interfisch
/
bobbycar
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add sensor serial command

This commit is contained in:
interfisch 2024-07-13 19:19:10 +02:00
parent 71e9fd7d4f
commit f5cfe91fcb
4 changed files with 85 additions and 64 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
controller_teensy/include/definitions.h
View File

@ -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

9
controller_teensy/include/display.h
View File

@ -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);

82
controller_teensy/include/logging.h
View File

@ -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)
{
last_datalogging_write=loopmillis;
if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
{
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(",");
looptime_duration=0; //reset
dataFile.print(looptime_duration_min); dataFile.print(",");
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;

49
controller_teensy/src/main.cpp
View File

@ -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);
}