public static void PacketGroundSensor(Packet Packet)
{
if (Packet == null || Packet.Data == null || Packet.Data.Payload == null || Packet.Data.Payload.Length != 40)
{
Log.Output(Log.Severity.WARNING, Log.Source.NETWORK, "Ground sensor packet invalid. Discarding. Length: " + Packet?.Data?.Payload?.Length);
return;
}
DateTime Timestamp = DateTime.Now;
int UVLight = UtilData.ToInt(UtilMain.SubArray(Packet.Data.Payload, 0, 4));
float AirQuality = UtilData.ToFloat(UtilMain.SubArray(Packet.Data.Payload, 4, 4));
float SoilMoist = UtilData.ToFloat(UtilMain.SubArray(Packet.Data.Payload, 8, 4));
uint ThermocoupleData = UtilData.ToUInt(UtilMain.SubArray(Packet.Data.Payload, 12, 4));
double AtmoTemp = UtilData.ToDouble(UtilMain.SubArray(Packet.Data.Payload, 16, 8));
double AtmoPres = UtilData.ToDouble(UtilMain.SubArray(Packet.Data.Payload, 24, 8));
double AtmoHumid = UtilData.ToDouble(UtilMain.SubArray(Packet.Data.Payload, 32, 8));
UV.Data.Add(new Datum <int>(Timestamp, UVLight));
AirPollution.Data.Add(new Datum <float>(Timestamp, AirQuality));
SoilMoisture.Data.Add(new Datum <float>(Timestamp, SoilMoist));
ThermoExt.Data.Add(new Datum <float>(Timestamp, MAX31855.ConvertExternalFromRaw(ThermocoupleData)));
ThermoInt.Data.Add(new Datum <float>(Timestamp, MAX31855.ConvertInternalFromRaw(ThermocoupleData)));
AirTemp.Data.Add(new Datum <double>(Timestamp, AtmoTemp));
AirPressure.Data.Add(new Datum <double>(Timestamp, AtmoPres));
AirHumidity.Data.Add(new Datum <double>(Timestamp, AtmoHumid));
}
internal static void TestSPI()
{
IDigitalOut CS_Thermo = new DigitalOutPi(7);
MAX31855 Thermo = new MAX31855(new SPIBusPi(0), CS_Thermo);
Log.SetSingleOutputLevel(Log.Source.SENSORS, Log.Severity.DEBUG);
for (int i = 0; i < 100; i++)
{
Thermo.UpdateState();
Log.Output(Log.Severity.DEBUG, Log.Source.SENSORS, "Thermocouple Data, Faults: " + string.Format("{0:G}", Thermo.GetFaults()) + ", Internal: " + Thermo.GetInternalTemp() + ", External: " + Thermo.GetExternalTemp() + " (Raw: " + Thermo.GetRawData() + ")");
Thread.Sleep(500);
}
}
internal static void TestSPI()
{
BBBPinManager.AddMappingsSPI(BBBPin.P9_21, BBBPin.NONE, BBBPin.P9_22);
BBBPinManager.AddMappingSPI_CS(BBBPin.P9_12);
BBBPinManager.ApplyPinSettings(RoverMain.ApplyDevTree);
IDigitalOut CS_Thermo = new DigitalOutBBB(BBBPin.P9_12);
MAX31855 Thermo = new MAX31855(SPIBBB.SPIBus0, CS_Thermo);
Log.SetSingleOutputLevel(Log.Source.SENSORS, Log.Severity.DEBUG);
for (int i = 0; i < 100; i++)
{
Thermo.UpdateState();
Log.Output(Log.Severity.DEBUG, Log.Source.SENSORS, "Thermocouple Data, Faults: " + string.Format("{0:G}", Thermo.GetFaults()) + ", Internal: " + Thermo.GetInternalTemp() + ", External: " + Thermo.GetExternalTemp() + " (Raw: " + Thermo.GetRawData() + ")");
Thread.Sleep(500);
}
}
public void TestDataConvert()
{
// External (Thermocouple) temperature
// | Thermocouple |R|F| Internal |R|Flt|
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b1111_0000_0110_00_0_0_0000_0000_0000_0_000), -250F);
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b1111_1111_1111_00_0_0_0000_0000_0000_0_000), -1F);
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b1111_1111_1111_11_0_0_0000_0000_0000_0_000), -0.25F);
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b0000_0000_0000_00_0_0_0000_0000_0000_0_000), 0F);
