diff --git a/src/shared/sensors/ADS131M04/ADS131M04.cpp b/src/shared/sensors/ADS131M04/ADS131M04.cpp
index e8619ac47f4c7afcd999fe4a49959df38edbd19e..bb614f6cef4029e39f0d869011422141108158b9 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.cpp
+++ b/src/shared/sensors/ADS131M04/ADS131M04.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
+/* Copyright (c) 2023 Skyward Experimental Rocketry
* Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -27,7 +27,7 @@
#include <utils/CRC.h>
using namespace miosix;
-using namespace Boardcore::ADS131M04RegisterBitMasks;
+using namespace Boardcore::ADS131M04Defs;
namespace Boardcore
{
@@ -38,7 +38,16 @@ ADS131M04::ADS131M04(SPIBusInterface &bus, miosix::GpioPin cs,
{
}
-ADS131M04::ADS131M04(SPISlave spiSlave) : spiSlave(spiSlave) {}
+ADS131M04::ADS131M04(SPISlave spiSlave) : spiSlave(spiSlave)
+{
+ // Initialize the channel configurations
+ for (int i = 0; i < CHANNELS_NUM; i++)
+ {
+ channelsPGAGain[i] = PGA::PGA_1;
+ channelsOffset[i] = 0;
+ channelsGain[i] = 1.0;
+ }
+}
SPIBusConfig ADS131M04::getDefaultSPIConfig()
{
@@ -48,28 +57,22 @@ SPIBusConfig ADS131M04::getDefaultSPIConfig()
return spiConfig;
}
-void ADS131M04::setOversamplingRatio(OversamplingRatio ratio)
-{
- changeRegister(Registers::REG_CLOCK, static_cast<uint16_t>(ratio),
- REG_CLOCK_OSR);
-}
-
bool ADS131M04::init() { return true; }
bool ADS131M04::reset()
{
- // Write all the communication frame which is maximum 6 24bit words
- uint8_t data[18] = {0};
+ SPITransaction transaction(spiSlave);
- // Prepare the command
- data[1] = static_cast<uint16_t>(Commands::RESET);
+ uint8_t data[ADS131M04Defs::FULL_FRAME_SIZE] = {0};
+ sendCommand(transaction, Command::RESET, data);
- SPITransaction transaction(spiSlave);
- transaction.write(data, sizeof(data));
+ // The reset command takes typically 5us to reload the register contents.
+ // We wait 10us to be sure
miosix::delayUs(10);
- transaction.read(data, 3);
- uint16_t response = data[0] << 8 | data[1];
+ // To read the response we need to read the full 3 bytes word. The response
+ // code is contained in the first 2 bytes, the last byte is padding
+ uint16_t response = transaction.read24() >> 8;
// Check for the correct response
if (response != RESET_CMD_RESPONSE)
@@ -84,242 +87,189 @@ bool ADS131M04::reset()
void ADS131M04::calibrateOffset()
{
- // Reset all offsets and gains
- for (int i = 0; i < 8; i++)
+ // Reset all offsets and gains, otherwise the calibration would be wrong
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelOffset(static_cast<Channel>(i), 0);
+ setChannelOffsetImpl(static_cast<Channel>(i), 0);
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
}
// Sample the channels and average the samples
- int32_t averageValues[4] = {0};
- for (int i = 0; i < 250; i++)
+ int32_t averageValues[CHANNELS_NUM] = {0};
+ int realSampleCount = 0;
+ for (int i = 0; i < CALIBRATION_SAMPLES; i++)
{
+ // Wait for a sample to be ready
Thread::sleep(4);
- uint8_t data[18] = {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));
-
- for (int j = 0; j < 4; j++)
+ // Sample the channels
+ int32_t rawValues[CHANNELS_NUM];
+ if (!readSamples(rawValues))
{
- int32_t tmp = static_cast<uint32_t>(data[j * 3 + 3]) << 16 |
- static_cast<uint32_t>(data[j * 3 + 4]) << 8 |
- static_cast<uint32_t>(data[j * 3 + 5]);
-
- // Check for the sign bit
- if (tmp & 0x00800000)
- tmp |= 0xFF000000; // Extend the sign bit
+ // If the CRC failed we skip this sample
+ continue;
+ }
- averageValues[j] += tmp;
+ for (int j = 0; j < CHANNELS_NUM; j++)
+ {
+ averageValues[j] += rawValues[j];
}
- }
- for (int i = 0; i < 4; i++)
- averageValues[i] /= 250;
- // Configure the offset registers
- for (int i = 0; i < 4; i++)
+ realSampleCount++;
+ }
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
+ // Compute the average
+ averageValues[i] /= realSampleCount;
+ LOG_INFO(logger, "Channel {} average offset: {}", i,
+ averageValues[i] * getLSBSizeFromGain(channelsPGAGain[i]));
+
+ // The new offset is the average value
setChannelOffset(static_cast<Channel>(i), averageValues[i]);
+
+ // Reset the gain as it was before
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
}
}
+void ADS131M04::setOversamplingRatio(OversamplingRatio ratio)
+{
+ changeRegister(Register::REG_CLOCK, static_cast<uint16_t>(ratio),
+ RegClockMasks::OSR);
+}
+
void ADS131M04::setChannelPGA(Channel channel, PGA gain)
{
+ setChannelPGAImpl(channel, gain);
channelsPGAGain[static_cast<int>(channel)] = gain;
-
- int shift = static_cast<int>(channel) * 4;
- changeRegister(Registers::REG_GAIN, static_cast<uint16_t>(gain) << shift,
- REG_GAIN_PGAGAIN0 << shift);
}
void ADS131M04::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;
- default:
- regMSB = Registers::REG_CH3_OCAL_MSB;
- regLSB = Registers::REG_CH3_OCAL_LSB;
- break;
- }
-
- writeRegister(regMSB, offset >> 8);
- writeRegister(regLSB, offset << 16);
+ setChannelOffsetImpl(channel, offset);
+ channelsOffset[static_cast<int>(channel)] = offset;
}
void ADS131M04::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;
- default:
- regMSB = Registers::REG_CH3_GCAL_MSB;
- regLSB = Registers::REG_CH3_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 ADS131M04::setChannelInput(Channel channel, Input input)
-{
- // Set the correct register based on the selected channel
- Registers reg;
- switch (static_cast<int>(channel))
- {
- case 0:
- reg = Registers::REG_CH0_CFG;
- break;
- case 1:
- reg = Registers::REG_CH1_CFG;
- break;
- case 2:
- reg = Registers::REG_CH2_CFG;
- break;
- default:
- reg = Registers::REG_CH3_CFG;
- break;
- }
-
- uint16_t value = readRegister(reg);
- value &= REG_CHx_CFG_MUX;
- value |= static_cast<uint16_t>(input);
- writeRegister(reg, value);
+ setChannelGainCalibrationImpl(channel, gain);
+ channelsGain[static_cast<int>(channel)] = gain;
}
void ADS131M04::enableChannel(Channel channel)
{
- changeRegister(Registers::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
+ changeRegister(Register::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
1 << (static_cast<int>(channel) + 8));
}
void ADS131M04::disableChannel(Channel channel)
{
- changeRegister(Registers::REG_CLOCK, 0,
+ changeRegister(Register::REG_CLOCK, 0,
1 << (static_cast<int>(channel) + 8));
}
void ADS131M04::enableGlobalChopMode()
{
- changeRegister(Registers::REG_CFG, ADS131M04RegisterBitMasks::REG_CFG_GC_EN,
- ADS131M04RegisterBitMasks::REG_CFG_GC_EN);
+ changeRegister(Register::REG_CFG, RegConfigurationMasks::GC_EN,
+ RegConfigurationMasks::GC_EN);
}
void ADS131M04::disableGlobalChopMode()
{
- changeRegister(Registers::REG_CFG, 0,
- ADS131M04RegisterBitMasks::REG_CFG_GC_EN);
-}
-
-ADCData ADS131M04::getVoltage(Channel channel)
-{
- return {lastSample.timestamp, static_cast<uint8_t>(channel),
- lastSample.voltage[static_cast<uint8_t>(channel)]};
