Added individual LIM temps

Author: mahir-mahota

Common/Inc/config.h

@@ -77,9 +77,13 @@ 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, 3};
-const Data_Segment_t LIM_TWO_TEMP              = {SENSOR_BOARD_1, 4, 4};
+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/Src/lim.c

@@ -9,7 +9,7 @@
 #include "adc.h"
 #include <math.h>
 
-void get_lim_data(uint8_t lim_temps[NUM_LIMS]) {
+void get_lim_data(uint8_t lim_temps[NUM_THERM_TOTAL]) {
 	for (uint8_t i = 0; i < NUM_LIMS; i++) {
 		  		  lim_temps[i] = 0;
 	}
@@ -23,14 +23,13 @@ void get_lim_data(uint8_t lim_temps[NUM_LIMS]) {
 		HAL_ADC_PollForConversion(&hadc3, 100);
 		uint16_t adc_data = HAL_ADC_GetValue(&hadc3);
 
-		uint8_t avg_temp = (get_temp(adc_data) / NUM_THERM_PER_LIM);
-		lim_temps[i < 3 ? 0 : 1] += avg_temp;
+		lim_temps[i] += get_temp(adc_data);
 	}
 }
 
 uint8_t get_temp(uint16_t adc_value) {
-		uint32_t voltage_in = adc_value * (MAX_VOLTAGE / MAX_ADC_COUNT);
-		uint32_t thermistor_resistance = (voltage_in * R10K) / (VOLTAGE_SUPPLY - voltage_in);
+		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);

Sensors/Core/Src/main.c

@@ -107,7 +107,7 @@ int main(void)
   int8_t x_gyro = 0;
   int8_t y_gyro = 0;
   int8_t z_gyro = 0;
-  uint8_t lim_temps[NUM_LIMS];
+  uint8_t lim_temps[NUM_THERM_TOTAL];
   uint8_t error_code_1 = 0;
   uint8_t error_code_2 = 0;
 
@@ -131,8 +131,12 @@ int main(void)
 
 	  //Pack CAN messages
 	  CAN_set_segment(&tx_frame, PRESSURE, pressure);
-	  CAN_set_segment(&tx_frame, LIM_ONE_TEMP, lim_temps[0]);
-	  CAN_set_segment(&tx_frame, LIM_TWO_TEMP, lim_temps[1]);
+	  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);