/** Array of sensor threshold structures defining the safety values of each sensor**/
const SensorThreshold thresholds[NUMSENSORS]= {
//Max Safety, Min safety, Max warning, Min warning
- {1,-1,1,-1}, // ANALOG_TEST0
- {500,0,499,0}, // ANALOG_TEST1
- {5000,0,5000,0}, // ANALOG_REALTEST
- {5,-5,4,-4}, // ANALOG_FAIL0
- {1,0,1,0}, // DIGITAL_TEST0
- {1,0,1,0}, // DIGITAL_TEST1
- {1,0,1,0}, // DIGITAL_REALTEST
- {1,0,1,0} // DIGITAL_FAIL0
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {1, 1, 1, 1}
};
/** Human readable names for the sensors **/
const char * g_sensor_names[NUMSENSORS] = {
- "analog_test0", "analog_test1",
- "analog_realtest", "analog_fail0",
- "digital_test0", "digital_test1",
- "digital_realtest", "digital_fail0"
+ "strain0",
+ "strain1",
+ "strain2",
+ "strain3",
+ "pressure0",
+ "pressure1",
+ "pressure_feedback",
+ "microphone",
+ "enclosure"
};
/**
Data_Init(&(g_sensors[i].data_file));
}
- // Get the ADCs
- //ADC_Export();
- // GPIO1_28 used as a pulse for sampling
- //GPIO_Export(GPIO1_28);
- // GPIO0_30 toggled during sampling
- //GPIO_Export(GPIO0_30);
+
+ // Get the required ADCs
+ ADC_Export(ADC0); // Strain gauges x 4
+ ADC_Export(ADC1); // Pressure sensor 1
+ ADC_Export(ADC2); // Pressure sensor 2
+ // ADC3 still unused (!?)
+ ADC_Export(ADC4); // Pressure regulator feedback(?) signal
+ ADC_Export(ADC5); // Microphone
+
+ // Get GPIO pins //TODO: Confirm pins used with Electronics Team
+ GPIO_Export(GPIO0_30); // Mux A (strain 1)
+ GPIO_Set(GPIO0_30, false);
+ GPIO_Export(GPIO1_28); // Mux B (strain 2)
+ GPIO_Set(GPIO1_28, false);
+ GPIO_Export(GPIO0_31); // Mux C (strain 3)
+ GPIO_Set(GPIO0_31, false);
+ GPIO_Export(GPIO1_16); // Mux D (strain 4)
+ GPIO_Set(GPIO1_16, false);
+
+ GPIO_Export(GPIO0_31); // Enclosure switch
}
/**
{
if( value > thresholds[id].max_error || value < thresholds[id].min_error)
{
- Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
+ Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n", g_sensor_names[id],value, thresholds[id].max_error, thresholds[id].min_error);
//new function that stops actuators?
//Control_SetMode(CONTROL_EMERGENCY, NULL)
}
else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
{
- Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);
+ Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", g_sensor_names[id],value,thresholds[id].max_warn, thresholds[id].min_warn);
}
}
bool Sensor_Read(Sensor * s, DataPoint * d)
{
+
+
+ static bool result = true;
+
+ //TODO: Remove this, code should be refactored to not use so many threads
+ // Although... if it works, it works...
+ static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
+
+ pthread_mutex_lock(&mutex); //TODO: Reduce the critical section
+
+ usleep(10);
+
// Set time stamp
struct timeval t;
gettimeofday(&t, NULL);
- d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
-
- static bool result = true;
-
+ d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
// Read value based on Sensor Id
+ int value; bool success = true;
+ //TODO: Can probably do this nicer than a switch (define a function pointer for each sensor)
+ // Can probably make the whole sensor thing a lot nicer with a linked list of sensors...