+ changeRegister(Register::REG_CFG, 0, RegConfigurationMasks::GC_EN);
}
bool ADS131M04::selfTest()
{
- static constexpr float V_REF = 1.2;
- static constexpr float TEST_SIGNAL_FACTOR = 2 / 15;
- static constexpr float TEST_SIGNAL_SLACK = 0.1; // Not defined in DS
-
- float voltage[4] = {0};
+ float voltage[CHANNELS_NUM] = {0};
+ bool success = true;
- // Connect all channels to the positive DC test signal
- for (int i = 0; i < 4; i++)
+ // Reset PGA, offsets and gains and connect the positive test signal
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
+ setChannelPGAImpl(static_cast<Channel>(i), PGA::PGA_1);
+ setChannelOffsetImpl(static_cast<Channel>(i), 0);
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
setChannelInput(static_cast<Channel>(i), Input::POSITIVE_DC_TEST);
- setChannelPGA(static_cast<Channel>(i), PGA::PGA_1);
}
// Take some samples
- for (int i = 0; i < 100; i++)
+ for (int i = 0; i < SELF_TEST_SAMPLES; i++)
{
Thread::sleep(4);
auto newSample = sampleImpl();
- for (int j = 0; j < 4; j++)
+ for (int j = 0; j < CHANNELS_NUM; j++)
{
voltage[j] += newSample.voltage[j];
}
}
- // Check values
- for (int i = 0; i < 4; i++)
+ // Check the values
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- voltage[i] /= 100;
+ // Compute the average
+ voltage[i] /= SELF_TEST_SAMPLES;
+
+ // Check if the value is in the acceptable range
if (voltage[i] < V_REF * TEST_SIGNAL_FACTOR - TEST_SIGNAL_SLACK)
- return false;
+ {
+ LOG_ERR(logger,
+ "Self test failed on channel {} on positive test signal, "
+ "value was {}",
+ i, voltage[i]);
+ success = false;
+ }
}
// Connect all channels to the negative DC test signal
- for (int i = 0; i < 4; i++)
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
setChannelInput(static_cast<Channel>(i), Input::NEGATIVE_DC_TEST);
}
// Take some samples
- for (int i = 0; i < 100; i++)
+ for (int i = 0; i < SELF_TEST_SAMPLES; i++)
{
Thread::sleep(4);
auto newSample = sampleImpl();
- for (int j = 0; j < 4; j++)
+ for (int j = 0; j < CHANNELS_NUM; j++)
{
voltage[j] += newSample.voltage[j];
}
}
- // Check values
- for (int i = 0; i < 4; i++)
+ // Check the values
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- voltage[i] /= 100;
+ // Compute the average
+ voltage[i] /= SELF_TEST_SAMPLES;
+
+ // Check if the value is in the acceptable range
if (voltage[i] > -V_REF * TEST_SIGNAL_FACTOR + TEST_SIGNAL_SLACK)
- return false;
+ {
+ LOG_ERR(logger,
+ "Self test failed on channel {} on negative test signal, "
+ "value was {}",
+ i, voltage[i]);
+ success = false;
+ }
}
- // Reset channel connections
- for (int i = 0; i < 8; i++)
+ // If any channel failed we return false
+ if (!success)
{
- setChannelInput(static_cast<Channel>(i), Input::POSITIVE_DC_TEST);
+ return false;
+ }
+
+ // Reset channels previous configuration
+ for (int i = 0; i < CHANNELS_NUM; i++)
+ {
+ setChannelPGAImpl(static_cast<Channel>(i), channelsPGAGain[i]);
+ setChannelOffsetImpl(static_cast<Channel>(i), channelsOffset[i]);
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
+ setChannelInput(static_cast<Channel>(i), Input::DEFAULT);
}
return true;
@@ -327,27 +277,184 @@ bool ADS131M04::selfTest()
ADS131M04Data ADS131M04::sampleImpl()
{
- // Send the NULL command and read response
- uint8_t data[18] = {0};
+ // Read the samples and check if the CRC is correct
+ int32_t rawValues[CHANNELS_NUM];
+ if (!readSamples(rawValues))
+ {
+ // The CRC failed, return the last sample
+ return lastSample;
+ }
- data[0] = static_cast<uint16_t>(Commands::NULL_CMD) >> 8;
- data[1] = static_cast<uint16_t>(Commands::NULL_CMD);
+ // Convert the raw values to voltages
+ ADS131M04Data adcData;
+ adcData.timestamp = TimestampTimer::getTimestamp();
+ for (int i = 0; i < CHANNELS_NUM; i++)
+ {
+ adcData.voltage[i] =
+ rawValues[i] * getLSBSizeFromGain(channelsPGAGain[i]);
+ }
- SPITransaction transaction(spiSlave);
- transaction.transfer(data, sizeof(data));
+ return adcData;
+}
- // Extract each channel value
- int32_t rawValue[4];
- for (int i = 0; i < 4; i++)
+void ADS131M04::setChannelInput(Channel channel, Input input)
+{
+ Register reg = getChannelConfigRegister(channel);
+ changeRegister(reg, static_cast<uint16_t>(input), RegChannelMasks::CFG_MUX);
+}
+
+void ADS131M04::setChannelPGAImpl(Channel channel, PGA gain)
+{
+ int shift = static_cast<int>(channel) * 4;
+ changeRegister(Register::REG_GAIN, static_cast<uint16_t>(gain) << shift,
+ RegGainMasks::PGA_GAIN_0 << shift);
+}
+
+void ADS131M04::setChannelOffsetImpl(Channel channel, uint32_t offset)
+{
+ // The offset is a 24 bit value. Its two most significant bytes are stored
+ // in the MSB register, and the least significant in the LSB register, like
+ // this:
+ // +----------+-------+
+ // | | 23-16 |
+ // | OCAL_MSB +-------+
+ // | | 15-8 |
+ // +----------+-------+
+ // | | 7-0 |
+ // | OCAL_LSB +-------+
+ // | | |
+ // +----------+-------+
+ writeRegister(getChannelOffsetRegisterMSB(channel), offset >> 8);
+ writeRegister(getChannelOffsetRegisterLSB(channel), offset << 8);
+}
+
+void ADS131M04::setChannelGainCalibrationImpl(Channel channel, double gain)
+{
+ // If the user passes a value outside the range [0, 2] we cap it.
+ if (gain < 0)
+ {
+ gain = 0;
+ }
+ else if (gain > 2)
{
- rawValue[i] = static_cast<uint32_t>(data[i * 3 + 3]) << 16 |
- static_cast<uint32_t>(data[i * 3 + 4]) << 8 |
- static_cast<uint32_t>(data[i * 3 + 5]);
+ gain = 2;
}
+ // The ADS131M04 corrects for gain errors by multiplying the ADC conversion
+ // result using the gain calibration registers.
+ // The contents of the gain calibration registers are interpreted by the
+ // dives as 24-bit unsigned values corresponding to linear steps from 0 to
+ // 2-(1/2^23).
+ // So effectively the register value is a fixed point number with 1bit for
+ // the integer part and 23 bits for the fractional part.
+ // So to convert the gain value to the register value we multiply it by 2^23
+ uint32_t rawGain = gain * (1 << 23);
+
+ // The gain is a 24 bit value. Its two most significant bytes are stored
+ // in the MSB register, and the least significant in the LSB register, like
+ // this:
+ // +----------+-------+
+ // | | 23-16 |
+ // | GCAL_MSB +-------+
+ // | | 15-8 |
+ // +----------+-------+
+ // | | 7-0 |
+ // | GCAL_LSB +-------+
+ // | | |
+ // +----------+-------+
+ writeRegister(getChannelGainRegisterMSB(channel), rawGain >> 8);
+ writeRegister(getChannelGainRegisterLSB(channel), rawGain << 8);
+}
+
+Register ADS131M04::getChannelConfigRegister(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_CFG;
+ case 1:
+ return Register::REG_CH1_CFG;
+ case 2:
+ return Register::REG_CH2_CFG;
+ default:
+ return Register::REG_CH3_CFG;
+ }
+}
+
+Register ADS131M04::getChannelOffsetRegisterMSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_OCAL_MSB;
+ case 1:
+ return Register::REG_CH1_OCAL_MSB;
