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change all instances of mmr920C04 to mmr920
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@ryanthecoder
ryanthecoder committed Jan 4, 2024
1 parent e7aa7d6 commit 35694a9
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Showing 6 changed files with 95 additions and 95 deletions.
100 changes: 50 additions & 50 deletions include/sensors/core/tasks/pressure_driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
#include "common/core/logging.h"
#include "common/core/message_queue.hpp"
#include "i2c/core/messages.hpp"
#include "sensors/core/mmr920C04.hpp"
#include "sensors/core/mmr920.hpp"
#include "sensors/core/sensor_hardware_interface.hpp"
#include "sensors/core/sensors.hpp"
#include "sensors/core/utils.hpp"
Expand All @@ -30,9 +30,9 @@ using namespace can::ids;

template <class I2CQueueWriter, class I2CQueuePoller,
can::message_writer_task::TaskClient CanClient, class OwnQueue>
class MMR920C04 {
class MMR920 {
public:
MMR920C04(I2CQueueWriter &writer, I2CQueuePoller &poller,
MMR920(I2CQueueWriter &writer, I2CQueuePoller &poller,
CanClient &can_client, OwnQueue &own_queue,
sensors::hardware::SensorHardwareBase &hardware,
const can::ids::SensorId &id)
Expand All @@ -44,13 +44,13 @@ class MMR920C04 {
sensor_id(id) {}

/**
* @brief Check if the MMR92C04 has been initialized.
* @brief Check if the MMR92 has been initialized.
* @return true if the config registers have been written at least once,
* false otherwise.
*/
[[nodiscard]] auto initialized() const -> bool { return _initialized; }

auto register_map() -> mmr920C04::MMR920C04RegisterMap & {
auto register_map() -> mmr920::MMR920RegisterMap & {
return _registers;
}

Expand All @@ -59,7 +59,7 @@ class MMR920C04 {
auto get_host_id() -> NodeId { return NodeId::host; }

void set_filter(uint8_t should_filter) {
filter_setting = static_cast<mmr920C04::FilterSetting>(should_filter);
filter_setting = static_cast<mmr920::FilterSetting>(should_filter);
}

void set_echoing(bool should_echo) { echoing = should_echo; }
Expand Down Expand Up @@ -93,16 +93,16 @@ class MMR920C04 {
}
}

auto write(mmr920C04::Registers reg, uint8_t command_data) -> bool {
return writer.write(mmr920C04::ADDRESS, static_cast<uint8_t>(reg),
auto write(mmr920::Registers reg, uint8_t command_data) -> bool {
return writer.write(mmr920::ADDRESS, static_cast<uint8_t>(reg),
command_data);
}

auto transact(mmr920C04::Registers reg) -> bool {
auto transact(mmr920::Registers reg) -> bool {
std::array reg_buf{static_cast<uint8_t>(reg)};
return writer.transact(
mmr920C04::ADDRESS, reg_buf, 3, own_queue,
utils::build_id(mmr920C04::ADDRESS, static_cast<uint8_t>(reg)));
mmr920::ADDRESS, reg_buf, 3, own_queue,
utils::build_id(mmr920::ADDRESS, static_cast<uint8_t>(reg)));
}

auto write_config() -> bool {
Expand All @@ -121,15 +121,15 @@ class MMR920C04 {
DEFAULT_DELAY_BUFFER;
auto command_data =
build_register_command(_registers.low_pass_pressure_command);
if (filter_setting == mmr920C04::FilterSetting::NO_FILTER) {
if (filter_setting == mmr920::FilterSetting::NO_FILTER) {
command_data = build_register_command(_registers.pressure_command);
}
total_baseline_reads = number_reads;

poller.single_register_poll(
mmr920C04::ADDRESS, command_data, 3, number_reads,
mmr920::ADDRESS, command_data, 3, number_reads,
mode_delay_with_buffer, own_queue,
utils::build_id(mmr920C04::ADDRESS, command_data, tags));
utils::build_id(mmr920::ADDRESS, command_data, tags));
}

auto poll_limited_temperature(uint16_t number_reads, uint8_t tags) -> void {
Expand All @@ -141,9 +141,9 @@ class MMR920C04 {
total_baseline_reads = number_reads;

