use ads115 i2c 4ch ADC for throttle and brake
This commit is contained in:
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commit
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(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82e))
|
||||
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82e))
|
||||
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82f))
|
||||
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82f))
|
||||
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|
||||
|
||||
(symbol (lib_id "Bobbycar_components:xt60_male") (at 55.88 50.8 90) (unit 1)
|
||||
|
|
@ -2882,7 +2874,7 @@
|
|||
(property "Reference" "J6" (id 0) (at 46.99 50.8 90)
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
|
@ -2891,38 +2883,38 @@
|
|||
(property "Datasheet" "" (id 3) (at 58.42 52.07 0)
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||||
(effects (font (size 1.27 1.27)) hide)
|
||||
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|
||||
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a18))
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||||
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a18))
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(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a19))
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||||
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a19))
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||||
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|
||||
|
||||
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||||
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|
||||
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||||
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||||
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||||
(property "Value" "xt60_female" (id 1) (at 97.79 25.4 90))
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a0))
|
||||
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a0))
|
||||
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a1))
|
||||
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a1))
|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7d))
|
||||
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7d))
|
||||
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7e))
|
||||
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7e))
|
||||
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|
||||
|
||||
(symbol (lib_id "Bobbycar_components:xt90antispark_female") (at 116.84 40.64 270) (unit 1)
|
||||
|
|
@ -2931,7 +2923,7 @@
|
|||
(property "Reference" "J9" (id 0) (at 116.84 53.34 90)
|
||||
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|
||||
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|
||||
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|
||||
(property "Value" "xt90antispark_female" (id 1) (at 116.84 50.8 90)
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||||
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|
||||
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|
||||
(property "Footprint" "" (id 2) (at 116.84 40.64 0)
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|
|
@ -2940,23 +2932,23 @@
|
|||
(property "Datasheet" "" (id 3) (at 116.84 40.64 0)
|
||||
(effects (font (size 1.27 1.27)) hide)
|
||||
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|
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(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e5))
|
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(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e5))
|
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(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e6))
|
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(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e6))
|
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|
||||
|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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(effects (font (size 1.27 1.27)) hide)
|
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|
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|
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(effects (font (size 1.27 1.27)) hide)
|
||||
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|
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(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053d))
|
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(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053d))
|
||||
(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053e))
|
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(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053e))
|
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|
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|
||||
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|
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|
|
@ -2965,7 +2957,7 @@
|
|||
(property "Reference" "J10" (id 0) (at 140.6652 183.4642 90)
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(effects (font (size 1.27 1.27)) (justify right))
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(property "Footprint" "" (id 2) (at 133.35 186.69 0)
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|
@ -2986,7 +2978,7 @@
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|||
(property "Reference" "J2" (id 0) (at 17.78 96.52 90)
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(effects (font (size 1.27 1.27)) (justify left))
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(property "Value" "xt30_male" (id 1) (at 27.94 105.41 90)
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|
@ -2995,8 +2987,8 @@
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|||
(property "Datasheet" "" (id 3) (at 22.86 105.41 0)
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(effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ad))
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(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ad))
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(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ae))
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(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ae))
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(symbol (lib_id "Bobbycar_components:xt30_female") (at 22.86 81.28 0) (mirror x) (unit 1)
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@ -3005,7 +2997,7 @@
|
|||
(property "Reference" "J1" (id 0) (at 17.78 83.82 90)
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|
@ -3014,15 +3006,15 @@
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(property "Datasheet" "" (id 3) (at 22.86 81.28 0)
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(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05e))
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(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05e))
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(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05f))
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(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05f))
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(uuid 00000000-0000-0000-0000-00005df361c7)
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(effects (font (size 1.27 1.27)) hide)
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@ -3039,7 +3031,7 @@
