diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd569bd1c47ea3fbc8942de427aef77eea875a6c..fed706ded258d6c0b5b70991a7271d5948ee55b3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -383,6 +383,9 @@ sbs_target(test-max6675 stm32f429zi_stm32f4discovery)
add_executable(test-max31855 src/tests/sensors/test-max31855.cpp)
sbs_target(test-max31855 stm32f429zi_stm32f4discovery)
+add_executable(test-max31856 src/tests/sensors/test-max31856.cpp)
+sbs_target(test-max31856 stm32f767zi_compute_unit)
+
add_executable(test-mpu9250 src/tests/sensors/test-mpu9250.cpp)
sbs_target(test-mpu9250 stm32f429zi_skyward_parafoil)
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index d600f341f11d7f0700f378598f3363f18c526e2b..1972d025dbc27ad2fcc6b21c1960876f1da6eb63 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -94,6 +94,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/LPS331AP/LPS331AP.cpp
${SBS_BASE}/src/shared/sensors/MAX6675/MAX6675.cpp
${SBS_BASE}/src/shared/sensors/MAX31855/MAX31855.cpp
+ ${SBS_BASE}/src/shared/sensors/MAX31856/MAX31856.cpp
${SBS_BASE}/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
${SBS_BASE}/src/shared/sensors/MPU9250/MPU9250.cpp
${SBS_BASE}/src/shared/sensors/MS5803/MS5803.cpp
diff --git a/src/shared/sensors/MAX31855/MAX31855.cpp b/src/shared/sensors/MAX31855/MAX31855.cpp
index 75ab83dc487139e53601dd00a5d0fc2716d14d9d..f79eec3a4a8731a92d0a31301a4f781c74cb455e 100644
--- a/src/shared/sensors/MAX31855/MAX31855.cpp
+++ b/src/shared/sensors/MAX31855/MAX31855.cpp
@@ -43,9 +43,7 @@ SPIBusConfig MAX31855::getDefaultSPIConfig()
bool MAX31855::init() { return true; }
-bool MAX31855::selfTest() { return true; }
-
-bool MAX31855::checkConnection()
+bool MAX31855::selfTest()
{
uint16_t sample[2];
diff --git a/src/shared/sensors/MAX31855/MAX31855.h b/src/shared/sensors/MAX31855/MAX31855.h
index 4eb7368651024fc5490404ee61a65835559384ee..2c5fb8067b12eec4bf015539d34927ffd6fa8a45 100644
--- a/src/shared/sensors/MAX31855/MAX31855.h
+++ b/src/shared/sensors/MAX31855/MAX31855.h
@@ -28,43 +28,24 @@
namespace Boardcore
{
-/**
- * @brief MAX31855 thermocouple sensor driver.
- */
+
class MAX31855 : public Sensor<TemperatureData>
{
public:
- /**
- * @brief Constructor.
- *
- * @param bus The Spi bus.
- * @param cs The CS pin to lower when we need to sample.
- * @param config The SPI configuration.
- */
MAX31855(SPIBusInterface &bus, miosix::GpioPin cs,
SPIBusConfig config = getDefaultSPIConfig());
- /**
- * Constructs the default config for SPI Bus.
- *
- * @returns The default SPIBusConfig.
- */
static SPIBusConfig getDefaultSPIConfig();
bool init();
/**
- * @brief Checks whether the thermocouple is open.
+ * @brief Checks whether the thermocouple is connected or not.
*
* @return True if the thermocouple is connected.
*/
bool selfTest();
- /**
- * @brief Checks whether the thermocouple is connected or not.
- */
- bool checkConnection();
-
/**
* @brief Read the device internal temperature (cold junction).
*/
diff --git a/src/shared/sensors/MAX31856/MAX31856.cpp b/src/shared/sensors/MAX31856/MAX31856.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..325e1ac8aaad44ce19d95db2c63db613fc5e8d80
--- /dev/null
+++ b/src/shared/sensors/MAX31856/MAX31856.cpp
@@ -0,0 +1,128 @@
+/* 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.