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b0000_0001_1001_00_0_0_0000_0000_0000_0_000), 25F);
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b0000_0110_0100_11_0_0_0000_0000_0000_0_000), 100.75F);
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b0011_1110_1000_00_0_0_0000_0000_0000_0_000), 1000F);
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(0b0110_0100_0000_00_0_0_0000_0000_0000_0_000), 1600F);
// Internal (calibration) temperature
// | Thermocouple |R|F| Internal |R|Flt|
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_1100_1001_0000_0_000), -55F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_1110_1100_0000_0_000), -20F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_1111_1111_0000_0_000), -1F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_1111_1111_1111_0_000), -0.0625F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_0000_0000_0000_0_000), 0F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_0001_1001_0000_0_000), 25F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_0110_0100_1001_0_000), 100.5625F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(0b0000_0000_0000_00_0_0_0111_1111_0000_0_000), 127F);
// Fault detection
// | Thermocouple |R|F| Internal |R|Flt|
Assert.AreEqual(MAX31855.ConvertFaultFromRaw(0b0000_0000_0000_00_0_0_0000_0000_0000_0_000), MAX31855.Fault.NONE);
Assert.AreEqual(MAX31855.ConvertFaultFromRaw(0b0000_0000_0000_00_0_1_0000_0000_0000_0_100), MAX31855.Fault.SHORT_VCC);
Assert.AreEqual(MAX31855.ConvertFaultFromRaw(0b0000_0000_0000_00_0_1_0000_0000_0000_0_010), MAX31855.Fault.SHORT_GND);
Assert.AreEqual(MAX31855.ConvertFaultFromRaw(0b0000_0000_0000_00_0_1_0000_0000_0000_0_001), MAX31855.Fault.NO_THERMOCOUPLE);
Assert.AreEqual(MAX31855.ConvertFaultFromRaw(0b0000_0000_0000_00_0_1_0000_0000_0000_0_111), (MAX31855.Fault.SHORT_VCC | MAX31855.Fault.SHORT_GND | MAX31855.Fault.NO_THERMOCOUPLE));
Assert.AreEqual(MAX31855.ConvertFaultFromRaw(0b0000_0000_0000_00_0_1_0000_0000_0000_0_101), (MAX31855.Fault.SHORT_VCC | MAX31855.Fault.NO_THERMOCOUPLE));
Assert.AreEqual(MAX31855.ConvertFaultFromRaw(0b0000_0000_0000_00_0_0_0000_0000_0000_0_111), MAX31855.Fault.NONE); // The fault bit is not set, so any faults should be ignored.
// Real data test
// | Thermocouple |R|F| Internal |R|Flt|
uint Data = 0b0000_0001_1010_10_0_0_0001_0111_0111_0_000;
Assert.AreEqual(MAX31855.ConvertExternalFromRaw(Data), 26.50F);
Assert.AreEqual(MAX31855.ConvertInternalFromRaw(Data), 23.4375F);
}
public void Initialize()
{
this.ADC = new TLV2544(this.SPI0, new DigitalOutPi(16));// { TraceLogging = true };
TLV2544.Configuration Config = TLV2544.DefaultConfig;
Config.VoltageRef = TLV2544.VoltageReference.INTERNAL_2V;
Config.ConversionClockSrc = TLV2544.ConversionClockSrc.INTERNAL;
Config.UseEOCPin = true;
//Config.UseLongSample = true;
this.ADC.Configure(Config);
this.Thermocouple = new MAX31855(this.SPI0, new DigitalOutPi(18));
this.UVLight = new VEML6070(this.I2C1);
this.Atmospheric = new BME280(this.I2C1);
this.Atmospheric.Configure();
this.Atmospheric.ChangeMode(BME280.Mode.NORMAL);
this.AirQuality = new MQ135(this.ADC.Inputs[0], 3300, 6400, 4.6);
this.SoilMoisture = new VH400(this.ADC.Inputs[1]);
this.TakeReadings = true;
}
