make temperature request async
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959ec20490
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6dd18ff375
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@ -1,162 +0,0 @@
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#ifndef _COMMS_H_
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#define _COMMS_H_
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#include "definitions.h"
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#include "structs.h"
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void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef);
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bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef);
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void updateMotorparams( MotorParameter &mp, SerialFeedback &fb,unsigned long _loopmillis);
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void writeLogInfo(HardwareSerial &SerialRef);
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void writeLogHeader(HardwareSerial &SerialRef);
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void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake);
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void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg);
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void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
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{
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// Create command
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scom.start = (uint16_t)START_FRAME;
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scom.speedLeft = (int16_t)uSpeedLeft;
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scom.speedRight = (int16_t)uSpeedRight;
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scom.checksum = (uint16_t)(scom.start ^ scom.speedLeft ^ scom.speedRight);
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SerialRef.write((uint8_t *) &scom, sizeof(scom));
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}
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bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
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{
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bool _result=false; //return true if new full data frame received
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// Check for new data availability in the Serial buffer
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if ( SerialRef.available() ) {
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sread.incomingByte = SerialRef.read(); // Read the incoming byte
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sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame
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}
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else {
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return false; //nothing new
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}
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// If DEBUG_RX is defined print all incoming bytes
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#ifdef DEBUG_RX
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Serial.print(sread.incomingByte);
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#endif
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// Copy received data
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if (sread.bufStartFrame == START_FRAME) { // Initialize if new data is detected
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sread.p = (byte *)&NewFeedback;
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*sread.p++ = sread.incomingBytePrev;
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*sread.p++ = sread.incomingByte;
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sread.idx = 2;
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} else if (sread.idx >= 2 && sread.idx < sizeof(SerialFeedback)) { // Save the new received data
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*sread.p++ = sread.incomingByte;
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sread.idx++;
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}
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// Check if we reached the end of the package
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if (sread.idx == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2
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^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC ^ NewFeedback.cmdLed);
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// Check validity of the new data
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if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
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// Copy the new data
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memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
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sread.lastValidDataSerial_time = millis();
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_result=true;
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} else {
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_result=false;
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}
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sread.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
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}
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/*
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// Print data to built-in Serial
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Serial.print("1: "); Serial.print(Feedback.cmd1);
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Serial.print(" 2: "); Serial.print(Feedback.cmd2);
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Serial.print(" 3: "); Serial.print(Feedback.speedR);
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Serial.print(" 4: "); Serial.print(Feedback.speedL);
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Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
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Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
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Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
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Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
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} else {
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Serial.println("Non-valid data skipped");
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}*/
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// Update previous states
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sread.incomingBytePrev = sread.incomingByte;
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return _result; //new data was available
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}
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void updateMotorparams( MotorParameter &mp, SerialFeedback &fb,unsigned long _loopmillis) {
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mp.cur_pos++;
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mp.cur_pos%=CURRENT_FILTER_SIZE;
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mp.curL_DC[mp.cur_pos] = -fb.curL_DC; //invert so positive current is consumed current. negative then means regenerated
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mp.curR_DC[mp.cur_pos] = -fb.curR_DC;
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mp.millis=_loopmillis;
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log_update=true;
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}
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/*
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void writeLogInfo(HardwareSerial &SerialRef) { //first line of file
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SerialRef.print("#TIMESTAMP:");
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SerialRef.println(now());
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}
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void writeLogHeader(HardwareSerial &SerialRef) {
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SerialRef.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
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SerialRef.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
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SerialRef.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
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SerialRef.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
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SerialRef.println("currentAll,throttle,brake,speed,trip,currentConsumed");
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}
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void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake)
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{
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SerialRef.print(time/1000.0,3); SerialRef.print(","); //time in seconds
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SerialRef.print(mpfront.cmdL); SerialRef.print(",");
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SerialRef.print(mpfront.cmdR); SerialRef.print(",");
