add sensor serial command

controller_teensy/include/definitions.h

@@ -70,7 +70,8 @@ bool control_buttonB=false;
 
 
 unsigned long loopmillis;
-unsigned long looptime_duration;
+unsigned long looptime_duration_min;
+unsigned long looptime_duration_max;
 
 
 #define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query

controller_teensy/include/display.h

@@ -318,7 +318,9 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
   display.setFont();
   display.setCursor(0,0);
 
-  if (datalogging) {
+  //Row1
+
+  if (getDatalogging()) {
     display.print(getLogFilename());
   }else{
     display.print("LOG DISABLED");
@@ -328,12 +330,15 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
   display.print(F("s"));
   display.println();
 
+  //Row2
+
   display.print(F("ESC F="));
   display.print(escFront.getControllerConnected());
   display.print(F(" R="));
   display.print(escRear.getControllerConnected());
   display.println();
 
+  //Row3
 
   display.print("throttle=");
   dtostrf(ads_throttle_A_raw,1,0,buf);
@@ -343,6 +348,8 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
   display.print((String)buf);
   display.println();
 
+  //Row 4
+
   display.print("brake=");
   dtostrf(ads_brake_raw,1,0,buf);
   display.print((String)buf);  

controller_teensy/include/logging.h

@@ -11,16 +11,21 @@ boolean sdcard_available=false;
 boolean datalogging=true;
 String datalogging_filename="UNKNOWN.txt";
 
+#define LOGGINGINTERVAL 100
+
 bool serialCommandEcho_Enabled=true;
 
 bool initLogging();
 void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear);
+
+
 void writeLogComment(unsigned long time, String msg);
 void printFileListing();
 void printDirectory(File dir, int numTabs,String parent);
 void printFile(String filename);
 void removeFile(String filename);
-void serialCommandLoop();
+void serialCommandLoop(unsigned long loopmillis, ESCSerialComm& escFront, ESCSerialComm& escRear);
+float getBatteryVoltage(ESCSerialComm& escFront, ESCSerialComm& escRear);
 
 
 bool initLogging() {
@@ -58,7 +63,7 @@ bool initLogging() {
       Serial.print(datalogging_filename); Serial.println(" is free");
       display.print(datalogging_filename); 
       if (!datalogging) { //datalogging is disabled during boot
-        display.print( "NO LOG");
+        display.print(" OFF");
       }
       display.println(); display.display();
       
@@ -71,23 +76,23 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
 
   static unsigned long last_datalogging_write=0;
   static boolean logging_headerWritten=false;
-  if (datalogging && sdcard_available) {
+  
-    #define LOGGINGINTERVAL 100
+  if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
-    if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
+  {
-    {
+    last_datalogging_write=loopmillis;
-      last_datalogging_write=loopmillis;
+
+    if (datalogging && sdcard_available) {
 
       File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);
 
-
       if (dataFile) { // if the file is available, write to it
         if (!logging_headerWritten) {
           dataFile.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
           dataFile.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
           dataFile.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
-          dataFile.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
+          dataFile.print("temp_ESCFront,temp_ESCRear,vbat_Front,vbat_Rear,");
           dataFile.print("currentAll,throttle,brake,speed,trip_Front,trip_Rear,trip,currentConsumed_Front,currentConsumed_Rear,currentConsumed,watthoursConsumed,");
-          dataFile.println("temp_ESCFront,temp_ESCRear,temp_Air,looptime_duration");
+          dataFile.println("temp_Front,temp_Rear,temp_Air,looptime_duration");
           dataFile.print("#TIMESTAMP:"); dataFile.println(now());
           logging_headerWritten=true;
         }
@@ -122,8 +127,12 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
         dataFile.print(temp_ESCFront,2); dataFile.print(",");
         dataFile.print(temp_ESCRear,2); dataFile.print(",");
         dataFile.print(temp_Air,2); dataFile.print(",");
-        dataFile.print(looptime_duration); //dataFile.print(",");
+        dataFile.print(looptime_duration_min); dataFile.print(",");
-        looptime_duration=0; //reset
+        dataFile.print(looptime_duration_max); //dataFile.print(",");
+        looptime_duration_max=0; //reset
+        looptime_duration_min=1000; //reset
+        
+        
         
         dataFile.println("");
         dataFile.close();
@@ -131,6 +140,10 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
         error_sdfile_unavailable=true;
       }
     }
+
+    looptime_duration_max=0; //reset
+    looptime_duration_min=1000; //reset
+
   }
 }
 
@@ -154,6 +167,10 @@ String getLogFilename() {
   return datalogging_filename;
 }
 
+bool getDatalogging() {
+  return datalogging;
+}
+
 bool loadTripSD()
 {
   //stats.txt containt lines with driven distance or consume current.
@@ -222,13 +239,17 @@ void writeTrip(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
       myFile.print("owh=");
       myFile.println(overallWatthoursConsumed);
       myFile.print("vlt=");
-      float _voltage=(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
+      float _voltage=getBatteryVoltage(escFront, escRear);
       myFile.println(_voltage,2);
       myFile.close();
     }
   }
 }
 
+float getBatteryVoltage(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  return (escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
+}
+
 void resetTrip() {
   if (datalogging && sdcard_available) {
     File myFile = SD.open("stats.txt", FILE_WRITE);
@@ -251,7 +272,7 @@ void resetTrip() {
 
 
 