+ case 2:
+ return Register::REG_CH2_OCAL_MSB;
+ default:
+ return Register::REG_CH3_OCAL_MSB;
+ }
+}
+
+Register ADS131M04::getChannelOffsetRegisterLSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_OCAL_LSB;
+ case 1:
+ return Register::REG_CH1_OCAL_LSB;
+ case 2:
+ return Register::REG_CH2_OCAL_LSB;
+ default:
+ return Register::REG_CH3_OCAL_LSB;
+ }
+}
+
+Register ADS131M04::getChannelGainRegisterMSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_GCAL_MSB;
+ case 1:
+ return Register::REG_CH1_GCAL_MSB;
+ case 2:
+ return Register::REG_CH2_GCAL_MSB;
+ default:
+ return Register::REG_CH3_GCAL_MSB;
+ }
+}
+
+Register ADS131M04::getChannelGainRegisterLSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_GCAL_LSB;
+ case 1:
+ return Register::REG_CH1_GCAL_LSB;
+ case 2:
+ return Register::REG_CH2_GCAL_LSB;
+ default:
+ return Register::REG_CH3_GCAL_LSB;
+ }
+}
+
+bool ADS131M04::readSamples(int32_t rawValues[CHANNELS_NUM])
+{
+ // Send the NULL command and read response
+ uint8_t data[FULL_FRAME_SIZE] = {0};
+
+ data[0] = (static_cast<uint16_t>(Command::NULL_CMD) & 0xff00) >> 8;
+ data[1] = (static_cast<uint16_t>(Command::NULL_CMD) & 0x00ff);
+
+ SPITransaction transaction(spiSlave);
+ transaction.transfer(data, sizeof(data));
+
// Extract and verify the CRC
uint16_t dataCrc =
- static_cast<uint32_t>(data[15]) << 8 | static_cast<uint32_t>(data[16]);
+ static_cast<uint16_t>(data[15]) << 8 | static_cast<uint16_t>(data[16]);
uint16_t calculatedCrc = CRCUtils::crc16(data, sizeof(data) - 3);
if (dataCrc != calculatedCrc)
@@ -356,36 +463,30 @@ ADS131M04Data ADS131M04::sampleImpl()
LOG_ERR(logger, "Failed CRC check during sensor sampling");
// Return and don't convert the corrupted data
- return lastSample;
+ return false;
}
- // Set the two complement
- for (int i = 0; i < 4; i++)
+ // Extract each channel value
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- // Check for the sign bit
- if (rawValue[i] & 0x00800000)
- rawValue[i] |= 0xFF000000; // Extend the sign bit
- }
+ rawValues[i] = static_cast<uint32_t>(data[i * 3 + 3]) << 16 |
+ static_cast<uint32_t>(data[i * 3 + 4]) << 8 |
+ static_cast<uint32_t>(data[i * 3 + 5]);
- // Convert values
- ADS131M04Data adcData;
- adcData.timestamp = TimestampTimer::getTimestamp();
- for (int i = 0; i < 4; i++)
- {
- adcData.voltage[i] =
- rawValue[i] *
- PGA_LSB_SIZE[static_cast<uint16_t>(channelsPGAGain[i])];
+ // Extend the sign bit with a double shift
+ rawValues[i] <<= 8;
+ rawValues[i] >>= 8;
}
- return adcData;
+ return true;
}
-uint16_t ADS131M04::readRegister(Registers reg)
+uint16_t ADS131M04::readRegister(Register reg)
{
uint8_t data[3] = {0};
// Prepare the command
- data[0] = static_cast<uint16_t>(Commands::RREG) >> 8 |
+ data[0] = static_cast<uint16_t>(Command::RREG) >> 8 |
static_cast<uint16_t>(reg) >> 1;
data[1] = static_cast<uint16_t>(reg) << 7;
@@ -396,12 +497,14 @@ uint16_t ADS131M04::readRegister(Registers reg)
return data[0] << 8 | data[1];
}
-void ADS131M04::writeRegister(Registers reg, uint16_t data)
+void ADS131M04::writeRegister(Register reg, uint16_t data)
{
+ // The write command uses two communication words (3 bytes each), one for
+ // the register address and one for the data to write
uint8_t writeCommand[6] = {0};
// Prepare the command
- writeCommand[0] = static_cast<uint16_t>(Commands::WREG) >> 8 |
+ writeCommand[0] = static_cast<uint16_t>(Command::WREG) >> 8 |
static_cast<uint16_t>(reg) >> 1;
writeCommand[1] = static_cast<uint16_t>(reg) << 7;
writeCommand[3] = data >> 8;
@@ -410,29 +513,47 @@ void ADS131M04::writeRegister(Registers reg, uint16_t 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)))
+ // The response contains a fixed part and the register address.
+ uint16_t response = transaction.read24() >> 8;
+ if (response != (WRITE_CMD_RESPONSE | (static_cast<uint16_t>(reg) << 7)))
{
lastError = SensorErrors::COMMAND_FAILED;
LOG_ERR(logger, "Write command failed, response was {:X}", response);
}
}
-void ADS131M04::changeRegister(Registers reg, uint16_t newValue, uint16_t mask)
+void ADS131M04::changeRegister(Register reg, uint16_t newValue, uint16_t mask)
{
// Read the clock register
uint16_t regValue = readRegister(reg);
- // Remove the OSR configuration
+ // Remove the target configuration
regValue &= ~mask;
- // Set the OSR
+ // Set the new value
regValue |= newValue;
// Write the new value
writeRegister(reg, regValue);
}
+void ADS131M04::sendCommand(SPITransaction &transaction, Command command,
+ uint8_t data[FULL_FRAME_SIZE])
+{
+ // All commands (a part from read and write) needs the full 10 words
+ // communication frame. Each word is (by default) 3 bytes long
+
+ // The command is 16 bits long and goes in the most significant bytes of the
+ // first communication word
+ data[0] = (static_cast<uint16_t>(command) & 0xff00) >> 8;
+ data[1] = (static_cast<uint16_t>(command) & 0x00ff);
+
+ transaction.write(data, FULL_FRAME_SIZE);
+}
+
+float ADS131M04::getLSBSizeFromGain(PGA gain)
+{
+ return PGA_LSB_SIZE[static_cast<uint16_t>(gain)];
+}
+
} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M04/ADS131M04.h b/src/shared/sensors/ADS131M04/ADS131M04.h
index 4f4615ac1a44c0adc702a62537720b9727627a98..5140345736481fa8ab203cf70f9f6c6f2c840eac 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.h
+++ b/src/shared/sensors/ADS131M04/ADS131M04.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2023 Skyward Experimental Rocketry
* Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -27,6 +27,7 @@
#include <sensors/Sensor.h>
#include "ADS131M04Data.h"
+#include "ADS131M04Defs.h"
namespace Boardcore
{
@@ -74,57 +75,7 @@ namespace Boardcore
class ADS131M04 : public Sensor<ADS131M04Data>
{
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
- };
-
- enum class Input : uint8_t
- {
- DEFAULT = 0, // AINxP and AINxN (default)
- SHORTED = 1, // ADC inputs shorted
- POSITIVE_DC_TEST = 2, // Positive DC test signal
- NEGATIVE_DC_TEST = 3 // Negative DC test signal
- };
-
- ADS131M04(SPIBusInterface &bus, miosix::GpioPin cs,
+ ADS131M04(SPIBusInterface& bus, miosix::GpioPin cs,
SPIBusConfig config = getDefaultSPIConfig());
explicit ADS131M04(SPISlave spiSlave);
@@ -146,16 +97,16 @@ public:
*/
void calibrateOffset();
- void setOversamplingRatio(OversamplingRatio ratio);
+ void setOversamplingRatio(ADS131M04Defs::OversamplingRatio ratio);
- void setChannelPGA(Channel channel, PGA gain);
+ void setChannelPGA(ADS131M04Defs::Channel channel, ADS131M04Defs::PGA gain);
/**
* @brief Sets the channel offset.
*
* Note that the device offset is a 24bit two complement.
*/
- void setChannelOffset(Channel channel, uint32_t offset);
+ void setChannelOffset(ADS131M04Defs::Channel channel, uint32_t offset);
/**
* @brief Sets the channel gain calibration.
@@ -170,152 +121,69 @@ public:
*
* @param gain Must be between 0 and 2.
