Temperature compensation for conductivity.

dakriy · May 27, 2019 · 4b34620 · 4b34620
1 parent ce16456
commit 4b34620
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Showing 7 changed files with 65 additions and 10 deletions.
diff --git a/ROV/src/Core/Event.h b/ROV/src/Core/Event.h
@@ -38,14 +38,15 @@ namespace Core {
 			LightChange,			// Data in LightChangeDetails
 			VideoRecord,			// Data in bool
 			Shutdown,				// No extra data
+			TemperatureTaken,		// Data in float
 
 			Count
 		};
 
 		EventType type = Count;
 
 
-		std::variant<CameraMovement, SensorsRequested, LightChangeDetails, bool> data;
+		std::variant<CameraMovement, SensorsRequested, LightChangeDetails, bool, float> data;
 
 		explicit Event(EventType t) : type(t) {}
 	};

diff --git a/ROV/src/Sensors/Conductivity.cpp b/ROV/src/Sensors/Conductivity.cpp
@@ -1,19 +1,30 @@
 #include "Conductivity.h"
+#include "../Core/GlobalContext.h"
+
+Sensor::Conductivity::Conductivity() {
+	tempTaken = GlobalContext::get_core_event_handler()->add_event_callback([&](const Core::Event * e) {
+		float temp = std::get<float>(e->data);
+		conductivity.setTemperature(temp);
+		return true;
+	}, Core::Event::TemperatureTaken);
+}
 
 const Sensor::SensorInfo &Sensor::Conductivity::getSensorInfo() {
 	return info;
 }
 
 bool Sensor::Conductivity::setup() {
-	auto s = conductivity.init();
-//	conductivity.singleCalibrate(53065.f);
-	return s;
+	return conductivity.init();
 }
 
 void Sensor::Conductivity::initiateConversion() {
 	conductivity.activate();
 }
 
 float Sensor::Conductivity::queryDevice() {
-	return conductivity.getTDM();
+	return conductivity.getPSS();
+}
+
+Sensor::Conductivity::~Conductivity() {
+	GlobalContext::get_core_event_handler()->unhook_event_callback_for_all_events(tempTaken);
 }
diff --git a/ROV/src/Sensors/Conductivity.h b/ROV/src/Sensors/Conductivity.h
@@ -2,21 +2,26 @@
 
 #include "Sensor.h"
 #include "lib/ECEZ0.h"
+#include "../Core/Event.h"
+#include "../Core/EventHandler.h"
 
 namespace Sensor {
 	class Conductivity : public Sensor{
 	protected:
 		const SensorInfo info{
 				.id = static_cast<sf::Uint8>(SensorId::Conductivity),
 				.maxFrequency = 1.f / 0.64f,
-				.name = "Conductivity",
-				.units = "ppm"
+				.name = "Salinity",
+				.units = "unitless"
 		};
 		ECEZ0 conductivity;
+		EVENT_FUNC_INDEX_CORE tempTaken = nullptr;
 	public:
+		Conductivity();
 		const SensorInfo& getSensorInfo() override;
 		bool setup() override;
 		void initiateConversion() override;
 		float queryDevice() override;
+		~Conductivity() override;
 	};
 }
diff --git a/ROV/src/Sensors/Sensor.h b/ROV/src/Sensors/Sensor.h
@@ -33,5 +33,6 @@ namespace Sensor {
 		virtual const SensorInfo& getSensorInfo() = 0;
 		virtual void initiateConversion() = 0;
 		virtual float queryDevice() = 0;
+		virtual ~Sensor() = default;
 	};
 }
diff --git a/ROV/src/Sensors/Temperature.cpp b/ROV/src/Sensors/Temperature.cpp
@@ -1,4 +1,5 @@
 #include "Temperature.h"
+#include "../Core/GlobalContext.h"
 
 const Sensor::SensorInfo &Sensor::Temperature::getSensorInfo() {
 	return info;
@@ -13,5 +14,9 @@ void Sensor::Temperature::initiateConversion() {
 }
 
