[CurrentSensor][CanProtocol] Added CurrentData basic type and encoding functions in CanProtocol

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(&current, &(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), &current, sizeof(data.current));
+
+    data.currentTimestamp = (msg.payload[0] >> 30) & ~0x3;
+
+    return data;
+}
+
 }  // namespace Boardcore

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>();

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

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;

src/shared/sensors/analog/CurrentSensorData.h

-/* 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

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);