Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Added in embedded science code #669

Merged
merged 4 commits into from
Mar 29, 2024
Merged

Added in embedded science code #669

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
2a8ad09
Added in embedded science code
YnotCode Mar 28, 2024
91b4056
Applied black formatting
YnotCode Mar 29, 2024
d70e639
Update science code in ROS
tabiosg Mar 29, 2024
0ad919c
Remove ghost comments
tabiosg Mar 29, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 15 additions & 3 deletions src/esw/fw/science/.cproject
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.985754373" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1395189486" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32G431CBUx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32G4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F || || || USE_HAL_DRIVER | STM32G431xx || || Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32G431CBUX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1321090" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="140" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp.1878252718" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp.value.standard_c_standard_cpp" valueType="enumerated"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.2091356620" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<builder buildPath="${workspace_loc:/science}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.675342016" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1357413798" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
Expand Down Expand Up @@ -56,7 +57,7 @@
</tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.1689170643" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.938044064" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.1465919741" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.1465919741" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.1781137525" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="../Core/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/STM32G4xx_HAL_Driver/Inc"/>
Expand All @@ -72,7 +73,11 @@
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
<listOptionValue builtIn="false" value="STM32G431xx"/>
</option>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.63798556" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.value.gnupp20" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.63798556" name="Language standard" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.value.gnupp20" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.noexceptions.1018730593" name="Disable handling exceptions (-fno-exceptions)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.noexceptions" useByScannerDiscovery="false" value="false" valueType="boolean"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags.1185353284" name="Other flags" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags" useByScannerDiscovery="true" valueType="stringList">
<listOptionValue builtIn="false" value="-fexceptions"/>
</option>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.2137496482" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
</tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.558417596" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
Expand Down Expand Up @@ -233,5 +238,12 @@
<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="refreshScope"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/science"/>
</configuration>
<configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/science"/>
</configuration>
</storageModule>
</cproject>
7 changes: 3 additions & 4 deletions src/esw/fw/science/Core/Inc/i2c_mux.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,16 +28,15 @@ namespace mrover {
public:
I2CMux() = default;

I2CMux(std::shared_ptr<SMBus<uint8_t, uint16_t>> i2c_bus, Pin reset_pin);
I2CMux(std::shared_ptr<SMBus<uint8_t, uint8_t>> i2c_bus, Pin reset_pin);

void set_channel(uint8_t channel);

private:
std::shared_ptr<SMBus<uint8_t, uint16_t>> m_i2c_bus;
std::shared_ptr<SMBus<uint8_t, uint8_t>> m_i2c_bus;
uint8_t current_channel = 0;
constexpr static std::uint16_t MUX_7b_ADDRESS = 0x70;
Pin m_reset_pin;
};

} // namespace mrover

} // namespace mrover
47 changes: 21 additions & 26 deletions src/esw/fw/science/Core/Inc/science.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,14 @@
#include "hardware_adc.hpp"
#include "hardware_i2c.hpp"


namespace mrover {

class Science {
private:

std::shared_ptr<SMBus<uint8_t, uint8_t>> m_i2c_bus;

FDCAN<InBoundScienceMessage> m_fdcan_bus;
std::array<Spectral, 3> m_spectral_sensors;
std::shared_ptr<ADCSensor> m_adc_sensor;
Expand Down Expand Up @@ -100,38 +103,30 @@ namespace mrover {
std::visit([&](auto const& command) { feed(command); }, message);
}

void poll_spectral_status() {
m_spectral_sensors.at(0).poll_status_reg();
}

void reboot_spectral() {
m_spectral_sensors.at(0).reboot();
void reboot_i2c() {
//m_spectral_sensors.at(0).reboot();
m_i2c_bus->reboot();
}

void update_and_send_spectral() {
SpectralData spectral_data;
for (int i = 0; i < 3; ++i) {
SpectralData spectral_data;
spectral_data.site = i;
m_spectral_sensors.at(i).update_channel_data();

spectral_data.spectrals.at(i).error =
spectral_data.error =
m_spectral_sensors.at(i).is_error();
if (spectral_data.error) {

