fix speed display and improve display stats

controller_teensy/include/definitions.h

@@ -19,6 +19,7 @@ unsigned long last_log_send=0;
 bool log_header_written = false;
 
 
+
 //#define FEEDBACKRECEIVETIMEOUT 500
 
 //bool controllerFront_connected=false;
@@ -36,7 +37,7 @@ const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9
 const uint16_t calib_brake_min = 2000;//better a bit too high than too low
 const uint16_t calib_brake_max = 11000;
 const uint16_t failsafe_brake_min = 700; //if adc value falls below this failsafe is triggered
-const uint16_t failsafe_brake_max = 13000; //if adc value goes above this failsafe is triggered
+const uint16_t failsafe_brake_max = 13200; //if adc value goes above this failsafe is triggered
 
 uint16_t ads_throttle_A_raw=0;
 uint16_t ads_throttle_B_raw=0;
@@ -46,6 +47,8 @@ uint16_t ads_control_raw=0;
 int16_t throttle_pos=0;
 int16_t brake_pos=0;
 
+unsigned long loopmillis;
+
 
 #define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
 #define ADCREADPERIOD 10

controller_teensy/include/display.h

@@ -8,7 +8,6 @@
 #include <Fonts/FreeSansBold9pt7b.h>
 
 
-
 #define SCREEN_WIDTH 128 // OLED display width, in pixels
 #define SCREEN_HEIGHT 32 // OLED display height, in pixels
 
@@ -17,7 +16,10 @@
 Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
 
 bool display_init();
-void display_update();
+void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
+void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
+void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
+void display_standingOffDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
 
 
 bool display_init(){
@@ -47,12 +49,29 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
   display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage());
   */
 
+  if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
+    if (loopmillis-last_notidle>1000) {
+      display_standingDisplay(escFront,escRear);
+    }else{
+      display_drivingDisplay(escFront,escRear);
+    }
+    
+  }else{
+    display_standingOffDisplay(escFront,escRear);
+  }
+  
+  display.display();
+}
+
+
+void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  //## Km/h Display
   display.setFont(&FreeMonoBold18pt7b);
   display.setTextSize(1);             // Normal 1:1 pixel scale
   display.setTextColor(SSD1306_WHITE);        // Draw white text
-  display.setCursor(0,SCREEN_HEIGHT-(SCREEN_HEIGHT-18)/2);             // Start at top-left corner
+  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;
   //_speeddisplay=(millis()/1000)%21; //debugging
   char buf[8];
   dtostrf(_speeddisplay,1,1,buf);
@@ -63,12 +82,98 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
   }
   display.print(strbuf);
   
-  display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-1);
   display.setFont();
+  display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-16);
   display.print("km/h");
 
-  display.display();
+  
+  //## Trip / Current Consumed Display
+  display.setCursor(1,SCREEN_HEIGHT-7);
+  if (((millis()/2500)%2)==0) {
+    //## Trip
+    dtostrf(escFront.getTrip(),1,0,buf);
+    display.print((String)buf);
+    display.print("m + ");
+
+    dtostrf(escRear.getTrip(),1,0,buf);
+    display.print((String)buf);
+    display.print("m");
+  }else{
+    //## Current Consumed    
+    dtostrf(escFront.getCurrentConsumed(),1,1,buf);
+    display.print((String)buf);
+    display.print("Ah + ");
+
+    dtostrf(escRear.getCurrentConsumed(),1,1,buf);
+    display.print((String)buf);
+    display.print("Ah");
+  }
+}
+
+void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  char buf[8];
+  display.setFont();
+  display.setCursor(0,0);
+
+  display.print(F("Vbat: ")); display.print(escFront.getFeedback_batVoltage());
+  display.print(F("/")); display.print(escFront.getFeedback_batVoltage());
+  display.print(" V");
+  display.println();
+
+  display.print(F("Trip: "));
+  dtostrf(escFront.getTrip(),1,0,buf);
+  display.print((String)buf);
+  display.print("/");
+  dtostrf(escRear.getTrip(),1,0,buf);
+  display.print((String)buf);
+  display.print(" m");
+  display.println();
+
+  display.print(F("Cons. "));
+  dtostrf(escFront.getCurrentConsumed(),1,2,buf);
+  display.print((String)buf);
+  display.print("/");
+
+  dtostrf(escRear.getCurrentConsumed(),1,2,buf);
+  display.print((String)buf);
+  display.print(" Ah");
+  display.println();
+
+  
 }
 
