templated MCP

hytech-racing · Feb 6, 2024 · 19be0e5 · 19be0e5
1 parent 33c0b3e
commit 19be0e5
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Showing 9 changed files with 110 additions and 104 deletions.
diff --git a/include/MCU_rev15_defs.h b/include/MCU_rev15_defs.h
@@ -5,7 +5,7 @@
 const int ADC1_CS = 34;
 const int ADC2_CS = 33;
 const int ADC3_CS = 29;
-const HardwareSerial* STEERING_SERIAL = &Serial5;
+HardwareSerial* STEERING_SERIAL = &Serial5;
 const int SOFTWARE_OK       = 28;
 const int WATCHDOG_INPUT    = 32;
 

diff --git a/lib/interfaces/include/AnalogSensorsInterface.h b/lib/interfaces/include/AnalogSensorsInterface.h
@@ -69,9 +69,9 @@ template <int N>
 class AnalogMultiSensor
 {
 private:
+protected:
+    AnalogChannel channels_[N];
 public:
-// Data
-    AnalogChannel channels[N];
     AnalogConversionPacket_s<N> data;
 // Functions
     /// @brief Called by the main loop. Allows AnalogMultiSensor devices not owned by a single system to self-actualize sampling & conversion.
@@ -90,7 +90,7 @@ class AnalogMultiSensor
     {
         for (int i = 0; i < N; i++)
         {
-            data.conversions[i] = channels[i].convert();
+            data.conversions[i] = channels_[i].convert();
         }
     }
 

diff --git a/lib/interfaces/include/MCP3208.h b/lib/interfaces/include/MCP3208.h
diff --git a/lib/interfaces/include/MCP_ADC.h b/lib/interfaces/include/MCP_ADC.h
@@ -0,0 +1,33 @@
+#ifndef __MCP_ADC_H__
+#define __MCP_ADC_H__
+
+#include "AnalogSensorsInterface.h"
+
+// Definitions
+const int MCP_ADC_DEFAULT_SPI_SDI   = 12;
+const int MCP_ADC_DEFAULT_SPI_SDO   = 11;
+const int MCP_ADC_DEFAULT_SPI_CLK   = 13;
+const int MCP_ADC_DEFAULT_SPI_SPEED = 2000000;
+
+template <int MCP_ADC_NUM_CHANNELS>
+class MCP_ADC : public AnalogMultiSensor<MCP_ADC_NUM_CHANNELS>
+{
+private:
+    const int spiPinCS_;
+    const int spiPinSDI_;
+    const int spiPinSDO_;
+    const int spiPinCLK_;
+    const int spiSpeed_;
+public:
+// Constructors
+    MCP_ADC(int spiPinCS, const int spiPinSDI, const int spiPinSDO, const int spiPinCLK, const int spiSpeed);
+    MCP_ADC(int spiPinCS);
+
+// Functions
+    void tick(const SysTick_s &tick);
+    void sample();
+};
+
+#include "MCP_ADC.tpp"
+
+#endif /* __MCP_ADC_H__ */
diff --git a/lib/interfaces/include/TelemetryInterface.h b/lib/interfaces/include/TelemetryInterface.h
@@ -61,8 +61,8 @@ class TelemetryInterface
     void tick(
         const SysTick_s &tick,
         const AnalogConversionPacket_s<8> &adc1,
-        const AnalogConversionPacket_s<8> &adc2,
-        const AnalogConversionPacket_s<8> &adc3,
+        const AnalogConversionPacket_s<4> &adc2,
+        const AnalogConversionPacket_s<4> &adc3,
         const SteeringEncoderConversion_s &encoder
     );
 

