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hoverboard-esc-serial-comm
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add functions for hoverbrett

This commit is contained in:
interfisch 2022-05-22 21:00:26 +02:00
parent c2eba898ac
commit dc40db8e74
2 changed files with 140 additions and 58 deletions
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151
src/hoverboard-esc-serial-comm.cpp
View File

@ -23,59 +23,62 @@ int16_t ESCSerialComm::getCmdR() {
return Motorparams.cmdR;
}
bool ESCSerialComm::sendPending(long millis) {
return (millis - last_send > SENDPERIOD);
bool ESCSerialComm::sendPending(unsigned long loopmillis) {
return (loopmillis - last_send > SENDPERIOD);
}
bool ESCSerialComm::update(long millis) //returns true if something was sent or received
bool ESCSerialComm::update(unsigned long loopmillis) //returns true if something was sent or received
{
loopmillis=millis;
bool flag_sent=false;
bool flag_received=ReceiveSerial();
if (flag_received) {
updateMotorparams();
bool flag_sent=false;
bool flag_received=ReceiveSerial();
if (flag_received) {
updateMotorparams(loopmillis);
}
#define TRIP_UPDATE_INTERVAL 100
static unsigned long last_update_trip;
if ( loopmillis > last_update_trip+TRIP_UPDATE_INTERVAL) {
last_update_trip=loopmillis;
double _meanRPM=(-Feedback.speedL_meas+Feedback.speedR_meas)/2.0;
meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
trip+=abs(meanSpeedms)* ((TRIP_UPDATE_INTERVAL)/1000.0);
//mah consumed
currentConsumed += (Motorparams.filtered_curL+Motorparams.filtered_curR)* (TRIP_UPDATE_INTERVAL/1000.0)/3600.0; //amp hours
}
if ( loopmillis > Motorparams.millis+FEEDBACKRECEIVETIMEOUT ) { //controller disconnected
if (controller_connected) { //just got disconnected
controller_connected=false;
Serial.println("Controller Front feedback timeout");
}
}else if(!controller_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
controller_connected=true;
Serial.println("Controller Front connected");
}
if (sendPending(loopmillis)) { //Calculate motor stuff and send to motor controllers. timing seems to be not too exact
last_send=loopmillis;
if ( loopmillis > Motorparams.millis+FEEDBACKRECEIVETIMEOUT ) { //controller disconnected
if (controller_connected) { //just got disconnected
controller_connected=false;
Serial.println("Controller Front feedback timeout");
Motorparams.filtered_curL=filterMedian(Motorparams.curL_DC)/50.0; //in Amps
Motorparams.filtered_curR=filterMedian(Motorparams.curR_DC)/50.0; //in Amps
if (controller_connected) {
SendSerial(Motorparams.cmdL,Motorparams.cmdR);
flag_sent=true;
//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
}
}else if(!controller_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
controller_connected=true;
Serial.println("Controller Front connected");
}
}
if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers
last_send=loopmillis;
Motorparams.filtered_curL=filterMedian(Motorparams.curL_DC)/50.0; //in Amps
Motorparams.filtered_curR=filterMedian(Motorparams.curR_DC)/50.0; //in Amps
if (controller_connected) {
SendSerial(Motorparams.cmdL,Motorparams.cmdR);
flag_sent=true;
//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
}
//Update speed and trip
float _meanRPM=(Feedback.speedL_meas-Feedback.speedR_meas)/2.0;
meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
trip+=abs(meanSpeedms)* (SENDPERIOD/1000.0);
//mah consumed
currentConsumed += (Motorparams.filtered_curL+Motorparams.filtered_curR)* (SENDPERIOD/1000.0)/3600.0; //amp hours
}
return flag_received || flag_sent;
return flag_received || flag_sent;
}
bool ESCSerialComm::feedbackAvailable()
@ -164,12 +167,29 @@ bool ESCSerialComm::ReceiveSerial()
}
void ESCSerialComm::updateMotorparams() {
void ESCSerialComm::updateMotorparams(unsigned long loopmillis) {
Motorparams.cur_pos++;
Motorparams.cur_pos%=CURRENT_FILTER_SIZE;
Motorparams.curL_DC[Motorparams.cur_pos] = -Feedback.curL_DC; //invert so positive current is consumed current. negative then means regenerated
Motorparams.curR_DC[Motorparams.cur_pos] = -Feedback.curR_DC;
Motorparams.millis=loopmillis;
if (loopmillis>5000) { //wait until voltage is reliable from esc
minBatVoltage=min(minBatVoltage,getFeedback_batVoltage());
}
mincurL=min(mincurL,getFiltered_curL());
mincurR=min(mincurR,getFiltered_curR());
maxcurL=max(maxcurL,getFiltered_curL());
maxcurR=max(maxcurR,getFiltered_curR());
//Update speed and trip
static unsigned long last_motorparams_received;
feedback_interval_timed=loopmillis-last_motorparams_received;
last_motorparams_received=loopmillis;
}
int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
@ -231,10 +251,49 @@ float ESCSerialComm::getFiltered_curR() {
float ESCSerialComm::getCurrentConsumed() {
double ESCSerialComm::getCurrentConsumed() {
return currentConsumed;
}
float ESCSerialComm::getTrip() {
double ESCSerialComm::getTrip() {
return trip;
}
double ESCSerialComm::getMeanSpeed() {
return meanSpeedms;
}
float ESCSerialComm::getMinBatVoltage() {
return minBatVoltage;
}
void ESCSerialComm::resetStatistics() {
minBatVoltage=1000;
mincurL=0;
mincurR=0;
maxcurL=0;
maxcurR=0;
last_reset_time=millis();
}
unsigned long ESCSerialComm::getTripTime(unsigned long loopmillis) { //time since last reset in ms
return loopmillis-last_reset_time;
}
float ESCSerialComm::getMincurL() {
return mincurL;
}
float ESCSerialComm::getMincurR() {
return mincurR;
}
float ESCSerialComm::getMaxcurL() {
return maxcurL;
}
float ESCSerialComm::getMaxcurR() {
return maxcurR;
}
unsigned long ESCSerialComm::getFeedbackInterval() {
return feedback_interval_timed;
}

47
src/hoverboard-esc-serial-comm.h
View File

@ -42,8 +42,8 @@ typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedL_meas; //left speed is positive when driving forward
int16_t speedR_meas; //right speed is negatie when driving forward
int16_t speedL_meas; //left speed is positive when driving forward (bobbycar?)
int16_t speedR_meas; //right speed is negatie when driving forward (bobbycar?)
int16_t batVoltage;
int16_t boardTemp;
int16_t curL_DC; //negative values are current consumed. positive values mean generated current
@ -75,12 +75,12 @@ class ESCSerialComm
public:
ESCSerialComm(HardwareSerial& _SerialRef); //constructor
void init();
bool update(long millis);
bool update(unsigned long loopmillis);
bool feedbackAvailable();
void setSpeed(int16_t uSpeedLeft, int16_t uSpeedRight);
int16_t getCmdL();
int16_t getCmdR();
bool sendPending(long millis);
bool sendPending(unsigned long loopmillis);
int16_t getFeedback_cmd1();
int16_t getFeedback_cmd2();
@ -93,12 +93,22 @@ class ESCSerialComm
float getFiltered_curL();
float getFiltered_curR();
float getCurrentConsumed();
float getTrip();
float getMinBatVoltage();
double getCurrentConsumed();
double getMeanSpeed();
double getTrip();
float getMincurL();
float getMincurR();
float getMaxcurL();
float getMaxcurR();
unsigned long getFeedbackInterval(); //get time from last received feedback
unsigned long getTripTime(unsigned long loopmillis) ;
void resetStatistics();
private:
unsigned long loopmillis;
long _millis_lastinput; //declare private variable
@ -107,15 +117,28 @@ class ESCSerialComm
bool controller_connected=false;
float meanSpeedms;
float trip; //trip distance in meters
double meanSpeedms;
double trip; //trip distance in meters
float wheelcircumference; //wheel diameter in m.
float currentConsumed; //Ah
double currentConsumed; //Ah
float minBatVoltage=1000;
float mincurL=0;
float mincurR=0;
float maxcurL=0;
float maxcurR=0;
unsigned long last_send;
unsigned long last_receive;
unsigned long last_reset_time;
unsigned long feedback_interval_timed;
SerialCommand Command;
@ -127,7 +150,7 @@ class ESCSerialComm
bool flag_received=false;
void updateMotorparams();
void updateMotorparams(unsigned long loopmillis);
void SendSerial(int16_t uSpeedLeft, int16_t uSpeedRight);
bool ReceiveSerial();