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ADC Base Extension Simplification #258

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Feb 20, 2024
Merged

ADC Base Extension Simplification #258

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114 changes: 61 additions & 53 deletions src/flight_system/extensions/adc_extension_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,25 +30,34 @@ namespace extension {
*/
inline constexpr uint32_t kWatchdogMultiplier = 4;

template <uint32_t AdcResolution> class AdcExtensionBase : public Extension {
static_assert(AdcResolution >= 4 && AdcResolution <= 16);
// template <uint32_t AdcResolution>
class AdcExtensionBase : public Extension {
// static_assert(AdcResolution >= 4 && AdcResolution <= 16);

public:
AdcExtensionBase(ExtensionResources &resources,
cfg::ExtensionMetadata metadata)
: Extension(resources, metadata),
adc_watchdog_(metadata.update_interval * kWatchdogMultiplier) {
adc_config_.resolution = adc_resolution_;
if (!parseAdcConfig(metadata.extra_args, adc_config_)) {
error(DiagnosticId::EXTENSION_adcConfigFail);
}
// adc_config_.resolution = adc_resolution_;
// if (!parseAdcConfig(metadata.extra_args, adc_config_)) {
// error(DiagnosticId::EXTENSION_adcConfigFail);
// }
}

protected:
virtual void adcStartup(){};
virtual bool readAdc(uint32_t &value) = 0;
virtual bool readAdc() {
giraffe_assert(false);
return false;
};
virtual void adcShutdown(){};

void reportAdcData(uint32_t value, uint8_t channel) {
dataWithSecondaryIdentifier(data::DataId::ADC_rawCount, value,
std::to_string(channel));
}

private:
void startup() override {
adcStartup();
Expand All @@ -63,62 +72,61 @@ template <uint32_t AdcResolution> class AdcExtensionBase : public Extension {
raiseFault(DiagnosticId::EXT_FAULT_adcWatchdogTimeout);
return;
}
uint32_t adc_value;
if (!readAdc(adc_value)) {
if (!readAdc()) {
return;
}

switch (adc_config_.type) {
case AdcType::RAW_COUNT:
data(data::DataId::ADC_rawCount, adc_value);
break;
case AdcType::PERCENTAGE:
percentage(adc_value);
break;
case AdcType::VOLTAGE_DIVIDER:
voltageDivider(adc_value);
break;
case AdcType::VOLTAGE_REFERENCE:
voltageReference(adc_value);
break;
default:
giraffe_assert(false);
break;
}
// switch (adc_config_.type) {
// case AdcType::RAW_COUNT:
// data(data::DataId::ADC_rawCount, adc_value);
// break;
// case AdcType::PERCENTAGE:
// percentage(adc_value);
// break;
// case AdcType::VOLTAGE_DIVIDER:
// voltageDivider(adc_value);
// break;
// case AdcType::VOLTAGE_REFERENCE:
// voltageReference(adc_value);
// break;
// default:
// giraffe_assert(false);
// break;
// }

adc_watchdog_.reset();
}

void shutdown() override {
}

void percentage(uint32_t value) {
int max = adc_config_.max;
int min = adc_config_.min;
int range = max - min;
int scaled = value - min;
int percentage = (scaled * 100) / range;
data(data::DataId::ADC_percentage, percentage);
}

void voltageDivider(uint32_t value) {
uint32_t unscaled =
(value * adc_config_.voltage_reference) / (1 << adc_resolution_);
uint32_t millivolts =
(unscaled * (adc_config_.resistor_1 + adc_config_.resistor_2)) /
adc_config_.resistor_2;
data(data::DataId::ADC_voltage, millivolts);
}

void voltageReference(uint32_t value) {
uint32_t millivolts =
(value * adc_config_.voltage_reference) / (1 << adc_resolution_);
data(data::DataId::ADC_voltage, millivolts);
}

const uint32_t adc_resolution_ = AdcResolution;