// reboot_i2c(); // This causes a crash

}
for (int j = 0; j < 6; ++j) {
spectral_data.spectrals.at(i).data.at(j) =
spectral_data.data.at(j) =
m_spectral_sensors.at(i).get_channel_data(j);
}
// for (int j = 0; j < 6; ++j) {
// m_spectral_sensors.at(i).update_channel_data(j);
// spectral_data.spectrals.at(i).data.at(j) =
// m_spectral_sensors.at(i).get_channel_data(j);
// spectral_data.spectrals.at(i).error =
// m_spectral_sensors.at(i).is_error();
// }
m_fdcan_bus.broadcast(OutBoundScienceMessage{spectral_data});
}

// TODO - MUTEXS ARE BREAKING CODE!!!! IDK WHY - PLEASE FIX
// osMutexAcquire(m_can_tx_mutex, osWaitForever);
m_fdcan_bus.broadcast(OutBoundScienceMessage{spectral_data});
// osMutexRelease(m_can_tx_mutex);
}

void update_and_send_thermistor_and_auto_shutoff_if_applicable() {
Expand All @@ -145,9 +140,9 @@ namespace mrover {


/* send current and temperature over CAN */
osMutexAcquire(m_can_tx_mutex, osWaitForever);
// osMutexAcquire(m_can_tx_mutex, osWaitForever);
m_fdcan_bus.broadcast(OutBoundScienceMessage{thermistor_data});
osMutexRelease(m_can_tx_mutex);
// osMutexRelease(m_can_tx_mutex);
}

void update_and_send_heater() {
Expand All @@ -162,11 +157,11 @@ namespace mrover {
SET_BIT_AT_INDEX(heater_state_data.heater_state_info.on, i, m_heaters.at(i).get_state());
}

osMutexAcquire(m_can_tx_mutex, osWaitForever);
// osMutexAcquire(m_can_tx_mutex, osWaitForever);
m_fdcan_bus.broadcast(OutBoundScienceMessage{heater_state_data});
osMutexRelease(m_can_tx_mutex);
// osMutexRelease(m_can_tx_mutex);
}

};

} // namespace mrover
} // namespace mrover
35 changes: 24 additions & 11 deletions src/esw/fw/science/Core/Inc/spectral.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,39 +20,52 @@ namespace mrover {
public:
Spectral() = default;

Spectral(std::shared_ptr<SMBus<uint8_t, uint16_t>> i2c_bus, std::shared_ptr<I2CMux> i2c_mux, uint8_t i2c_mux_channel);
Spectral(std::shared_ptr<SMBus<uint8_t, uint8_t>> i2c_bus, std::shared_ptr<I2CMux> i2c_mux, uint8_t i2c_mux_channel);

void poll_status_reg();
enum I2C_OP{
READ,
WRITE
};
void poll_status_reg(I2C_OP rw);

void update_channel_data(); // updates all of the channels

uint16_t get_channel_data(uint8_t channel);
float get_channel_data(uint8_t channel);

void reboot();

bool is_error();

void init();

void virtual_write(uint8_t virtual_reg, uint8_t data);
uint8_t virtual_read(uint8_t virtual_reg);// -> std::optional<uint16_t>;

constexpr static std::uint16_t SPECTRAL_7b_ADDRESS = 0x49;
constexpr static std::uint8_t I2C_AS72XX_SLAVE_STATUS_REG = 0x00;
constexpr static std::uint8_t I2C_AS72XX_WRITE_REG = 0x01;
constexpr static std::uint8_t I2C_AS72XX_READ_REG = 0x02;
constexpr static std::uint8_t I2C_AS72XX_SLAVE_TX_VALID = 0x02;
constexpr static std::uint8_t I2C_AS72XX_SLAVE_RX_VALID = 0x01;
constexpr static std::uint8_t CONTROL_SETUP_REG = 0x04;
constexpr static std::uint8_t INT_TIME_REG = 0x05;

private:
bool m_error{};
bool m_initialized{};
bool m_error{false};
bool m_initialized{false};

std::shared_ptr<SMBus<uint8_t, uint16_t>> m_i2c_bus;
std::shared_ptr<SMBus<uint8_t, uint8_t>> m_i2c_bus;
std::shared_ptr<I2CMux> m_i2c_mux;
uint8_t m_i2c_mux_channel;
constexpr static std::uint8_t CHANNEL_DATA_LENGTH = 6;
std::array<uint16_t, CHANNEL_DATA_LENGTH> channel_data {};
std::array<float, CHANNEL_DATA_LENGTH> channel_data {};
// Sensor Raw Data Registers Start, 6 channels, 2 bytes each.
// See pg. 22 of datasheet for more info.
// constexpr static std::uint8_t CHANNEL_V_HIGH = 0x08;
// Sensor Calibrated Data Registers Start (p. 23 on datasheet)
constexpr static std::uint8_t CHANNEL_V_HIGH = 0x08;
constexpr static std::uint8_t CONTROL_SETUP_REG = 0x04;
constexpr static std::uint8_t INT_TIME_REG = 0x05;
constexpr static std::uint8_t CHANNEL_V_CAL = 0x14;