poller.single_register_poll(
mmr920C04::ADDRESS, command_data, 3, number_reads,
mmr920::ADDRESS, command_data, 3, number_reads,
mode_delay_with_buffer, own_queue,
utils::build_id(mmr920C04::ADDRESS, command_data, tags));
utils::build_id(mmr920::ADDRESS, command_data, tags));
}

auto poll_continuous_pressure(uint8_t tags) -> void {
Expand All @@ -156,13 +156,13 @@ class MMR920C04 {
max_pressure_consecutive_readings = 0;
auto command_data =
build_register_command(_registers.low_pass_pressure_command);
if (filter_setting == mmr920C04::FilterSetting::NO_FILTER) {
if (filter_setting == mmr920::FilterSetting::NO_FILTER) {
command_data = build_register_command(_registers.pressure_command);
}

poller.continuous_single_register_poll(
mmr920C04::ADDRESS, command_data, 3, mode_delay_with_buffer,
own_queue, utils::build_id(mmr920C04::ADDRESS, command_data, tags));
mmr920::ADDRESS, command_data, 3, mode_delay_with_buffer,
own_queue, utils::build_id(mmr920::ADDRESS, command_data, tags));
}

auto poll_continuous_temperature(uint8_t tags) -> void {
Expand All @@ -173,29 +173,29 @@ class MMR920C04 {
build_register_command(_registers.temperature_command);

poller.continuous_single_register_poll(
mmr920C04::ADDRESS, command_data, 3, mode_delay_with_buffer,
own_queue, utils::build_id(mmr920C04::ADDRESS, command_data, tags));
mmr920::ADDRESS, command_data, 3, mode_delay_with_buffer,
own_queue, utils::build_id(mmr920::ADDRESS, command_data, tags));
}

auto set_measure_mode(mmr920C04::MeasurementRate rate) -> bool {
auto set_measure_mode(mmr920::MeasurementRate rate) -> bool {
measurement_mode_rate = rate;
switch (rate) {
case mmr920C04::MeasurementRate::MEASURE_1:
case mmr920::MeasurementRate::MEASURE_1:
if (set_register(_registers.measure_mode_1)) {
return true;
}
return false;
case mmr920C04::MeasurementRate::MEASURE_2:
case mmr920::MeasurementRate::MEASURE_2:
if (set_register(_registers.measure_mode_2)) {
return true;
}
return false;
case mmr920C04::MeasurementRate::MEASURE_3:
case mmr920::MeasurementRate::MEASURE_3:
if (set_register(_registers.measure_mode_3)) {
return true;
}
return false;
case mmr920C04::MeasurementRate::MEASURE_4:
case mmr920::MeasurementRate::MEASURE_4:
if (set_register(_registers.measure_mode_4)) {
return true;
}
Expand All @@ -205,7 +205,7 @@ class MMR920C04 {
}
}

auto reset(mmr920C04::Reset reg) -> bool {
auto reset(mmr920::Reset reg) -> bool {
if (set_register(reg)) {
_registers.reset = reg;
return true;
Expand Down Expand Up @@ -233,7 +233,7 @@ class MMR920C04 {
}

auto send_status(uint32_t message_index) -> void {
auto status = mmr920C04::StatusResult::to_status(
auto status = mmr920::StatusResult::to_status(
_registers.status_result.reading);
auto message = can::messages::ReadFromSensorResponse{
.message_index = message_index,
Expand Down Expand Up @@ -262,20 +262,20 @@ class MMR920C04 {
}

void reset_readings() {
writer.write(mmr920C04::ADDRESS,
static_cast<uint8_t>(mmr920C04::Registers::RESET));
writer.write(mmr920::ADDRESS,
static_cast<uint8_t>(mmr920::Registers::RESET));
}

void stop_continuous_polling(uint32_t transaction_id, uint8_t reg_id) {
poller.continuous_single_register_poll(mmr920C04::ADDRESS, reg_id, 3,
poller.continuous_single_register_poll(mmr920::ADDRESS, reg_id, 3,
STOP_DELAY, own_queue,
transaction_id);
}

auto handle_ongoing_pressure_response(i2c::messages::TransactionResponse &m)
-> void {
if (!bind_sync && !echoing && !max_pressure_sync) {
auto reg_id = utils::reg_from_id<mmr920C04::Registers>(m.id.token);
auto reg_id = utils::reg_from_id<mmr920::Registers>(m.id.token);
stop_continuous_polling(m.id.token, static_cast<uint8_t>(reg_id));
}

