diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
index 42c15d3f4713fb229af2ba783f24e48b3f37974a..b8e51a6d979cd173af1e3170f808de705d1e2691 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
@@ -76,6 +76,21 @@ inline Canbus::CanMessage toCanMessage(const TemperatureData& data)
return message;
}
+inline Canbus::CanMessage toCanMessage(const CurrentData& data)
+{
+ Canbus::CanMessage message;
+
+ uint32_t current;
+ memcpy(¤t, &(data.current), sizeof(current));
+
+ message.id = -1;
+ message.length = 1;
+ message.payload[0] = (data.currentTimestamp & ~0x3) << 30;
+ message.payload[0] |= current;
+
+ return message;
+}
+
inline PitotData pitotDataFromCanMessage(const Canbus::CanMessage& msg)
{
PitotData data;
@@ -115,4 +130,16 @@ inline TemperatureData temperatureDataFromCanMessage(
return data;
}
+inline CurrentData currentDataFromCanMessage(const Canbus::CanMessage& msg)
+{
+ CurrentData data;
+
+ uint32_t current = msg.payload[0];
+ memcpy(&(data.current), ¤t, sizeof(data.current));
+
+ data.currentTimestamp = (msg.payload[0] >> 30) & ~0x3;
+
+ return data;
+}
+
} // namespace Boardcore
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
index 4d36569c99e8b0ec9beb8972ee11ed3db4c75379..82989363bcae3126d2b6244723c39cfded9f6155 100644
--- a/src/shared/logger/LogTypes.h
+++ b/src/shared/logger/LogTypes.h
@@ -54,7 +54,6 @@
#include <sensors/VN100/VN100Data.h>
#include <sensors/analog/AnalogLoadCellData.h>
#include <sensors/analog/BatteryVoltageSensorData.h>
-#include <sensors/analog/CurrentSensorData.h>
#include <sensors/analog/pressure/honeywell/HSCMAND015PAData.h>
#include <sensors/analog/pressure/honeywell/HSCMRNN030PAData.h>
#include <sensors/analog/pressure/honeywell/HSCMRNN160KAData.h>
@@ -114,7 +113,7 @@ void registerTypes(Deserializer& ds)
ds.registerType<VN100Data>();
ds.registerType<AnalogLoadCellData>();
ds.registerType<BatteryVoltageSensorData>();
- ds.registerType<CurrentSensorData>();
+ ds.registerType<CurrentData>();
ds.registerType<HSCMAND015PAData>();
ds.registerType<HSCMRNN030PAData>();
ds.registerType<HSCMRNN160KAData>();
diff --git a/src/shared/sensors/SensorData.h b/src/shared/sensors/SensorData.h
index 002ca80a728277c8a20c6b5375e029b68a71357a..01dcac4b1d842c757f8f5ed35641d530f193d643 100644
--- a/src/shared/sensors/SensorData.h
+++ b/src/shared/sensors/SensorData.h
@@ -272,4 +272,20 @@ struct ADCData
float voltage = 0;
};
+/**
+ * @brief Structure to handle current data.
+ */
+struct CurrentData
+{
+ uint64_t currentTimestamp = 0;
+ float current = 0;
+
+ static std::string header() { return "timestamp,current\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << currentTimestamp << "," << current << "\n";
+ }
+};
+
} // namespace Boardcore
diff --git a/src/shared/sensors/analog/CurrentSensor.h b/src/shared/sensors/analog/CurrentSensor.h
index 478c0f4edaa39444f730932e36f486953ffd597a..035e2bbf7db011fb2b73dbd7f1e7717cef06654b 100644
--- a/src/shared/sensors/analog/CurrentSensor.h
+++ b/src/shared/sensors/analog/CurrentSensor.h
@@ -26,8 +26,6 @@
#include <functional>
-#include "CurrentSensorData.h"
-
namespace Boardcore
{
@@ -36,7 +34,7 @@ namespace Boardcore
*
* It needs a transfer function to convert the read voltage into current.
*/
-class CurrentSensor : public Sensor<CurrentSensorData>
+class CurrentSensor : public Sensor<CurrentData>
{
public:
static constexpr int MOVING_AVERAGE_N = 20;
@@ -53,7 +51,7 @@ public:
bool selfTest() override { return true; };
///< Converts the voltage value to pressure
- CurrentSensorData sampleImpl() override
+ CurrentData sampleImpl() override
{
ADCData adc_data = getVoltage();
@@ -62,10 +60,8 @@ public:
lastSample.current = voltageToCurrent(adc_data.voltage);
}
- CurrentSensorData current_data;
- current_data.voltageTimestamp = adc_data.voltageTimestamp;
- current_data.channelId = adc_data.channelId;
- current_data.voltage = adc_data.voltage;
+ CurrentData current_data;
+ current_data.currentTimestamp = adc_data.voltageTimestamp;
// Moving average
current_data.current = lastSample.current * MOVING_AVERAGE_COMP_COEFF;
diff --git a/src/shared/sensors/analog/CurrentSensorData.h b/src/shared/sensors/analog/CurrentSensorData.h
deleted file mode 100644
index ba35efbcf9d3a06bc71b4a5323c15de00ba31711..0000000000000000000000000000000000000000
--- a/src/shared/sensors/analog/CurrentSensorData.h
+++ /dev/null
@@ -1,49 +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 <sensors/SensorData.h>
-
-namespace Boardcore
-{
-
-/**
- * @brief Structure to handle current sense data.
- */
-struct CurrentSensorData : public ADCData
-{
- float current = 0;
-
- static std::string header()
- {
- return "voltageTimestamp,channelId,voltage,current\n";
- }
-
- void print(std::ostream& os) const
- {
- os << voltageTimestamp << "," << (int)channelId << "," << voltage << ","
- << current << "\n";
- }
-};
-
-} // namespace Boardcore
diff --git a/src/tests/sensors/analog/test-current-sensor.cpp b/src/tests/sensors/analog/test-current-sensor.cpp
index b223d9041c2fb626326adb5c3e5bd29cf2063163..c1b73bc4f618de612c2da445a2aee903328b504c 100644
--- a/src/tests/sensors/analog/test-current-sensor.cpp
+++ b/src/tests/sensors/analog/test-current-sensor.cpp
@@ -80,9 +80,8 @@ int main()
currentSensor.sample();
- CurrentSensorData currentData = currentSensor.getLastSample();
- printf("%llu %u %f %f \n", currentData.voltageTimestamp,
- currentData.channelId, currentData.voltage,
+ CurrentData currentData = currentSensor.getLastSample();
+ printf("%llu %f \n", currentData.currentTimestamp,
currentData.current);
miosix::Thread::sleep(100);