diff --git a/lib/interfaces/src/MCP3208.cpp b/lib/interfaces/src/MCP3208.cpp
diff --git a/lib/interfaces/src/MCP_ADC.tpp b/lib/interfaces/src/MCP_ADC.tpp
@@ -0,0 +1,60 @@
+#include "MCP_ADC.h"
+#include <SPI.h>
+
+template <int MCP_ADC_NUM_CHANNELS>
+MCP_ADC<MCP_ADC_NUM_CHANNELS>::MCP_ADC(const int spiPinCS, const int spiPinSDI, const int spiPinSDO, const int spiPinCLK, const int spiSpeed)
+: spiPinCS_(spiPinCS)
+, spiPinSDI_(spiPinSDI)
+, spiPinSDO_(spiPinSDO)
+, spiPinCLK_(spiPinCLK)
+, spiSpeed_(spiSpeed)
+{
+    for (int i = 0; i < MCP_ADC_NUM_CHANNELS; i++)
+    {
+        MCP_ADC<MCP_ADC_NUM_CHANNELS>::channels_[i] = AnalogChannel();
+    }
+
+    pinMode(spiPinCS_, OUTPUT);
+    pinMode(spiPinSDI_, INPUT);
+    pinMode(spiPinSDO_, OUTPUT);
+    pinMode(spiPinCLK_, OUTPUT);
+
+    digitalWrite(spiPinCS_, HIGH);
+}
+
+template <int MCP_ADC_NUM_CHANNELS>
+MCP_ADC<MCP_ADC_NUM_CHANNELS>::MCP_ADC(const int spiPinCS__)
+: MCP_ADC<MCP_ADC_NUM_CHANNELS>(spiPinCS__, MCP_ADC_DEFAULT_SPI_SDI, MCP_ADC_DEFAULT_SPI_SDO, MCP_ADC_DEFAULT_SPI_CLK, MCP_ADC_DEFAULT_SPI_SPEED) {}
+
+template <int MCP_ADC_NUM_CHANNELS>
+void MCP_ADC<MCP_ADC_NUM_CHANNELS>::tick(const SysTick_s &tick)
+{
+    // Sample at 100hz
+    if (tick.triggers.trigger100)
+    {
+        MCP_ADC<MCP_ADC_NUM_CHANNELS>::sample();
+        MCP_ADC<MCP_ADC_NUM_CHANNELS>::convert();
+    }
+}
+
+template <int MCP_ADC_NUM_CHANNELS>
+void MCP_ADC<MCP_ADC_NUM_CHANNELS>::sample()
+{
+    uint16_t command = (
+        (0b1 << 15) |    // start bit
+        (0b1 << 14)      // single ended mode
+    );
+
+    SPI.beginTransaction(SPISettings(spiSpeed_, MSBFIRST, SPI_MODE0));
+
+    for (int channelIndex = 0; channelIndex < MCP_ADC_NUM_CHANNELS; channelIndex++)
+    {
+        digitalWrite(spiPinCS_, LOW);
+        uint16_t value = SPI.transfer16(command | channelIndex << 11);
+        MCP_ADC<MCP_ADC_NUM_CHANNELS>::channels_[channelIndex].lastSample = (value & 0x0FFF);
+        digitalWrite(spiPinCS_, HIGH);
+        delayMicroseconds(1); // MCP_ADC Tcsh = 500ns
+    }
+
+    SPI.endTransaction();
+}
diff --git a/lib/interfaces/src/TelemetryInterface.cpp b/lib/interfaces/src/TelemetryInterface.cpp
@@ -112,8 +112,8 @@ void TelemetryInterface::update_analog_readings_CAN_msg(const SteeringEncoderCon
 /* Tick SysClock */
 void TelemetryInterface::tick(const SysTick_s &tick,
                               const AnalogConversionPacket_s<8> &adc1,
-                              const AnalogConversionPacket_s<8> &adc2,
-                              const AnalogConversionPacket_s<8> &adc3,
+                              const AnalogConversionPacket_s<4> &adc2,
+                              const AnalogConversionPacket_s<4> &adc3,
                               const SteeringEncoderConversion_s &encoder) {
 
     if (tick.triggers.trigger50) {

diff --git a/src/main.cpp b/src/main.cpp
@@ -9,7 +9,7 @@
 
 /* Interfaces */
 #include "HytechCANInterface.h"
-#include "MCP3208.h"
+#include "MCP_ADC.h"
 #include "ORBIS_BR10.h"
 #include "MCUInterface.h"
 #include "AMSInterface.h"
@@ -40,9 +40,9 @@ using CircularBufferType = Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_mes
 
 
 /* Sensors */
-MCP3208 ADC1(ADC1_CS);
-MCP3208 ADC2(ADC2_CS);
-MCP3208 ADC3(ADC3_CS);
+MCP_ADC<8> ADC1(ADC1_CS);
+MCP_ADC<4> ADC2(ADC2_CS);
+MCP_ADC<4> ADC3(ADC3_CS);
 OrbisBR10 steering1(STEERING_SERIAL);
 
 
@@ -193,16 +193,16 @@ void sample_all_external_readings() {
     ADC2.tick(curr_tick);
     ADC3.tick(curr_tick);
     // Tick steering system
-    steering_system.tick(curr_tick, ADC1.channels[MCU15_STEERING_CHANNEL].convert());
+    steering_system.tick(curr_tick, ADC1.get().conversions[MCU15_STEERING_CHANNEL]);
     // Read shutdown circuits    
     main_ecu.read_mcu_status();
 }
 
 void process_all_value_readings() {
     pedals.tick(curr_tick,
-                ADC1.channels[MCU15_ACCEL1_CHANNEL].convert(),
-                ADC1.channels[MCU15_ACCEL2_CHANNEL].convert(),
-                ADC1.channels[MCU15_BRAKE1_CHANNEL].convert(),
-                ADC1.channels[MCU15_BRAKE2_CHANNEL].convert());
+                ADC1.get().conversions[MCU15_ACCEL1_CHANNEL],
+                ADC1.get().conversions[MCU15_ACCEL2_CHANNEL],
+                ADC1.get().conversions[MCU15_BRAKE1_CHANNEL],
+                ADC1.get().conversions[MCU15_BRAKE2_CHANNEL]);
 }