ice: add 2g, 125 dps mode

gauteh · Feb 18, 2025 · 6e3861b · 6e3861b
1 parent 585e5ad
commit 6e3861b
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Showing 5 changed files with 31 additions and 4 deletions.
diff --git a/sfy-buoy/Cargo.toml b/sfy-buoy/Cargo.toml
@@ -54,6 +54,7 @@ fir = []
 storage = []
 ext-gps = [ "dep:serde-json-core"]
 surf = []
+ice = []
 target-test = [ "storage" ]
 build-bin = [ "fir", "storage", "raw", "anyhow", "argh", "serde-json-core/std", "serde_json", "chrono/std" ]
 

diff --git a/sfy-buoy/README.md b/sfy-buoy/README.md
@@ -64,6 +64,12 @@ AUXRX/AUXTX and pull AUXEN up](https://dev.blues.io/guides-and-tutorials/notecar
 * surf: increase accel and gyro range to expect greater forces impacted by
     breaking waves.
 
+* ice: increase sensitivity (opposite of surf), expect low movement and low
+    forces. typically used for ice deployments.
+
+* lowaccel: increase accel and gyro range to expect greater forces impacted by
+    breaking waves.
+
 * raw: store raw data on SD-card (experimental)
 
 * host-tests: used to disable code that doesn't compile on host, for running

diff --git a/sfy-buoy/sfy-artemis/Cargo.toml b/sfy-buoy/sfy-artemis/Cargo.toml
@@ -42,6 +42,7 @@ raw = [ "sfy/raw" ]
 fir = [ "sfy/fir" ]
 storage = [ "sfy/storage" ]
 surf = [ "sfy/surf" ]
+ice = [ "sfy/ice" ]
 deploy = []
 defmt-serial = [ "dep:ufmt", "dep:defmt-serial" ]
 
diff --git a/sfy-buoy/sfy-ext-gps/Cargo.toml b/sfy-buoy/sfy-ext-gps/Cargo.toml
@@ -43,6 +43,7 @@ raw = [ "sfy/raw" ]
 fir = [ "sfy/fir" ]
 storage = [ "sfy/storage" ]
 surf = [ "sfy/surf" ]
+ice = [ "sfy/ice" ]
 deploy = []
 host-tests = []
 # defmt-serial = [ "dep:ufmt", "dep:defmt-serial" ]

diff --git a/sfy-buoy/src/waves/mod.rs b/sfy-buoy/src/waves/mod.rs
@@ -30,15 +30,23 @@ pub type AxlPacketT = (AxlPacket,);
 
 pub const FREQ: Freq = Freq::Hz208;
 
+#[cfg(all(feature = "surf", feature = "ice"))]
+compile_error!("only one of the surf and ice features should be enabled at the same time.");
+
 // See discussion below in `boot`.
 #[cfg(feature = "surf")]
 pub const ACCEL_RANGE: f32 = 16.; // [g]
 #[cfg(feature = "surf")]
 pub const GYRO_RANGE: f32 = 1000.; // [dps]
                                    //
-#[cfg(not(feature = "surf"))]
+#[cfg(feature = "ice")]
+pub const ACCEL_RANGE: f32 = 2.; // [g]
+#[cfg(feature = "ice")]
+pub const GYRO_RANGE: f32 = 125.; // [dps]
+                                   //
+#[cfg(all(not(feature = "surf"), not(feature = "ice")))]
 pub const ACCEL_RANGE: f32 = 4.; // [g]
-#[cfg(not(feature = "surf"))]
+#[cfg(all(not(feature = "surf"), not(feature = "ice")))]
 pub const GYRO_RANGE: f32 = 500.; // [dps]
 
 #[cfg(all(feature = "20Hz", not(feature = "fir")))]
@@ -271,7 +279,7 @@ impl<E: Debug, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
         //
         // Sinclair, Alexandra. “FlowRider: A Lagrangian Float to Measure 3-D Dynamics of Plunging Breakers in the Surf Zone.” Journal of Coastal Research 293 (January 2014): 205–9. https://doi.org/10.2112/JCOASTRES-D-13-00014.1.
 
-        #[cfg(not(feature = "surf"))]
+        #[cfg(all(not(feature = "surf"), not(feature = "ice")))]
         sensor
             .ctrl1xl
             .set_chain_full_scale(i2c, ctrl1xl::Fs_Xl::G4)?;
@@ -281,6 +289,11 @@ impl<E: Debug, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
             .ctrl1xl
             .set_chain_full_scale(i2c, ctrl1xl::Fs_Xl::G16)?;
 
+        #[cfg(feature = "ice")]
+        sensor
+            .ctrl1xl
+            .set_chain_full_scale(i2c, ctrl1xl::Fs_Xl::G2)?;
+
         defmt::info!(
             "accelerometer range: {} g",
             sensor.ctrl1xl.chain_full_scale()
@@ -315,7 +328,7 @@ impl<E: Debug, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
         // gyro values.
         //
         // Feddersen, F., Andre Amador, Kanoa Pick, A. Vizuet, Kaden Quinn, Eric Wolfinger, J. H. MacMahan, and Adam Fincham. “The Wavedrifter: A Low-Cost IMU-Based Lagrangian Drifter to Observe Steepening and Overturning of Surface Gravity Waves and the Transition to Turbulence.” Coastal Engineering Journal, July 26, 2023, 1–14. https://doi.org/10.1080/21664250.2023.2238949.
-        #[cfg(not(feature = "surf"))]
+        #[cfg(all(not(feature = "surf"), not(feature = "ice")))]
         sensor
             .ctrl2g
             .set_chain_full_scale(i2c, ctrl2g::Fs::Dps500)?;
@@ -325,6 +338,11 @@ impl<E: Debug, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
             .ctrl2g
             .set_chain_full_scale(i2c, ctrl2g::Fs::Dps1000)?;
 
+        #[cfg(feature = "ice")]
+        sensor
+            .ctrl2g
+            .set_chain_full_scale(i2c, ctrl2g::Fs::Dps125)?;
+
         defmt::info!("gyroscope range: {} dps", sensor.ctrl2g.chain_full_scale());
         assert_eq!(sensor.ctrl2g.chain_full_scale().dps(), GYRO_RANGE);