add adc failsafe check
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1e9eda245f
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fd3a474f18
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@ -36,15 +36,26 @@ bool controllers_connected=false;
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#define PIN_THROTTLE A7
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const uint16_t calib_throttle_min = 400; //better a bit too high than too low
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const uint16_t calib_throttle_max = 790;
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const uint16_t failsafe_throttle_min = 20; //if adc value falls below this failsafe is triggered
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const uint16_t failsafe_throttle_max = 1000; //if adc value goes above this failsafe is triggered
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#define PIN_BRAKE A8
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const uint16_t calib_brake_min = 100;//better a bit too high than too low
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const uint16_t calib_brake_max = 600;
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const uint16_t failsafe_brake_min = 20; //if adc value falls below this failsafe is triggered
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const uint16_t failsafe_brake_max = 1000; //if adc value goes above this failsafe is triggered
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int16_t throttle_pos=0;
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int16_t brake_pos=0;
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unsigned long last_adcread=0;
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#define ADCREADPERIOD 10
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uint16_t throttle_raw=0;
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uint16_t brake_raw=0;
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#define ADC_OUTOFRANGE_TIME 100
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unsigned long throttle_ok_time=0;
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unsigned long brake_ok_time=0;
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bool error_throttle_outofrange=false;
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bool error_brake_outofrange=false;
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#define PIN_START A9
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#define PIN_LED_START 2 //Enginge start led
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@ -137,6 +148,7 @@ void readADC();
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void failChecks();
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void sendCMD();
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void checkLog();
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void updateMotorparams( MotorParameter &mp, SerialFeedback &fb);
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void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
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{
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@ -251,6 +263,13 @@ void loop() {
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bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
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bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
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if (newData2) {
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updateMotorparams(motorparamsFront,FeedbackFront);
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}
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if (newData3) {
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updateMotorparams(motorparamsRear,FeedbackRear);
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}
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if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
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last_adcread=loopmillis;
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@ -258,39 +277,22 @@ void loop() {
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}
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failChecks();
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if (newData2) {
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motorparamsFront.cur_pos++;
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motorparamsFront.cur_pos%=CURRENT_FILTER_SIZE;
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motorparamsFront.curL_DC[motorparamsFront.cur_pos] = -FeedbackFront.curL_DC; //invert so positive current is consumed current. negative then means regenerated
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motorparamsFront.curR_DC[motorparamsFront.cur_pos] = -FeedbackFront.curR_DC;
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motorparamsFront.millis=loopmillis;
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log_update=true;
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}
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if (newData3) {
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motorparamsRear.cur_pos++;
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motorparamsRear.cur_pos%=CURRENT_FILTER_SIZE;
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motorparamsRear.curL_DC[motorparamsRear.cur_pos] = -FeedbackRear.curL_DC;
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motorparamsRear.curR_DC[motorparamsRear.cur_pos] = -FeedbackRear.curR_DC;
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motorparamsRear.millis=loopmillis;
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log_update=true;
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}
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failChecks();
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if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers
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last_send=loopmillis;
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sendCMD();
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}
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// ######## LOG ########
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//If needed write log to serial port
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checkLog();
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}
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// ##### HELPFUNCTIONS
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int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
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{
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float a = *((float *)cmp1);
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@ -360,27 +362,30 @@ void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
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// #### LOOPFUNCTIONS
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void readADC() {
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uint16_t throttle_raw = analogRead(PIN_THROTTLE);
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throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
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uint16_t brake_raw = analogRead(PIN_BRAKE);
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brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
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throttle_raw = analogRead(PIN_THROTTLE);
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throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
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brake_raw = analogRead(PIN_BRAKE);
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brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
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int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
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throttle_pos=constrain(throttlebreak_pos,0,1000);
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brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
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int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
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throttle_pos=constrain(throttlebreak_pos,0,1000);
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brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
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//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
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//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
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//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
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//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
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if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
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throttle_pos/=2;
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digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
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digitalWrite(PIN_MODE_LEDR,HIGH);
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}else{ //button not pushed in
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digitalWrite(PIN_MODE_LEDG,HIGH);
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digitalWrite(PIN_MODE_LEDR,LOW); //Red
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}
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if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
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throttle_pos/=2;
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digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
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digitalWrite(PIN_MODE_LEDR,HIGH);
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}else{ //button not pushed in
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digitalWrite(PIN_MODE_LEDG,HIGH);
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digitalWrite(PIN_MODE_LEDR,LOW); //Red
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}
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}
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void failChecks() {
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@ -406,7 +411,29 @@ void failChecks() {
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controllers_connected=controllerFront_connected & controllerRear_connected;
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if (!controllers_connected) { //controllers not available
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//ADC Range Check
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if ((throttle_raw >= failsafe_throttle_min) & (throttle_raw <= failsafe_throttle_max)) { //outside safe range. maybe wire got disconnected
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throttle_ok_time=loopmillis;
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}
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if (loopmillis>throttle_ok_time+ADC_OUTOFRANGE_TIME) { //not ok for too long
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if (!error_throttle_outofrange) {
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error_throttle_outofrange=true;
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writeLogComment(Serial1,loopmillis, "Error Throttle ADC Out of Range");
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}
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}
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if ((brake_raw >= failsafe_brake_min) & (brake_raw <= failsafe_brake_max)) { //outside safe range. maybe wire got disconnected
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brake_ok_time=loopmillis;
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}
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if (loopmillis>brake_ok_time+ADC_OUTOFRANGE_TIME) { //not ok for too long
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if(!error_brake_outofrange) {
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error_brake_outofrange=true;
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writeLogComment(Serial1,loopmillis, "Error Brake ADC Out of Range");
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}
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}
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if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange) { //controllers not available
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throttle_pos=0;
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brake_pos=0;
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}
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@ -472,4 +499,13 @@ void checkLog() {
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log_update=false;
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writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);
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}
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}
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void updateMotorparams( MotorParameter &mp, SerialFeedback &fb) {
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mp.cur_pos++;
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mp.cur_pos%=CURRENT_FILTER_SIZE;
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mp.curL_DC[mp.cur_pos] = -fb.curL_DC; //invert so positive current is consumed current. negative then means regenerated
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mp.curR_DC[mp.cur_pos] = -fb.curR_DC;
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mp.millis=loopmillis;
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log_update=true;
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}
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