Feature/86dt0u36a/lim temp polling

Common/Inc/config.h

@@ -55,9 +55,13 @@ const Data_Segment_t BMS_ERROR_CODE            = {BMS_BOARD, 8, 8};
 
 // BEGIN SENSORS BOARD DEFS
 //FIRST FRAME
-const Data_Segment_t PRESSURE                  = {SENSOR_BOARD_1, 1, 2};
-const Data_Segment_t LIM_ONE_TEMP              = {SENSOR_BOARD_1, 3, 4};
-const Data_Segment_t LIM_TWO_TEMP              = {SENSOR_BOARD_1, 5, 6};
+const Data_Segment_t PRESSURE                  = {SENSOR_BOARD_1, 1, 1};
+const Data_Segment_t LIM_ONE_TEMP_ONE          = {SENSOR_BOARD_1, 2, 2};
+const Data_Segment_t LIM_ONE_TEMP_TWO          = {SENSOR_BOARD_1, 3, 3};
+const Data_Segment_t LIM_ONE_TEMP_THREE        = {SENSOR_BOARD_1, 4, 4};
+const Data_Segment_t LIM_TWO_TEMP_ONE          = {SENSOR_BOARD_1, 5, 5};
+const Data_Segment_t LIM_ONE_TEMP_TWO          = {SENSOR_BOARD_1, 6, 6};
+const Data_Segment_t LIM_TWO_TEMP_THREE        = {SENSOR_BOARD_1, 7, 7};
 const Data_Segment_t SENSORS_ERROR_CODE_1      = {SENSOR_BOARD_1, 8, 8};
 //SECOND (IMU) FRAME
 const Data_Segment_t X_ACCEL                   = {SENSOR_BOARD_2, 1, 2}; 

Sensors/Core/Inc/adc.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    adc.h
+  * @brief   This file contains all the function prototypes for
+  *          the adc.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __ADC_H__
+#define __ADC_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern ADC_HandleTypeDef hadc3;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_ADC3_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ADC_H__ */
+

Sensors/Core/Inc/lim.h

@@ -0,0 +1,33 @@
+/*
+ * lim.h
+ *
+ *  Created on: May 9, 2024
+ *      Author: mahir
+ */
+
+#ifndef INC_LIM_H_
+#define INC_LIM_H_
+
+#include <stdint.h>
+
+#define NUM_THERM_TOTAL         6U
+#define NUM_LIMS                2U
+#define NUM_THERM_PER_LIM       NUM_THERM_TOTAL / NUM_LIMS
+#define NUM_MUX                 1U
+
+//Steinhart-Hart constants
+#define MAX_ADC_COUNT           4095U
+#define ABSOLUTE_ZERO           273.15
+#define NOMINAL_TEMPERATURE     298.15
+#define NOMINAL_RESISTANCE      10000U
+#define B_COEFFICIENT           3950U
+
+#define VOLTAGE_SUPPLY          5
+#define MAX_VOLTAGE             3.3
+#define R10K                    10000U
+
+
+void get_lim_data(uint8_t lim_temps[NUM_LIMS]);
+uint8_t get_temp(uint16_t adc_value);
+
+#endif /* INC_LIM_H_ */

Sensors/Core/Inc/stm32f7xx_hal_conf.h

@@ -38,7 +38,7 @@
 #define HAL_MODULE_ENABLED
 
   /* #define HAL_CRYP_MODULE_ENABLED */
-/* #define HAL_ADC_MODULE_ENABLED */
+#define HAL_ADC_MODULE_ENABLED
 #define HAL_CAN_MODULE_ENABLED
 /* #define HAL_CEC_MODULE_ENABLED */
 /* #define HAL_CRC_MODULE_ENABLED */

Sensors/Core/Src/adc.c

@@ -0,0 +1,128 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    adc.c
+  * @brief   This file provides code for the configuration
+  *          of the ADC instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "adc.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+ADC_HandleTypeDef hadc3;
+
+/* ADC3 init function */
+void MX_ADC3_Init(void)
+{
+
+  /* USER CODE BEGIN ADC3_Init 0 */
+
+  /* USER CODE END ADC3_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC3_Init 1 */
+
+  /* USER CODE END ADC3_Init 1 */
+
+  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+  */
+  hadc3.Instance = ADC3;
+  hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
+  hadc3.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc3.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc3.Init.ContinuousConvMode = DISABLE;
+  hadc3.Init.DiscontinuousConvMode = DISABLE;
+  hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc3.Init.NbrOfConversion = 1;
+  hadc3.Init.DMAContinuousRequests = DISABLE;
+  hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+  */
+  sConfig.Channel = ADC_CHANNEL_7;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC3_Init 2 */
+
+  /* USER CODE END ADC3_Init 2 */
+
+}
+
+void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(adcHandle->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspInit 0 */
+
+  /* USER CODE END ADC3_MspInit 0 */
+    /* ADC3 clock enable */
+    __HAL_RCC_ADC3_CLK_ENABLE();
+
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /**ADC3 GPIO Configuration
+    PF9     ------> ADC3_IN7
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN ADC3_MspInit 1 */
+
+  /* USER CODE END ADC3_MspInit 1 */
+  }
+}
+
+void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  if(adcHandle->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspDeInit 0 */
+
+  /* USER CODE END ADC3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC3_CLK_DISABLE();
+
+    /**ADC3 GPIO Configuration
+    PF9     ------> ADC3_IN7
+    */
+    HAL_GPIO_DeInit(GPIOF, GPIO_PIN_9);
+
+  /* USER CODE BEGIN ADC3_MspDeInit 1 */
+
+  /* USER CODE END ADC3_MspDeInit 1 */
+  }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Sensors/Core/Src/gpio.c

