add sd card trip logging and fix disarming when boards turned off

controller_teensy/include/definitions.h

@@ -103,6 +103,12 @@ float max_filtered_currentAll;
 float min_filtered_currentAll;
 float max_meanSpeed;
 
+float minSpeedms; //speed in m/s of slowest wheel
+double overallTrip; //m. trip with read distance from sd card
+double trip; //m. trip distance since boot
+double currentConsumed;
+double overallCurrentConsumed;
+float lastTripVoltage=0;
 
 
 int16_t cmd_send=0;
@@ -119,6 +125,7 @@ bool button_start_state=false;
 #define DEBOUNCE_TIME 50
 
 bool armed = false; //cmd output values forced to 0 if false
+bool statswritten = true;
 
 
 

controller_teensy/include/display.h

@@ -104,7 +104,9 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   display.setTextColor(SSD1306_WHITE);        // Draw white text
   display.setCursor(0,SCREEN_HEIGHT-(SCREEN_HEIGHT-18)/2 - 3);             // Start at top-left corner
 
-  float _speeddisplay=(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0*3.6;
+  //float _speeddisplay=(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0*3.6;
+  float _speeddisplay=minSpeedms*3.6;
+  
   //_speeddisplay=(millis()/1000)%21; //debugging
   char buf[8];
   dtostrf(_speeddisplay,1,1,buf);
@@ -172,6 +174,14 @@ void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
 }
 
 void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  double _displaytrip=trip;
+  double _displaycurrent=currentConsumed;
+  bool _displayOverall= ((millis()/3000)%2==0);
+  if (_displayOverall) { //alternate between this trip and overall trip
+    _displaytrip=overallTrip;
+    _displaycurrent=overallCurrentConsumed;
+  }
+
   char buf[8];
   display.setFont();
   display.setCursor(0,0);
@@ -190,19 +200,23 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   display.println();
 
   display.print(F("Trip:"));
-  dtostrf(min(escFront.getTrip(),escRear.getTrip()),1,0,buf);
+  dtostrf(_displaytrip,1,0,buf);
   display.print((String)buf);
   display.print(" m ");
-  dtostrf(escFront.getCurrentConsumed()+escRear.getCurrentConsumed(),1,2,buf);
+  dtostrf(_displaycurrent,1,2,buf);
   display.print((String)buf);
   display.print(" Ah");
   display.println();
 
   display.print(F("Eff: "));
-  dtostrf( min(escFront.getTrip(),escRear.getTrip())/1000/(escFront.getCurrentConsumed()+escRear.getCurrentConsumed()) ,1,2,buf);
+  dtostrf( _displaytrip/1000/_displaycurrent ,1,2,buf);
   display.print((String)buf);
   display.print(" km/Ah");
 
+  if (_displayOverall){
+    display.print(" sum");
+  }
+
 
   display.println();
 

controller_teensy/include/logging.h

@@ -20,27 +20,27 @@ bool initLogging() {
     // see if the card is present and can be initialized:
     if (!SD.begin(SDCHIPSELECT)) {
         Serial.println("Card failed, or not present");
-        display.print(F("SD Init Fail!")); display.display();
+        display.println(F("SD Init Fail!")); display.display();
         datalogging=false; //disable logging
         delay(1000);
         return false;
     }else{
         Serial.println("Card initialized.");
-        display.print(F("LOG=")); display.display();
+        display.println(F("LOG=")); display.display();
         if (datalogging){
-        int filenumber=0;
+          int filenumber=0;
-        char buffer[6];
+          char buffer[6];
-        sprintf(buffer, "%04d", filenumber);
+          sprintf(buffer, "%04d", filenumber);
-        datalogging_filename="LOG_"+String(buffer)+".TXT";
+          datalogging_filename="LOG_"+String(buffer)+".TXT";
-        while(SD.exists(datalogging_filename) && filenumber<10000) {
+          while(SD.exists(datalogging_filename) && filenumber<10000) {
-            Serial.print(datalogging_filename); Serial.println(" exists");
+              Serial.print(datalogging_filename); Serial.println(" exists");
-            filenumber++;
+              filenumber++;
-            sprintf(buffer, "%04d", filenumber);
+              sprintf(buffer, "%04d", filenumber);
-            datalogging_filename="LOG_"+String(buffer)+".TXT";
+              datalogging_filename="LOG_"+String(buffer)+".TXT";
 