*/
- void setChannelGainCalibration(Channel channel, double gain);
-
- void setChannelInput(Channel channel, Input input);
+ void setChannelGainCalibration(ADS131M04Defs::Channel channel, double gain);
- void enableChannel(Channel channel);
+ void enableChannel(ADS131M04Defs::Channel channel);
- void disableChannel(Channel channel);
+ void disableChannel(ADS131M04Defs::Channel channel);
void enableGlobalChopMode();
void disableGlobalChopMode();
- ADCData getVoltage(Channel channel);
-
bool selfTest() override;
-protected:
+private:
ADS131M04Data 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 = 0x4,
- 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,
-
- // 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
- };
+ void setChannelInput(ADS131M04Defs::Channel channel,
+ ADS131M04Defs::Input input);
- SPISlave spiSlave;
+ void setChannelPGAImpl(ADS131M04Defs::Channel channel,
+ ADS131M04Defs::PGA gain);
- PGA channelsPGAGain[4] = {PGA::PGA_1, PGA::PGA_1, PGA::PGA_1, PGA::PGA_1};
+ void setChannelOffsetImpl(ADS131M04Defs::Channel channel, uint32_t offset);
- PrintLogger logger = Logging::getLogger("ads131m04");
+ void setChannelGainCalibrationImpl(ADS131M04Defs::Channel channel,
+ double gain);
- static constexpr uint16_t RESET_CMD_RESPONSE = 0xFF24;
+ ADS131M04Defs::Register getChannelConfigRegister(
+ ADS131M04Defs::Channel channel);
- ///< 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};
-};
+ ADS131M04Defs::Register getChannelOffsetRegisterMSB(
+ ADS131M04Defs::Channel channel);
-namespace ADS131M04RegisterBitMasks
-{
+ ADS131M04Defs::Register getChannelOffsetRegisterLSB(
+ ADS131M04Defs::Channel channel);
-// 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 ADS131M04RegisterBitMasks
+ ADS131M04Defs::Register getChannelGainRegisterMSB(
+ ADS131M04Defs::Channel channel);
+
+ ADS131M04Defs::Register getChannelGainRegisterLSB(
+ ADS131M04Defs::Channel channel);
+
+ bool readSamples(int32_t rawValues[ADS131M04Defs::CHANNELS_NUM]);
+
+ uint16_t readRegister(ADS131M04Defs::Register reg);
+
+ void writeRegister(ADS131M04Defs::Register reg, uint16_t data);
+
+ void changeRegister(ADS131M04Defs::Register reg, uint16_t newValue,
+ uint16_t mask);
+
+ void sendCommand(SPITransaction& transaction, ADS131M04Defs::Command cmd,
+ uint8_t data[ADS131M04Defs::FULL_FRAME_SIZE]);
+
+ float getLSBSizeFromGain(ADS131M04Defs::PGA gain);
+
+ SPISlave spiSlave;
+
+ // Current channels configuration
+ ADS131M04Defs::PGA channelsPGAGain[ADS131M04Defs::CHANNELS_NUM];
+ uint32_t channelsOffset[ADS131M04Defs::CHANNELS_NUM];
+ double channelsGain[ADS131M04Defs::CHANNELS_NUM];
+
+ PrintLogger logger = Logging::getLogger("ads131m04");
+};
} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M04/ADS131M04Defs.h b/src/shared/sensors/ADS131M04/ADS131M04Defs.h
new file mode 100644
index 0000000000000000000000000000000000000000..c90555df41eacec8f8ff6a32a75fb391a89dfbfb
--- /dev/null
+++ b/src/shared/sensors/ADS131M04/ADS131M04Defs.h
@@ -0,0 +1,216 @@
+/* Copyright (c) 2023 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 <stdint.h>
+
+namespace Boardcore
+{
+
+namespace ADS131M04Defs
+{
+
+static constexpr int CHANNELS_NUM = 4;
+static constexpr int CALIBRATION_SAMPLES = 250;
+static constexpr int SELF_TEST_SAMPLES = 250;
+static constexpr int FULL_FRAME_SIZE = 18;
+static constexpr uint16_t RESET_CMD_RESPONSE = 0xFF24;
+static constexpr uint16_t WRITE_CMD_RESPONSE = 0x4000;
+
+///< Digit value in mV for each pga configurations
+constexpr 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};
+
+static constexpr float V_REF = 1.2;
+static constexpr float TEST_SIGNAL_FACTOR = 2 / 15;
+static constexpr float TEST_SIGNAL_SLACK = 0.1; // Not defined in DS
+
+/**
+ * @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
+};
+
+enum class Input : uint8_t
+{
+ DEFAULT = 0, // AINxP and AINxN (default)
+ SHORTED = 1, // ADC inputs shorted
+ POSITIVE_DC_TEST = 2, // Positive DC test signal
+ NEGATIVE_DC_TEST = 3 // Negative DC test signal
+};
+
+enum class Register : uint16_t
+{
+ // Device settings and indicators
+ REG_ID = 0,
+ REG_STATUS = 0x1,
+
+ // Global settings across channels
+ REG_MODE = 0x2,
+ REG_CLOCK = 0x3,
+ REG_GAIN = 0x4,
+ 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,
+
+ // Register map CRC
+ REG_REGMAP_CRC = 0x3E
+};
+
+enum class Command : uint16_t
+{
+ NULL_CMD = 0x0000,
+ RESET = 0x0011,
+ STANDBY = 0x0022,
+ WAKEUP = 0x0033,
+ LOCK = 0x0555,
+ UNLOCK = 0x0655,
+ RREG = 0xA000,
+ WREG = 0x6000
+};
+
+namespace RegStatusMasks
+{
+constexpr uint16_t LOCK = 0x1 << 15;
+constexpr uint16_t F_RESYNC = 0x1 << 14;
+constexpr uint16_t REG_MAP = 0x1 << 13;
+constexpr uint16_t CRC_ERR = 0x1 << 12;
+constexpr uint16_t CRC_TYPE = 0x1 << 11;
+constexpr uint16_t RESET = 0x1 << 10;
+constexpr uint16_t WLENGTH = 0x3 << 8;
+constexpr uint16_t DRDY3 = 0x1 << 3;
+constexpr uint16_t DRDY2 = 0x1 << 2;
+constexpr uint16_t DRDY1 = 0x1 << 1;
+constexpr uint16_t DRDY0 = 0x1 << 0;
+} // namespace RegStatusMasks
+
+namespace RegModeMasks
+{
+constexpr uint16_t REG_CRC_EN = 0x1 << 13;
+constexpr uint16_t RX_CRC_EN = 0x1 << 12;
+constexpr uint16_t CRC_TYPE = 0x1 << 11;
+constexpr uint16_t RESET = 0x1 << 10;
+constexpr uint16_t WLENGTH = 0x3 << 8;
+constexpr uint16_t TIMEOUT = 0x1 << 4;
+constexpr uint16_t DRDY_SEL = 0x3 << 2;
+constexpr uint16_t DRDY_HiZ = 0x1 << 1;
+constexpr uint16_t DRDY_FMT = 0x1 << 0;
+} // namespace RegModeMasks
+
+namespace RegClockMasks
+{
+constexpr uint16_t CH3_EN = 0x1 << 11;
+constexpr uint16_t CH2_EN = 0x1 << 10;
+constexpr uint16_t CH1_EN = 0x1 << 9;
+constexpr uint16_t CH0_EN = 0x1 << 8;
+constexpr uint16_t OSR = 0x7 << 2;
+constexpr uint16_t POWER_MODE = 0x3 << 0;
+} // namespace RegClockMasks
+
+namespace RegGainMasks
+{
+constexpr uint16_t PGA_GAIN_3 = 0x7 << 12;
+constexpr uint16_t PGA_GAIN_2 = 0x7 << 8;
+constexpr uint16_t PGA_GAIN_1 = 0x7 << 4;
+constexpr uint16_t PGA_GAIN_0 = 0x7 << 0;
+} // namespace RegGainMasks
+
+namespace RegConfigurationMasks
+{
+constexpr uint16_t GC_DLY = 0xF << 9;
+constexpr uint16_t GC_EN = 0x1 << 8;
+constexpr uint16_t CD_ALLCH = 0x1 << 7;
+constexpr uint16_t CD_NUM = 0x7 << 4;
+constexpr uint16_t CD_LEN = 0x7 << 1;
+constexpr uint16_t CD_EN = 0x1 << 0;
+} // namespace RegConfigurationMasks
+
+namespace RegChannelMasks
+{
+constexpr uint16_t CFG_PHASE = 0x3FF << 6;
+constexpr uint16_t CFG_DCBLK_DIS = 0x001 << 2;
+constexpr uint16_t CFG_MUX = 0x003 << 0;
+} // namespace RegChannelMasks
+
+} // namespace ADS131M04Defs
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M08/ADS131M08.cpp b/src/shared/sensors/ADS131M08/ADS131M08.cpp
index 667ccd2449109ad690b190ed5ed62338e76ba54d..dfcda68abb9c52b4754ca6ca1e71057c1ed1136b 100644
--- a/src/shared/sensors/ADS131M08/ADS131M08.cpp
+++ b/src/shared/sensors/ADS131M08/ADS131M08.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
+/* Copyright (c) 2023 Skyward Experimental Rocketry
* Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -27,7 +27,7 @@
#include <utils/CRC.h>
using namespace miosix;
-using namespace Boardcore::ADS131M08RegisterBitMasks;
+using namespace Boardcore::ADS131M08Defs;
namespace Boardcore
{
@@ -38,7 +38,16 @@ ADS131M08::ADS131M08(SPIBusInterface &bus, miosix::GpioPin cs,
{
}
-ADS131M08::ADS131M08(SPISlave spiSlave) : spiSlave(spiSlave) {}
+ADS131M08::ADS131M08(SPISlave spiSlave) : spiSlave(spiSlave)
+{
+ // Initialize the channel configurations
+ for (int i = 0; i < CHANNELS_NUM; i++)
+ {
+ channelsPGAGain[i] = PGA::PGA_1;
+ channelsOffset[i] = 0;
+ channelsGain[i] = 1.0;
+ }
+}
SPIBusConfig ADS131M08::getDefaultSPIConfig()
{
@@ -48,28 +57,22 @@ SPIBusConfig ADS131M08::getDefaultSPIConfig()
return spiConfig;
}
-void ADS131M08::setOversamplingRatio(OversamplingRatio ratio)
-{
- changeRegister(Registers::REG_CLOCK, static_cast<uint16_t>(ratio),
- REG_CLOCK_OSR);
-}
-
bool ADS131M08::init() { return true; }
bool ADS131M08::reset()
{
- // Write all the communication frame which is maximum 6 24bit words
- uint8_t data[30] = {0};
+ SPITransaction transaction(spiSlave);
- // Prepare the command
- data[1] = static_cast<uint16_t>(Commands::RESET);
+ uint8_t data[ADS131M08Defs::FULL_FRAME_SIZE] = {0};
+ sendCommand(transaction, Command::RESET, data);
- SPITransaction transaction(spiSlave);
- transaction.write(data, sizeof(data));
+ // The reset command takes typically 5us to reload the register contents.
