ REG_CH6_OCAL_MSB = 0x28,
+ REG_CH6_OCAL_LSB = 0x29,
+ REG_CH6_GCAL_MSB = 0x2A,
+ REG_CH6_GCAL_LSB = 0x2B,
+ REG_CH7_CFG = 0x2C,
+ REG_CH7_OCAL_MSB = 0x2D,
+ REG_CH7_OCAL_LSB = 0x2E,
+ REG_CH7_GCAL_MSB = 0x2F,
+ REG_CH7_GCAL_LSB = 0x30,
+
+ // Register map CRC
+ REG_REGMAP_CRC = 0x3E
+ };
+
+ uint16_t readRegister(Registers reg);
+
+ void writeRegister(Registers reg, uint16_t data);
+
+ void changeRegister(Registers reg, uint16_t newValue, uint16_t mask);
+
+ enum class Commands : uint16_t
+ {
+ NULL_CMD = 0,
+ RESET = 0x11,
+ STANDBY = 0x22,
+ WAKEUP = 0x33,
+ LOCK = 0x555,
+ UNLOCK = 0x655,
+ RREG = 0xA000,
+ WREG = 0x6000
+ };
+
+ ///< Digit value in mV for each pga configurations
+ const float PGA_LSB_SIZE[8] = {143.0511e-9, 71.5256e-9, 35.7628e-9,
+ 17.8814e-9, 8.9407e-9, 4.4703e-9,
+ 2.2352e-9, 1.1176e-9};
+
+ PGA channelsPGAGain[8] = {PGA::PGA_1};
+
+protected:
+ SPISlave spiSlave;
+
+ PrintLogger logger = Logging::getLogger("ads131m08");
+};
+
+namespace ADS131M08RegisterBitMasks
+{
+
+// Status register
+constexpr uint16_t REG_STATUS_LOCK = 1 << 15;
+constexpr uint16_t REG_STATUS_F_RESYNC = 1 << 14;
+constexpr uint16_t REG_STATUS_REG_MAP = 1 << 13;
+constexpr uint16_t REG_STATUS_CRC_ERR = 1 << 12;
+constexpr uint16_t REG_STATUS_CRC_TYPE = 1 << 11;
+constexpr uint16_t REG_STATUS_RESET = 1 << 10;
+constexpr uint16_t REG_STATUS_WLENGTH = 3 << 8;
+constexpr uint16_t REG_STATUS_DRDY3 = 1 << 3;
+constexpr uint16_t REG_STATUS_DRDY2 = 1 << 2;
+constexpr uint16_t REG_STATUS_DRDY1 = 1 << 1;
+constexpr uint16_t REG_STATUS_DRDY0 = 1;
+
+// Mode register
+constexpr uint16_t REG_MODE_REG_CRC_EN = 1 << 13;
+constexpr uint16_t REG_MODE_RX_CRC_EN = 1 << 12;
+constexpr uint16_t REG_MODE_CRC_TYPE = 1 << 11;
+constexpr uint16_t REG_MODE_RESET = 1 << 10;
+constexpr uint16_t REG_MODE_WLENGTH = 3 << 8;
+constexpr uint16_t REG_MODE_TIMEOUT = 1 << 4;
+constexpr uint16_t REG_MODE_DRDY_SEL = 3 << 2;
+constexpr uint16_t REG_MODE_DRDY_HiZ = 1 << 1;
+constexpr uint16_t REG_MODE_DRDY_FMT = 1 << 0;
+
+// Clock register
+constexpr uint16_t REG_CLOCK_CH3_EN = 1 << 11;
+constexpr uint16_t REG_CLOCK_CH2_EN = 1 << 10;
+constexpr uint16_t REG_CLOCK_CH1_EN = 1 << 9;
+constexpr uint16_t REG_CLOCK_CH0_EN = 1 << 8;
+constexpr uint16_t REG_CLOCK_OSR = 7 << 2;
+constexpr uint16_t REG_CLOCK_PWR = 3;
+
+// Gain register
+constexpr uint16_t REG_GAIN_PGAGAIN3 = 7 << 12;
+constexpr uint16_t REG_GAIN_PGAGAIN2 = 7 << 8;
+constexpr uint16_t REG_GAIN_PGAGAIN1 = 7 << 4;
+constexpr uint16_t REG_GAIN_PGAGAIN0 = 7;
+
+// Configuration register
+constexpr uint16_t REG_CFG_GC_DLY = 0xF << 9;
+constexpr uint16_t REG_CFG_GC_EN = 1 << 8;
+constexpr uint16_t REG_CFG_CD_ALLCH = 1 << 7;
+constexpr uint16_t REG_CFG_CD_NUM = 7 << 4;
+constexpr uint16_t REG_CFG_CD_LEN = 7 << 1;
+constexpr uint16_t REG_CFG_CD_EN = 1;
+
+// Channel configuration register
+constexpr uint16_t REG_CHx_CFG_PHASE = 0x3FF << 6;
+constexpr uint16_t REG_CHx_CFG_DCBLK_DIS = 1 << 2;
+constexpr uint16_t REG_CHx_CFG_MUX = 3;
+
+} // namespace ADS131M08RegisterBitMasks
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M04/ADS131M04HighFreqData.h b/src/shared/sensors/ADS131M08/ADS131M08Data.h
similarity index 50%
rename from src/shared/sensors/ADS131M04/ADS131M04HighFreqData.h