Expand All @@ -289,13 +289,13 @@ class MMR920C04 {
uint32_t shifted_data_store = temporary_data_store >> 8;

save_pressure(shifted_data_store);
auto pressure = mmr920C04::PressureResult::to_pressure(
auto pressure = mmr920::PressureResult::to_pressure(
_registers.pressure_result.reading);

if (max_pressure_sync) {
bool this_tick_over_threshold =
std::fabs(pressure - current_pressure_baseline_pa) >=
mmr920C04::MAX_PRESSURE_READING;
mmr920::MAX_PRESSURE_READING;
bool over_threshold = false;
if (this_tick_over_threshold) {
max_pressure_consecutive_readings =
Expand Down Expand Up @@ -336,14 +336,14 @@ class MMR920C04 {
.sensor = can::ids::SensorType::pressure,
.sensor_id = sensor_id,
.sensor_data =
mmr920C04::reading_to_fixed_point(pressure)});
mmr920::reading_to_fixed_point(pressure)});
}
}

auto handle_ongoing_temperature_response(
i2c::messages::TransactionResponse &m) -> void {
if (!bind_sync && !echoing) {
auto reg_id = utils::reg_from_id<mmr920C04::Registers>(m.id.token);
auto reg_id = utils::reg_from_id<mmr920::Registers>(m.id.token);
stop_continuous_polling(m.id.token, static_cast<uint8_t>(reg_id));
}

Expand All @@ -357,7 +357,7 @@ class MMR920C04 {
save_temperature(shifted_data_store);

if (echoing) {
auto temperature = mmr920C04::TemperatureResult::to_temperature(
auto temperature = mmr920::TemperatureResult::to_temperature(
_registers.temperature_result.reading);
can_client.send_can_message(
can::ids::NodeId::host,
Expand All @@ -366,7 +366,7 @@ class MMR920C04 {
.sensor = can::ids::SensorType::pressure_temperature,
.sensor_id = sensor_id,
.sensor_data =
mmr920C04::reading_to_fixed_point(temperature)});
mmr920::reading_to_fixed_point(temperature)});
}
}

Expand All @@ -379,7 +379,7 @@ class MMR920C04 {
uint32_t shifted_data_store = temporary_data_store >> 8;

auto pressure =
mmr920C04::PressureResult::to_pressure(shifted_data_store);
mmr920::PressureResult::to_pressure(shifted_data_store);
pressure_running_total += pressure;

if (!m.id.is_completed_poll) {
Expand All @@ -389,7 +389,7 @@ class MMR920C04 {
auto current_pressure_baseline_pa =
pressure_running_total / total_baseline_reads;
auto pressure_fixed_point =
mmr920C04::reading_to_fixed_point(current_pressure_baseline_pa);
mmr920::reading_to_fixed_point(current_pressure_baseline_pa);

// FIXME This should be tied to the set threshold
// command so we can completely remove the base line sensor
Expand Down Expand Up @@ -425,7 +425,7 @@ class MMR920C04 {
uint32_t shifted_data_store = temporary_data_store >> 8;

auto temperature =
mmr920C04::TemperatureResult::to_temperature(shifted_data_store);
mmr920::TemperatureResult::to_temperature(shifted_data_store);
temperature_running_total += temperature;

if (!m.id.is_completed_poll) {
Expand All @@ -435,7 +435,7 @@ class MMR920C04 {
auto current_temperature_baseline =
temperature_running_total / total_baseline_reads;
auto offset_fixed_point =
mmr920C04::reading_to_fixed_point(current_temperature_baseline);
mmr920::reading_to_fixed_point(current_temperature_baseline);
if (echoing) {
can_client.send_can_message(
can::ids::NodeId::host,
Expand All @@ -457,9 +457,9 @@ class MMR920C04 {
hardware::SensorHardwareBase &hardware;
const can::ids::SensorId &sensor_id;

mmr920C04::MMR920C04RegisterMap _registers{};
mmr920C04::FilterSetting filter_setting =
mmr920C04::FilterSetting::LOW_PASS_FILTER;
mmr920::MMR920RegisterMap _registers{};
mmr920::FilterSetting filter_setting =
mmr920::FilterSetting::LOW_PASS_FILTER;

