Service Types

A configurable math channel to perform custom in-firmware computations with the data from other configured services. Functions must be written with Rust Syntax. The usable functions include sin, cos, tan,sqrt, log, exp, abs, floor, ceil, pow, max, min. You can also use the standard mathematical operations (+, −, ×, ÷) and boolean operations for logical equations (||, &&, !=, ==, >, >=, <, <=)

Key	Type	Description
Name	String	Internal reference to task.
Input Tasks	Array(String)	A list of other defined services that provide a valid numeric input as a variable in the math functions.
Math Functions	Array(Object)	Each function contains an expression & an output type. If a logical function is used and results in `true` or `false`, choose bool. Otherwise use f32. The selection of input tasks will autofill the appropriate variable name for that input into a new function. You may use multiple input tasks in a single function, just copy the generated variable name into where it should be used.

PID Controller

pid

Key	Type	Description
Name	String	Internal reference to task.
Input Task	String	The `Name` of an already defined task that is capable of acting as a PID input. These are Analog-Inputs and Thermocouples for now.
Output Task	String	The `Name` of an already defined task that is capable of acting as a PID control output. This includes PWM channels and Analog-Outputs.
Proportional Gain	Number	Default PID Kp at boot.
Integral Gain	Number	Default PID Ki at boot.
Derivative Gain	Number	Default PID Kd at boot.

Bang-Bang Controller

bang_bang

Key	Type	Description
Name	String	Internal reference to task.
Input Task	Enum	Data to use as feedback for the controller. Can come from `Analog Input`, `Thermocouple`, `ADS7953`.
Output Task	Enum	Output the controller will modulate. Can choose a `Digital Output` or `PDU channel`.
Upper Threshold	Number	Upper hysteresis limit for the controller.
Lower Threshold	Number	Lower hysteresis limit for the controller.
Control Loop Frequency	Number	The rate at which the controller will update the state of the output. If the `Input Task` updates faster than this rate, the input values will be averaged.

Stepper Motor

stepper

Key	Type	Description
Name	String	Internal reference to task.
Step Signal	Enum	Output pin for the stepper-motor 'pulse' or step.
Motor Direction	Enum	Output pin for the stepper-motor direction signal
Motor Enable	Number	Output pin for stepper-motor enable. This powers the motor phases.
Limit Switch 1	Enum or Null	Digital input for wiring an optional limit switch that will interrupt a move command.
Limit Switch 2	Enum or Null	Digital input for wiring an optional limit switch that will interrupt a move command.

Actuator

actuator

This is a more naive implementation of Stateful Actuator. There is no enforcement of how the actuator enters or exits a state. This is really meant as a tool to automate a group of inputs and outputs with very simple states (on/off) and that do not require the traversal of multiple states to execute an action. If this is needed, use Stateful Actuator.

Key	Type	Description
Name	String	Internal reference to task.
Latched	Boolean	Whether this actuator latches the outputs upon executing a command.
Inputs	Array	A multi-select of already-configured (compatible) inputs to the Stateful Actuator Service. In this case, we have two `Digital-Input` services that are used. `Analog-Input` may be used as well.
Outputs	Array	A multi-select of already-configured (compatible) outputs for the Stateful Actuator Service. In this case, we have a `PDU` service defined. One may use `Digital-Outputs` too.
States	Array	User-defined names attached to certain combinations of the chosen `Inputs'` logic-levels and chosen `Outputs` commands that ought to result in this state's `Inputs` levels.

Actuator States

Key	Type	Description
Name	String	User defined name attached to the specific state of the inputs.
Actuators	Array of Booleans	The logic-levels that the service will command to each configured output to cause this transition.
Sensors	Array of Booleans	The state of the `Inputs` that are associated with this `State` name.

Stateful Actuator

stateful_inputs

Key	Type	Description
Name	String	Internal reference to task.
Latched	Boolean	Whether this actuator latches the outputs upon executing a command.
Inputs	Array	A multi-select of already-configured (compatible) inputs to the Stateful Actuator Service. In this case, we have two `Digital-Input` services that are used. `Analog-Input` may be used as well.
States	Array	User-defined names attached to certain combinations of the chosen `Inputs'` logic-levels.
Outputs	Array	A multi-select of already-configured (compatible) outputs for the Stateful Actuator Service. In this case, we have a `PDU` service defined. One may use `Digital-Outputs` too.
Transitions	Array	User-defined state transitions.
Sequences	Optional Array	User-defined automation sequences with configured in-firmware triggers. Convenience method.

