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make temperature request async

This commit is contained in:
interfisch 2024-06-26 21:42:16 +02:00
parent 959ec20490
commit 6dd18ff375
4 changed files with 24 additions and 175 deletions
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162
controller_teensy/include/comms.h
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@ -1,162 +0,0 @@
#ifndef _COMMS_H_
#define _COMMS_H_
#include "definitions.h"
#include "structs.h"
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef);
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef);
void updateMotorparams( MotorParameter &mp, SerialFeedback &fb,unsigned long _loopmillis);
void writeLogInfo(HardwareSerial &SerialRef);
void writeLogHeader(HardwareSerial &SerialRef);
void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake);
void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg);
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
{
// Create command
scom.start = (uint16_t)START_FRAME;
scom.speedLeft = (int16_t)uSpeedLeft;
scom.speedRight = (int16_t)uSpeedRight;
scom.checksum = (uint16_t)(scom.start ^ scom.speedLeft ^ scom.speedRight);
SerialRef.write((uint8_t *) &scom, sizeof(scom));
}
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
{
bool _result=false; //return true if new full data frame received
// Check for new data availability in the Serial buffer
if ( SerialRef.available() ) {
sread.incomingByte = SerialRef.read(); // Read the incoming byte
sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame
}
else {
return false; //nothing new
}
// If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX
Serial.print(sread.incomingByte);
#endif
// Copy received data
if (sread.bufStartFrame == START_FRAME) { // Initialize if new data is detected
sread.p = (byte *)&NewFeedback;
*sread.p++ = sread.incomingBytePrev;
*sread.p++ = sread.incomingByte;
sread.idx = 2;
} else if (sread.idx >= 2 && sread.idx < sizeof(SerialFeedback)) { // Save the new received data
*sread.p++ = sread.incomingByte;
sread.idx++;
}
// Check if we reached the end of the package
if (sread.idx == sizeof(SerialFeedback)) {
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC ^ NewFeedback.cmdLed);
// Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
sread.lastValidDataSerial_time = millis();
_result=true;
} else {
_result=false;
}
sread.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
/*
// Print data to built-in Serial
Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2);
Serial.print(" 3: "); Serial.print(Feedback.speedR);
Serial.print(" 4: "); Serial.print(Feedback.speedL);
Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
} else {
Serial.println("Non-valid data skipped");
}*/
// Update previous states
sread.incomingBytePrev = sread.incomingByte;
return _result; //new data was available
}
void updateMotorparams( MotorParameter &mp, SerialFeedback &fb,unsigned long _loopmillis) {
mp.cur_pos++;
mp.cur_pos%=CURRENT_FILTER_SIZE;
mp.curL_DC[mp.cur_pos] = -fb.curL_DC; //invert so positive current is consumed current. negative then means regenerated
mp.curR_DC[mp.cur_pos] = -fb.curR_DC;
mp.millis=_loopmillis;
log_update=true;
}
/*
void writeLogInfo(HardwareSerial &SerialRef) { //first line of file
SerialRef.print("#TIMESTAMP:");
SerialRef.println(now());
}
void writeLogHeader(HardwareSerial &SerialRef) {
SerialRef.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
SerialRef.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
SerialRef.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
SerialRef.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
SerialRef.println("currentAll,throttle,brake,speed,trip,currentConsumed");
}
void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake)
{
SerialRef.print(time/1000.0,3); SerialRef.print(","); //time in seconds
SerialRef.print(mpfront.cmdL); SerialRef.print(",");
SerialRef.print(mpfront.cmdR); SerialRef.print(",");
SerialRef.print(mprear.cmdL); SerialRef.print(",");
SerialRef.print(mprear.cmdR); SerialRef.print(",");
SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(",");
SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(",");
SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
SerialRef.print(fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
SerialRef.print(-fbfront.speedR_meas); SerialRef.print(",");
SerialRef.print(fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
SerialRef.print(-fbrear.speedR_meas); SerialRef.print(",");
SerialRef.print(fbfront.boardTemp/10.0,1); SerialRef.print(","); //in degC
SerialRef.print(fbrear.boardTemp/10.0,1); SerialRef.print(","); //in degC
SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V
SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V
SerialRef.print(currentAll,3); SerialRef.print(",");
SerialRef.print(throttle); SerialRef.print(",");
SerialRef.print(brake); SerialRef.print(",");
SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s
SerialRef.print(trip); SerialRef.print(","); //in m
SerialRef.print(currentConsumed,3); SerialRef.println(); //in Ah (Amphours)
}
void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
{
SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println();
}
*/
#endif

2
controller_teensy/include/display.h
View File

@ -15,6 +15,8 @@
#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32 #define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET); Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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);