static constexpr std::array<float, 4> MeasurementTimings{0.405, 0.81, 1.62,
3.24}; // in msec
Expand All @@ -473,8 +473,8 @@ class MMR920C04 {
*/
static constexpr uint16_t MAX_PRESSURE_TIME_MS = 200;

mmr920C04::MeasurementRate measurement_mode_rate =
mmr920C04::MeasurementRate::MEASURE_4;
mmr920::MeasurementRate measurement_mode_rate =
mmr920::MeasurementRate::MEASURE_4;

bool _initialized = false;
bool echoing = false;
Expand All @@ -498,20 +498,20 @@ class MMR920C04 {

uint32_t temporary_data_store = 0x0;

template <mmr920C04::MMR920C04CommandRegister Reg>
template <mmr920::MMR920CommandRegister Reg>
requires registers::WritableRegister<Reg>
auto build_register_command(Reg &reg) -> uint8_t {
return static_cast<uint8_t>(reg.address);
}

template <mmr920C04::MMR920C04CommandRegister Reg>
template <mmr920::MMR920CommandRegister Reg>
requires registers::WritableRegister<Reg>
auto set_register(Reg &reg) -> bool {
auto value =
// Ignore the typical linter warning because we're only using
// this on __packed structures that mimic hardware registers
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast)
*reinterpret_cast<mmr920C04::RegisterSerializedTypeA *>(&reg);
*reinterpret_cast<mmr920::RegisterSerializedTypeA *>(&reg);
value &= Reg::value_mask;
return write(Reg::address, value);
}
Expand Down
20 changes: 10 additions & 10 deletions include/sensors/core/tasks/pressure_sensor_task.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -48,24 +48,24 @@ class PressureMessageHandler {
void visit(const std::monostate &) {}

void visit(i2c::messages::TransactionResponse &m) {
auto reg_id = utils::reg_from_id<mmr920C04::Registers>(m.id.token);
if ((reg_id != mmr920C04::Registers::LOW_PASS_PRESSURE_READ) &&
(reg_id != mmr920C04::Registers::PRESSURE_READ) &&
(reg_id != mmr920C04::Registers::TEMPERATURE_READ) &&
(reg_id != mmr920C04::Registers::STATUS)) {
auto reg_id = utils::reg_from_id<mmr920::Registers>(m.id.token);
if ((reg_id != mmr920::Registers::LOW_PASS_PRESSURE_READ) &&
(reg_id != mmr920::Registers::PRESSURE_READ) &&
(reg_id != mmr920::Registers::TEMPERATURE_READ) &&
(reg_id != mmr920::Registers::STATUS)) {
return;
}
// may not be routed to baseline function like we suspect
if (utils::tag_in_token(m.id.token,
utils::ResponseTag::POLL_IS_CONTINUOUS)) {
if (reg_id == mmr920C04::Registers::TEMPERATURE_READ) {
if (reg_id == mmr920::Registers::TEMPERATURE_READ) {
driver.handle_ongoing_temperature_response(m);
} else {
driver.handle_ongoing_pressure_response(m);
}
LOG("continuous transaction response");
} else {
if (reg_id == mmr920C04::Registers::TEMPERATURE_READ) {
if (reg_id == mmr920::Registers::TEMPERATURE_READ) {
driver.handle_baseline_temperature_response(m);
} else {
driver.handle_baseline_pressure_response(m);
Expand All @@ -92,8 +92,8 @@ class PressureMessageHandler {
void visit(const can::messages::WriteToSensorRequest &m) {
LOG("Received request to write data %d to %d sensor\n", m.data,
m.sensor);
if (mmr920C04::is_valid_address(m.reg_address)) {
driver.write(mmr920C04::Registers(m.reg_address), m.data);
if (mmr920::is_valid_address(m.reg_address)) {
driver.write(mmr920::Registers(m.reg_address), m.data);
}
driver.get_can_client().send_can_message(
can::ids::NodeId::host, can::messages::ack_from_request(m));
Expand Down Expand Up @@ -165,7 +165,7 @@ class PressureMessageHandler {
static_cast<void>(m);
}

MMR920C04<I2CQueueWriter, I2CQueuePoller, CanClient, OwnQueue> driver;
MMR920<I2CQueueWriter, I2CQueuePoller, CanClient, OwnQueue> driver;
};

/**
Expand Down
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