[RIG] Added RIG analog sensors

src/shared/sensors/analog/TrafagPressureSensor.h

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <sensors/Sensor.h>
+#include <sensors/SensorData.h>
+
+#include <functional>
+
+namespace Boardcore
+{
+
+/**
+ * @brief Sensor class for a Trafag pressure sensor.
+ */
+class TrafagPressureSensor : public Sensor<PressureData>
+{
+public:
+    /**
+     * @brief Construct a TrafagPressureSensor.
+     *
+     * @param getVoltage lambda to retrieve current voltage.
+     * @param shuntResistance shunt resistance value.
+     * @param maxPressure maximum pressure of this sensor.
+     * @param minCurrent current at the 0 pressure point.
+     * @param maxCurrent current at the maximum pressure point.
+     */
+    TrafagPressureSensor(std::function<ADCData()> getVoltage,
+                         float shuntResistance, float maxPressure,
+                         float minCurrent = 4, float maxCurrent = 20)
+        : getVoltage{getVoltage}, shuntResistance{shuntResistance},
+          maxPressure{maxPressure}, minCurrent{minCurrent}, maxCurrent{
+                                                                maxCurrent}
+    {
+    }
+
+    bool init() override { return true; }
+
+    bool selfTest() override { return true; }
+
+private:
+    PressureData sampleImpl() override
+    {
+        auto voltage = getVoltage();
+        return {voltage.voltageTimestamp, voltageToPressure(voltage.voltage)};
+    }
+
+    float voltageToPressure(float voltage)
+    {
+        // First convert voltage to current
+        float current = (voltage / shuntResistance) * 1000.0f;
+
+        // Convert to a value between 0 and 1
+        float value = (current - minCurrent) / (maxCurrent - minCurrent);
+
+        // Scale from 0 to maxPressure
+        return value * maxPressure;
+    }
+
+    std::function<ADCData()> getVoltage;
+
+    const float shuntResistance;
+    const float maxPressure;
+    const float minCurrent;
+    const float maxCurrent;
+};
+
+}  // namespace Boardcore
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src/shared/sensors/analog/TwoPointAnalogLoadCell.h

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <sensors/Sensor.h>
+#include <sensors/SensorData.h>
+
+#include <functional>
+
+namespace Boardcore
+{
+
+/**
+ * @brief Sensor class for a two point calibrated load cell.
+ */
+class TwoPointAnalogLoadCell : public Sensor<LoadCellData>
+{
+public:
+    /**
+     * @brief Construct a TwoPointAnalogLoadCell.
+     *
+     * @param getVoltage lambda to retrieve current voltage.
+     * @param p0Voltage voltage of point 0.
+     * @param p0Mass mass of point 0.
+     * @param p1Voltage voltage of point 1.
+     * @param p1Mass mass of point 1.
+     */
+    TwoPointAnalogLoadCell(std::function<ADCData()> getVoltage, float p0Voltage,
+                           float p0Mass, float p1Voltage, float p1Mass)
+        : getVoltage{getVoltage}, staticScale{(p1Mass - p0Mass) /
+                                              (p1Voltage - p0Voltage)},
+          staticOffset{p0Mass - staticScale * p0Voltage}
+    {
+    }
+
+    bool init() override { return true; }
+
+    bool selfTest() override { return true; }
+
+    /**
+     * @brief Set the current load cell offset. Ignores any previous offsets.
+     */
+    void setOffset(float value)
+    {
+        miosix::Lock<miosix::FastMutex> lock{offsetMutex};
+        dynamicOffset = value;
+    }
+
+    /**
+     * @brief Update the current load cell offset. Adds the new value to the old
+     * offset.
+     */
+    void updateOffset(float value)
+    {
+        miosix::Lock<miosix::FastMutex> lock{offsetMutex};
+        dynamicOffset += value;
+    }
+
+private:
+    LoadCellData sampleImpl() override
+    {
+        auto voltage = getVoltage();
+        auto mass    = -(voltage.voltage * staticScale + staticOffset);
+
+        miosix::Lock<miosix::FastMutex> lock{offsetMutex};
+        return {voltage.voltageTimestamp, mass - dynamicOffset};
+    }
+
+    std::function<ADCData()> getVoltage;
+
+    // std::atomic<float> does not support +=
+    miosix::FastMutex offsetMutex;
+    float dynamicOffset = 0.0f;
+
+    const float staticScale;
+    const float staticOffset;
+};
+
+}  // namespace Boardcore
\ No newline at end of file