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use ads115 i2c 4ch ADC for throttle and brake

This commit is contained in:
interfisch 2023-03-01 00:31:46 +01:00
parent 41ba23790e
commit f27e0079da
3 changed files with 245 additions and 129 deletions
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198
Bobbycar_wiring/Bobbycar_wiring.kicad_sch
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@ -1632,27 +1632,27 @@
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(property "Reference" "U3" (id 0) (at 209.55 16.51 0)) (property "Reference" "U3" (id 0) (at 209.55 16.51 0))
(property "Value" "" (id 1) (at 209.55 19.05 0)) (property "Value" "L78L33_TO92" (id 1) (at 209.55 19.05 0))
(property "Footprint" "" (id 2) (at 209.55 18.415 0) (property "Footprint" "Package_TO_SOT_THT:TO-92_Inline" (id 2) (at 209.55 18.415 0)
(effects (font (size 1.27 1.27) italic) hide) (effects (font (size 1.27 1.27) italic) hide)
) )
(property "Datasheet" "http://www.st.com/content/ccc/resource/technical/document/datasheet/15/55/e5/aa/23/5b/43/fd/CD00000446.pdf/files/CD00000446.pdf/jcr:content/translations/en.CD00000446.pdf" (id 3) (at 209.55 25.4 0) (property "Datasheet" "http://www.st.com/content/ccc/resource/technical/document/datasheet/15/55/e5/aa/23/5b/43/fd/CD00000446.pdf/files/CD00000446.pdf/jcr:content/translations/en.CD00000446.pdf" (id 3) (at 209.55 25.4 0)
@ -3186,7 +3178,7 @@
(property "Reference" "C1" (id 0) (at 181.61 84.2009 0) (property "Reference" "C1" (id 0) (at 181.61 84.2009 0)
(effects (font (size 1.27 1.27)) (justify left)) (effects (font (size 1.27 1.27)) (justify left))
) )
(property "Value" "" (id 1) (at 181.61 86.7409 0) (property "Value" "100uF" (id 1) (at 181.61 86.7409 0)
(effects (font (size 1.27 1.27)) (justify left)) (effects (font (size 1.27 1.27)) (justify left))
) )
(property "Footprint" "" (id 2) (at 178.7652 90.17 0) (property "Footprint" "" (id 2) (at 178.7652 90.17 0)
@ -3205,7 +3197,7 @@
(property "Reference" "BT?" (id 0) (at 182.88 104.6479 0) (property "Reference" "BT?" (id 0) (at 182.88 104.6479 0)
(effects (font (size 1.27 1.27)) (justify left)) (effects (font (size 1.27 1.27)) (justify left))
) )
(property "Value" "" (id 1) (at 182.88 107.1879 0) (property "Value" "3V" (id 1) (at 182.88 107.1879 0)
(effects (font (size 1.27 1.27)) (justify left)) (effects (font (size 1.27 1.27)) (justify left))
) )
(property "Footprint" "" (id 2) (at 179.07 106.426 90) (property "Footprint" "" (id 2) (at 179.07 106.426 90)
@ -3224,7 +3216,7 @@
(property "Reference" "U4" (id 0) (at 240.03 59.69 0) (property "Reference" "U4" (id 0) (at 240.03 59.69 0)
(effects (font (size 1.524 1.524))) (effects (font (size 1.524 1.524)))
) )
(property "Value" "" (id 1) (at 240.03 63.5 0) (property "Value" "Teensy3.2" (id 1) (at 240.03 63.5 0)
(effects (font (size 1.524 1.524))) (effects (font (size 1.524 1.524)))
) )
(property "Footprint" "" (id 2) (at 240.03 120.65 0) (property "Footprint" "" (id 2) (at 240.03 120.65 0)
@ -3337,7 +3329,7 @@
(reference "J9") (unit 1) (value "xt90antispark_female") (footprint "") (reference "J9") (unit 1) (value "xt90antispark_female") (footprint "")
) )
(path "/00000000-0000-0000-0000-00005df0cf60" (path "/00000000-0000-0000-0000-00005df0cf60"
(reference "J10") (unit 1) (value "Throttle") (footprint "") (reference "J10") (unit 1) (value "Steering Wheel I2C") (footprint "")
) )
(path "/00000000-0000-0000-0000-00005df0861f" (path "/00000000-0000-0000-0000-00005df0861f"
(reference "J11") (unit 1) (value "xt90_male") (footprint "") (reference "J11") (unit 1) (value "xt90_male") (footprint "")
@ -3358,10 +3350,10 @@
(reference "R1") (unit 1) (value "220") (footprint "") (reference "R1") (unit 1) (value "220") (footprint "")
) )
(path "/00000000-0000-0000-0000-00005df4d8f9" (path "/00000000-0000-0000-0000-00005df4d8f9"
(reference "R2") (unit 1) (value "100k") (footprint "") (reference "R2") (unit 1) (value "4k7") (footprint "")
) )
(path "/00000000-0000-0000-0000-00005df4d9c1" (path "/00000000-0000-0000-0000-00005df4d9c1"
(reference "R3") (unit 1) (value "100k") (footprint "") (reference "R3") (unit 1) (value "4k7") (footprint "")
) )
(path "/00000000-0000-0000-0000-00005df4cdeb" (path "/00000000-0000-0000-0000-00005df4cdeb"
(reference "R4") (unit 1) (value "20") (footprint "") (reference "R4") (unit 1) (value "20") (footprint "")

3
controller_teensy/platformio.ini
