add remote control ppm input

This commit is contained in:
interfisch 2024-09-21 22:10:51 +02:00
parent 5a1734f181
commit 2868ab0bd2
8 changed files with 313 additions and 48 deletions

View File

@ -59,9 +59,7 @@
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(text "Bodge Wire added for PPM"
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View File

@ -95,10 +95,11 @@ bool error_brake_outofrange=false;
bool error_ads_max_read_interval=false; bool error_ads_max_read_interval=false;
bool error_sdfile_unavailable=false; bool error_sdfile_unavailable=false;
#define REVERSE_ENABLE_TIME 500 //ms. how long standstill to be able to drive backward #define REVERSE_ENABLE_TIME 300 //ms. how long standstill to be able to drive backward
#define NORMAL_MAX_ACCELERATION_RATE 10000 #define NORMAL_MAX_ACCELERATION_RATE 10000
#define MEDIUM_MAX_ACCELERATION_RATE 500
#define SLOW_MAX_ACCELERATION_RATE 250 #define SLOW_MAX_ACCELERATION_RATE 250
int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second

View File

@ -16,10 +16,12 @@
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET); Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
uint8_t standingDisplayScreen=0; uint8_t standingDisplayScreen=0;
#define NUM_STANDINGDISPLAYSCREEN 4 #define NUM_STANDINGDISPLAYSCREEN 5
#define DISPLAYSTANDSTILLTIME 5000 #define DISPLAYSTANDSTILLTIME 5000
#include "rc.h"
bool display_init(); bool display_init();
void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear); void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear); void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
@ -311,7 +313,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
switch(standingDisplayScreen) switch(standingDisplayScreen)
{ {
case 0: case 0:
//Quick overview of inputs and status //Quick overview of inputs and status
//Row1 //Row1
@ -405,7 +407,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
break; break;
case 3: case 3:
//Raw inputs and Input Debug //Raw inputs and Input Debug
//TODO: show deviation (and max deviation), show resulting throttle and brake pos //TODO: show deviation (and max deviation), show resulting throttle and brake pos
@ -442,6 +444,42 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
break; break;
case 4:
//Row 1
display.print(F("RC "));
dtostrf(ppm[0],4,0,buf);
display.print((String)buf);
display.print(F("/"));
dtostrf(ppm[1],4,0,buf);
display.print((String)buf);
display.println();
//Row 2
display.print(F("T"));
dtostrf(getRCThrottle(),3,0,buf);
display.print((String)buf);
display.print(F(" B"));
dtostrf(getRCBrake(),3,0,buf);
display.print((String)buf);
display.print(F(" S"));
dtostrf(getRCSteer(),3,0,buf);
display.print((String)buf);
display.println();
//Row 3
display.print(F("Mode="));
dtostrf(getRCMode(3),1,0,buf);
display.print((String)buf);
display.print(F(" %="));
dtostrf(getPPMSuccessrate(),1,5,buf);
display.print((String)buf);
display.println();
break;
} }
//Put User Inputs in last row //Put User Inputs in last row

View File

@ -31,6 +31,8 @@ unsigned long last_ledupdate=0;
uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured
extern bool rc_enabled;
void led_dotcircle(unsigned long loopmillis); void led_dotcircle(unsigned long loopmillis);
void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG); void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG);
@ -109,18 +111,22 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
}else{ }else{
if (armed) { if (armed) {
if (loopmillis-last_notidle>5000) { if (rc_enabled) {
//Standing led_gauge(loopmillis,escFront.getCmdL(),0,1000,strip.Color(100, 0, 0, 0),strip.Color(0, 50, 50, 0));
float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage()); }else{ //normal driving
led_gauge(loopmillis,vbat,3.3*12,4.2*12,strip.Color(0, 255, 0, 0),strip.Color(100, 0, 0, 0)); if (loopmillis-last_notidle>5000) {
}else{ //Standing
//Driving float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());
float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR(); led_gauge(loopmillis,vbat,3.3*12,4.2*12,strip.Color(0, 255, 0, 0),strip.Color(100, 0, 0, 0));
uint32_t _bgColor=strip.Color(0, 0, 20, 0); }else{
if (reverse_enabled) { //Driving
_bgColor=strip.Color(20, 0, 20, 0); float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();
uint32_t _bgColor=strip.Color(0, 0, 20, 0);
if (reverse_enabled) {
_bgColor=strip.Color(20, 0, 20, 0);
}
led_gauge(loopmillis,currentMean,0,32.0,strip.Color(0, 0, 0, 255),_bgColor);
} }
led_gauge(loopmillis,currentMean,0,32.0,strip.Color(0, 0, 0, 255),_bgColor);
} }
}else{ }else{
//Disarmed //Disarmed

