SNS - Levitation Current Sensor

boards/stm32l432kc/src/bin/current_levitation_test.rs

@@ -0,0 +1,52 @@
+#![no_std]
+#![no_main]
+
+use embassy_executor::Spawner;
+use embassy_stm32::adc::Adc;
+use embassy_sync::{
+    blocking_mutex::{
+        raw::{CriticalSectionRawMutex, NoopRawMutex},
+        Mutex,
+    },
+    watch::Watch,
+};
+use embassy_time::{Duration, Timer};
+use hyped_boards_stm32l432kc::tasks::current_levitation::read_current_levitation;
+use hyped_sensors::{current_levitation::CurrentLevitation, SensorValueRange::*};
+use {defmt_rtt as _, panic_probe as _};
+
+static CURRENT_LEVITATION_READING: Watch<CriticalSectionRawMutex, SensorValueRange<f32>, 1> =
+    Watch::new();
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) -> {
+    let p = embassy_stm32::init(Default::default());
+    let adc = Adc::new(p.ADC1, Delay);
+
+    // Create a sender to pass to the current levitation reading task, and a receiver for reading the values back.
+    let current_levitation_reading_sender = CURRENT_LEVITATION_READING.sender();
+    let mut current_levitation_reading_receiver = CURRENT_LEVITATION_READING.receiver().unwrap();
+
+    spawner
+        .spawn(read_current_levitation(current_levitation_reading_sender))
+        .unwrap();
+
+    // Every 100ms we read for the latest value from the current levitation sensor.
+    loop {
+        match current_levitation_reading_receiver.try_changed() {
+            Some(reading) => match reading {
+                Safe(value) => {
+                    defmt::info!("Current: {} A (safe)", value)
+                }
+                Warning(value) => {
+                    defmt::warn!("Current: {} A (warning)", value)
+                }
+                Critical(value) => {
+                    defmt::error!("Current: {} A (critical)", value)
+                }
+                None => (),
+            }
+    }
+    Timer::after(Duration::from_millis(100)).await;
+    }
+}

boards/stm32l432kc/src/tasks.rs

@@ -0,0 +1 @@
+pub mod current_levitation;

boards/stm32l432kc/src/tasks/read_current_levitation.rs

@@ -0,0 +1,27 @@
+use embassy_stm32::adc::Adc;
+use embassy_time::Delay;
+use hyped_sensors::{current_levitation::CurrentLevitation, SensorValueRange::*};
+use defmt_rtt as _;
+use embassy_sync::{
+    blocking_mutex::{
+        raw::{CriticalSectionRawMutex, NoopRawMutex},
+        Mutex,
+    },
+    watch::Sender,
+};
+
+
+/// Test task that reads the current and sends it with the Watch Sender
+#[embassy_executor::task]
+pub async fn read_current_levitation(
+    sender: Sender<'static, CriticalSectionRawMutex, SensorValueRange<f32>, 1>,
+) -> ! {
+    let p = embassy_stm32::init(Default::default());
+    let adc = Adc::new(p.ADC1, Delay);
+
+    let mut current_levitation_sensor = CurrentLevitation::new(&mut adc);
+
+    loop {
+            sender.send(current_levitation_sensor.read())
+        }
+    }

lib/sensors/Cargo.toml

@@ -9,6 +9,7 @@ embassy-sync = { version = "0.6.0", features = ["defmt"], git = "https://github.
 hyped_core = { path = "../core" }
 hyped_i2c = { path = "../io/hyped_i2c" }
 hyped_gpio = { path = "../io/hyped_gpio" }
+hyped_adc = { path = "../io/hyped_adc" }
 defmt = "0.3"
 
 [dev-dependencies]

lib/sensors/src/current_levitation.rs

@@ -0,0 +1,53 @@
+use crate::SensorValueRange;
+use hyped_adc::HypedAdc;
+
+/// current_levitation implements the logic to read current from the ACHS-7121 current sensor using the
+/// Hyped ADC trait.
+///
+/// Data sheet: https://docs.broadcom.com/doc/ACHS-712x-DS
+pub struct CurrentLevitation<T: HypedAdc> {
+    adc: T,
+    calculate_bounds: fn(f32) -> SensorValueRange<f32>,
+}
+
+impl<T: HypedAdc> CurrentLevitation<T> {
+    /// Create a new instance of the Current Levitation sensor
+    pub fn new(adc: T) -> CurrentLevitation<T> {
+        Self::new_with_bounds(adc, default_calculate_bounds)
+    }
+
+    pub fn new_with_bounds(
+        adc: T,
+        calculate_bounds: fn(f32) -> SensorValueRange<f32>,
+    ) -> CurrentLevitation<T> {
+        CurrentLevitation {
+            adc,
+            calculate_bounds,
+        }
+    }
+    /// The ACHS-7121 has a current range of +- 10 A, sensitivity of 185 mV/A.
+    /// Assuming we're supplying 5V to the sensor, our off-set is 2.5V in the output reading - note that this offset is given
+    /// by the supply voltage divided by 2, so if you change the supply voltage, you'll have to change the offset that we subtract
+    /// in the read function accordingly.
+    pub fn read(&mut self) -> SensorValueRange<f32> {
+        let current = self.adc.read_value() as f32;
+        (self.calculate_bounds)((current - OFFSET) / SENSITIVITY)
+    }
+}
+
+pub fn default_calculate_bounds(value: f32) -> SensorValueRange<f32> {
+    if value <= MIN_AMPS || value >= MAX_AMPS {
+        SensorValueRange::Critical(value)
+    } else if value <= WARN_AMPS_LOW || value >= WARN_AMPS_HIGH {
+        SensorValueRange::Warning(value)
+    } else {
+        SensorValueRange::Safe(value)
+    }
+}
+
+const OFFSET: f32 = 2.5;
+const SENSITIVITY: f32 = 0.185;
+const MIN_AMPS: f32 = 10.0;
+const MAX_AMPS: f32 = -10.0;
+const WARN_AMPS_LOW: f32 = -8.0;
+const WARN_AMPS_HIGH: f32 = 8.0;

lib/sensors/src/lib.rs

@@ -1,5 +1,6 @@
 #![no_std]
 
+pub mod current_levitation;
 pub mod keyence;
 pub mod temperature;
 pub mod time_of_flight;