120 lines
3.2 KiB
C++
120 lines
3.2 KiB
C++
#ifndef ESCSERIALCOMM_H
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#define ESCSERIALCOMM_H
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#include <Arduino.h>
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int sort_desc(const void *cmp1, const void *cmp2);
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float filterMedian(int16_t* values);
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#define SERIAL_CONTROL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
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#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
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#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
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#define FEEDBACKRECEIVETIMEOUT 500
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// Global variables for serial communication
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typedef struct{
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uint8_t idx = 0; // Index for new data pointer
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uint16_t bufStartFrame; // Buffer Start Frame
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byte *p; // Pointer declaration for the new received data
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byte incomingByte;
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byte incomingBytePrev;
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long lastValidDataSerial_time;
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} SerialRead;
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typedef struct{
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uint16_t start;
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int16_t speedLeft;
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int16_t speedRight;
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uint16_t checksum;
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} SerialCommand;
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typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedL_meas; //left speed is positive when driving forward
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int16_t speedR_meas; //right speed is negatie when driving forward
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC; //negative values are current consumed. positive values mean generated current
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int16_t curR_DC;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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#define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
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#define CURRENT_MEANVALUECOUNT 20 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
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typedef struct{
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int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
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int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
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uint8_t cur_pos=0;
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int16_t cmdL=0;
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int16_t cmdR=0;
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float filtered_curL=0;
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float filtered_curR=0;
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unsigned long millis=0; //time when last message received
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} MotorParameter;
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class ESCSerialComm
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{
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public:
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ESCSerialComm(HardwareSerial& _SerialRef); //constructor
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void init();
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bool update(long millis);
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bool feedbackAvailable();
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void setSpeed(int16_t uSpeedLeft, int16_t uSpeedRight);
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int16_t getCmdL();
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int16_t getCmdR();
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bool sendPending(long millis);
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private:
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unsigned long loopmillis;
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long _millis_lastinput; //declare private variable
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HardwareSerial *serialRef;
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bool controller_connected=false;
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float meanSpeedms;
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float trip; //trip distance in meters
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float wheelcircumference; //wheel diameter in m.
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float currentConsumed; //Ah
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unsigned long last_send;
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unsigned long last_receive;
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SerialCommand Command;
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SerialRead SRead;
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SerialFeedback Feedback;
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SerialFeedback NewFeedback;
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MotorParameter Motorparams;
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bool flag_received=false;
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void updateMotorparams();
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void SendSerial(int16_t uSpeedLeft, int16_t uSpeedRight);
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bool ReceiveSerial();
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};
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#endif |