View File

@ -0,0 +1,124 @@
#ifndef _RC_H_
#define _RC_H_
#define RC
#include <PulsePosition.h>
PulsePositionInput ppmIn;
#define PPMREADPERIOD 20 //period for d4r-ii is 18ms
static int count=0;
#define PIN_PPM 9
#define PPM_CHANNELS 8
#define PPM_SAVE_MIN 950 //minimum allowed for valid data
#define PPM_SAVE_MAX 2050 //maximum allowed for valid data
#define PPM_MIN 1000
#define PPM_MAX 2000
#define PPM_MID 1500
#define PPM_DEADBAND 5
#define PPM_CHANNEL_THROTTLE 1
#define PPM_CHANNEL_STEER 2
#define PPM_CHANNEL_MODE 5
float ppm[PPM_CHANNELS];
unsigned long ppm_count_success=0;
unsigned long ppm_count_fail=0;
void initRC();
void readPPM(unsigned long loopmillis);
void printPPM();
int16_t getRCThrottle();
int16_t getRCSteer();
uint8_t getRCMode(uint8_t modes);
bool rc_enabled=false;
void initRC() {
ppmIn.begin(PIN_PPM);
}
void readPPM(unsigned long loopmillis) {
static unsigned long ppm_last_received=0;
static unsigned long ppm_last_received_success=0;
int ppm_num = ppmIn.available();
if (ppm_num > 0) {
bool ppm_ok=true;
ppm_last_received=loopmillis;
float new_ppm[PPM_CHANNELS];
if (ppm_num != PPM_CHANNELS) {
ppm_ok=false;
}else{
for (int i=1; i <= ppm_num; i++) {
float val=ppmIn.read(i);
new_ppm[i-1]=val;
if (val<PPM_SAVE_MIN || val>PPM_SAVE_MAX) {
ppm_ok=false;
}
}
}
if (ppm_ok) {
ppm_count_success+=1;
ppm_last_received_success=loopmillis;
std::copy(std::begin(new_ppm), std::end(new_ppm), std::begin(ppm));
}else{
ppm_count_fail+=1;
}
}
}
float getPPMSuccessrate() {
float rate=ppm_count_success*1.0/(ppm_count_success+ppm_count_fail);
if (ppm_count_success+ppm_count_fail>500) {
ppm_count_success=0;
ppm_count_fail=0;
}
return rate;
}
//Return value 0 - 1000
int16_t getRCThrottle() {
return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
}
int16_t getRCBrake() {
return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,1000), 0,1000);
}
//Return value -1000 - 1000
int16_t getRCSteer() {
if (ppm[PPM_CHANNEL_STEER-1]>PPM_MID+PPM_DEADBAND){
return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
}else if (ppm[PPM_CHANNEL_STEER-1]<PPM_MID-PPM_DEADBAND){
return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,-1000), -1000,0);
}else{
return 0;
}
}
//Return descrete value for equidistant ranges. modes = number of ranges.
uint8_t getRCMode(uint8_t modes) {
float v=constrain(map(ppm[PPM_CHANNEL_MODE-1],PPM_MIN,PPM_MAX,0.0,1.0), 0.0,0.999);
return uint8_t(v*modes);
}
void printPPM(unsigned long loopmillis){
count = count + 1;
Serial.print("ms :");
Serial.print(count);
Serial.print(" : ");
for (int i=1; i <= PPM_CHANNELS; i++) {
Serial.print(ppm[i-1]);
Serial.print(" ");
}
Serial.println();
}
#endif

View File

@ -26,6 +26,7 @@ lib_deps =
adafruit/Adafruit SSD1306@^2.5.7 adafruit/Adafruit SSD1306@^2.5.7
https://github.com/adafruit/Adafruit_NeoPixel https://github.com/adafruit/Adafruit_NeoPixel
https://github.com/milesburton/Arduino-Temperature-Control-Library/ https://github.com/milesburton/Arduino-Temperature-Control-Library/
https://github.com/PaulStoffregen/PulsePosition
[env:teensy31] [env:teensy31]