+ // We wait 10us to be sure
miosix::delayUs(10);
- transaction.read(data, 3);
- uint16_t response = data[0] << 8 | data[1];
+ // To read the response we need to read the full 3 bytes word. The response
+ // code is contained in the first 2 bytes, the last byte is padding
+ uint16_t response = transaction.read24() >> 8;
// Check for the correct response
if (response != RESET_CMD_RESPONSE)
@@ -84,297 +87,189 @@ bool ADS131M08::reset()
void ADS131M08::calibrateOffset()
{
- // Reset all offsets and gains
- for (int i = 0; i < 8; i++)
+ // Reset all offsets and gains, otherwise the calibration would be wrong
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelOffset(static_cast<Channel>(i), 0);
+ setChannelOffsetImpl(static_cast<Channel>(i), 0);
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
}
// Sample the channels and average the samples
- int32_t averageValues[8] = {0};
- for (int i = 0; i < 250; i++)
+ int32_t averageValues[CHANNELS_NUM] = {0};
+ int realSampleCount = 0;
+ for (int i = 0; i < CALIBRATION_SAMPLES; i++)
{
+ // Wait for a sample to be ready
Thread::sleep(4);
- 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));
-
- for (int j = 0; j < 8; j++)
+ // Sample the channels
+ int32_t rawValues[CHANNELS_NUM];
+ if (!readSamples(rawValues))
{
- int32_t tmp = static_cast<uint32_t>(data[j * 3 + 3]) << 16 |
- static_cast<uint32_t>(data[j * 3 + 4]) << 8 |
- static_cast<uint32_t>(data[j * 3 + 5]);
-
- // Check for the sign bit
- if (tmp & 0x00800000)
- tmp |= 0xFF000000; // Extend the sign bit
+ // If the CRC failed we skip this sample
+ continue;
+ }
- averageValues[j] += tmp;
+ for (int j = 0; j < CHANNELS_NUM; j++)
+ {
+ averageValues[j] += rawValues[j];
}
- }
- for (int i = 0; i < 8; i++)
- averageValues[i] /= 250;
- // Configure the offset registers
- for (int i = 0; i < 8; i++)
+ realSampleCount++;
+ }
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
+ // Compute the average
+ averageValues[i] /= realSampleCount;
+ LOG_INFO(logger, "Channel {} average offset: {}", i,
+ averageValues[i] * getLSBSizeFromGain(channelsPGAGain[i]));
+
+ // The new offset is the average value
setChannelOffset(static_cast<Channel>(i), averageValues[i]);
+
+ // Reset the gain as it was before
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
}
}
+void ADS131M08::setOversamplingRatio(OversamplingRatio ratio)
+{
+ changeRegister(Register::REG_CLOCK, static_cast<uint16_t>(ratio),
+ RegClockMasks::OSR);
+}
+
void ADS131M08::setChannelPGA(Channel channel, PGA gain)
{
+ setChannelPGAImpl(channel, 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, offset >> 8);
- writeRegister(regLSB, offset << 16);
+ setChannelOffsetImpl(channel, offset);
+ channelsOffset[static_cast<int>(channel)] = offset;
}
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::setChannelInput(Channel channel, Input input)
-{
- // Set the correct register based on the selected channel
- Registers reg;
- switch (static_cast<int>(channel))
- {
- case 0:
- reg = Registers::REG_CH0_CFG;
- break;
- case 1:
- reg = Registers::REG_CH1_CFG;
- break;
- case 2:
- reg = Registers::REG_CH2_CFG;
- break;
- case 3:
- reg = Registers::REG_CH3_CFG;
- break;
- case 4:
- reg = Registers::REG_CH4_CFG;
- break;
- case 5:
- reg = Registers::REG_CH5_CFG;
- break;
- case 6:
- reg = Registers::REG_CH6_CFG;
- break;
- default:
- reg = Registers::REG_CH7_CFG;
- break;
- }
-
- uint16_t value = readRegister(reg);
- value &= REG_CHx_CFG_MUX;
- value |= static_cast<uint16_t>(input);
- writeRegister(reg, value);
+ setChannelGainCalibrationImpl(channel, gain);
+ channelsGain[static_cast<int>(channel)] = gain;
}
void ADS131M08::enableChannel(Channel channel)
{
- changeRegister(Registers::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
+ changeRegister(Register::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
1 << (static_cast<int>(channel) + 8));
}
void ADS131M08::disableChannel(Channel channel)
{
- changeRegister(Registers::REG_CLOCK, 0,
+ changeRegister(Register::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);
+ changeRegister(Register::REG_CFG, RegConfigurationMasks::GC_EN,
+ RegConfigurationMasks::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)]};
+ changeRegister(Register::REG_CFG, 0, RegConfigurationMasks::GC_EN);
}
bool ADS131M08::selfTest()
{
- static constexpr float V_REF = 1.2;
- static constexpr float TEST_SIGNAL_FACTOR = 2 / 15;
- static constexpr float TEST_SIGNAL_SLACK = 0.1; // Not defined in DS
-
- float voltage[8] = {0};
+ float voltage[CHANNELS_NUM] = {0};
+ bool success = true;
- // Connect all channels to the positive DC test signal
- for (int i = 0; i < 8; i++)
+ // Reset PGA, offsets and gains and connect the positive test signal
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
+ setChannelPGAImpl(static_cast<Channel>(i), PGA::PGA_1);
+ setChannelOffsetImpl(static_cast<Channel>(i), 0);
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
setChannelInput(static_cast<Channel>(i), Input::POSITIVE_DC_TEST);
- setChannelPGA(static_cast<Channel>(i), PGA::PGA_1);
}
// Take some samples
- for (int i = 0; i < 100; i++)
+ for (int i = 0; i < SELF_TEST_SAMPLES; i++)
{
Thread::sleep(4);
auto newSample = sampleImpl();
- for (int j = 0; j < 8; j++)
+ for (int j = 0; j < CHANNELS_NUM; j++)
{
voltage[j] += newSample.voltage[j];
}
}
- // Check values
- for (int i = 0; i < 8; i++)
+ // Check the values
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- voltage[i] /= 100;
+ // Compute the average
+ voltage[i] /= SELF_TEST_SAMPLES;
+
+ // Check if the value is in the acceptable range
if (voltage[i] < V_REF * TEST_SIGNAL_FACTOR - TEST_SIGNAL_SLACK)
- return false;
+ {
+ LOG_ERR(logger,
+ "Self test failed on channel {} on positive test signal, "
+ "value was {}",
+ i, voltage[i]);
+ success = false;
+ }
}
// Connect all channels to the negative DC test signal
- for (int i = 0; i < 8; i++)
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
setChannelInput(static_cast<Channel>(i), Input::NEGATIVE_DC_TEST);
}
// Take some samples
- for (int i = 0; i < 100; i++)
+ for (int i = 0; i < SELF_TEST_SAMPLES; i++)
{
Thread::sleep(4);
auto newSample = sampleImpl();
- for (int j = 0; j < 8; j++)
+ for (int j = 0; j < CHANNELS_NUM; j++)
{
voltage[j] += newSample.voltage[j];
}
}
- // Check values
- for (int i = 0; i < 8; i++)
+ // Check the values
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- voltage[i] /= 100;
+ // Compute the average
+ voltage[i] /= SELF_TEST_SAMPLES;
+
+ // Check if the value is in the acceptable range
if (voltage[i] > -V_REF * TEST_SIGNAL_FACTOR + TEST_SIGNAL_SLACK)
- return false;
+ {
+ LOG_ERR(logger,
+ "Self test failed on channel {} on negative test signal, "
+ "value was {}",
+ i, voltage[i]);
+ success = false;
+ }
}
- // Reset channel connections
- for (int i = 0; i < 8; i++)
+ // If any channel failed we return false
+ if (!success)
{
- setChannelInput(static_cast<Channel>(i), Input::POSITIVE_DC_TEST);
+ return false;
+ }
+
+ // Reset channels previous configuration
+ for (int i = 0; i < CHANNELS_NUM; i++)
+ {
+ setChannelPGAImpl(static_cast<Channel>(i), channelsPGAGain[i]);
+ setChannelOffsetImpl(static_cast<Channel>(i), channelsOffset[i]);
+ setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
+ setChannelInput(static_cast<Channel>(i), Input::DEFAULT);
}
return true;
@@ -382,27 +277,235 @@ bool ADS131M08::selfTest()
ADS131M08Data ADS131M08::sampleImpl()
{
- // Send the NULL command and read response
- uint8_t data[30] = {0};
+ // Read the samples and check if the CRC is correct
+ int32_t rawValues[CHANNELS_NUM];
+ if (!readSamples(rawValues))
+ {
+ // The CRC failed, return the last sample
+ return lastSample;
+ }
+
+ // Convert the raw values to voltages
+ ADS131M08Data adcData;
+ adcData.timestamp = TimestampTimer::getTimestamp();
+ for (int i = 0; i < CHANNELS_NUM; i++)
+ {
+ adcData.voltage[i] =
+ rawValues[i] * getLSBSizeFromGain(channelsPGAGain[i]);