States

It is recommended that the configured states cover all possible combinations of states of the chosen inputs.

Key	Type	Description
Name	String	User defined name attached to the specific state of the inputs.
Sensors	Array of Booleans	The state of the `Inputs` that are associated with the given name.

Transitions

stateful_outputs

Key	Type	Description
Name	String	User defined name attached to the specific state of the inputs.
From	Enum	Chose a defined State from which this transition may be triggered.
To	Enum	Chose a defined State to which this transition is expected to result in.
Move Duration	Int	Duration in milliseconds that may elapse before this transition times out.
Outputs	Array of Booleans	The logic-levels that the service will command to each configured output to cause this transition.

Sequences

stateful_sequences

Consider a trigger as an in-firmware emergency-stop.

Key	Type	Description
Name	String	User defined name attached to the automation sequence.
Steps	Array	Chose and order defined Transitions this sequence should attempt.
Trigger	Optional Enum	Choose an already-configured (but not used in this service) `Analog-Input` or `Digital-Input` that this sequence should track the state of.
Trigger State	Boolean	The state of the configured `Trigger` that ought to begin this sequence.

IMU (MPU6050)

imu

Key	Type	Description
Name	String	Internal reference to task.
I2C Interface	Enum	Qwiic or MikroBus I2C interface.
I2C Address	Number	I2C Bus address for the MPU6050. Default is 104. Do not change unless the address is changed on the MPU6050, beforehand.
Sampling Rate	Number	Duration, in milliseconds, to sample and send data from the MPU6050.

Magnetometer (QMC5883L)

magnetometer

Key	Type	Description
Name	String	Internal reference to task.
I2C Interface	Enum	Qwiic or Mikrobus interface used.
Sampling Rate	Enum	10, 50, 100, or 200 Sa/s
Magnetic Declination	Number	The angular offset of magnetic North from true North at your location. This orients the magnetic compass to treat zero degrees as true North.

IR Camera (MLX90640)

Key	Type	Description
Name	String	Internal reference to task.
I2C Interface	Enum	Qwiic or Mikrobus interface used.
I2C Address	Number	I2C address of MLX90640 IR-camera. Default is 51 (0x33). This field is in decimal, not hex.

Thermocouple (MAX31855)

thermocouple

Key	Type	Description
Name	String	Internal reference to task.
SPI Chip Select	Enum	DO Pins or MikroBus I/O. The expansion board provided by TransAstra uses MikroBus CS, INT, and PWM for T1, T2, and T3, respectively.
Units	Enum	Celsius, Fahrenheit, or Kelvin

Load Cell (HX711)

loadcell

Uses MikroBus SCK and MISO by default for the HX711 data interface.

Key	Type	Description
Name	String	Internal reference to task.
Tare Sample Size	Int	Number of samples to use when measuring a tare value.

ADS7953

ads

Key	Type	Description
Name	String	Internal reference to task.
SPI Chip Select	Enum	DO Pins or MikroBus I/O.
Channels	Array	An array of `Channel` objects. Each object corresponds to the conversion and units for a given input to the ADS7953 chip.

Channel

Key	Type	Description
Channel Index	Int	A value 0-15, corresponds to the input on the ADS chip.
Type	Enum	`Polynomial` $y = A x^{3} + B x^{2} + C x + D$ `Logarithmic` $y = A + B * l n (C x + D)$
A	Float	Conversion equation `A` coefficient
B	Float	Conversion equation `B` coefficient
C	Float	Conversion equation `C` coefficient
D	Float	Conversion equation `D` coefficient
Unit	String	Indicates unit of measurement.

Power-Distribution Unit (PDU)

pdu

The PDU board will connect to the UART RX & TX pins on the DAQAstra's SuperSeal connector.

Key	Type	Description
Name	String	Internal reference to task.

DAQAstra

Service Types

Configuration Forms

Table of Contents

Analog Input

Digital Input

Frequency Counter

Analog Output

Digital Output

PWM Output

Complementary PWM

Command

Math Channel