+ // (Then to add more sensors to the software, someone just writes an appropriate read function and calls Sensor_Add(...) at init)
+ // (I will do this. Don't do it before I get a chance, I don't trust you :P)
switch (s->id)
{
- case 2:
- {
- static bool set = false;
-
- //GPIO_Set(GPIO0_30, true);
- d->value = (double)ADC_Read(ADC0); //ADC #0 on the Beaglebone
- //Log(LOGDEBUG, "Got value %f from ADC0", d->value);
- //GPIO_Set(GPIO0_30, false);
- set = !set;
- //GPIO_Set(GPIO1_28, set);
-
- usleep(100000);
-
- break;
- }
-
- default:
- d->value = rand() % 2;
- usleep(1000000);
+ //TODO: Strain gauges should have their own critical section, rest of sensors probably don't need to be in a critical section
+ case STRAIN0:
+ success &= GPIO_Set(GPIO0_30, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO0_30, false);
+ if (!success)
+ Fatal("Error reading strain gauge 0");
break;
-
-
- case ANALOG_TEST0:
- {
- d->value = (double)(rand() % 100) / 100;
+ case STRAIN1:
+ success &= GPIO_Set(GPIO1_28, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO1_28, false);
+ if (!success)
+ Fatal("Error reading strain gauge 1");
break;
- }
- case ANALOG_TEST1:
- {
- static int count = 0;
- count %= 500;
- d->value = count++;
+ case STRAIN2:
+ success &= GPIO_Set(GPIO0_31, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO0_31, false);
+ case STRAIN3:
+ success &= GPIO_Set(GPIO1_16, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO1_16, false);
+ if (!success)
+ Fatal("Error reading strain gauge 2");
+ break;
+ case PRESSURE0:
+ success &= ADC_Read(ADC1, &value);
break;
- }
-
- case ANALOG_FAIL0:
- d->value = 0;
- //d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
- //Gives a value between -5 and 5
+ case PRESSURE1:
+ success &= ADC_Read(ADC5, &value);
break;
- case DIGITAL_TEST0:
- d->value = t.tv_sec % 2;
-
+ case PRESSURE_FEEDBACK:
+ success &= ADC_Read(ADC4, &value);
break;
- case DIGITAL_TEST1:
- d->value = (t.tv_sec+1)%2;
+ case MICROPHONE:
+ success &= ADC_Read(ADC2, &value);
break;
- case DIGITAL_REALTEST:
+ case ENCLOSURE:
{
- // Can pass pin as argument, just using 20 as an example here
- // Although since pins will be fixed, can just define it here if we need to
- //d->value = pinRead(20); //Pin 20 on the Beaglebone
+ bool why_do_i_need_to_do_this = false;
+ success &= GPIO_Read(GPIO0_31, &why_do_i_need_to_do_this);
+ value = (int)why_do_i_need_to_do_this;
break;
}
- case DIGITAL_FAIL0:
- if( rand() % 100 > 98)
- d->value = 2;
- d->value = rand() % 2;
- //Gives 0 or 1 or a 2 every 1/100 times
+ case DILATOMETER:
+ {
+ // Will definitely cause issues included in the same critical section as ADC reads
+ // (since it will be the longest sensor to sample, everything else will have to keep waiting on it)
+ value = 0;
break;
- //default:
- // Fatal("Unknown sensor id: %d", s->id);
- // break;
+ }
+
}
+
+ d->value = (double)(value); //TODO: Calibration? Or do calibration in GUI
+
+ pthread_mutex_unlock(&mutex); //TODO: Reduce the critical section
// Perform sanity check based on Sensor's ID and the DataPoint
s->newest_data.time_stamp = d->time_stamp;
s->newest_data.value = d->value;
}
- return result;
+
+#ifdef _BBB
+ //Not all cases have usleep, easiest here.
+ //TODO: May want to add a control option to adjust the sampling rate for each sensor?
+ // Also, we can get a more accurate sampling rate if instead of a fixed sleep, we calculate how long to sleep each time.
+ usleep(100000);
+#endif
+
+ /*
+ if (success)
+ Log(LOGDEBUG, "Successfully read sensor %d (for once)", s->id);
+ else
+ Log(LOGDEBUG, "Failed to read sensor %d (again)", s->id);
+ */
+ return result && success;
}
/**
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