23
controller_teensy/include/temperature.h
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@ -4,6 +4,7 @@
#include <OneWire.h> #include <OneWire.h>
#include <DallasTemperature.h> #include <DallasTemperature.h>
DeviceAddress thermometerESCFront={0x28,0xFF,0x64,0x0E,0x77,0xB0,0xAB,0x4B}; //IC with one marking 28FF640E77B0AB4B DeviceAddress thermometerESCFront={0x28,0xFF,0x64,0x0E,0x77,0xB0,0xAB,0x4B}; //IC with one marking 28FF640E77B0AB4B
float temp_ESCFront; float temp_ESCFront;
DeviceAddress thermometerESCRear={0x28,0xFF,0x64,0x0E,0x76,0x5D,0x86,0xC2}; //IC with two markings DeviceAddress thermometerESCRear={0x28,0xFF,0x64,0x0E,0x76,0x5D,0x86,0xC2}; //IC with two markings
@ -22,7 +23,7 @@ OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature sensors(&oneWire); DallasTemperature sensors(&oneWire);
void initTemperature(); void initTemperature();
void temperatureLoop(); bool temperatureLoop();
void printAddress(DeviceAddress deviceAddress); void printAddress(DeviceAddress deviceAddress);
void initTemperature() { void initTemperature() {
@ -59,19 +60,27 @@ void initTemperature() {
delay(1000); delay(1000);
//sensors.setResolution(thermometerReservoir, TEMPERATURE_PRECISION); //sensors.setResolution(thermometerReservoir, TEMPERATURE_PRECISION);
} }
void temperatureLoop(unsigned long loopmillis) { bool temperatureLoop(unsigned long loopmillis) {
static unsigned long last_read_ds18b20; static unsigned long last_read_ds18b20;
static bool flag_requestTemperatures=false; static bool flag_requestTemperatures=false;
if (loopmillis>last_read_ds18b20+READINTERVAL_DS18B20) { if (loopmillis>last_read_ds18b20+READINTERVAL_DS18B20) {
if (loopmillis>last_read_ds18b20+READINTERVAL_DS18B20*10) { //timeout if (loopmillis>last_read_ds18b20+READINTERVAL_DS18B20*4) { //timeout
Serial.println("Warn: Request Temperatures Timeout!"); Serial.println("Warn: Request Temperatures Timeout!");
flag_requestTemperatures=false; flag_requestTemperatures=false;
last_read_ds18b20=loopmillis; //set time to lastread to wait for another timeout
return 0;
} }
if (!flag_requestTemperatures) { if (!flag_requestTemperatures) {
sensors.requestTemperatures(); //this takes ~34ms //in synchronous mode requestTemperatures takes ~34ms if sensors are available. if sensors not available it takes about 729ms
sensors.setWaitForConversion(false); //make async
//in asynchronous mode it takes ~2ms if sensors are available. if not it takes ~1ms
sensors.requestTemperatures();
sensors.setWaitForConversion(true);
flag_requestTemperatures=true; flag_requestTemperatures=true;
} }
if (sensors.isConversionComplete()) { if (sensors.isConversionComplete()) {
@ -80,13 +89,9 @@ void temperatureLoop(unsigned long loopmillis) {
temp_ESCFront= sensors.getTempC(thermometerESCFront); //This takes ~12.5ms temp_ESCFront= sensors.getTempC(thermometerESCFront); //This takes ~12.5ms
temp_ESCRear= sensors.getTempC(thermometerESCRear); temp_ESCRear= sensors.getTempC(thermometerESCRear);
temp_Air= sensors.getTempC(thermometerAir); temp_Air= sensors.getTempC(thermometerAir);
/*
Serial.print("temp_ESCFront: "); Serial.println(temp_ESCFront);
Serial.print("temp_ESCRear: "); Serial.println(temp_ESCRear);
Serial.print("temp_Air: "); Serial.println(temp_Air);
*/
} }
} }
return 1;
} }

12
controller_teensy/src/main.cpp
View File

@ -172,6 +172,7 @@ void loop() {
//Serial.print("Loopduration="); Serial.println(); //loopduration is at max 11ms //Serial.print("Loopduration="); Serial.println(); //loopduration is at max 11ms
loopmillis=millis(); //read millis for this cycle loopmillis=millis(); //read millis for this cycle
/* /*
@ -239,7 +240,7 @@ void loop() {
readADSButtons(); readADSButtons();
} }
failChecks(); failChecks();
static unsigned long last_calculateSetSpeed=0; static unsigned long last_calculateSetSpeed=0;
@ -263,7 +264,7 @@ void loop() {
max_meanSpeed=0; max_meanSpeed=0;
} }
} }
escFront.update(loopmillis); escFront.update(loopmillis);
escRear.update(loopmillis); escRear.update(loopmillis);
@ -323,9 +324,13 @@ void loop() {
display_update(escFront,escRear); display_update(escFront,escRear);
} }
//Temperature //Temperature
temperatureLoop(loopmillis); if (!temperatureLoop(loopmillis)){
writeLogComment(loopmillis, "Request Temperatures Timeout!");
}
//Fan //Fan
static unsigned long last_fan_update=0; static unsigned long last_fan_update=0;
#define FANUPDATEPERIOD 5000 #define FANUPDATEPERIOD 5000
@ -390,7 +395,6 @@ void readADS() { //sequentially read ads and write to variable
break; break;
case 3: //Buttons case 3: //Buttons
ads_control_raw=ads_val; ads_control_raw=ads_val;
Serial.print("ADS="); Serial.print(ads_throttle_A_raw); Serial.print(" \t"); Serial.print(ads_throttle_B_raw); Serial.print(" \t"); Serial.print(ads_brake_raw); Serial.print(" \t"); Serial.println(ads_control_raw);
break; break;
} }