-        }      
+          }      
-        Serial.print(datalogging_filename); Serial.println(" is free");
+          Serial.print(datalogging_filename); Serial.println(" is free");
-        display.print(datalogging_filename); display.display();
+          display.print(datalogging_filename); display.display();
         }
     }
     return true;
@@ -65,7 +65,7 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
           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("currentAll,throttle,brake,speed,trip_Front,trip_Rear,currentConsumed_Front,currentConsumed_Rear,");
+          dataFile.print("currentAll,throttle,brake,speed,trip_Front,trip_Rear,trip,currentConsumed_Front,currentConsumed_Rear,currentConsumed,");
           dataFile.println("temp_ESCFront,temp_ESCRear,temp_Air,looptime_duration");
           dataFile.print("#TIMESTAMP:"); dataFile.println(now());
           logging_headerWritten=true;
@@ -93,12 +93,15 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
         dataFile.print((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0);  dataFile.print(",");
         dataFile.print(escFront.getTrip());  dataFile.print(",");
         dataFile.print(escRear.getTrip());  dataFile.print(",");
+        dataFile.print(trip);  dataFile.print(",");
         dataFile.print(escFront.getCurrentConsumed(),3); dataFile.print(",");
         dataFile.print(escRear.getCurrentConsumed(),3); dataFile.print(",");
+        dataFile.print(currentConsumed,3); dataFile.print(",");
         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,0); dataFile.print(",");
+        dataFile.print(looptime_duration); dataFile.print(",");
+        looptime_duration=0; //reset
         
         dataFile.println("");
         dataFile.close();
@@ -127,4 +130,90 @@ String getLogFilename() {
   return datalogging_filename;
 }
 
+bool loadTripSD()
+{
+  //stats.txt containt lines with driven distance or consume current.
+  //the lowest line is the latest data
+  //data is usually written rather slowly
+
+  File myFile = SD.open("stats.txt", FILE_WRITE);
+  if (myFile) {
+    myFile.print("ini=");
+    myFile.println(now());
+    myFile.flush();
+    delay(100);
+    myFile.close();
+    Serial.println("TripSD: time written");
+  }else{
+    return false;
+  }
+
+
+  myFile = SD.open("stats.txt");
+  if (myFile) {
+    while (myFile.available()) {
+      String line=myFile.readStringUntil('\n');      
+      Serial.print("TripSD Read Line:");
+      Serial.println(line);
+      if (line.substring(0,4)=="trp="){
+        overallTrip=(line.substring(4)).toFloat();
+      }else if (line.substring(0,4)=="occ="){
+        overallCurrentConsumed=(line.substring(4)).toFloat();
+      }
+      else if (line.substring(0,4)=="vlt="){
+        lastTripVoltage=(line.substring(4)).toFloat();
+      }
+    }
+    Serial.print("TripSD trip:");
+    Serial.println(overallTrip);
+    display.print(F("TripSD=")); display.println(overallTrip);
+    Serial.print("TripSD current:");
+    Serial.println(overallCurrentConsumed);
+    display.print(F("Cur. SD=")); display.println(overallCurrentConsumed); display.display();
+    Serial.print("TripSD voltage:");
+    Serial.println(lastTripVoltage);
+    display.print(F("Volt. SD=")); display.println(lastTripVoltage); display.display();
+
+    myFile.flush();
+    delay(10);
+    myFile.close();
+  }else{
+    return false;
+  }
+  return true;
+}
+
+void writeTrip(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  if (datalogging) {
+    File myFile = SD.open("stats.txt", FILE_WRITE);
+    if (myFile) {
+      myFile.print("trp=");
+      myFile.println(overallTrip);
+      myFile.print("occ=");
+      myFile.println(overallCurrentConsumed);
+      myFile.print("vlt=");
+      float _voltage=(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
+      myFile.println(_voltage,2);
+      myFile.close();
+    }
+  }
+}
+
+void resetTrip() {
+  if (datalogging) {
+    File myFile = SD.open("stats.txt", FILE_WRITE);
+    if (myFile) {
+      myFile.print("trp=");
+      myFile.println(0);
+      myFile.print("occ=");
+      myFile.println(0);
+      myFile.print("vlt=");
+      myFile.println(0);
+      myFile.flush();
+      delay(10);
+      myFile.close();
+    }
+  }
+}
+
 #endif

controller_teensy/include/temperature.h

@@ -71,9 +71,7 @@ void temperatureLoop(unsigned long loopmillis) {
             flag_requestTemperatures=false;
         }
         if (!flag_requestTemperatures) {
-            unsigned long _start=millis();
             sensors.requestTemperatures(); //this takes ~34ms
-            Serial.print("DS Request took ms:"); Serial.println(millis()-_start);
             flag_requestTemperatures=true;
         }
         if (sensors.isConversionComplete()) {

controller_teensy/lib/hoverboard-esc-serial-comm

@@ -1 +1 @@
-Subproject commit 8d180debf7633d3a8ff86a588c00b199c0876225
+Subproject commit 150ce61f9f8d8c013f2fca424ec2976c3582d403

controller_teensy/src/main.cpp

@@ -1,3 +1,9 @@
+//TODO:
+/*
+ - reset Trip to 0 by button press or something. function: resetTrip() 
+*/
+
+
 #include <Arduino.h>
 