View File

@ -21,10 +21,12 @@ String getLogFilename();
bool getDatalogging(); bool getDatalogging();
#include "display.h" #include "display.h"
#include "logging.h" #include "logging.h"
#include "rc.h"
#include "ADS1X15.h" #include "ADS1X15.h"
//#define CALIBRATION_THROTTLE_CURVE //uncomment to enable throttleA and B serial output on button press //#define CALIBRATION_THROTTLE_CURVE //uncomment to enable throttleA and B serial output on button press
@ -174,6 +176,10 @@ void setup()
initTemperature(); initTemperature();
led_simpeProgress(9,true); led_simpeProgress(9,true);
initRC();
led_simpeProgress(10,true);
@ -219,6 +225,13 @@ void loop() {
readADSButtons(); readADSButtons();
} }
static unsigned long last_ppmread=0;
if (loopmillis - last_ppmread > PPMREADPERIOD) { //read digital input states
last_ppmread=loopmillis;
readPPM(loopmillis);
}
failChecks(); failChecks();
@ -398,14 +411,7 @@ void readADC() {
if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
last_notidle=loopmillis;
reverse_enabled=false;
}
if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
reverse_enabled=true;
}
int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
throttle_pos=constrain(throttlebreak_pos,0,1000); throttle_pos=constrain(throttlebreak_pos,0,1000);
@ -503,9 +509,39 @@ void failChecks() {
void calculateSetSpeed(unsigned long timediff){ void calculateSetSpeed(unsigned long timediff){
int16_t adjusted_throttle_pos=constrain(throttle_pos*(throttle_max/1000.0),0,throttle_max); int16_t adjusted_throttle_pos=constrain(throttle_pos*(throttle_max/1000.0),0,throttle_max);
int16_t brake_pos_linear=brake_pos;
int16_t brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);
int16_t brake_pos_expo = (int16_t)(pow((brake_pos/1000.0),2)*1000);
#ifdef RC
if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc mode
rc_enabled=false;
}
if (rc_enabled) {
int16_t rcthrottle_pos=getRCThrottle();
int16_t rcbrake_pos=getRCBrake();
adjusted_throttle_pos=constrain(rcthrottle_pos*(throttle_max/1000.0),0,throttle_max); //overwrite with rc values
brake_pos_linear=rcbrake_pos;
brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);
}
#endif
//Reverse Enable
if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos_linear>0)) { //reset idle time on these conditions (disables reverse driving)
last_notidle=loopmillis;
reverse_enabled=false;
}
if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
reverse_enabled=true;
}
//Throttle Management
float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000) float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*timediff/1000)); //reduce cmd value every cycle int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*timediff/1000)); //reduce cmd value every cycle
@ -538,7 +574,7 @@ void calculateSetSpeed(unsigned long timediff){
int16_t cmd_send_toMotor_FR=0; int16_t cmd_send_toMotor_FR=0;
int16_t cmd_send_toMotor_RL=0; int16_t cmd_send_toMotor_RL=0;
int16_t cmd_send_toMotor_RR=0; int16_t cmd_send_toMotor_RR=0;
int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,throttle_max); //brake "ducking" int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos_expo*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
cmd_send_toMotor_FL=_cmd_send_toMotor; cmd_send_toMotor_FL=_cmd_send_toMotor;
@ -546,6 +582,17 @@ void calculateSetSpeed(unsigned long timediff){
cmd_send_toMotor_RL=_cmd_send_toMotor; cmd_send_toMotor_RL=_cmd_send_toMotor;
cmd_send_toMotor_RR=_cmd_send_toMotor; cmd_send_toMotor_RR=_cmd_send_toMotor;
#ifdef RC
int16_t differential_steering_max=100;
if (rc_enabled) {
float rcsteer=getRCSteer()/1000.0;
cmd_send_toMotor_FL+=rcsteer*differential_steering_max;
cmd_send_toMotor_FR-=rcsteer*differential_steering_max;
}
#endif
#ifdef DRIVING_TANKSTEERING #ifdef DRIVING_TANKSTEERING
@ -589,7 +636,7 @@ void calculateSetSpeed(unsigned long timediff){
// ## Braking, Reversing and Standstill movements below here ## // ## Braking, Reversing and Standstill movements below here ##
/* /*
if (reverse_enabled) { //backwards driving not prohibited if (reverse_enabled) { //backwards driving not prohibited
_cmd_send_toMotor-=brake_pos*reverse_speed; _cmd_send_toMotor-=brake_pos_linear*reverse_speed;
cmd_send_toMotor_FL=_cmd_send_toMotor; cmd_send_toMotor_FL=_cmd_send_toMotor;
cmd_send_toMotor_FR=_cmd_send_toMotor; cmd_send_toMotor_FR=_cmd_send_toMotor;
@ -600,7 +647,7 @@ void calculateSetSpeed(unsigned long timediff){
*/ */
