Added Support Temperature Sensor HDC2021

Author: Deven-water

Core/Inc/u_can.h

@@ -2,10 +2,11 @@
 
 #include "u_tx_can.h"
 
-#define SHT30_CAN_ID        0xBAA
+#define SHT30_CAN_ID        0xBAA      
 #define IMU_ACCEL_CAN_ID    0xBAB
 #define IMU_GYRO_CAN_ID     0xBAC
 #define MAGNOMETER_CAN_ID   0XBAD
 #define ORIENTATION_CAN_ID  0XBAE
+#define HDC2021_CAN_ID      0xBAF 
 
 // u_TODO - finish this file

Core/Inc/u_sensors.h

@@ -68,4 +68,21 @@ uint16_t read_sht30();
 /**
  * @brief sends temp and humidity data from the sht30 over CAN
  */
-void send_sht30_data();
+void send_sht30_data();
+
+/**
+ * @brief initializes the hdc2021 for reading temp and humidity
+ * @return whether there were errors initializing the sht30
+ */
+uint16_t init_hdc2021();
+
+/**
+ * @brief reads temp and humidity data from the hdc2021
+ * @return whether there were errors in reading the data
+ */
+uint16_t read_hdc2021();
+
+/**
+ * @brief sends temp and humidity data from the hdc2021 over CAN
+ */
+void send_hdc2021_data();

Core/Src/u_sensors.c

@@ -15,11 +15,15 @@
 #include "lsm6dsv_reg.h"
 #include "lis2mdl_reg.h"
 
+#include "hdc2021debr.h"
+
 extern I2C_HandleTypeDef hi2c1;
 extern SPI_HandleTypeDef hspi1;
 extern SPI_HandleTypeDef hspi2;
 
 static sht30_t sht30;
+static hdc2021debr_t hdc2021;
+
 static stmdev_ctx_t imu;
 static stmdev_ctx_t lis2mdl_ctx;
 
@@ -63,6 +67,10 @@ static struct __attribute__((__packed__)) {
 	float humidity;
 } sht30_data;
 
+static struct __attribute__((__packed__)) {
+	float temp;
+	float humidity;
+} hdc2021_data;
 
 /** 
  * IMU 
@@ -541,4 +549,47 @@ void send_sht30_data() {
     memcpy(can_message.data, &sht30_data, can_message.len);
 
     queue_send(&can_outgoing, &can_message, TX_NO_WAIT);
-}
+}
+
+/**
+ * HDC2021
+ */
+
+uint8_t _hdc2021_i2c_write(uint8_t *data, uint8_t dev_address, uint8_t length){
+    return HAL_I2C_Master_Transmit(&hi2c1, dev_address, data, length, HAL_MAX_DELAY);
+}
+
+uint8_t _hdc2021_i2c_read(uint8_t *data, uint16_t command, uint8_t dev_address, uint8_t length) {
+    return HAL_I2C_Mem_Read(&hi2c1, dev_address, command, sizeof(command), data, length, HAL_MAX_DELAY);
+}
+
+uint16_t init_hdc2021() {
+    return hdc2021_init(&hdc2021, (Write_ptr) _hdc2021_i2c_write, (Read_ptr) _hdc2021_i2c_read, HDC2021_I2C_ADDR);
+}
+
+uint16_t read_hdc2021() {
+    int status = hdc2021_get_temp_humid(&hdc2021);
+
+    if (status) {
+        PRINTLN_ERROR("ERROR: Failed to get hdc2021 data (Status: %d/%s).", status, hal_status_toString(status));
+        return U_ERROR;
+    }
+
+    hdc2021_data.temp = hdc2021.temp;
+    hdc2021_data.humidity = hdc2021.humidity;
+
+    return U_SUCCESS;
+}
+
+void send_hdc2021_data() {
+    can_msg_t can_message = { 
+        .id = HDC2021_CAN_ID, 
+        .len = 8, 
+        .data = { 0 } 
+    };
+
+    memcpy(can_message.data, &hdc2021_data, can_message.len);
+
+    queue_send(&can_outgoing, &can_message, TX_NO_WAIT);
+}
+

Core/Src/u_threads.c

@@ -48,6 +48,8 @@ void sensors_thread(ULONG thread_input) {
         if (is_timer_expired(&data_send_timer)) {
             CATCH_ERROR(read_sht30(), U_SUCCESS);
             send_sht30_data();
+            CATCH_ERROR(read_hdc2021(), U_SUCCESS);
+            send_hdc2021_data();
             send_imu_and_magnometer_data();
             start_timer(&data_send_timer, DATA_SEND_INTERVAL);
         }