 
+void display_standingOffDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  //Displayed stuff here when escs are powered off / disconnected
+  char buf[8];
+  display.setFont();
+  display.setCursor(0,0);
+
+  display.print(getLogFilename());
+    
+  display.print(F(" ")); display.print(loopmillis/1000);
+  display.print(F("s"));
+  display.println();
+
+  display.print(F("ESC F="));
+  display.print(escFront.getControllerConnected());
+  display.print(F(" R="));
+  display.print(escRear.getControllerConnected());
+  display.println();
+
+
+  display.print("throttle=");
+  dtostrf(ads_throttle_A_raw,1,0,buf);
+  display.print((String)buf);
+  display.print("/");
+  dtostrf(ads_throttle_B_raw,1,0,buf);
+  display.print((String)buf);
+  display.println();
+
+  display.print("brake=");
+  dtostrf(ads_brake_raw,1,0,buf);
+  display.print((String)buf);  
+
+}
+
 #endif

controller_teensy/include/logging.h

@@ -14,12 +14,13 @@ bool initLogging();
 void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear);
 void writeLogComment(unsigned long time, String msg);
 
+
 bool initLogging() {
     Serial.print("Initializing SD card...");
     // see if the card is present and can be initialized:
     if (!SD.begin(SDCHIPSELECT)) {
         Serial.println("Card failed, or not present");
-        display.print(F("Fail!")); display.display();
+        display.print(F("SD Init Fail!")); display.display();
         datalogging=false; //disable logging
         delay(1000);
         return false;
@@ -64,7 +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.println("currentAll,throttle,brake,speed,trip,currentConsumed,motorenabled,disarmedByDelay");
+          dataFile.println("currentAll,throttle,brake,speed,trip_Front,trip_Rear,currentConsumed_Front,currentConsumed_Rear");
           dataFile.print("#TIMESTAMP:"); dataFile.println(now());
           logging_headerWritten=true;
         }
@@ -77,10 +78,10 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
         dataFile.print(escFront.getFiltered_curR(),3);  dataFile.print(";");
         dataFile.print(escRear.getFiltered_curL(),3);  dataFile.print(";");
         dataFile.print(escRear.getFiltered_curR(),3);  dataFile.print(";");
-        dataFile.print(escFront.getFeedback_speedL_meas());  dataFile.print(";"); //Todo: check if speed for R wheels needs to be negated
+        dataFile.print(escFront.getFeedback_speedL_meas());  dataFile.print(";"); //+ //Todo: check if speed for R wheels needs to be negated
-        dataFile.print(escFront.getFeedback_speedR_meas());  dataFile.print(";");
+        dataFile.print(escFront.getFeedback_speedR_meas());  dataFile.print(";"); //-
-        dataFile.print(escRear.getFeedback_speedL_meas());  dataFile.print(";");
+        dataFile.print(escRear.getFeedback_speedL_meas());  dataFile.print(";"); //+
-        dataFile.print(escRear.getFeedback_speedR_meas());  dataFile.print(";");
+        dataFile.print(escRear.getFeedback_speedR_meas());  dataFile.print(";"); //-
         dataFile.print(escFront.getFeedback_boardTemp());  dataFile.print(";");
         dataFile.print(escRear.getFeedback_boardTemp());  dataFile.print(";");
         dataFile.print(escFront.getFeedback_batVoltage());  dataFile.print(";");
@@ -88,9 +89,11 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
         dataFile.print(filtered_currentAll,3);  dataFile.print(";");
         dataFile.print(throttle_pos);  dataFile.print(";");
         dataFile.print(brake_pos);  dataFile.print(";");
-        dataFile.print((-escFront.getMeanSpeed()-escRear.getMeanSpeed())/2.0);  dataFile.print(";");
+        dataFile.print((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0);  dataFile.print(";");
         dataFile.print(escFront.getTrip());  dataFile.print(";");
+        dataFile.print(escRear.getTrip());  dataFile.print(";");
         dataFile.print(escFront.getCurrentConsumed(),3); dataFile.print(";");
+        dataFile.print(escRear.getCurrentConsumed(),3); dataFile.print(";");
         dataFile.println("");
         dataFile.close();
       }
@@ -114,4 +117,8 @@ void writeLogComment(unsigned long time, String msg) {
     }
 }
 
+String getLogFilename() {
+  return datalogging_filename;
+}
+
 #endif

controller_teensy/lib/hoverboard-esc-serial-comm

@@ -1 +1 @@
-Subproject commit 00b432942f437fdbb285f04a1847d3bebc390044
+Subproject commit 8d180debf7633d3a8ff86a588c00b199c0876225

controller_teensy/src/main.cpp

@@ -11,8 +11,10 @@
 
 
 //#include "comms.h"
+String getLogFilename();
 #include "display.h"
 #include "logging.h"
+
 #include "ADS1X15.h"
 
 
@@ -142,7 +144,7 @@ void setup()
   led_simpleProgressWait(); //wait longer if any errors were displayed with led_simpeProgress()
 }
 
-unsigned long loopmillis;
+
 
 // ########################## LOOP ##########################
 void loop() {
@@ -316,7 +318,7 @@ void readADC() {
 
 
 
-  if (throttle_pos>0 || ((-escFront.getMeanSpeed()-escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
+  if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
     last_notidle=loopmillis;
     reverse_enabled=false;
   }