rename to src/shared/sensors/ADS131M08/ADS131M08Data.h
index 74806a448..355bcd4dc 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04HighFreqData.h
+++ b/src/shared/sensors/ADS131M08/ADS131M08Data.h
@@ -24,14 +24,46 @@
#include <stdint.h>
+#include <ostream>
+
namespace Boardcore
{
-struct ADS131M04HighFreqData
+struct ADS131M08Data
{
- uint16_t status;
- uint8_t rawData[12];
- uint16_t crc;
+ uint64_t timestamp;
+ float voltage[8];
+
+ ADS131M08Data() : ADS131M08Data{0, 0, 0, 0, 0, 0, 0, 0, 0} {}
+
+ ADS131M08Data(uint64_t timestamp, float voltageCh1, float voltageCh2,
+ float voltageCh3, float voltageCh4, float voltageCh5,
+ float voltageCh6, float voltageCh7, float voltageCh8)
+ : timestamp(timestamp)
+ {
+ voltage[0] = voltageCh1;
+ voltage[1] = voltageCh2;
+ voltage[2] = voltageCh3;
+ voltage[3] = voltageCh4;
+ voltage[4] = voltageCh5;
+ voltage[5] = voltageCh6;
+ voltage[6] = voltageCh7;
+ voltage[7] = voltageCh8;
+ }
+
+ static std::string header()
+ {
+ return "timestamp,voltage_channel_1,voltage_channel_2,voltage_channel_"
+ "3,voltage_channel_4,voltage_channel_5,voltage_channel_6,"
+ "voltage_channel_7,voltage_channel_8\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << voltage[0] << "," << voltage[1] << ","
+ << voltage[2] << "," << voltage[3] << "," << voltage[4] << ","
+ << voltage[5] << "," << voltage[6] << "," << voltage[7] << "\n";
+ }
};
} // namespace Boardcore
diff --git a/src/tests/sensors/test-ads131m08.cpp b/src/tests/sensors/test-ads131m08.cpp
new file mode 100644
index 000000000..5deb400da
--- /dev/null
+++ b/src/tests/sensors/test-ads131m08.cpp
@@ -0,0 +1,80 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * 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
+ * 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 <drivers/spi/SPIDriver.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <miosix.h>
+#include <sensors/ADS131M08/ADS131M08.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+GpioPin sckPin = GpioPin(GPIOA_BASE, 5);
+GpioPin misoPin = GpioPin(GPIOA_BASE, 6);
+GpioPin mosiPin = GpioPin(GPIOA_BASE, 7);
+GpioPin csPin = GpioPin(GPIOA_BASE, 3);
+
+void initBoard()
+{
+ // Setup gpio pins
+ csPin.mode(Mode::OUTPUT);
+ csPin.high();
+ sckPin.mode(Mode::ALTERNATE);
+ sckPin.alternateFunction(5);
+ misoPin.mode(Mode::ALTERNATE);
+ misoPin.alternateFunction(5);
+ mosiPin.mode(Mode::ALTERNATE);
+ mosiPin.alternateFunction(5);
+}
+
+int main()
+{
+ // Enable SPI clock and set gpios
+ initBoard();
+
+ // SPI configuration setup
+ SPIBus spiBus(SPI1);
+ SPISlave spiSlave(spiBus, csPin, ADS131M08::getDefaultSPIConfig());
+
+ // Device initialization
+ ADS131M08 ads131(spiSlave);
+
+ // Initialize the device
+ ads131.init();
+ ads131.enableGlobalChopMode();
+ ads131.setOversamplingRatio(ADS131M08::OversamplingRatio::OSR_16256);
+ ads131.calibrateOffset();
+
+ while (true)
+ {
+ ads131.sample();
+
+ ADS131M08Data data = ads131.getLastSample();
+
+ printf(
+ "% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\n",
+ data.voltage[0], data.voltage[1], data.voltage[2], data.voltage[3],
+ data.voltage[4], data.voltage[5], data.voltage[6], data.voltage[7]);
+
+ delayMs(50);
+ }
+}
--
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