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updated loadcell library and SMD board signal processing settings
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@ChrisVeigl
ChrisVeigl committed Jan 30, 2024
1 parent c097b08 commit 8d35694
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Showing 2 changed files with 73 additions and 54 deletions.
91 changes: 46 additions & 45 deletions FLipWare/sensors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,14 +42,6 @@ int32_t raw_mid = 0;
#define DPS_R_CFG_REG 0x09
#define DPS_R_RESET 0x0C

/**
@brief Used pressure sensor type. We can use either the MPXV7007GP
sensor connected to an analog pin or the DPS310 / MPRLS sensor boards with I2C
*/
typedef enum {MPXV, DPS310, MPRLS, NO_PRESSURE} pressure_type_t;
pressure_type_t sensor_pressure = NO_PRESSURE;


/**
@brief Global variables for passing sensor data from the ISR
*/
Expand All @@ -58,15 +50,9 @@ int32_t nau_x = 0, nau_y = 0;
int32_t pressure_rawval = 512;
uint8_t reportXValues = 0, reportYValues = 0;


/**
@brief Used force sensor type. We can use the FSR sensors or possibly
in a future version the resistor gauge sensors.
*/
typedef enum {NAU7802, NO_FORCE} force_type_t;
pressure_type_t sensor_pressure = NO_PRESSURE;
force_type_t sensor_force = NO_FORCE;


/**
@name configureNAU
@brief initialises the NAU7802 chip for desired sampling rate and gain
Expand Down Expand Up @@ -182,28 +168,27 @@ void initSensors()

// set signal processing parameters for sip/puff (MPRLS pressure sensor)
PS.setGain(1.0); // adjust gain for pressure sensor
PS.enableOvershootCompensation(false);
PS.setSampleRate(PRESSURE_SAMPLINGRATE);

PS.setBaselineLowpass(0.4);
PS.setNoiseLowpass(10.0);

// PS.setStartupTime(2000);
PS.enableAutoCalibration(true);
PS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
PS.setActivityLowpass(1);
PS.setIdleDetectionPeriod(500);
PS.setIdleDetectionThreshold(500);


// set default signal processing parameters for X and Y axis (NAU loadcell amplifier)
XS.setCompensationFactor(0.20); YS.setCompensationFactor(0.20); // overshoot compensation range (fraction of maximum force)
XS.setCompensationDecay(0.95); YS.setCompensationDecay(0.95); // overshoot compensation decrease over time
XS.setThresholdDecay(0.95); YS.setThresholdDecay(0.95); // threshold adaptation decrease over time
XS.setBaselineLowpass(0.25); YS.setBaselineLowpass(0.25); // low-pass cutoff frequency for the baseline adjustment
XS.setNoiseLowpass(3); YS.setNoiseLowpass(3); // low-pass cutoff frequency for valid signal
XS.setActivityLowpass(2); YS.setActivityLowpass(2); // low-pass cutoff frequency for idle detection / autocalibration
XS.setIdleDetectionPeriod(1000); YS.setIdleDetectionPeriod(1000); // 1 second idle detection period (autocalibration)
XS.setIdleDetectionThreshold(3000); YS.setIdleDetectionThreshold(3000);// gain-compensated threshold value for idle detection (autocalibration)
XS.enableAutoCalibration(1); YS.enableAutoCalibration(1); // enable autocalibration
XS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
YS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE); // enable autocalibration

// uncomment for ISR-driven data readout (this caused problems maybe due to race conditions, now using polling from loop1!)
// attachInterrupt(digitalPinToInterrupt(DRDY_PIN), getSensorValues, RISING); // start processing data ready signals!
Expand Down Expand Up @@ -566,55 +551,71 @@ void applyDeadzone(struct SensorData * sensorData, struct SlotSettings * slotSet
*/
void setSensorBoard(int sensorBoardID)
{