+ */
+
+#include "MAX31856.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+namespace Boardcore
+{
+
+MAX31856::MAX31856(SPIBusInterface& bus, miosix::GpioPin cs,
+ SPIBusConfig config, ThermocoupleType type)
+ : slave(bus, cs, config), type(type)
+{
+}
+
+SPIBusConfig MAX31856::getDefaultSPIConfig()
+{
+ SPIBusConfig spiConfig{};
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
+ spiConfig.mode = SPI::Mode::MODE_1;
+ spiConfig.writeBit = SPI::WriteBit::INVERTED;
+ return spiConfig;
+}
+
+bool MAX31856::init()
+{
+ SPITransaction spi{slave};
+
+ // Set thermocouple type
+ setThermocoupleType(type);
+
+ // Enable continuous conversion mode
+ spi.writeRegister(CR0, CR0_CMODE);
+
+ return true;
+}
+
+bool MAX31856::selfTest()
+{
+ SPITransaction spi{slave};
+
+ // Enable open-circuit detection
+ spi.writeRegister(CR0, CR0_CMODE | CR0_OCFAULT_0);
+
+ // Wait for detection
+ // Detection takes 40ms, waiting more to be extra sure
+ miosix::Thread::sleep(100);
+
+ // Read fault register
+ auto fault = spi.readRegister(SR);
+
+ // Disable open-circuit detection
+ spi.writeRegister(CR0, CR0_CMODE);
+
+ return !(fault & SR_OPEN);
+}
+
+void MAX31856::setThermocoupleType(ThermocoupleType type)
+{
+ SPITransaction spi{slave};
+ spi.writeRegister(CR1, static_cast<uint8_t>(type));
+}
+
+TemperatureData MAX31856::sampleImpl()
+{
+ int32_t sample;
+
+ {
+ SPITransaction spi{slave};
+ sample = spi.readRegister24(LTCBH);
+ }
+
+ TemperatureData result{};
+ result.temperatureTimestamp = TimestampTimer::getTimestamp();
+
+ // Sign extension
+ sample = sample << 8;
+ sample = sample >> (8 + 5);
+
+ // Convert the integer and decimal part separately
+ result.temperature = static_cast<float>(sample) * 0.007812;
+
+ return result;
+}
+
+TemperatureData MAX31856::readInternalTemperature()
+{
+ uint16_t sample[2];
+
+ {
+ SPITransaction spi{slave};
+ spi.read16(sample, sizeof(sample));
+ }
+
+ TemperatureData result{};
+ result.temperatureTimestamp = TimestampTimer::getTimestamp();
+
+ // Extract data bits
+ sample[1] = sample[1] >> 4;
+
+ // Convert the integer and decimal part separately
+ result.temperature = static_cast<float>(sample[1] >> 4);
+ result.temperature += static_cast<float>(sample[1] & 0xF) * 0.0625;
+
+ return result;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/MAX31856/MAX31856.h b/src/shared/sensors/MAX31856/MAX31856.h
new file mode 100644
index 0000000000000000000000000000000000000000..97fbd817e8eb3e13766eaea09c847c644a836c4a
--- /dev/null
+++ b/src/shared/sensors/MAX31856/MAX31856.h
@@ -0,0 +1,104 @@
+/* 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 <diagnostic/PrintLogger.h>
+#include <drivers/spi/SPIDriver.h>
+#include <sensors/Sensor.h>
+
+namespace Boardcore
+{
+
+class MAX31856 : public Sensor<TemperatureData>
+{
+public:
+ enum class ThermocoupleType : uint8_t
+ {
+ B_TYPE = 0x0,
+ E_TYPE = 0x1,
+ J_TYPE = 0x2,
+ K_TYPE = 0x3,
+ N_TYPE = 0x4,
+ R_TYPE = 0x5,
+ S_TYPE = 0x6,
+ T_TYPE = 0x7,
+ GAIN_8 = 0x8,
+ GAIN_32 = 0x9,
+ };
+
+ MAX31856(SPIBusInterface &bus, miosix::GpioPin cs,
+ SPIBusConfig config = getDefaultSPIConfig(),
+ ThermocoupleType type = ThermocoupleType::K_TYPE);
+
+ static SPIBusConfig getDefaultSPIConfig();
+
+ bool init();
+
+ /**
+ * @brief Checks whether the thermocouple is connected or not.