};

} // namespace mrover

} // namespace mrover
6 changes: 3 additions & 3 deletions src/esw/fw/science/Core/Src/diag_temp_sensor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,10 @@ namespace mrover {
}

void DiagTempSensor::update_science_temp() {
// Magic number used to calibrate thermistor temperature
float adc_cnt = m_adc_sensor->get_raw_channel_value(m_channel);
float measured_voltage = m_adc_sensor->get_raw_channel_value(m_channel) * 3.3f / 4096.0f;
float measured_resistance = ((m_adc_sensor->get_raw_channel_value(m_channel) * 3.3f / 4096.0f) * RESISTANCE_25)/(3.3f - (m_adc_sensor->get_raw_channel_value(m_channel) * 3.3f / 4096.0f)) / 10;
float measured_resistance = (measured_voltage * RESISTANCE_25)/(3.3f - measured_voltage);
m_temp = 1/(THRM_A + THRM_B*log(measured_resistance/RESISTANCE_25) + THRM_C*log((measured_resistance/RESISTANCE_25)*(measured_resistance/RESISTANCE_25)) + THRM_D*(((measured_resistance/RESISTANCE_25)*(measured_resistance/RESISTANCE_25)*(measured_resistance/RESISTANCE_25))));
m_temp -= 273.15;
}
Expand All @@ -41,5 +42,4 @@ namespace mrover {
return m_temp;
}

} // namespace mrover

} // namespace mrover
9 changes: 4 additions & 5 deletions src/esw/fw/science/Core/Src/heater.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,14 +7,14 @@

namespace mrover {

constexpr static float MAX_HEATER_TEMP = 65.0f;
constexpr static int MAX_HEATER_WATCHDOG_TICK = 3000;
constexpr static float MAX_HEATER_TEMP = 50.0f;
constexpr static int MAX_HEATER_WATCHDOG_TICK = 1000;

Heater::Heater(DiagTempSensor const& diag_temp_sensor, Pin const& heater_pin)
: m_diag_temp_sensor(std::move(diag_temp_sensor)),
m_heater_pin(std::move(heater_pin)),
m_state(false),
m_auto_shutoff_enabled(true),
m_auto_shutoff_enabled(true), // TODO - may want to make true if thermistors work
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Remove comment!

m_last_time_received_message(0)
{}

Expand Down Expand Up @@ -67,5 +67,4 @@ namespace mrover {
m_auto_shutoff_enabled = enable;
}

} // namespace mrover

} // namespace mrover
16 changes: 5 additions & 11 deletions src/esw/fw/science/Core/Src/i2c_mux.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,29 +2,23 @@
// Hardware PCA9546A
namespace mrover {

I2CMux::I2CMux(std::shared_ptr<SMBus<uint8_t, uint16_t>> i2c_bus, Pin reset_pin)
I2CMux::I2CMux(std::shared_ptr<SMBus<uint8_t, uint8_t>> i2c_bus, Pin reset_pin)
: m_i2c_bus(i2c_bus), m_reset_pin(reset_pin) {
reset_pin.write(GPIO_PIN_SET);
}

void I2CMux::set_channel(uint8_t channel) {
uint8_t go_to_channel = 1 << channel;
auto result = m_i2c_bus->blocking_transact(MUX_7b_ADDRESS, go_to_channel);
if(result){
if(result.has_value()){
current_channel = go_to_channel;
}
else{
m_reset_pin.write(GPIO_PIN_RESET);
osDelay(50);
m_reset_pin.write(GPIO_PIN_SET);
// Error handling
}

// Clear read and write semaphore so that tasks need to re-acquire them
if(osSemaphoreGetCount(spectral_read_status) > 0){
osSemaphoreAcquire(spectral_read_status, osWaitForever);
}

if(osSemaphoreGetCount(spectral_write_status) > 0){
osSemaphoreAcquire(spectral_write_status, osWaitForever);
}
}
} // namespace mrover

Expand Down
Loading
Loading