AdcConfig adc_config_{};
// void percentage(uint32_t value) {
// int max = adc_config_.max;
// int min = adc_config_.min;
// int range = max - min;
// int scaled = value - min;
// int percentage = (scaled * 100) / range;
// data(data::DataId::ADC_percentage, percentage);
// }

// void voltageDivider(uint32_t value) {
// uint32_t unscaled =
// (value * adc_config_.voltage_reference) / (1 << adc_resolution_);
// uint32_t millivolts =
// (unscaled * (adc_config_.resistor_1 + adc_config_.resistor_2)) /
// adc_config_.resistor_2;
// data(data::DataId::ADC_voltage, millivolts);
// }

// void voltageReference(uint32_t value) {
// uint32_t millivolts =
// (value * adc_config_.voltage_reference) / (1 << adc_resolution_);
// data(data::DataId::ADC_voltage, millivolts);
// }

// const uint32_t adc_resolution_ = AdcResolution;

// AdcConfig adc_config_{};
bst::Timer adc_watchdog_;
};

Expand Down
11 changes: 11 additions & 0 deletions src/flight_system/extensions/extension_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,17 @@ void Extension::data(data::ImuFrame frame) {
metadata_.name, frame);
}

void Extension::dataWithSecondaryIdentifier(
data::DataId identifier, uint32_t value,
const std::string &secondary_identifier) {
data::DataPacket packet;
packet.source = node::Identification::EXTENSION;
packet.identifier = identifier;
packet.secondary_identifier = metadata_.name + ":" + secondary_identifier;
packet.value = std::to_string(value);
interfaces_.streams.data.addPacket(packet);
}

void Extension::extSleep(uint32_t ms) {
const uint32_t kMaxSleepTimeMs = 1000;
if (ms > kMaxSleepTimeMs) {
Expand Down
4 changes: 3 additions & 1 deletion src/flight_system/extensions/extension_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,9 +139,11 @@ class Extension {

template <typename T>
void data(data::DataId identifier, T value, int precision = 2);
void date(data::DataId identifier, std::string string_data);
// void data(data::DataId identifier, std::string string_data);
void data(data::GpsFrame frame);
void data(data::ImuFrame frame);
void dataWithSecondaryIdentifier(data::DataId identifier, uint32_t value,
const std::string &secondary_identifier);
void error(DiagnosticId, const std::string &info = "");
void error(DiagnosticId log_id, int info);
void info(std::string info);
Expand Down
7 changes: 4 additions & 3 deletions src/flight_system/extensions/mcp3021.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,13 +39,13 @@ void Mcp3021::adcStartup() {

bool Mcp3021::i2cHandshake() {
uint32_t value;
if (!readAdc(value)) {
if (!readAdc()) {
return false;
}
return true;
}

bool Mcp3021::readAdc(uint32_t &value) {
bool Mcp3021::readAdc() {
constexpr uint32_t kMcp3021ReadSize = 2;
std::vector<uint8_t> read_buffer(kMcp3021ReadSize);
auto result = i2c_.readChunk(read_buffer, kMcp3021ReadSize);
Expand All @@ -62,10 +62,11 @@ bool Mcp3021::readAdc(uint32_t &value) {
return false;
}

uint32_t value = 0;
value = read_buffer.at(0) << 6;
value |= read_buffer.at(1) >> 2;

// debug("Read value: " << value);
reportAdcData(value, 0);

return true;
}
Expand Down
4 changes: 2 additions & 2 deletions src/flight_system/extensions/mcp3021.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,14 +22,14 @@

namespace extension {

class Mcp3021 : public AdcExtensionBase<10>, public I2cExtensionAdapter {
class Mcp3021 : public AdcExtensionBase, public I2cExtensionAdapter {
public:
Mcp3021(ExtensionResources &resources, cfg::ExtensionMetadata metadata);

private:
void adcStartup() override;
bool i2cHandshake() override;
bool readAdc(uint32_t &value) override;
bool readAdc() override;
};

} // namespace extension
Expand Down
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