+ }
- data[0] = static_cast<uint16_t>(Commands::NULL_CMD) >> 8;
- data[1] = static_cast<uint16_t>(Commands::NULL_CMD);
+ return adcData;
+}
- SPITransaction transaction(spiSlave);
- transaction.transfer(data, sizeof(data));
+void ADS131M08::setChannelInput(Channel channel, Input input)
+{
+ Register reg = getChannelConfigRegister(channel);
+ changeRegister(reg, static_cast<uint16_t>(input), RegChannelMasks::CFG_MUX);
+}
- // Extract each channel value
- int32_t rawValue[8];
- for (int i = 0; i < 8; i++)
+void ADS131M08::setChannelPGAImpl(Channel channel, PGA gain)
+{
+ if (channel <= Channel::CHANNEL_3)
{
- rawValue[i] = static_cast<uint32_t>(data[i * 3 + 3]) << 16 |
- static_cast<uint32_t>(data[i * 3 + 4]) << 8 |
- static_cast<uint32_t>(data[i * 3 + 5]);
+ int shift = static_cast<int>(channel) * 4;
+ changeRegister(Register::REG_GAIN_1,
+ static_cast<uint16_t>(gain) << shift,
+ RegGainMasks::PGA_GAIN_0 << shift);
+ }
+ else
+ {
+ int shift = (static_cast<int>(channel) - 4) * 4;
+ changeRegister(Register::REG_GAIN_2,
+ static_cast<uint16_t>(gain) << shift,
+ RegGainMasks::PGA_GAIN_0 << shift);
+ }
+}
+
+void ADS131M08::setChannelOffsetImpl(Channel channel, uint32_t offset)
+{
+ // The offset is a 24 bit value. Its two most significant bytes are stored
+ // in the MSB register, and the least significant in the LSB register, like
+ // this:
+ // +----------+-------+
+ // | | 23-16 |
+ // | OCAL_MSB +-------+
+ // | | 15-8 |
+ // +----------+-------+
+ // | | 7-0 |
+ // | OCAL_LSB +-------+
+ // | | |
+ // +----------+-------+
+ writeRegister(getChannelOffsetRegisterMSB(channel), offset >> 8);
+ writeRegister(getChannelOffsetRegisterLSB(channel), offset << 8);
+}
+
+void ADS131M08::setChannelGainCalibrationImpl(Channel channel, double gain)
+{
+ // If the user passes a value outside the range [0, 2] we cap it.
+ if (gain < 0)
+ {
+ gain = 0;
+ }
+ else if (gain > 2)
+ {
+ gain = 2;
+ }
+
+ // The ADS131M08 corrects for gain errors by multiplying the ADC conversion
+ // result using the gain calibration registers.
+ // The contents of the gain calibration registers are interpreted by the
+ // dives as 24-bit unsigned values corresponding to linear steps from 0 to
+ // 2-(1/2^23).
+ // So effectively the register value is a fixed point number with 1bit for
+ // the integer part and 23 bits for the fractional part.
+ // So to convert the gain value to the register value we multiply it by 2^23
+ uint32_t rawGain = gain * (1 << 23);
+
+ // The gain is a 24 bit value. Its two most significant bytes are stored
+ // in the MSB register, and the least significant in the LSB register, like
+ // this:
+ // +----------+-------+
+ // | | 23-16 |
+ // | GCAL_MSB +-------+
+ // | | 15-8 |
+ // +----------+-------+
+ // | | 7-0 |
+ // | GCAL_LSB +-------+
+ // | | |
+ // +----------+-------+
+ writeRegister(getChannelGainRegisterMSB(channel), rawGain >> 8);
+ writeRegister(getChannelGainRegisterLSB(channel), rawGain << 8);
+}
+
+Register ADS131M08::getChannelConfigRegister(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_CFG;
+ case 1:
+ return Register::REG_CH1_CFG;
+ case 2:
+ return Register::REG_CH2_CFG;
+ case 3:
+ return Register::REG_CH3_CFG;
+ case 4:
+ return Register::REG_CH4_CFG;
+ case 5:
+ return Register::REG_CH5_CFG;
+ case 6:
+ return Register::REG_CH6_CFG;
+ default:
+ return Register::REG_CH7_CFG;
+ }
+}
+
+Register ADS131M08::getChannelOffsetRegisterMSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_OCAL_MSB;
+ case 1:
+ return Register::REG_CH1_OCAL_MSB;
+ case 2:
+ return Register::REG_CH2_OCAL_MSB;
+ case 3:
+ return Register::REG_CH3_OCAL_MSB;
+ case 4:
+ return Register::REG_CH4_OCAL_MSB;
+ case 5:
+ return Register::REG_CH5_OCAL_MSB;
+ case 6:
+ return Register::REG_CH6_OCAL_MSB;
+ default:
+ return Register::REG_CH7_OCAL_MSB;
+ }
+}
+
+Register ADS131M08::getChannelOffsetRegisterLSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_OCAL_LSB;
+ case 1:
+ return Register::REG_CH1_OCAL_LSB;
+ case 2:
+ return Register::REG_CH2_OCAL_LSB;
+ case 3:
+ return Register::REG_CH3_OCAL_LSB;
+ case 4:
+ return Register::REG_CH4_OCAL_LSB;
+ case 5:
+ return Register::REG_CH5_OCAL_LSB;
+ case 6:
+ return Register::REG_CH6_OCAL_LSB;
+ default:
+ return Register::REG_CH7_OCAL_LSB;
}
+}
+
+Register ADS131M08::getChannelGainRegisterMSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_GCAL_MSB;
+ case 1:
+ return Register::REG_CH1_GCAL_MSB;
+ case 2:
+ return Register::REG_CH2_GCAL_MSB;
+ case 3:
+ return Register::REG_CH3_GCAL_MSB;
+ case 4:
+ return Register::REG_CH4_GCAL_MSB;
+ case 5:
+ return Register::REG_CH5_GCAL_MSB;
+ case 6:
+ return Register::REG_CH6_GCAL_MSB;
+ default:
+ return Register::REG_CH7_GCAL_MSB;
+ }
+}
+
+Register ADS131M08::getChannelGainRegisterLSB(Channel channel)
+{
+ switch (static_cast<int>(channel))
+ {
+ case 0:
+ return Register::REG_CH0_GCAL_LSB;
+ case 1:
+ return Register::REG_CH1_GCAL_LSB;
+ case 2:
+ return Register::REG_CH2_GCAL_LSB;
+ case 3:
+ return Register::REG_CH3_GCAL_LSB;
+ case 4:
+ return Register::REG_CH4_GCAL_LSB;
+ case 5:
+ return Register::REG_CH5_GCAL_LSB;
+ case 6:
+ return Register::REG_CH6_GCAL_LSB;
+ default:
+ return Register::REG_CH7_GCAL_LSB;
+ }
+}
+
+bool ADS131M08::readSamples(int32_t rawValues[CHANNELS_NUM])
+{
+ // Send the NULL command and read response
+ uint8_t data[FULL_FRAME_SIZE] = {0};
+
+ data[0] = (static_cast<uint16_t>(Command::NULL_CMD) & 0xff00) >> 8;
+ data[1] = (static_cast<uint16_t>(Command::NULL_CMD) & 0x00ff);
+
+ SPITransaction transaction(spiSlave);
+ transaction.transfer(data, sizeof(data));
// Extract and verify the CRC
uint16_t dataCrc =
- static_cast<uint32_t>(data[27]) << 8 | static_cast<uint32_t>(data[28]);
+ static_cast<uint16_t>(data[27]) << 8 | static_cast<uint16_t>(data[28]);
uint16_t calculatedCrc = CRCUtils::crc16(data, sizeof(data) - 3);
if (dataCrc != calculatedCrc)
@@ -411,36 +514,30 @@ ADS131M08Data ADS131M08::sampleImpl()
LOG_ERR(logger, "Failed CRC check during sensor sampling");
// Return and don't convert the corrupted data
- return lastSample;
+ return false;
}
- // Set the two complement
- for (int i = 0; i < 8; i++)
+ // Extract each channel value
+ for (int i = 0; i < CHANNELS_NUM; i++)
{
- // Check for the sign bit
- if (rawValue[i] & 0x00800000)
- rawValue[i] |= 0xFF000000; // Extend the sign bit
- }
+ rawValues[i] = static_cast<uint32_t>(data[i * 3 + 3]) << 16 |
+ static_cast<uint32_t>(data[i * 3 + 4]) << 8 |
+ static_cast<uint32_t>(data[i * 3 + 5]);
- // 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])];
+ // Extend the sign bit with a double shift
+ rawValues[i] <<= 8;
+ rawValues[i] >>= 8;
}
- return adcData;
+ return true;
}
-uint16_t ADS131M08::readRegister(Registers reg)
+uint16_t ADS131M08::readRegister(Register reg)
{
uint8_t data[3] = {0};
// Prepare the command
- data[0] = static_cast<uint16_t>(Commands::RREG) >> 8 |
+ data[0] = static_cast<uint16_t>(Command::RREG) >> 8 |
static_cast<uint16_t>(reg) >> 1;
data[1] = static_cast<uint16_t>(reg) << 7;
@@ -451,12 +548,14 @@ uint16_t ADS131M08::readRegister(Registers reg)
return data[0] << 8 | data[1];
}
-void ADS131M08::writeRegister(Registers reg, uint16_t data)
+void ADS131M08::writeRegister(Register reg, uint16_t data)
{
+ // The write command uses two communication words (3 bytes each), one for
+ // the register address and one for the data to write
uint8_t writeCommand[6] = {0};
// Prepare the command
- writeCommand[0] = static_cast<uint16_t>(Commands::WREG) >> 8 |
+ writeCommand[0] = static_cast<uint16_t>(Command::WREG) >> 8 |
static_cast<uint16_t>(reg) >> 1;
writeCommand[1] = static_cast<uint16_t>(reg) << 7;
writeCommand[3] = data >> 8;
@@ -465,29 +564,47 @@ void ADS131M08::writeRegister(Registers reg, uint16_t 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)))
+ // The response contains a fixed part and the register address.
