ND030D.h

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/* Copyright (c) 2025 Skyward Experimental Rocketry
 * Author: Pietro Bortolus
 *
 * 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
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 * THE SOFTWARE.
 */
 
#pragma once
 
#include <diagnostic/PrintLogger.h>
#include <drivers/dma/DMA.h>
#include <drivers/spi/SPIDriver.h>
#include <sensors/Sensor.h>
 
#include "ND030XData.h"
 
namespace Boardcore
{
 
class ND030D : public Sensor<ND030XData>
{
public:
    static const char MODEL_NAME[];
 
    enum class FullScaleRange : uint8_t
    {
        FS_5  = 0x02,  // 5.0  psi
        FS_10 = 0x03,  // 10.0  psi
        FS_15 = 0x04,  // 15.0  psi
        FS_20 = 0x05,  // 20.0  psi
        FS_25 = 0x06,  // 25.0 psi
        FS_30 = 0x07,  // 30.0 psi
    };
 
    static float rangeToPressure(FullScaleRange fsr);
 
    enum class IOWatchdogEnable : uint8_t
    {
        DISABLED = 0x00,
        ENABLED  = 0x01,
    };
 
    enum class BWLimitFilter : uint8_t
    {
        BWL_1   = 0x00,  // 1.0 Hz
        BWL_2   = 0x01,  // 2.0 Hz
        BWL_5   = 0x02,  // 5.0 Hz
        BWL_10  = 0x03,  // 10  Hz
        BWL_20  = 0x04,  // 20  Hz
        BWL_50  = 0x05,  // 50  Hz
        BWL_100 = 0x06,  // 100 Hz
        BWL_200 = 0x07,  // 200 Hz
    };
 
    enum class NotchEnable : uint8_t
    {
        DISABLED = 0x00,
        ENABLED  = 0x01,
    };
 
    static SPIBusConfig getDefaultSPIConfig();
 
    ND030D(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
           DMAStreamGuard* streamRx, DMAStreamGuard* streamTx,
           std::chrono::nanoseconds timeoutDma,
           FullScaleRange fsr   = FullScaleRange::FS_5,
           IOWatchdogEnable iow = IOWatchdogEnable::DISABLED,
           BWLimitFilter bwl    = BWLimitFilter::BWL_200,
           NotchEnable ntc = NotchEnable::ENABLED, uint8_t odr = 0x1C);
 
    ND030D(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
           FullScaleRange fsr   = FullScaleRange::FS_5,
           IOWatchdogEnable iow = IOWatchdogEnable::DISABLED,
           BWLimitFilter bwl    = BWLimitFilter::BWL_200,
           NotchEnable ntc = NotchEnable::ENABLED, uint8_t odr = 0x1C);
 
    bool init() override;
 
    bool selfTest() override;
 
    void setOutputDataRate(uint8_t odr);
 
    void setFullScaleRange(FullScaleRange fsr);
 
    void setIOWatchdog(IOWatchdogEnable iow);
 
    void setBWLimitFilter(BWLimitFilter bwl);
 
    void setNotch(NotchEnable ntc);
 
    bool checkModelMatch();
 
    void setOffset(float offset);
 
    void updateOffset(float offset);
 
    float getOffset();
 
protected:
    ND030XData sampleImpl() override;
 
private:
    SPISlave slave;
    float range;
    DMAStreamGuard* const streamRx;
    DMAStreamGuard* const streamTx;
    const std::chrono::nanoseconds timeoutDma;
    float pressureOffset = 0;
 
    struct
    {
        uint8_t odr : 8;           // output data rate
        FullScaleRange fsr : 3;    // full scale range
        IOWatchdogEnable iow : 1;  // IO watchdog enable
        BWLimitFilter bwl : 3;     // bandwidth limit filter
        NotchEnable ntc : 1;       // notch filter enable
    } sensorSettings;
 
    static_assert(sizeof(sensorSettings) == 2,
                  "sensorSettings size is not 2 bytes");
 
    struct ND030DDataExtended
    {
        uint16_t pressure;
        uint16_t temperature;
        char model[8];
        uint8_t serial[4];
        uint8_t build[6];
    };
 
    PrintLogger logger = Logging::getLogger("nd030d");
};
 
}  // namespace Boardcore