New ADC implementation

MIDAS/lib/ADS7138Q1/ads7138-q1.cpp

@@ -45,7 +45,7 @@ static AdcError adc_reg_write(uint8_t address, uint8_t reg_address, uint8_t data
   return AdcError::NoError;
 }
 
-AdcReadResult adcAnalogRead(ADCAddress pin){
+AdcReadResult adcAnalogRead(ADCAddress pin){ 
     if(pin.pin_id < 0 || pin.pin_id >= 8){
         return AdcReadResult{.value=0, .error=AdcError::InvalidPinError};
     }
@@ -58,7 +58,7 @@ AdcReadResult adcAnalogRead(ADCAddress pin){
     }
     int high = WIRE.read();
     int low = WIRE.read();
-    uint16_t value = (high << 4) + (low >> 4);
+    uint16_t value = (high << 8) + low;
     return AdcReadResult{.value=value, .error=AdcError::NoError};
 }
 

MIDAS/src/data_logging.cpp

@@ -16,7 +16,6 @@ constexpr ReadingDiscriminant get_discriminant();
 
 ASSOCIATE(IMU, ID_IMU)
 ASSOCIATE(Barometer, ID_BAROMETER)
-ASSOCIATE(Continuity, ID_CONTINUITY)
 ASSOCIATE(Voltage, ID_VOLTAGE)
 ASSOCIATE(GPS, ID_GPS)
 ASSOCIATE(Magnetometer, ID_MAGNETOMETER)
@@ -87,7 +86,6 @@ void log_data(LogSink& sink, RocketData& data) {
     log_from_sensor_data(sink, data.imu);
     log_from_sensor_data(sink, data.hw_filtered);
     log_from_sensor_data(sink, data.barometer);
-    log_from_sensor_data(sink, data.continuity);
     log_from_sensor_data(sink, data.voltage);
     log_from_sensor_data(sink, data.gps);
     log_from_sensor_data(sink, data.magnetometer);

MIDAS/src/errors.cpp

@@ -88,12 +88,6 @@ void update_error_LED(ErrorCode error) {
             digitalWrite(LED_ORANGE, LOW);
             digitalWrite(LED_RED, HIGH);
             break; 
-        case ContinuityCouldNotBeInitialized:
-            digitalWrite(LED_BLUE, LOW);
-            digitalWrite(LED_GREEN, LOW);
-            digitalWrite(LED_ORANGE, HIGH);
-            digitalWrite(LED_RED, HIGH);
-            break; 
         case CannotConnectBNO:
             digitalWrite(LED_BLUE, HIGH);
             digitalWrite(LED_GREEN, HIGH);

MIDAS/src/errors.h

@@ -17,7 +17,6 @@ enum ErrorCode {
     GyroCouldNotBeInitialized = 8,
     PyroGPIOCouldNotBeInitialized = 9,
     GPSCouldNotBeInitialized = 10,
-    ContinuityCouldNotBeInitialized = 11,
     RadioInitFailed = 12,
     RadioSetFrequencyFailed = 13,
     CannotConnectBNO = 14,

MIDAS/src/hardware/Voltage.cpp

@@ -4,6 +4,11 @@
 #include <Wire.h>
 
 #define VOLTAGE_DIVIDER (5.0 / (5.0 + 20.0))
+#define PYRO_VOLTAGE_DIVIDER (18.0/(100.0+18.0))
+#define PYRO_BATT_VOLTAGE_DIVIDER (100.0/(100.0+560.0))
+#define BATT_VOLTAGE_DIVIDER (100.0/(100.0+100.0))
+#define VOLTAGE_SCALE 3.3
+#define VOLTAGE_REG_WIDTH (1<<16)
 