View File

@ -19,3 +19,6 @@ monitor_speed = 115200
build_flags = build_flags =
-D USB_SERIAL_HID -D USB_SERIAL_HID
lib_deps =
robtillaart/ADS1X15@^0.3.9

167
controller_teensy/src/main.cpp
View File

@ -1,6 +1,9 @@
#include <Arduino.h> #include <Arduino.h>
#include "ADS1X15.h"
ADS1115 ADS(0x48);
/* /*
Connections: Connections:
@ -37,28 +40,38 @@ bool controllers_connected=false;
#define PIN_THROTTLE A7 #define PIN_THROTTLE A7
//const uint16_t calib_throttle_min = 420; //better a bit too high than too low //const uint16_t calib_throttle_min = 420; //better a bit too high than too low
//const uint16_t calib_throttle_max = 790; //const uint16_t calib_throttle_max = 790;
const uint16_t failsafe_throttle_min = 20; //if adc value falls below this failsafe is triggered const uint16_t failsafe_throttle_min = 4900; //if adc value falls below this failsafe is triggered. old 20
const uint16_t failsafe_throttle_max = 1000; //if adc value goes above this failsafe is triggered const uint16_t failsafe_throttle_max = 14000; //if adc value goes above this failsafe is triggered. old 1000
const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel //const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9823,9877,9932,9978,10032,10087,10169,10278,10451,10697,11061,11579,11898,11952}; //adc values for every unit (mm) of linear travel
#define PIN_BRAKE A8 #define PIN_BRAKE A8
const uint16_t calib_brake_min = 100;//better a bit too high than too low const uint16_t calib_brake_min = 2000;//better a bit too high than too low
const uint16_t calib_brake_max = 600; const uint16_t calib_brake_max = 11000;
const uint16_t failsafe_brake_min = 20; //if adc value falls below this failsafe is triggered const uint16_t failsafe_brake_min = 700; //if adc value falls below this failsafe is triggered
const uint16_t failsafe_brake_max = 1000; //if adc value goes above this failsafe is triggered const uint16_t failsafe_brake_max = 13000; //if adc value goes above this failsafe is triggered
uint16_t ads_throttle_A_raw=0;
uint16_t ads_throttle_B_raw=0;
uint16_t ads_brake_raw=failsafe_brake_min;
uint16_t ads_control_raw=0;
int16_t throttle_pos=0; int16_t throttle_pos=0;
int16_t brake_pos=0; int16_t brake_pos=0;
unsigned long last_adcread=0;
#define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
#define ADCREADPERIOD 10 #define ADCREADPERIOD 10
uint16_t throttle_raw=0; #define BUTTONREADPERIOD 20
unsigned long last_adsread=0; //needed for failcheck
uint16_t throttle_raw=failsafe_throttle_min; //start at min so that failsafe is not triggered
#define THROTTLE_ADC_FILTER 0.15 //higher value = faster response #define THROTTLE_ADC_FILTER 0.15 //higher value = faster response
uint16_t brake_raw=0; uint16_t brake_raw=failsafe_brake_min; //start at min so that failsafe is not triggered
#define ADC_OUTOFRANGE_TIME 100 #define ADC_OUTOFRANGE_TIME 100
unsigned long throttle_ok_time=0; unsigned long throttle_ok_time=0;
unsigned long brake_ok_time=0; unsigned long brake_ok_time=0;
bool error_throttle_outofrange=false; bool error_throttle_outofrange=false;
bool error_brake_outofrange=false; bool error_brake_outofrange=false;
bool error_ads_max_read_interval=false;
#define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward #define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward
#define REVERSE_SPEED 0.25 //reverse driving speed //0 to 1 #define REVERSE_SPEED 0.25 //reverse driving speed //0 to 1
@ -181,8 +194,9 @@ float filterMedian(int16_t* values);
void writeLogHeader(HardwareSerial &SerialRef); void writeLogHeader(HardwareSerial &SerialRef);
void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake); void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake);
void writeLogComment(HardwareSerial &SerialRef, String msg); void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg);
void readADS();
void readADC(); void readADC();
void failChecks(); void failChecks();
void sendCMD(); void sendCMD();
@ -211,14 +225,14 @@ void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, Ha
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef) bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
{ {
bool _result=1; bool _result=false; //return true if new full data frame received
// Check for new data availability in the Serial buffer // Check for new data availability in the Serial buffer