 
@@ -107,6 +113,8 @@ void setup()
   
   initResult=initLogging();
   led_simpeProgress(2,initResult);
+  
+  
 
   escFront.init();
   led_simpeProgress(3,true);
@@ -146,8 +154,17 @@ void setup()
     led_simpeProgress(7,true);
   }
 
+
+  if (datalogging) { //sd init was successful
+    initResult=loadTripSD();
+  }else{
+    initResult=false;
+  }
+  led_simpeProgress(8,initResult);
+
+
   initTemperature();
-  led_simpeProgress(8,true);
+  led_simpeProgress(9,true);
   
 
 
@@ -254,6 +271,22 @@ void loop() {
   escFront.update(loopmillis);
   escRear.update(loopmillis);
 
+  static unsigned long last_statsupdate=0;
+  #define STATSUPDATEINTERVAL 100
+  if (loopmillis-last_statsupdate>STATSUPDATEINTERVAL) {
+    
+    minSpeedms=min(escFront.getWheelspeed_L(),min(escFront.getWheelspeed_R(),min(escRear.getWheelspeed_L(),escRear.getWheelspeed_R()))); //take speed of slowest wheel
+    float _tripincrease=abs(minSpeedms) * ((loopmillis-last_statsupdate)/1000.0);
+    trip+=_tripincrease;
+    overallTrip+=_tripincrease;
+    
+    float _currentIncrease=(escFront.getFiltered_curL()+escFront.getFiltered_curR()+escRear.getFiltered_curL()+escRear.getFiltered_curR())* ((loopmillis-last_statsupdate)/1000.0)/3600.0; //amp hours
+    currentConsumed += _currentIncrease;
+    overallCurrentConsumed += _currentIncrease;
+
+    last_statsupdate=loopmillis;
+  }
+
   /*  TODO: remove this if, because everything contained in esc.update()
   if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers    
     last_send=loopmillis;
@@ -273,6 +306,13 @@ void loop() {
   //If needed write log to serial port
   //checkLog(); //TODO remove
   loggingLoop(loopmillis,escFront,escRear);
+  if (!armed && !statswritten) { //write stats only once when disarmed
+    statswritten=true;
+    writeTrip(loopmillis,escFront,escRear);
+  }
+  if (statswritten && armed) {
+    statswritten=false;
+  }
 
   leds();
   led_update(loopmillis,escFront,escRear); //ws2812 led ring
@@ -296,9 +336,11 @@ void loop() {
     boolean fanstatus=digitalRead(PIN_FAN);
     //float temp=max(escFront.getFeedback_boardTemp(),escRear.getFeedback_boardTemp());
     float temp=max(temp_ESCFront,temp_ESCRear);
-    if (!escFront.getControllerConnected() || !escRear.getControllerConnected()) { //boards are not powered on
+    if (temp_ESCFront==DEVICE_DISCONNECTED_C || temp_ESCRear==DEVICE_DISCONNECTED_C ) { //temperature error
       digitalWrite(PIN_FAN,HIGH); //force fan on
-    }else{ //if both controllers are on, use temperature regulation      
+
+    }else{ //normal temperature control
+      
       if (!fanstatus) { //fan is off
         if (temp>=fan_turn_on_temp){
           digitalWrite(PIN_FAN,HIGH);
@@ -309,6 +351,7 @@ void loop() {
         }
       }
     }
+  
     
   }
 
@@ -475,10 +518,11 @@ void failChecks() {
       error_ads_max_read_interval=true;
       writeLogComment(loopmillis, "Error ADS Max read interval");
     }
-    //Serial.print("Error ADS Max read interval=");Serial.println(loopmillis-last_adsread);
+    //Serial.print("Error ADS Max read interval="); Serial.println(loopmillis-last_adsread);
   }
 
   if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { //any errors?
+    armed=false; //disarm
     throttle_pos=0;
     brake_pos=0;
   }
@@ -533,7 +577,6 @@ void calculateSetSpeed(unsigned long timediff){
   escRear.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
 
   log_update=true;
-
 }
 
 /*