AnalogPressureSensor.h

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/* Copyright (c) 2020 Skyward Experimental Rocketry
 * Author: Alberto Nidasio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <sensors/Sensor.h>
 
#include <functional>
 
namespace Boardcore
{
 
template <typename AnalogPressureData>
class AnalogPressureSensor : public Sensor<AnalogPressureData>
{
public:
    AnalogPressureSensor(std::function<ADCData()> getVoltage,
                         const float supplyVoltage = 5.0,
                         const float maxPressure   = 0,
                         const float minPressure   = 0)
        : getVoltage{getVoltage}, supplyVoltage{supplyVoltage},
          maxPressure{maxPressure}, minPressure{minPressure}
    {
    }
 
    AnalogPressureSensor(AnalogPressureSensor&& other)
        : getVoltage{std::move(other.getVoltage)}, offsetMutex{},
          offset{other.offset}, supplyVoltage{other.supplyVoltage},
          maxPressure{other.maxPressure}, minPressure{other.minPressure}
    {
    }
 
    bool init() override { return true; }
 
    bool selfTest() override { return true; }
 
    void setOffset(float value)
    {
        miosix::Lock<miosix::FastMutex> lock{offsetMutex};
        this->offset = value;
    }
 
    void updateOffset(float value)
    {
        miosix::Lock<miosix::FastMutex> lock{offsetMutex};
        this->offset += value;
    }
 
    float getOffset()
    {
        miosix::Lock<miosix::FastMutex> lock{offsetMutex};
        return offset;
    }
 
protected:
    AnalogPressureData sampleImpl() override
    {
        AnalogPressureData pressure;
 
        // Retrieve the voltage
        ADCData voltage = getVoltage();
 
        // Save the timestamp and convert the voltage
        pressure.pressureTimestamp = voltage.voltageTimestamp;
        pressure.pressure          = voltageToPressure(voltage.voltage);
 
        // Check if the pressure is in range
        if (pressure.pressure < minPressure)
            pressure.pressure = minPressure;
        else if (pressure.pressure > maxPressure)
            pressure.pressure = maxPressure;
 
        // Apply offset correction
        {
            miosix::Lock<miosix::FastMutex> lock{offsetMutex};
            pressure.pressure -= offset;
        }
 
        return pressure;
    }
 
    virtual float voltageToPressure(float voltage) = 0;
 
    std::function<ADCData()> getVoltage;
 
    // std::atomic<float> does not support +=
    miosix::FastMutex offsetMutex;
    float offset = 0;
 
    const float supplyVoltage;
    const float maxPressure;
    const float minPressure;
};
 
}  // namespace Boardcore