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@ -3054,7 +3046,7 @@
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@ -3085,7 +3077,7 @@
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@ -3099,10 +3091,10 @@
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@ -3118,10 +3110,10 @@
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|
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|
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|
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|
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|
|
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|
|||
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@ -3224,7 +3216,7 @@
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|
||||
(reference "J10") (unit 1) (value "Throttle") (footprint "")
|
||||
(reference "J10") (unit 1) (value "Steering Wheel I2C") (footprint "")
|
||||
)
|
||||
(path "/00000000-0000-0000-0000-00005df0861f"
|
||||
(reference "J11") (unit 1) (value "xt90_male") (footprint "")
|
||||
|
|
@ -3358,10 +3350,10 @@
|
|||
(reference "R1") (unit 1) (value "220") (footprint "")
|
||||
)
|
||||
(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"
|
||||
(reference "R3") (unit 1) (value "100k") (footprint "")
|
||||
(reference "R3") (unit 1) (value "4k7") (footprint "")
|
||||
)
|
||||
(path "/00000000-0000-0000-0000-00005df4cdeb"
|
||||
(reference "R4") (unit 1) (value "20") (footprint "")
|
||||
|
|
|
|||
|
|
@ -19,3 +19,6 @@ monitor_speed = 115200
|
|||
|
||||
build_flags =
|
||||
-D USB_SERIAL_HID
|
||||
|
||||
lib_deps =
|
||||
robtillaart/ADS1X15@^0.3.9
|
||||
|
|
@ -1,6 +1,9 @@
|
|||
#include <Arduino.h>
|
||||
|
||||
|
||||
#include "ADS1X15.h"
|
||||
|
||||
ADS1115 ADS(0x48);
|
||||
|
||||
/*
|
||||
Connections:
|
||||
|
|
@ -37,28 +40,38 @@ bool controllers_connected=false;
|
|||
#define PIN_THROTTLE A7
|
||||
//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 failsafe_throttle_min = 20; //if adc value falls below this failsafe is triggered
|
||||
const uint16_t failsafe_throttle_max = 1000; //if adc value goes above this failsafe is triggered
|
||||
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 failsafe_throttle_min = 4900; //if adc value falls below this failsafe is triggered. old 20
|
||||
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[] = {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
|
||||
const uint16_t calib_brake_min = 100;//better a bit too high than too low
|
||||
const uint16_t calib_brake_max = 600;
|
||||
const uint16_t failsafe_brake_min = 20; //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 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
|
||||
|
||||
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 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
|
||||
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
|
||||
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
|
||||
unsigned long throttle_ok_time=0;
|
||||
unsigned long brake_ok_time=0;
|
||||
bool error_throttle_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_SPEED 0.25 //reverse driving speed //0 to 1
|
||||
|
|
@ -181,8 +194,9 @@ float filterMedian(int16_t* values);
|
|||
|
||||
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 writeLogComment(HardwareSerial &SerialRef, String msg);
|
||||
void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg);
|
||||
|
||||
void readADS();
|
||||
void readADC();
|
||||
void failChecks();
|
||||
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 _result=1;
|
||||
bool _result=false; //return true if new full data frame received
|
||||
// Check for new data availability in the Serial buffer
|
||||
if ( SerialRef.available() ) {
|
||||
sread.incomingByte = SerialRef.read(); // Read the incoming byte
|
||||
sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame
|
||||
}
|
||||
else {
|
||||
return 0;
|
||||
return false; //nothing new
|
||||
}
|
||||
|
||||
// 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
|
||||
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
|
||||
sread.lastValidDataSerial_time = millis();
|
||||
_result=true;
|
||||
} else {
|
||||
_result=0;
|
||||
_result=false;
|
||||
}
|
||||
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
|
||||
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
|
||||
if (timeStatus()!= timeSet) {
|
||||
Serial.println("Unable to sync with the RTC");
|
||||
|
|
@ -313,10 +342,38 @@ void setup()
|
|||
unsigned long loopmillis;
|
||||
// ########################## LOOP ##########################
|
||||
void loop() {
|
||||
//Serial.print("Loopduration="); Serial.println(); //loopduration is at max 11ms
|
||||
|
||||
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 newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
|
||||
//Max (40) or 22 available/pending bytes
|
||||
|
||||
if (newData2) {
|
||||
updateMotorparams(motorparamsFront,FeedbackFront);
|
||||
|
|
@ -325,13 +382,30 @@ void loop() {
|
|||
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
|
||||
last_adcread=loopmillis;
|
||||
|
||||
readADC();
|
||||
}
|
||||
|
||||
static unsigned long last_buttonread=0;
|
||||
if (loopmillis - last_buttonread > BUTTONREADPERIOD) { //read digital input states
|
||||
last_buttonread=loopmillis;
|
||||
readButtons();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -355,6 +429,7 @@ void loop() {
|
|||
|
||||
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
|
||||
|
||||
|
||||
void readADC() {
|
||||
/*Serial.print(ads_throttle_A_raw); Serial.print('\t');
|
||||
Serial.print(ads_throttle_B_raw); Serial.print('\t');
|
||||
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
|
||||
|
||||
uint16_t new_throttle_raw = analogRead(PIN_THROTTLE);
|
||||
throttle_raw = new_throttle_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
|
||||
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 = (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)
|
||||
last_notidle=loopmillis;
|
||||
reverse_enabled=false;
|
||||
|
|
@ -505,6 +614,7 @@ void failChecks() {
|
|||
if (controllerFront_connected) { //just got disconnected
|
||||
controllerFront_connected=false;
|
||||
writeLogComment(Serial1,loopmillis, "Controller Front feedback timeout");
|
||||
//Serial.println("Controller Front feedback timeout");
|
||||
}
|
||||
}else if(!controllerFront_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
|
||||
controllerFront_connected=true;
|
||||
|
|
@ -515,6 +625,7 @@ void failChecks() {
|
|||
if (controllerRear_connected) { //just got disconnected
|
||||
controllerRear_connected=false;
|
||||
writeLogComment(Serial1,loopmillis, "Controller Rear feedback timeout");
|
||||
//Serial.println("Controller Rear feedback timeout");
|
||||
}
|
||||
}else if(!controllerRear_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
|
||||
controllerRear_connected=true;
|
||||
|
|
@ -531,7 +642,9 @@ void failChecks() {
|
|||
if (!error_throttle_outofrange) {
|
||||
error_throttle_outofrange=true;
|
||||
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
|
||||
brake_ok_time=loopmillis;
|
||||
|
|
@ -540,12 +653,20 @@ void failChecks() {
|
|||
if(!error_brake_outofrange) {
|
||||
error_brake_outofrange=true;
|
||||
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) { //any errors?
|
||||
if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { //any errors?
|
||||
throttle_pos=0;
|
||||
brake_pos=0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue