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hoverbrett
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fix trip update

This commit is contained in:
interfisch 2022-05-22 21:02:18 +02:00
parent df5133191d
commit 45b8a143f8
2 changed files with 39 additions and 11 deletions
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2
hoverbrettctrl/lib/hoverboard-esc-serial-comm

@ -1 +1 @@
Subproject commit c2eba898ac628c6827d17c142a54e601bda5797b
Subproject commit dc40db8e74366a779578c9fd3c9edbfc43e79972

48
hoverbrettctrl/src/main.cpp
View File

@ -1,6 +1,9 @@
#include <Arduino.h>
#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
unsigned long loopmillis;
unsigned long last_loopmillis;
#include <OneButton.h>
#include <SPI.h>
@ -22,7 +25,7 @@ uint8_t displaymode=0;
#define DISPLAY_STATS3 2
#define DISPLAY_MENU 3
uint8_t menu_entrypos=0;
#define MENU_ENTRIES 7 // max id is MENU_ENTRIES-1
#define MENU_ENTRIES 8 // max id is MENU_ENTRIES-1
uint8_t error = 0;
#define IMU_NO_CHANGE 2 //IMU values did not change for too long
@ -263,7 +266,9 @@ void setup() {
void loop() {
unsigned long loopmillis=millis();
last_loopmillis=loopmillis;
loopmillis=millis();
btn_up.tick();
btn_inc.tick();
@ -271,7 +276,10 @@ void loop() {
btn_down.tick();
if (loopmillis - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
int raw_length_a=analogRead(PIN_GAMETRAK_LENGTH_A);
int raw_length_b=analogRead(PIN_GAMETRAK_LENGTH_B);
@ -488,6 +496,7 @@ void loop() {
if (esc.sendPending(loopmillis)) {
//calculate checksum
out_checksum = ((uint8_t) ((uint8_t)esc.getCmdL()) * ((uint8_t)esc.getCmdR())); //simple checksum
if (out_checksum == 0 || out_checksum == 255) {
@ -622,6 +631,11 @@ void updateInputs(unsigned long loopmillis) {
gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
}
break;
case 7:
if (button_inc_click) {
esc.resetStatistics();
}
break;
@ -686,7 +700,7 @@ void display_show_stats() {
//updates only when display active
static float maxcurL=0;
/* static float maxcurL=0;
static float maxcurR=0;
maxcurL=max(maxcurL,esc.getFiltered_curL());
maxcurR=max(maxcurR,esc.getFiltered_curR());
@ -694,14 +708,15 @@ void display_show_stats() {
static float mincurL=0;
static float mincurR=0;
mincurL=min(mincurL,esc.getFiltered_curL());
mincurR=min(mincurR,esc.getFiltered_curR());
mincurR=min(mincurR,esc.getFiltered_curR());*/
display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage()); display.print(F(" Temp=")); display.println(esc.getFeedback_boardTemp());
display.print(F("nrf_delay=")); display.print(last_nrfreceive_delay);
display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
display.print(F("DC max=")); display.print(maxcurL,1); display.print(F("/")); display.println(maxcurR,1); // display.print(F(" min=")); display.print(mincurL,1); display.print(F("/")); display.println(mincurR,1);
display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(",")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage()); display.print(F(" min=")); display.println(esc.getMinBatVoltage());
display.print(F("Temp=")); display.println(esc.getFeedback_boardTemp());
display.print(F("DC max=")); display.print(esc.getMaxcurL(),1); display.print(F("/")); display.println(esc.getMaxcurR(),1); // display.print(F(" min=")); display.print(mincurL,1); display.print(F("/")); display.println(mincurR,1);
display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(", ")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
display.display(); // Show initial text
}
@ -714,7 +729,7 @@ void display_show_stats2() {
display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
display.print(F("FBC=")); display.print(esc.getFeedback_cmd1()); display.print(F(", ")); display.println(esc.getFeedback_cmd2());
display.print(F("Speed=")); display.print(esc.getFeedback_speedL_meas()); display.print(F(", ")); display.println(esc.getFeedback_speedR_meas());
display.print(F("Speed=")); display.print(esc.getFeedback_speedL_meas()); display.print(F(",")); display.print(esc.getFeedback_speedR_meas()); display.print(F("=")); display.print(esc.getMeanSpeed()); display.println(F("ms"));
display.print(F("Length=")); display.println(gt_length);
display.print(F("H=")); display.print(gt_horizontal); display.print(F(" V=")); display.println(gt_vertical);
display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
@ -729,6 +744,12 @@ void display_show_stats3() {
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.print(F("looptime=")); display.println(loopmillis-last_loopmillis);
display.print(F("feedback=")); display.println(esc.getFeedbackInterval());
display.print(F("nrf_delay=")); display.println(last_nrfreceive_delay);
display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
display.display(); // Show initial text
}
@ -767,6 +788,13 @@ void display_show_menu() {
case 6:
display.print(F("gt_steer_limit=")); display.println(gt_steer_limit);
break;
case 7:
if ((loopmillis/1000)%2==0) {
display.print(F("Inc to reset stats"));
}else{
display.print(F("t=")); display.println(esc.getTripTime(loopmillis)/1000); display.println(F("s"));
}
break;
}
}