+ *
+ * @return True if the thermocouple is connected.
+ */
+ bool selfTest();
+
+ void setThermocoupleType(ThermocoupleType type);
+
+ /**
+ * @brief Read the device internal temperature (cold junction).
+ */
+ TemperatureData readInternalTemperature();
+
+private:
+ TemperatureData sampleImpl() override;
+
+ SPISlave slave;
+ ThermocoupleType type;
+
+ PrintLogger logger = Logging::getLogger("max31856");
+
+ enum Registers : uint8_t
+ {
+ CR0 = 0x0, ///< Configuration 0 Register
+ CR1 = 0x1, ///< Configuration 1 Register
+ MASK = 0x2, ///< Fault Mask Register
+ CJHF = 0x3, ///< Cold-Junction High Fault Threshold
+ CJLF = 0x4, ///< Cold-Junction Low Fault Threshold
+ LTHFTH = 0x5, ///< Linearized Temperature High Fault Threshold MSB
+ LTHFTL = 0x6, ///< Linearized Temperature High Fault Threshold LSB
+ LTLFTH = 0x7, ///< Linearized Temperature Low Fault Threshold MSB
+ LTLFTL = 0x8, ///< Linearized Temperature Low Fault Threshold LSB
+ CJTO = 0x9, ///< Cold-Junction Temperature Offset Register
+ CJTH = 0xa, ///< Cold-Junction Temperature Register, MSB
+ CJTL = 0xb, ///< Cold-Junction Temperature Register, LSB
+ LTCBH = 0xc, ///< Linearized TC Temperature, Byte 2
+ LTCBM = 0xd, ///< Linearized TC Temperature, Byte 1
+ LTCBL = 0xe, ///< Linearized TC Temperature, Byte 0
+ SR = 0xf, ///< Fault Status Register
+ };
+
+ static constexpr uint8_t CR0_CMODE = 0x1 << 7;
+ static constexpr uint8_t CR0_OCFAULT_0 = 0x1 << 4;
+ static constexpr uint8_t SR_OPEN = 0x1 << 0;
+};
+
+} // namespace Boardcore
diff --git a/src/tests/sensors/test-max31856.cpp b/src/tests/sensors/test-max31856.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8cf44008d1929c29f87cdfbb14ca5f131fc5fb58
--- /dev/null
+++ b/src/tests/sensors/test-max31856.cpp
@@ -0,0 +1,73 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <drivers/timer/TimestampTimer.h>
+#include <miosix.h>
+#include <sensors/MAX31856/MAX31856.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+GpioPin sckPin = GpioPin(GPIOB_BASE, 3);
+GpioPin misoPin = GpioPin(GPIOB_BASE, 4);
+GpioPin mosiPin = GpioPin(GPIOD_BASE, 6);
+GpioPin csPin = GpioPin(GPIOD_BASE, 4);
+
+int main()
+{
+ // Setup gpio pins
+ sckPin.mode(Mode::ALTERNATE);
+ sckPin.alternateFunction(6);
+ misoPin.mode(Mode::ALTERNATE);
+ misoPin.alternateFunction(6);
+ mosiPin.mode(Mode::ALTERNATE);
+ mosiPin.alternateFunction(5);
+ csPin.mode(Mode::OUTPUT);
+ csPin.high();
+
+ SPIBus spiBus(SPI3);
+ MAX31856 sensor{spiBus, csPin};
+
+ printf("Starting process verification!\n");
+
+ sensor.init();
+
+ if (!sensor.selfTest())
+ {
+ printf("The thermocouple is not connected\n");
+ }
+ else
+ {
+ printf("The thermocouple is connected\n");
+ }
+
+ while (true)
+ {
+ sensor.sample();
+ TemperatureData sample = sensor.getLastSample();
+
+ printf("\r\e[0K[%.2f] %.2f", sample.temperatureTimestamp / 1e6,
+ sample.temperature);
+
+ Thread::sleep(100);
+ }
+}