if ( SerialRef.available() ) { if ( SerialRef.available() ) {
sread.incomingByte = SerialRef.read(); // Read the incoming byte sread.incomingByte = SerialRef.read(); // Read the incoming byte
sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame
} }
else { else {
return 0; return false; //nothing new
} }
// If DEBUG_RX is defined print all incoming bytes // If DEBUG_RX is defined print all incoming bytes
@ -249,8 +263,9 @@ bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &N
// Copy the new data // Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
sread.lastValidDataSerial_time = millis(); sread.lastValidDataSerial_time = millis();
_result=true;
} else { } else {
_result=0; _result=false;
} }
sread.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle) sread.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
} }
@ -300,6 +315,20 @@ void setup()
digitalWrite(PIN_LATCH_ENABLE,HIGH); //latch on digitalWrite(PIN_LATCH_ENABLE,HIGH); //latch on
pinMode(PIN_MODE_SWITCH, INPUT_PULLUP); pinMode(PIN_MODE_SWITCH, INPUT_PULLUP);
delay(2000);
Serial.println("Wait finished. Booting..");
//init ADS1115
if (!ADS.begin()) {
Serial.println("Error:"); delay(2000); Serial.println("ADS1115 Init Error!");
writeLogComment(Serial1,(unsigned long)millis(), "Error ADS1115 Init");
}
ADS.setGain(0);
ADS.setDataRate(7);// Read Interval: 7-> 2ms, 6-> 3-4ms , 5-> 5-6ms, 4-> 9ms, 0-> 124ms
// also set ADSREADPERIOD to at least the read interval
ADS.requestADC(0); //Start requesting a channel
delay(10);
setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3 setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
if (timeStatus()!= timeSet) { if (timeStatus()!= timeSet) {
Serial.println("Unable to sync with the RTC"); Serial.println("Unable to sync with the RTC");
@ -313,10 +342,38 @@ void setup()
unsigned long loopmillis; unsigned long loopmillis;
// ########################## LOOP ########################## // ########################## LOOP ##########################
void loop() { void loop() {
//Serial.print("Loopduration="); Serial.println(); //loopduration is at max 11ms
loopmillis=millis(); //read millis for this cycle loopmillis=millis(); //read millis for this cycle
// ____ Debugging pending serial byted for feedback
static int s2availmax=0;
int _a2=Serial2.available();
if (_a2>s2availmax) {
s2availmax=_a2;
//Serial.print("new s2availmax"); Serial.println(s2availmax);
String _text="Serial2 Bytes Available Max=";
_text+=s2availmax;
writeLogComment(Serial1,loopmillis, _text);
}
static int s3availmax=0;
int _a3=Serial3.available();
if (_a3>s3availmax) {
s3availmax=_a3;
//Serial.print("new s3availmax"); Serial.println(s3availmax);
String _text="Serial3 Bytes Available Max=";
_text+=s3availmax;
writeLogComment(Serial1,loopmillis, _text);
}
// ----- End of debug
bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2); bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3); bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
//Max (40) or 22 available/pending bytes
if (newData2) { if (newData2) {
updateMotorparams(motorparamsFront,FeedbackFront); updateMotorparams(motorparamsFront,FeedbackFront);
@ -325,13 +382,30 @@ void loop() {
updateMotorparams(motorparamsRear,FeedbackRear); updateMotorparams(motorparamsRear,FeedbackRear);
} }
if (loopmillis - last_adsread > ADSREADPERIOD) { //read teensy adc and filter
last_adsread=loopmillis;
if (ADS.isBusy() == false) //reads a register on ads
{
readADS();
}else{
Serial.println("Unnecessary ADS poll. Increase ADSREADPERIOD");
}
}
static unsigned long last_adcread=0;
if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
last_adcread=loopmillis; last_adcread=loopmillis;
readADC(); readADC();
}
static unsigned long last_buttonread=0;
if (loopmillis - last_buttonread > BUTTONREADPERIOD) { //read digital input states
last_buttonread=loopmillis;
readButtons(); readButtons();
} }
@ -355,6 +429,7 @@ void loop() {
leds(); leds();
} }
@ -442,21 +517,55 @@ void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
} }
void readADS() { //sequentially read ads and write to variable
/*static unsigned long _lastReadADS=0;
Serial.print("readADS Interval="); Serial.println(millis()-_lastReadADS);
_lastReadADS=millis();*/
static uint8_t ads_input_switch=0;
int16_t ads_val = ADS.getValue(); //get value from last selected channel
switch (ads_input_switch) {
case 0: //Throttle Sensor A