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SerialRef.print(mprear.cmdL); SerialRef.print(",");
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SerialRef.print(mprear.cmdR); SerialRef.print(",");
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SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
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SerialRef.print(-fbfront.speedR_meas); SerialRef.print(",");
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SerialRef.print(fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
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SerialRef.print(-fbrear.speedR_meas); SerialRef.print(",");
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SerialRef.print(fbfront.boardTemp/10.0,1); SerialRef.print(","); //in degC
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SerialRef.print(fbrear.boardTemp/10.0,1); SerialRef.print(","); //in degC
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SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V
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SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V
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SerialRef.print(currentAll,3); SerialRef.print(",");
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SerialRef.print(throttle); SerialRef.print(",");
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SerialRef.print(brake); SerialRef.print(",");
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SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s
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SerialRef.print(trip); SerialRef.print(","); //in m
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SerialRef.print(currentConsumed,3); SerialRef.println(); //in Ah (Amphours)
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}
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void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
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{
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SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println();
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}
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*/
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#endif
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@ -15,6 +15,8 @@
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#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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bool display_init();
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void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
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void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
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@ -4,6 +4,7 @@
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#include <OneWire.h>
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#include <DallasTemperature.h>
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DeviceAddress thermometerESCFront={0x28,0xFF,0x64,0x0E,0x77,0xB0,0xAB,0x4B}; //IC with one marking 28FF640E77B0AB4B
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float temp_ESCFront;
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DeviceAddress thermometerESCRear={0x28,0xFF,0x64,0x0E,0x76,0x5D,0x86,0xC2}; //IC with two markings
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@ -22,7 +23,7 @@ OneWire oneWire(ONE_WIRE_BUS);
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DallasTemperature sensors(&oneWire);
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void initTemperature();
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void temperatureLoop();
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bool temperatureLoop();
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void printAddress(DeviceAddress deviceAddress);
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void initTemperature() {
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@ -60,18 +61,26 @@ void initTemperature() {
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//sensors.setResolution(thermometerReservoir, TEMPERATURE_PRECISION);
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}
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void temperatureLoop(unsigned long loopmillis) {
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bool temperatureLoop(unsigned long loopmillis) {
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static unsigned long last_read_ds18b20;
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static bool flag_requestTemperatures=false;
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if (loopmillis>last_read_ds18b20+READINTERVAL_DS18B20) {
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if (loopmillis>last_read_ds18b20+READINTERVAL_DS18B20*10) { //timeout
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if (loopmillis>last_read_ds18b20+READINTERVAL_DS18B20*4) { //timeout
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Serial.println("Warn: Request Temperatures Timeout!");
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flag_requestTemperatures=false;
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last_read_ds18b20=loopmillis; //set time to lastread to wait for another timeout
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return 0;
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}
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if (!flag_requestTemperatures) {
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sensors.requestTemperatures(); //this takes ~34ms
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//in synchronous mode requestTemperatures takes ~34ms if sensors are available. if sensors not available it takes about 729ms
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sensors.setWaitForConversion(false); //make async
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//in asynchronous mode it takes ~2ms if sensors are available. if not it takes ~1ms
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sensors.requestTemperatures();
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sensors.setWaitForConversion(true);
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flag_requestTemperatures=true;
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}
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if (sensors.isConversionComplete()) {
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@ -80,13 +89,9 @@ void temperatureLoop(unsigned long loopmillis) {
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temp_ESCFront= sensors.getTempC(thermometerESCFront); //This takes ~12.5ms
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temp_ESCRear= sensors.getTempC(thermometerESCRear);
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temp_Air= sensors.getTempC(thermometerAir);
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/*
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Serial.print("temp_ESCFront: "); Serial.println(temp_ESCFront);
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Serial.print("temp_ESCRear: "); Serial.println(temp_ESCRear);
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Serial.print("temp_Air: "); Serial.println(temp_Air);
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*/
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}
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}
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return 1;
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}
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@ -174,6 +174,7 @@ void loop() {
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loopmillis=millis(); //read millis for this cycle
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/*
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// ____ Debugging pending serial byted for feedback
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static int s2availmax=0;
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@ -323,8 +324,12 @@ void loop() {
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display_update(escFront,escRear);
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}
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//Temperature
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temperatureLoop(loopmillis);
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if (!temperatureLoop(loopmillis)){
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writeLogComment(loopmillis, "Request Temperatures Timeout!");
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}
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//Fan
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static unsigned long last_fan_update=0;
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@ -390,7 +395,6 @@ void readADS() { //sequentially read ads and write to variable
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break;
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case 3: //Buttons
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ads_control_raw=ads_val;
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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);
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break;
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}
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