+ uint16_t response = transaction.read24() >> 8;
+ if (response != (WRITE_CMD_RESPONSE | (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)
+void ADS131M08::changeRegister(Register reg, uint16_t newValue, uint16_t mask)
{
// Read the clock register
uint16_t regValue = readRegister(reg);
- // Remove the OSR configuration
+ // Remove the target configuration
regValue &= ~mask;
- // Set the OSR
+ // Set the new value
regValue |= newValue;
// Write the new value
writeRegister(reg, regValue);
}
+void ADS131M08::sendCommand(SPITransaction &transaction, Command command,
+ uint8_t data[FULL_FRAME_SIZE])
+{
+ // All commands (a part from read and write) needs the full 10 words
+ // communication frame. Each word is (by default) 3 bytes long
+
+ // The command is 16 bits long and goes in the most significant bytes of the
+ // first communication word
+ data[0] = (static_cast<uint16_t>(command) & 0xff00) >> 8;
+ data[1] = (static_cast<uint16_t>(command) & 0x00ff);
+
+ transaction.write(data, FULL_FRAME_SIZE);
+}
+
+float ADS131M08::getLSBSizeFromGain(PGA gain)
+{
+ return PGA_LSB_SIZE[static_cast<uint16_t>(gain)];
+}
+
} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M08/ADS131M08.h b/src/shared/sensors/ADS131M08/ADS131M08.h
index 374288a80525f288c71d89e647e67126b11fd1bc..705cf29dd3e7d71ad5a406a53ee0b4d9c5e0f014 100644
--- a/src/shared/sensors/ADS131M08/ADS131M08.h
+++ b/src/shared/sensors/ADS131M08/ADS131M08.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2023 Skyward Experimental Rocketry
* Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -27,6 +27,7 @@
#include <sensors/Sensor.h>
#include "ADS131M08Data.h"
+#include "ADS131M08Defs.h"
namespace Boardcore
{
@@ -74,61 +75,7 @@ namespace Boardcore
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 = 4,
- CHANNEL_5 = 5,
- CHANNEL_6 = 6,
- CHANNEL_7 = 7
- };
-
- enum class Input : uint8_t
- {
- DEFAULT = 0, // AINxP and AINxN (default)
- SHORTED = 1, // ADC inputs shorted
- POSITIVE_DC_TEST = 2, // Positive DC test signal
- NEGATIVE_DC_TEST = 3 // Negative DC test signal
- };
-
- ADS131M08(SPIBusInterface &bus, miosix::GpioPin cs,
+ ADS131M08(SPIBusInterface& bus, miosix::GpioPin cs,
SPIBusConfig config = getDefaultSPIConfig());
explicit ADS131M08(SPISlave spiSlave);
@@ -150,16 +97,16 @@ public:
*/
void calibrateOffset();
- void setOversamplingRatio(OversamplingRatio ratio);
+ void setOversamplingRatio(ADS131M08Defs::OversamplingRatio ratio);
- void setChannelPGA(Channel channel, PGA gain);
+ void setChannelPGA(ADS131M08Defs::Channel channel, ADS131M08Defs::PGA gain);
/**
* @brief Sets the channel offset.
*
* Note that the device offset is a 24bit two complement.
*/
- void setChannelOffset(Channel channel, uint32_t offset);
+ void setChannelOffset(ADS131M08Defs::Channel channel, uint32_t offset);
/**
* @brief Sets the channel gain calibration.
@@ -174,174 +121,69 @@ public:
*
* @param gain Must be between 0 and 2.
*/
- void setChannelGainCalibration(Channel channel, double gain);
-
- void setChannelInput(Channel channel, Input input);
+ void setChannelGainCalibration(ADS131M08Defs::Channel channel, double gain);
- void enableChannel(Channel channel);
+ void enableChannel(ADS131M08Defs::Channel channel);
- void disableChannel(Channel channel);
+ void disableChannel(ADS131M08Defs::Channel channel);
void enableGlobalChopMode();
void disableGlobalChopMode();
- ADCData getVoltage(Channel channel);
-
bool selfTest() override;
-protected:
+private:
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
- };
+ void setChannelInput(ADS131M08Defs::Channel channel,
+ ADS131M08Defs::Input input);
- SPISlave spiSlave;
+ void setChannelPGAImpl(ADS131M08Defs::Channel channel,
+ ADS131M08Defs::PGA gain);
- PGA channelsPGAGain[8] = {PGA::PGA_1, PGA::PGA_1, PGA::PGA_1, PGA::PGA_1,
- PGA::PGA_1, PGA::PGA_1, PGA::PGA_1, PGA::PGA_1};
+ void setChannelOffsetImpl(ADS131M08Defs::Channel channel, uint32_t offset);
- PrintLogger logger = Logging::getLogger("ads131m08");
+ void setChannelGainCalibrationImpl(ADS131M08Defs::Channel channel,
+ double gain);
- static constexpr uint16_t RESET_CMD_RESPONSE = 0xFF28;
+ ADS131M08Defs::Register getChannelConfigRegister(
+ ADS131M08Defs::Channel channel);
- ///< 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};
-};
+ ADS131M08Defs::Register getChannelOffsetRegisterMSB(
+ ADS131M08Defs::Channel channel);
-namespace ADS131M08RegisterBitMasks
-{
+ ADS131M08Defs::Register getChannelOffsetRegisterLSB(
+ ADS131M08Defs::Channel channel);
-// 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
+ ADS131M08Defs::Register getChannelGainRegisterMSB(
+ ADS131M08Defs::Channel channel);
+
+ ADS131M08Defs::Register getChannelGainRegisterLSB(
+ ADS131M08Defs::Channel channel);
+
+ bool readSamples(int32_t rawValues[ADS131M08Defs::CHANNELS_NUM]);
+
+ uint16_t readRegister(ADS131M08Defs::Register reg);
+
+ void writeRegister(ADS131M08Defs::Register reg, uint16_t data);
+
+ void changeRegister(ADS131M08Defs::Register reg, uint16_t newValue,
+ uint16_t mask);
+
+ void sendCommand(SPITransaction& transaction, ADS131M08Defs::Command cmd,
+ uint8_t data[ADS131M08Defs::FULL_FRAME_SIZE]);
+
+ float getLSBSizeFromGain(ADS131M08Defs::PGA gain);
+
+ SPISlave spiSlave;
+
+ // Current channels configuration
+ ADS131M08Defs::PGA channelsPGAGain[ADS131M08Defs::CHANNELS_NUM];
+ uint32_t channelsOffset[ADS131M08Defs::CHANNELS_NUM];
+ double channelsGain[ADS131M08Defs::CHANNELS_NUM];
+
+ PrintLogger logger = Logging::getLogger("ads131m08");
+};
} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M08/ADS131M08Data.h b/src/shared/sensors/ADS131M08/ADS131M08Data.h
index 355bcd4dc944197999a379a4eb0e043babd83033..ac28f168b6dc248e23f5e5ebfa566ced2353c17a 100644
--- a/src/shared/sensors/ADS131M08/ADS131M08Data.h
+++ b/src/shared/sensors/ADS131M08/ADS131M08Data.h
@@ -26,6 +26,8 @@
#include <ostream>
+#include "ADS131M08Defs.h"
+
namespace Boardcore
{
@@ -64,6 +66,12 @@ struct ADS131M08Data
<< voltage[2] << "," << voltage[3] << "," << voltage[4] << ","
<< voltage[5] << "," << voltage[6] << "," << voltage[7] << "\n";
}
+
+ ADCData getVoltage(ADS131M08Defs::Channel channel)
+ {
+ return {timestamp, static_cast<uint8_t>(channel),
+ voltage[static_cast<uint8_t>(channel)]};
+ }
};
} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M08/ADS131M08Defs.h b/src/shared/sensors/ADS131M08/ADS131M08Defs.h