@@ -32,14 +32,27 @@
 
 /* USER CODE END 1 */
 
-/** Pinout Configuration
+/** Configure pins
 */
 void MX_GPIO_Init(void)
 {
 
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
   /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOF, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2, GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : PF0 PF1 PF2 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 2 */

Sensors/Core/Src/lim.c

@@ -0,0 +1,38 @@
+/*
+ * lim.c
+ *
+ *  Created on: May 9, 2024
+ *      Author: mahir
+ */
+
+#include "lim.h"
+#include "adc.h"
+#include <math.h>
+
+void get_lim_data(uint8_t lim_temps[NUM_THERM_TOTAL]) {
+	for (uint8_t i = 0; i < NUM_LIMS; i++) {
+		  		  lim_temps[i] = 0;
+	}
+
+	for (uint8_t i = 0; i < NUM_THERM_TOTAL; i++) {
+		HAL_GPIO_WritePin(GPIOF, GPIO_PIN_0, i & 0x1);
+		HAL_GPIO_WritePin(GPIOF, GPIO_PIN_1, (i >> 1) & 0x1);
+		HAL_GPIO_WritePin(GPIOF, GPIO_PIN_2, (i >> 2) & 0x1);
+
+		HAL_ADC_Start(&hadc3);
+		HAL_ADC_PollForConversion(&hadc3, 100);
+		uint16_t adc_data = HAL_ADC_GetValue(&hadc3);
+
+		lim_temps[i] += get_temp(adc_data);
+	}
+}
+
+uint8_t get_temp(uint16_t adc_value) {
+		float voltage_in = adc_value * (MAX_VOLTAGE / MAX_ADC_COUNT);
+		float thermistor_resistance = (voltage_in * R10K) / (VOLTAGE_SUPPLY - voltage_in);
+
+		uint8_t temp_steinhart = -ABSOLUTE_ZERO + (NOMINAL_TEMPERATURE * B_COEFFICIENT)/(NOMINAL_TEMPERATURE
+				                 * log(thermistor_resistance / R10K) + B_COEFFICIENT);
+
+		return temp_steinhart;
+}

Sensors/Core/Src/main.c

@@ -18,6 +18,7 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "adc.h"
 #include "can.h"
 #include "i2c.h"
 #include "gpio.h"
@@ -27,6 +28,7 @@
 #include "can_driver.h"
 #include "config.h"
 #include "mpu6050.h"
+#include "lim.h"
 
 /* USER CODE END Includes */
 
@@ -92,6 +94,7 @@ int main(void)
   MX_GPIO_Init();
   MX_CAN3_Init();
   MX_I2C2_Init();
+  MX_ADC3_Init();
   /* USER CODE BEGIN 2 */
   HAL_CAN_Start(&hcan3);
   MPU6050_Init(hi2c2);
@@ -102,8 +105,7 @@ int main(void)
   int8_t x_gyro = 0;
   int8_t y_gyro = 0;
   int8_t z_gyro = 0;
-  uint8_t lim_temp_1 = 0;
-  uint8_t lim_temp_2 = 0;
+  uint8_t lim_temps[NUM_THERM_TOTAL];
   uint8_t error_code_1 = 0;
   uint8_t error_code_2 = 0;
 
@@ -123,12 +125,16 @@ int main(void)
 	  MPU6050_Read_Gyro(&x_gyro, &y_gyro, &z_gyro);
 
 	  //poll LIM thermistors
-	  //...
+	  get_lim_data(lim_temps);
 
 	  //Pack CAN messages
 	  CAN_set_segment(&tx_frame, PRESSURE, pressure);
-	  CAN_set_segment(&tx_frame, LIM_ONE_TEMP, lim_temp_1);
-	  CAN_set_segment(&tx_frame, LIM_TWO_TEMP, lim_temp_2);
+	  CAN_set_segment(&tx_frame, LIM_ONE_TEMP_ONE, lim_temps[0]);
+	  CAN_set_segment(&tx_frame, LIM_ONE_TEMP_TWO, lim_temps[1]);
+	  CAN_set_segment(&tx_frame, LIM_ONE_TEMP_THREE, lim_temps[2]);
+	  CAN_set_segment(&tx_frame, LIM_TWO_TEMP_ONE, lim_temps[3]);
+	  CAN_set_segment(&tx_frame, LIM_TWO_TEMP_TWO, lim_temps[4]);
+	  CAN_set_segment(&tx_frame, LIM_TWO_TEMP_THREE, lim_temps[5]);
 	  CAN_set_segment(&tx_frame, SENSORS_ERROR_CODE_1, error_code_1);
 
 	  CAN_set_segment(&imu_frame, X_ACCEL, x_accel);