 int read_board_pwr_monitor_register(int reg, int bytes) {
     Wire1.beginTransmission(0x44);
@@ -39,23 +44,72 @@ ErrorCode VoltageSensor::init() {
  * @return The scaled voltage given by the voltage sensor
 */
 Voltage VoltageSensor::read() {
-    Voltage v_battery;
-    int voltage = read_board_pwr_monitor_register(0x5, 2);
-    int16_t current = read_board_pwr_monitor_register(0x7, 2);
-
-    float voltage_normalized = voltage * 3.125 / 1000.0;
-    float absolute_current = current * 1.2 / 1000.0;
-
-    // Serial.print("Voltage: ");
-    // Serial.println(voltage_normalized);
-    // Serial.print("Current: ");
-    // Serial.println(current);
-
-    v_battery.voltage = voltage_normalized;
-    v_battery.current = absolute_current;
-//    Serial.print("Raw voltage reading: ");
-//    Serial.print(v_battery.voltage);
-//    Serial.println("");
-    //* 3.3f / 4095.f / VOLTAGE_DIVIDER;
-    return v_battery;
-}
+    Voltage voltage;
+
+    //CHECK PINS
+    ADCAddress pinA;
+    ADCAddress pinB;
+    ADCAddress pinC;
+    ADCAddress pinD;
+    ADCAddress pinBat;
+    ADCAddress pinPyro;
+    pinA.pin_id = 0;
+    pinB.pin_id = 1;
+    pinC.pin_id = 4;
+    pinD.pin_id = 5; 
+    pinBat.pin_id = 7; 
+    pinPyro.pin_id = 2; 
+
+    //Getting ADC values
+    AdcReadResult sensorA = adcAnalogRead(pinA);
+    AdcReadResult sensorB = adcAnalogRead(pinB);
+    AdcReadResult sensorC = adcAnalogRead(pinC);
+    AdcReadResult sensorD = adcAnalogRead(pinD);
+    AdcReadResult sensorBat = adcAnalogRead(pinBat);
+    AdcReadResult sensorPyro = adcAnalogRead(pinPyro);
+
+    //Converts ADC value to voltage for each pin
+    if(sensorBat.error == AdcError::NoError){
+        float Bat_voltage = ((static_cast<float>(sensorBat.value) / VOLTAGE_REG_WIDTH) * VOLTAGE_SCALE) / BATT_VOLTAGE_DIVIDER; 
+        voltage.v_Bat = Bat_voltage;
+        Serial.print("VBAT: ");
+        Serial.println(Bat_voltage); 
+    }
+
+    if(sensorPyro.error == AdcError::NoError){
+        float Pyro_voltage = ((static_cast<float>(sensorPyro.value) / VOLTAGE_REG_WIDTH) * VOLTAGE_SCALE)/(PYRO_BATT_VOLTAGE_DIVIDER); //Accounting for voltage divider on MIDAS mini
+        voltage.v_Pyro = Pyro_voltage;
+        Serial.print("PYRO: ");
+        Serial.println(Pyro_voltage);
+    }
+
+    if(sensorA.error == AdcError::NoError){
+        float A_voltage = ((static_cast<float>(sensorA.value) / VOLTAGE_REG_WIDTH) * VOLTAGE_SCALE) / PYRO_VOLTAGE_DIVIDER;
+        voltage.continuity[0] = A_voltage;
+        Serial.print("A: ");
+        Serial.println(A_voltage);
+    }
+
+    if(sensorB.error == AdcError::NoError){
+        float B_voltage = ((static_cast<float>(sensorB.value) / VOLTAGE_REG_WIDTH) * VOLTAGE_SCALE) / PYRO_VOLTAGE_DIVIDER;
+        voltage.continuity[1] = B_voltage;
+        Serial.print("B: ");
+        Serial.println(B_voltage);
+    }
+
+    if(sensorC.error == AdcError::NoError){
+        float C_voltage = ((static_cast<float>(sensorC.value) / VOLTAGE_REG_WIDTH) * VOLTAGE_SCALE) / PYRO_VOLTAGE_DIVIDER;
+        voltage.continuity[2] = C_voltage;
+        Serial.print("C: ");
+        Serial.println(C_voltage);
+    }
+
+    if(sensorD.error == AdcError::NoError){
+        float D_voltage = ((static_cast<float>(sensorD.value) / VOLTAGE_REG_WIDTH) * VOLTAGE_SCALE) / PYRO_VOLTAGE_DIVIDER;
+        voltage.continuity[3] = D_voltage;
+        Serial.print("D: ");
+        Serial.println(D_voltage);
+    }
+
+    return voltage;
+}