new file mode 100644
index 0000000000000000000000000000000000000000..8600aaedab7ed1068621da5ebf3aca24419d9084
--- /dev/null
+++ b/src/shared/sensors/ADS131M08/ADS131M08Defs.h
@@ -0,0 +1,241 @@
+/* Copyright (c) 2023 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 <stdint.h>
+
+namespace Boardcore
+{
+
+namespace ADS131M08Defs
+{
+
+static constexpr int CHANNELS_NUM = 8;
+static constexpr int CALIBRATION_SAMPLES = 250;
+static constexpr int SELF_TEST_SAMPLES = 250;
+static constexpr int FULL_FRAME_SIZE = 30;
+static constexpr uint16_t RESET_CMD_RESPONSE = 0xFF28;
+static constexpr uint16_t WRITE_CMD_RESPONSE = 0x4000;
+
+///< Digit value in mV for each pga configurations
+constexpr 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};
+
+static constexpr float V_REF = 1.2;
+static constexpr float TEST_SIGNAL_FACTOR = 2 / 15;
+static constexpr float TEST_SIGNAL_SLACK = 0.1; // Not defined in DS
+
+/**
+ * @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 = 4,
+ CHANNEL_5 = 5,
+ CHANNEL_6 = 6,
+ CHANNEL_7 = 7
+};
+
+enum class Input : uint8_t
+{
+ DEFAULT = 0, // AINxP and AINxN (default)
+ SHORTED = 1, // ADC inputs shorted
+ POSITIVE_DC_TEST = 2, // Positive DC test signal
+ NEGATIVE_DC_TEST = 3 // Negative DC test signal
+};
+
+enum class Register : 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
+};
+
+enum class Command : uint16_t
+{
+ NULL_CMD = 0x0000,
+ RESET = 0x0011,
+ STANDBY = 0x0022,
+ WAKEUP = 0x0033,
+ LOCK = 0x0555,
+ UNLOCK = 0x0655,
+ RREG = 0xA000,
+ WREG = 0x6000
+};
+
+namespace RegStatusMasks
+{
+constexpr uint16_t LOCK = 0x1 << 15;
+constexpr uint16_t F_RESYNC = 0x1 << 14;
+constexpr uint16_t REG_MAP = 0x1 << 13;
+constexpr uint16_t CRC_ERR = 0x1 << 12;
+constexpr uint16_t CRC_TYPE = 0x1 << 11;
+constexpr uint16_t RESET = 0x1 << 10;
+constexpr uint16_t WLENGTH = 0x3 << 8;
+constexpr uint16_t DRDY3 = 0x1 << 3;
+constexpr uint16_t DRDY2 = 0x1 << 2;
+constexpr uint16_t DRDY1 = 0x1 << 1;
+constexpr uint16_t DRDY0 = 0x1 << 0;
+} // namespace RegStatusMasks
+
+namespace RegModeMasks
+{
+constexpr uint16_t REG_CRC_EN = 0x1 << 13;
+constexpr uint16_t RX_CRC_EN = 0x1 << 12;
+constexpr uint16_t CRC_TYPE = 0x1 << 11;
+constexpr uint16_t RESET = 0x1 << 10;
+constexpr uint16_t WLENGTH = 0x3 << 8;
+constexpr uint16_t TIMEOUT = 0x1 << 4;
+constexpr uint16_t DRDY_SEL = 0x3 << 2;
+constexpr uint16_t DRDY_HiZ = 0x1 << 1;
+constexpr uint16_t DRDY_FMT = 0x1 << 0;
+} // namespace RegModeMasks
+
+namespace RegClockMasks
+{
+constexpr uint16_t CH3_EN = 0x1 << 11;
+constexpr uint16_t CH2_EN = 0x1 << 10;
+constexpr uint16_t CH1_EN = 0x1 << 9;
+constexpr uint16_t CH0_EN = 0x1 << 8;
+constexpr uint16_t OSR = 0x7 << 2;
+constexpr uint16_t POWER_MODE = 0x3 << 0;
+} // namespace RegClockMasks
+
+namespace RegGainMasks
+{
+constexpr uint16_t PGA_GAIN_3 = 0x7 << 12;
+constexpr uint16_t PGA_GAIN_2 = 0x7 << 8;
+constexpr uint16_t PGA_GAIN_1 = 0x7 << 4;
+constexpr uint16_t PGA_GAIN_0 = 0x7 << 0;
+} // namespace RegGainMasks
+
+namespace RegConfigurationMasks
+{
+constexpr uint16_t GC_DLY = 0xF << 9;
+constexpr uint16_t GC_EN = 0x1 << 8;
+constexpr uint16_t CD_ALLCH = 0x1 << 7;
+constexpr uint16_t CD_NUM = 0x7 << 4;
+constexpr uint16_t CD_LEN = 0x7 << 1;
+constexpr uint16_t CD_EN = 0x1 << 0;
+} // namespace RegConfigurationMasks
+
+namespace RegChannelMasks
+{
+constexpr uint16_t CFG_PHASE = 0x3FF << 6;
+constexpr uint16_t CFG_DCBLK_DIS = 0x001 << 2;
+constexpr uint16_t CFG_MUX = 0x003 << 0;
+} // namespace RegChannelMasks
+
+} // namespace ADS131M08Defs
+
+} // namespace Boardcore
diff --git a/src/tests/sensors/test-ads131m04.cpp b/src/tests/sensors/test-ads131m04.cpp
index 89deaf0d6e8a20d8f89d7f7cabd86ea27dcbc78b..6c001ae8edfd83eb48b4f19c9c53f186ce5d0530 100644
--- a/src/tests/sensors/test-ads131m04.cpp
+++ b/src/tests/sensors/test-ads131m04.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2023 Skyward Experimental Rocketry
* Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -36,14 +36,14 @@ GpioPin csPin = GpioPin(GPIOE_BASE, 4);
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);
+ csPin.mode(Mode::OUTPUT);
+ csPin.high();
}
int main()
@@ -53,20 +53,30 @@ int main()
// SPI configuration setup
SPIBus spiBus(SPI4);
- SPIBusConfig spiConfig = {};
- spiConfig.mode = SPI::Mode::MODE_1;
- spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
- SPISlave spiSlave(spiBus, csPin, spiConfig);
+ SPISlave spiSlave(spiBus, csPin, ADS131M04::getDefaultSPIConfig());
// Device initialization
ADS131M04 ads131(spiSlave);
- // Initialize the device
- ads131.init();
+ ads131.reset();
+
ads131.enableGlobalChopMode();
- ads131.setOversamplingRatio(ADS131M04::OversamplingRatio::OSR_16256);
+ ads131.setOversamplingRatio(ADS131M04Defs::OversamplingRatio::OSR_16256);
+
+ // WARNING: After changing the OSR the device needs some time to settle
+ delayMs(20);
ads131.calibrateOffset();
+ printf("Now performing self test...\n");
+ if (ads131.selfTest())
+ {
+ printf("Self test failed!\n");
+ }
+ else
+ {
+ printf("Self test succeeded\n");
+ }
+
while (true)
{
ads131.sample();
diff --git a/src/tests/sensors/test-ads131m08.cpp b/src/tests/sensors/test-ads131m08.cpp
index 37728444090c7d7b5b38ca2ee1f7de4da22293af..180ec04b59d8466c731620223352b93eec2c47d0 100644
--- a/src/tests/sensors/test-ads131m08.cpp
+++ b/src/tests/sensors/test-ads131m08.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
+/* Copyright (c) 2023 Skyward Experimental Rocketry
* Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -58,26 +58,24 @@ int main()
// Device initialization
ADS131M08 ads131(spiSlave);
- // Initialize the device
- if (!ads131.init())
- {
- printf("Initialization failed!\n");
- }
- else
- {
- printf("Initialization done\n");
- }
- if (!ads131.selfTest())
+ ads131.reset();
+
+ ads131.enableGlobalChopMode();
+ ads131.setOversamplingRatio(ADS131M08Defs::OversamplingRatio::OSR_16256);
+
+ // WARNING: After changing the OSR the device needs some time to settle
+ delayMs(20);
+ ads131.calibrateOffset();
+
+ printf("Now performing self test...\n");
+ if (ads131.selfTest())
{
printf("Self test failed!\n");
}
else
{
- printf("Self test done\n");
+ printf("Self test succeeded\n");
}
- ads131.enableGlobalChopMode();
- ads131.setOversamplingRatio(ADS131M08::OversamplingRatio::OSR_16256);
- ads131.calibrateOffset();
while (true)
{