switch (sensorBoardID) {
case SENSORBOARD_SENSITIVITY_HIGH:
case SENSORBOARD_SG_HIGH:
XS.setGain(0.5); YS.setGain(0.5);
XS.setMovementThreshold(2000); YS.setMovementThreshold(2000);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(500); YS.setIdleDetectionThreshold(500);
XS.enableOvershootCompensation(false); YS.enableOvershootCompensation(false);
XS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
YS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
break;
case SENSORBOARD_SENSITIVITY_MEDIUM:
case SENSORBOARD_SG_MEDIUM:
XS.setGain(0.25); YS.setGain(0.25);
XS.setMovementThreshold(1500); YS.setMovementThreshold(1500);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(250); YS.setIdleDetectionThreshold(250);
XS.enableOvershootCompensation(false); YS.enableOvershootCompensation(false);
XS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
YS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
break;
case SENSORBOARD_SENSITIVITY_LOW:
case SENSORBOARD_SG_LOW:
XS.setGain(0.1); YS.setGain(0.1);
XS.setMovementThreshold(2000); YS.setMovementThreshold(2000);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(120); YS.setIdleDetectionThreshold(120);
XS.enableOvershootCompensation(false); YS.enableOvershootCompensation(false);
XS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
YS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
break;
case SENSORBOARD_SENSITIVITY_VERY_LOW:
case SENSORBOARD_SG_VERY_LOW:
XS.setGain(0.05); YS.setGain(0.05);
XS.setMovementThreshold(2500); YS.setMovementThreshold(2500);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(60); YS.setIdleDetectionThreshold(60);
XS.enableOvershootCompensation(false); YS.enableOvershootCompensation(false);
XS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
YS.setAutoCalibrationMode(AUTOCALIBRATION_RESET_BASELINE);
break;
case SENSORBOARD_NODMS_HIGH:
XS.setGain(2.5); YS.setGain(3.0);
XS.setMovementThreshold(1500); YS.setMovementThreshold(1500);
XS.setCompensationFactor(0.10); YS.setCompensationFactor(0.10);
XS.enableOvershootCompensation(true); YS.enableOvershootCompensation(true);
case SENSORBOARD_SMD_HIGH:
XS.setGain(-1.0); YS.setGain(-1.5);
XS.setMovementThreshold(2000); YS.setMovementThreshold(3000);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(500); YS.setIdleDetectionThreshold(750);
XS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
YS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
break;
case SENSORBOARD_NODMS_MEDIUM:
XS.setGain(1.8); YS.setGain(2.0);
XS.setMovementThreshold(1800); YS.setMovementThreshold(1800);
XS.setCompensationFactor(0.15); YS.setCompensationFactor(0.15);
XS.enableOvershootCompensation(true); YS.enableOvershootCompensation(true);
case SENSORBOARD_SMD_MEDIUM:
XS.setGain(-1.0); YS.setGain(-1.5);
XS.setMovementThreshold(4000); YS.setMovementThreshold(6000);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(500); YS.setIdleDetectionThreshold(750);
XS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
YS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
break;
case SENSORBOARD_NODMS_LOW:
XS.setGain(1.3); YS.setGain(1.6);
XS.setMovementThreshold(2000); YS.setMovementThreshold(2000);
XS.setCompensationFactor(0.20); YS.setCompensationFactor(0.20);
XS.enableOvershootCompensation(true); YS.enableOvershootCompensation(true);
case SENSORBOARD_SMD_LOW:
XS.setGain(-0.5); YS.setGain(-0.75);
XS.setMovementThreshold(3000); YS.setMovementThreshold(4000);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(350); YS.setIdleDetectionThreshold(500);
XS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
YS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
break;
case SENSORBOARD_SMD_VERY_LOW:
XS.setGain(-0.5); YS.setGain(-0.75);
XS.setMovementThreshold(4000); YS.setMovementThreshold(6000);
XS.setIdleDetectionPeriod(200); YS.setIdleDetectionPeriod(200);
XS.setIdleDetectionThreshold(350); YS.setIdleDetectionThreshold(500);
XS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
YS.setAutoCalibrationMode(AUTOCALIBRATION_ADAPT_THRESHOLD);
break;

// signal reporting settings
case SENSORBOARD_REPORT_X:
reportXValues = !reportXValues;
Expand Down
36 changes: 27 additions & 9 deletions FLipWare/sensors.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,18 +44,36 @@
#define PRESSURE_SAMPLINGRATE 100 // sampling frequency of pressure sensor (MPRLS or DPS)


/**
@brief Used pressure sensor type. We can use either the MPXV7007GP
sensor connected to an analog pin or the DPS310 / MPRLS sensor boards with I2C
*/
typedef enum {MPXV, DPS310, MPRLS, NO_PRESSURE} pressure_type_t;
extern pressure_type_t sensor_pressure;


/**
@brief Used force sensor type. We can use the FSR sensors or possibly
in a future version the resistor gauge sensors.
*/
typedef enum {NAU7802, NO_FORCE} force_type_t;
extern force_type_t sensor_force;



/**
@brief Sensorboard IDs for different signal processing parameters
*/
#define SENSORBOARD_SENSITIVITY_HIGH 0
#define SENSORBOARD_SENSITIVITY_MEDIUM 1
#define SENSORBOARD_SENSITIVITY_LOW 2
#define SENSORBOARD_SENSITIVITY_VERY_LOW 3
#define SENSORBOARD_NODMS_HIGH 4
#define SENSORBOARD_NODMS_MEDIUM 5
#define SENSORBOARD_NODMS_LOW 6
#define SENSORBOARD_REPORT_X 10 // enable / disable signal processing values reporting for X axis
#define SENSORBOARD_REPORT_Y 11 // enable / disable signal processing values reporting for Y axis
#define SENSORBOARD_SG_HIGH 0
#define SENSORBOARD_SG_MEDIUM 1
#define SENSORBOARD_SG_LOW 2
#define SENSORBOARD_SG_VERY_LOW 3
#define SENSORBOARD_SMD_HIGH 4
#define SENSORBOARD_SMD_MEDIUM 5
#define SENSORBOARD_SMD_LOW 6
#define SENSORBOARD_SMD_VERY_LOW 7
#define SENSORBOARD_REPORT_X 10 // enable / disable signal processing values reporting for X axis
#define SENSORBOARD_REPORT_Y 11 // enable / disable signal processing values reporting for Y axis

/**
@name initSensors
Expand Down

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