 float Sensor::Temperature::queryDevice() {
-	return temp.temperature();
+	float t = temp.temperature();
+	auto ev = std::make_unique<Core::Event>(Core::Event::TemperatureTaken);
+	ev->data = t;
+	GlobalContext::get_engine()->add_event(std::move(ev));
+	return t;
 }
diff --git a/ROV/src/Sensors/lib/ECEZ0.cpp b/ROV/src/Sensors/lib/ECEZ0.cpp
@@ -16,6 +16,7 @@
  * @param uS
  */
 void Sensor::ECEZ0::calibrate(float lowuS, float highuS) {
+	activate();
 	// Clear calibrations
 	writeReg(CALIBRATION_REQUEST_REGISTER, 0x01);
 	delay(2000);
@@ -55,6 +56,9 @@ void Sensor::ECEZ0::calibrate(float lowuS, float highuS) {
 	writeReg(CALIBRATION_REQUEST_REGISTER, 0x05);
 	delay(1000);
 
+	writeReg(MODE_REGISTER, 0x00);
+	delay(1000);
+
 	// Confirm
 	auto v = readReg(CALIBRATION_CONFIRMATION_REGISTER);
 	return;
@@ -91,6 +95,7 @@ float Sensor::ECEZ0::getEC() {
 }
 
 void Sensor::ECEZ0::singleCalibrate(float uS) {
+	activate();
 	// Clear calibrations
 	writeReg(CALIBRATION_REQUEST_REGISTER, 0x01);
 	delay(2000);
@@ -116,6 +121,10 @@ void Sensor::ECEZ0::singleCalibrate(float uS) {
 
 	delay(1000);
 
+	writeReg(MODE_REGISTER, 0x00);
+
+	delay(1000);
+
 	// Confirm
 	auto v = readReg(CALIBRATION_CONFIRMATION_REGISTER);
 	return;
@@ -138,9 +147,28 @@ void Sensor::ECEZ0::activate() {
 
 }
 
-float Sensor::ECEZ0::getTDM() {
+float Sensor::ECEZ0::getTDS() {
 	// Put into hibernate mode
 	writeReg(MODE_REGISTER, 0x00);
 
 	return read4Reg(TDS_REGISTER_START);
 }
+
+void Sensor::ECEZ0::setTemperature(float temp) {
+	auto tempToSend = static_cast<unsigned>(temp * 100);
+	std::vector<unsigned char> bytes(4);
+	for (unsigned i = 0; i < 4; ++i) {
+		bytes[3-i] = (tempToSend >> (i * 8));
+	}
+
+	for (unsigned i = 0; i < 4; ++i) {
+		writeReg(TEMP_REGISTER_START + i, bytes[i]);
+	}
+}
+
+float Sensor::ECEZ0::getPSS() {
+	// Hibernate
+	writeReg(MODE_REGISTER, 0x00);
+
+	return read4Reg(PSS_REGISTER_START);
+}
diff --git a/ROV/src/Sensors/lib/ECEZ0.h b/ROV/src/Sensors/lib/ECEZ0.h
@@ -9,10 +9,12 @@ namespace Sensor {
 		const unsigned char CALIBRATION_REGISTER_START = 0x0A;
 		const unsigned char CALIBRATION_REQUEST_REGISTER = 0x0E;
 		const unsigned char CALIBRATION_CONFIRMATION_REGISTER = 0x0F;
+		const unsigned char TEMP_REGISTER_START = 0x10;
 		const unsigned char MODE_REGISTER = 0x06;
 		// 4 bytes long
 		const unsigned char EC_REGISTER_START = 0x18;
 		const unsigned char TDS_REGISTER_START = 0x1C;
+		const unsigned char PSS_REGISTER_START = 0x20;
 
 		int fd = -1;
 
@@ -26,9 +28,11 @@ namespace Sensor {
 		// to step through it one at a time.
 		void calibrate(float lowuS, float highuS);
 		void singleCalibrate(float uS);
+		void setTemperature(float temp);
 		bool init();
 		void activate();
 		float getEC();
-		float getTDM();
+		float getTDS();
+		float getPSS();
 	};
 }