MIDAS/src/hardware/sensors.h

@@ -32,14 +32,6 @@ struct BarometerSensor {
     Barometer read();
 };
 
-/**
- * @struct Continuity interface
- */
-struct ContinuitySensor {
-    ErrorCode init();
-    Continuity read();
-};
-
 /**
  * @struct Voltage interface
  */
@@ -48,23 +40,6 @@ struct VoltageSensor {
     Voltage read();
 };
 
-// /**
-//  * @struct BNO interface
-//  */
-// struct OrientationSensor {
-//     Orientation initial_orientation;
-//     Quaternion initial_quaternion;
-//     uint8_t initial_flag;
-
-//     float prev_x = 0;
-//     float prev_y = 0;
-//     float prev_z = 0;
-//     float prev_tilt = 0;
-
-//     ErrorCode init();
-//     Orientation read();
-// };
-
 /**
  * @struct GPS interface
  */

MIDAS/src/hilsim/sensors.h

@@ -44,13 +44,6 @@ struct BarometerSensor {
 //     LowGLSM read();
 // };
 
-/**
- * @struct Continuity interface
- */
-struct ContinuitySensor {
-    ErrorCode init();
-    Continuity read();
-};
 
 /**
  * @struct Voltage interface

MIDAS/src/hilsim/sensors/sensors.h

@@ -25,11 +25,6 @@ struct BarometerSensor {
     Barometer read();
 };
 
-struct ContinuitySensor {
-    ErrorCode init();
-    Continuity read();
-};
-
 struct VoltageSensor {
     ErrorCode init();
     Voltage read();

MIDAS/src/log_format.h

@@ -10,11 +10,9 @@
 enum ReadingDiscriminant {
     ID_IMU = 1, 
     ID_BAROMETER = 2,
-    ID_CONTINUITY = 3,
     ID_VOLTAGE = 4,
     ID_GPS = 5,
     ID_MAGNETOMETER = 6,
-    ID_ORIENTATION = 7,
     ID_KALMAN = 8,
     ID_FSM = 9,
     ID_PYRO = 10,
@@ -43,7 +41,6 @@ struct LoggedReading {
         IMU imu;
         IMU_SFLP hw_filt;
         Barometer barometer;
-        Continuity continuity;
         Voltage voltage;
         GPS gps;
         Magnetometer magnetometer;

MIDAS/src/rocket_state.h

@@ -191,12 +191,10 @@ struct RocketData {
     BufferedSensorData<IMU, 16> imu;
     SensorData<IMU_SFLP> hw_filtered;
     BufferedSensorData<Barometer, 16> barometer;
-    SensorData<Continuity> continuity;
     SensorData<PyroState> pyro;
     SensorData<FSMState> fsm_state;
     SensorData<GPS> gps;
     SensorData<Magnetometer> magnetometer;
-    //SensorData<Orientation> orientation;
     SensorData<Voltage> voltage;
     SensorData<CameraData> cam_data;
 

MIDAS/src/sensor_data.h

@@ -80,23 +80,16 @@ struct Barometer {
     Barometer(float t, float p, float a) : temperature(t), pressure(p), altitude(a) {}
 };
 
-/**
- * @struct Continuity
- * 
- * @brief data about pyro continuity
-*/
-struct Continuity {
-    float pins[4];
-};
 
 /**
  * @struct Voltage
  * 
  * @brief data about battery voltage
 */
 struct Voltage {
-    float voltage = 0;
-    float current = 0;
+    float continuity[4];
+    float v_Bat = 0;
+    float v_Pyro = 0;
 };
 
 /**