-void serialCommandLoop() {
+void serialCommandLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
   #define MAX_MESSAGE_LENGTH 80
 
   uint8_t timeoutcounter=MAX_MESSAGE_LENGTH;
@@ -299,15 +320,46 @@ void serialCommandLoop() {
       }else if(smessage.equals("ls")) {
         printFileListing();
       }else if(smessage.startsWith("cat")) {
-        printFile(smessage.substring(4));
+        String _filename=smessage.substring(4);
+        if (_filename.length()<3){ //if no filename given, use current log file
+          _filename=getLogFilename();
+        }
+        printFile(_filename);
       }else if(smessage.startsWith("rm")) {
         removeFile(smessage.substring(3));
       }else if(smessage.equals("log off")) {
+        writeLogComment(loopmillis, "Datalogging disabled by serial command");  
         datalogging=false;
         Serial.print("Log disabled: "); Serial.println(datalogging_filename);
       }else if(smessage.equals("log on")) {
         datalogging=true;
+        writeLogComment(loopmillis, "Datalogging enabled by serial command");  
         Serial.print("Log enabled: "); Serial.println(datalogging_filename);
+      }else if(smessage.equals("show stats")) {
+        Serial.print("overallTrip="); Serial.println(overallTrip);
+        Serial.print("overallCurrentConsumed="); Serial.println(overallCurrentConsumed);
+        Serial.print("overallWatthoursConsumed="); Serial.println(overallWatthoursConsumed);
+        Serial.print("voltage="); Serial.println(getBatteryVoltage(escFront,escRear));
+      }else if(smessage.equals("show sensors")) {
+        Serial.print("loopmillis(s) \t"); Serial.println(loopmillis/1000.0,3);
+        Serial.print("temp_ESCFront \t"); Serial.println(escFront.getFeedback_boardTemp());
+        Serial.print("temp_ESCRear \t"); Serial.println(escRear.getFeedback_boardTemp());
+        Serial.print("vbat_Front \t"); Serial.println(escFront.getFeedback_batVoltage());
+        Serial.print("vbat_Rear \t"); Serial.println(escRear.getFeedback_batVoltage());        
+        Serial.print("throttle \t"); Serial.println(throttle_pos);
+        Serial.print("brake \t"); Serial.println(brake_pos);
+        Serial.print("trip_Front \t"); Serial.println(escFront.getTrip());
+        Serial.print("trip_Rear \t"); Serial.println(escRear.getTrip());
+        Serial.print("trip \t"); Serial.println(trip);
+        Serial.print("currentConsumed_Front \t"); Serial.println(escFront.getCurrentConsumed(),3);
+        Serial.print("currentConsumed_Rear \t"); Serial.println(escRear.getCurrentConsumed(),3);
+        Serial.print("currentConsumed \t"); Serial.println(currentConsumed,3);
+        Serial.print("watthoursConsumed \t"); Serial.println(watthoursConsumed,3);
+        Serial.print("temp_Front \t"); Serial.println(temp_ESCFront,3);
+        Serial.print("temp_Rear \t"); Serial.println(temp_ESCRear,3);
+        Serial.print("temp_Air \t"); Serial.println(temp_Air,3);
+        Serial.print("looptime_duration_min \t"); Serial.println(looptime_duration_min);
+        Serial.print("looptime_duration_max \t"); Serial.println(looptime_duration_max);
       }
       
       message_pos = 0;

controller_teensy/src/main.cpp

@@ -16,8 +16,9 @@
 #include "led.h"
 #include "temperature.h"
 
-//#include "comms.h"
+
 String getLogFilename();
+bool getDatalogging();
 #include "display.h"
 #include "logging.h"
 
@@ -161,7 +162,6 @@ void setup()
 
 
   writeLogComment(millis(), "Setup Finished");
-  led_simpeProgress(15,true);
   
   led_simpleProgressWait(); //wait longer if any errors were displayed with led_simpeProgress()
 
@@ -178,46 +178,6 @@ void loop() {
   
   
 
-  /*
-  // ____ Debugging pending serial byted for feedback
-  static int s2availmax=0;
-  int _a2=Serial2.available();
-  if (_a2>s2availmax) {
-    s2availmax=_a2;
-    //Serial.print("new s2availmax"); Serial.println(s2availmax);
-    String _text="Serial2 Bytes Available Max=";
-    _text+=s2availmax;
-    writeLogComment(Serial1,loopmillis, _text);
-  }
-
-  static int s3availmax=0;
-  int _a3=Serial3.available();
-  if (_a3>s3availmax) {
-    s3availmax=_a3;
-    //Serial.print("new s3availmax"); Serial.println(s3availmax);
-    String _text="Serial3 Bytes Available Max=";
-    _text+=s3availmax;
-    writeLogComment(Serial1,loopmillis, _text);
-  }
-  // ----- End of debug
-
-
-
-  bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2); 
-  bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
-  //Max (40) or 22 available/pending bytes
-
-  if (newData2) {
-    updateMotorparams(motorparamsFront,FeedbackFront,loopmillis);
-  }
-  if (newData3) {
-    updateMotorparams(motorparamsRear,FeedbackRear,loopmillis);
-  }
-  */
-
-
-  
-
   
   if (ADS.isConnected() && (loopmillis - last_adsread > ADSREADPERIOD) ) { //read teensy adc and filter
     last_adsread=loopmillis;
@@ -364,10 +324,11 @@ void loop() {
   }
   
   
-  serialCommandLoop();
+  serialCommandLoop(loopmillis,escFront,escRear);
   
 
-  looptime_duration=max(looptime_duration,millis()-loopmillis);
+  looptime_duration_min=min(looptime_duration_min,millis()-loopmillis);
+  looptime_duration_max=max(looptime_duration_max,millis()-loopmillis);
 
 }