float steeringdifferential_speed=0.3; //Speed for turning the steering wheel by differtially driving the front wheels float steeringdifferential_speed=0.4; //Speed for turning the steering wheel by differtially driving the front wheels
if (reverse_enabled) { //backwards driving not prohibited if (reverse_enabled) { //backwards driving not prohibited
static bool tanksteering_prohibit_left=false; static bool tanksteering_prohibit_left=false;
@ -616,7 +663,7 @@ void calculateSetSpeed(unsigned long timediff){
}else if(!control_buttonA && !control_buttonB){ //no button pressed }else if(!control_buttonA && !control_buttonB){ //no button pressed
tanksteering_prohibit_left=true; tanksteering_prohibit_left=true;
tanksteering_prohibit_right=true; tanksteering_prohibit_right=true;
if (throttle_pos<=0 && brake_pos<=0) {//levers released if (throttle_pos<=0 && brake_pos_linear<=0) {//levers released
tanksteering_prohibit_left=false; tanksteering_prohibit_left=false;
tanksteering_prohibit_right=false; tanksteering_prohibit_right=false;
prohibit_reverse=false; prohibit_reverse=false;
@ -624,17 +671,17 @@ void calculateSetSpeed(unsigned long timediff){
} }
if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
cmd_send_toMotor_FL+=brake_pos*steeringdifferential_speed; cmd_send_toMotor_FL+=brake_pos_expo*steeringdifferential_speed;
cmd_send_toMotor_FR-=brake_pos*steeringdifferential_speed; cmd_send_toMotor_FR-=brake_pos_expo*steeringdifferential_speed;
cmd_send_toMotor_RL+=brake_pos*steeringdifferential_speed; cmd_send_toMotor_RL+=brake_pos_expo*steeringdifferential_speed;
cmd_send_toMotor_RR-=brake_pos*steeringdifferential_speed; cmd_send_toMotor_RR-=brake_pos_expo*steeringdifferential_speed;
}else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering }else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
cmd_send_toMotor_FL-=brake_pos*steeringdifferential_speed; cmd_send_toMotor_FL-=brake_pos_expo*steeringdifferential_speed;
cmd_send_toMotor_FR+=brake_pos*steeringdifferential_speed; cmd_send_toMotor_FR+=brake_pos_expo*steeringdifferential_speed;
cmd_send_toMotor_RL-=brake_pos*steeringdifferential_speed; cmd_send_toMotor_RL-=brake_pos_expo*steeringdifferential_speed;
cmd_send_toMotor_RR+=brake_pos*steeringdifferential_speed; cmd_send_toMotor_RR+=brake_pos_expo*steeringdifferential_speed;
}else if(tanksteering_prohibit_right && tanksteering_prohibit_left && !prohibit_reverse){ //no button on steering wheel pressed, drive backwards }else if(tanksteering_prohibit_right && tanksteering_prohibit_left && !prohibit_reverse){ //no button on steering wheel pressed, drive backwards
_cmd_send_toMotor-=brake_pos*reverse_speed; _cmd_send_toMotor-=brake_pos_expo*reverse_speed;
cmd_send_toMotor_FL=_cmd_send_toMotor; cmd_send_toMotor_FL=_cmd_send_toMotor;
cmd_send_toMotor_FR=_cmd_send_toMotor; cmd_send_toMotor_FR=_cmd_send_toMotor;
@ -716,18 +763,28 @@ void readButtons() {
if (escFront.getControllerConnected() && escRear.getControllerConnected()) { if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
armed=true; //arm if button pressed long enough armed=true; //arm if button pressed long enough
writeLogComment(loopmillis, "Armed by button"); writeLogComment(loopmillis, "Armed by button");
if (control_buttonA) { //button A is held down during start button press rc_enabled=false;
if (control_buttonA && control_buttonB) { //button A and B is held down during start button press
throttle_max=250;
reverse_speed=0.15;
max_acceleration_rate=MEDIUM_MAX_ACCELERATION_RATE;
rc_enabled=true;
writeLogComment(loopmillis, "Mode: RC");
}else if (control_buttonA) { //button A is held down during start button press
throttle_max=1000; throttle_max=1000;
reverse_speed=0.25; reverse_speed=0.25;
max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
writeLogComment(loopmillis, "Mode: Fast");
}else if (control_buttonB) { //button B is held down during start button press }else if (control_buttonB) { //button B is held down during start button press
throttle_max=750; throttle_max=750;
reverse_speed=0.25; reverse_speed=0.25;
max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE; max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
writeLogComment(loopmillis, "Mode: Medium");
}else { //no control button pressed during start }else { //no control button pressed during start
throttle_max=250; throttle_max=250;
reverse_speed=0.15; reverse_speed=0.15;
max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE; max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
writeLogComment(loopmillis, "Mode: Slow");
} }
}else{ }else{