ads_throttle_A_raw=ads_val;
break;
case 1: //Throttle Sensor B
ads_throttle_B_raw=ads_val;
break;
case 2: //Brake
ads_brake_raw=ads_val;
break;
case 3: //Buttons TODO
ads_control_raw=ads_val;
break;
}
ads_input_switch++;
ads_input_switch%=4; //max 4 channels
ADS.requestADC(ads_input_switch); // request a new one
}
// #### LOOPFUNCTIONS // #### LOOPFUNCTIONS
void readADC() { void readADC() {
/*Serial.print(ads_throttle_A_raw); Serial.print('\t');
uint16_t new_throttle_raw = analogRead(PIN_THROTTLE); Serial.print(ads_throttle_B_raw); Serial.print('\t');
throttle_raw = new_throttle_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter Serial.print(ads_brake_raw); Serial.print('\t');
Serial.print(ads_control_raw); Serial.println();*/
throttle_raw = ads_throttle_A_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
//maps throttle curve to be linear //maps throttle curve to be linear
throttle_pos=max(0,min(1000,linearizeThrottle(throttle_raw))); //map and constrain throttle_pos=max(0,min(1000,linearizeThrottle(throttle_raw))); //map and constrain
brake_raw = analogRead(PIN_BRAKE);
brake_raw=ads_brake_raw;
brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
//brake_pos = (int16_t)(pow((brake_pos/1000.0),2)*1000); //brake_pos = (int16_t)(pow((brake_pos/1000.0),2)*1000);
if (throttle_pos>0 || meanSpeedms>0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving) if (throttle_pos>0 || meanSpeedms>0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
last_notidle=loopmillis; last_notidle=loopmillis;
reverse_enabled=false; reverse_enabled=false;
@ -505,6 +614,7 @@ void failChecks() {
if (controllerFront_connected) { //just got disconnected if (controllerFront_connected) { //just got disconnected
controllerFront_connected=false; controllerFront_connected=false;
writeLogComment(Serial1,loopmillis, "Controller Front feedback timeout"); writeLogComment(Serial1,loopmillis, "Controller Front feedback timeout");
//Serial.println("Controller Front feedback timeout");
} }
}else if(!controllerFront_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before }else if(!controllerFront_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
controllerFront_connected=true; controllerFront_connected=true;
@ -515,6 +625,7 @@ void failChecks() {
if (controllerRear_connected) { //just got disconnected if (controllerRear_connected) { //just got disconnected
controllerRear_connected=false; controllerRear_connected=false;
writeLogComment(Serial1,loopmillis, "Controller Rear feedback timeout"); writeLogComment(Serial1,loopmillis, "Controller Rear feedback timeout");
//Serial.println("Controller Rear feedback timeout");
} }
}else if(!controllerRear_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before }else if(!controllerRear_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
controllerRear_connected=true; controllerRear_connected=true;
@ -531,7 +642,9 @@ void failChecks() {
if (!error_throttle_outofrange) { if (!error_throttle_outofrange) {
error_throttle_outofrange=true; error_throttle_outofrange=true;
writeLogComment(Serial1,loopmillis, "Error Throttle ADC Out of Range"); writeLogComment(Serial1,loopmillis, "Error Throttle ADC Out of Range");
} }
//Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
} }
if ((brake_raw >= failsafe_brake_min) & (brake_raw <= failsafe_brake_max)) { //outside safe range. maybe wire got disconnected if ((brake_raw >= failsafe_brake_min) & (brake_raw <= failsafe_brake_max)) { //outside safe range. maybe wire got disconnected
brake_ok_time=loopmillis; brake_ok_time=loopmillis;
@ -540,12 +653,20 @@ void failChecks() {
if(!error_brake_outofrange) { if(!error_brake_outofrange) {
error_brake_outofrange=true; error_brake_outofrange=true;
writeLogComment(Serial1,loopmillis, "Error Brake ADC Out of Range"); writeLogComment(Serial1,loopmillis, "Error Brake ADC Out of Range");
} }
//Serial.print("Error Brake ADC Out of Range="); Serial.println(brake_raw);
}
#define ADS_MAX_READ_INTERVAL 100
if (loopmillis-last_adsread > ADS_MAX_READ_INTERVAL) {
if (!error_ads_max_read_interval) {
error_ads_max_read_interval=true;
writeLogComment(Serial1,loopmillis, "Error ADS Max read interval");
}
//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?
if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange) { //any errors?
throttle_pos=0; throttle_pos=0;
brake_pos=0; brake_pos=0;
} }