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5 changed files with 49 additions and 175 deletions
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7
controller_teensy/include/definitions.h
View File

@ -69,6 +69,13 @@ bool error_ads_max_read_interval=false;
int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
float meanSpeedms=0;
float trip=0; //trip distance in meters
float wheelcircumference=0.5278; //wheel diameter in m. 8.4cm radius -> 0.084m*2*Pi
float currentConsumed=0; //Ah
//Driving parameters
int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)

17
controller_teensy/include/display.h
View File

@ -12,34 +12,29 @@
#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
bool display_init();
void display_init();
void display_update();
bool display_init(){
void display_init(){
if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
Serial.println(F("SSD1306 allocation failed"));
return false;
}
display.clearDisplay();
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0,0); // Start at top-left corner
display.display();
return true;
}
void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
void display_update(){
display.clearDisplay();
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0,0); // Start at top-left corner
display.print(F("Speed : ")); display.println((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0);
display.print(F("Throttle: ")); display.print(throttle_pos);
display.print(F(" Brake : ")); display.println(brake_pos);
display.print(F("Speed : ")); display.println(meanSpeedms);
display.print(F("Throttle: ")); display.println(throttle_pos);
display.print(F("Brake : ")); display.println(brake_pos);
display.print(F("Current : ")); display.println(filtered_currentAll);
display.print(F("Vbat : ")); display.print(escFront.getFeedback_batVoltage());
display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage());
display.display();

106
controller_teensy/include/led.h
View File

@ -17,111 +17,27 @@ Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRBW + NEO_KHZ800);
unsigned long last_ledupdate=0;
#define LEDUPDATEINTERVAL 100
uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured
void led_dotcircle(unsigned long loopmillis);
void led_voltage(unsigned long loopmillis,float vbat,float vbat_min,float vbat_max);
void init_led() {
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
strip.setBrightness(BRIGHTNESS);
}
void led_testLEDSBlocking(){
strip.clear();
strip.show();
delay(10);
uint32_t color=strip.Color(0, 0, 0, 0);
for(int i=0; i<strip.numPixels()*4; i++) { // For each pixel in strip...
switch(i/strip.numPixels()) {
case 0:
color=strip.Color(255, 0, 0, 0);
break;
case 1:
color=strip.Color(0, 255, 0, 0);
break;
case 2:
color=strip.Color(0, 0, 255, 0);
break;
case 3:
color=strip.Color(0, 0, 0, 255);
break;
}
strip.setPixelColor(i%strip.numPixels(), color);
strip.show();
delay(25);
}
strip.clear();
strip.show();
}
void led_simpeProgress(uint8_t progressID,uint8_t result){
if (result!=1) {
led_errorcount++;
}
uint32_t color=strip.Color(0, 0, 0, 0);
switch(result) {
case 0: //fail
color=strip.Color(255, 0, 0, 0);
break;
case 1: //success
color=strip.Color(0, 255, 0, 0);
break;
case 2: //warning
color=strip.Color(127, 127, 0, 0);
break;
}
strip.setPixelColor(progressID, color);
strip.show();
}
void led_simpleProgressWait() {
if (led_errorcount>0) {
delay(5000);
}else{
delay(100);
}
}
void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
void led_update(unsigned long loopmillis) {
if (loopmillis>last_ledupdate+LEDUPDATEINTERVAL) {
last_ledupdate=loopmillis;
float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());
//led_dotcircle(loopmillis);
led_voltage(loopmillis,vbat,3*12,4.2*12);
uint32_t color=strip.Color(0, 0, 0, 255);
uint32_t colorOff=strip.Color(30, 0, 0, 0);
uint8_t position=(loopmillis/100)%strip.numPixels();
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
if (i==position) {
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
}else{
strip.setPixelColor(i, colorOff); // Set pixel's color (in RAM)
}
}
strip.show(); // Update strip to match
}
}
void led_voltage(unsigned long loopmillis,float vbat,float vbat_min,float vbat_max) {
uint32_t colorBG=strip.Color(0, 255, 0, 0);
uint32_t colorEmpty=strip.Color(255, 0, 0, 0);
uint8_t position=map( max(min(vbat,vbat_max),vbat_min) ,vbat_min,vbat_max, 0,strip.numPixels());
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
uint8_t pp=i%strip.numPixels()+8; //Offset
if (i<position) {
strip.setPixelColor(pp, colorBG); // Set pixel's color (in RAM)
}else{
strip.setPixelColor(pp, colorEmpty); // Set pixel's color (in RAM)
}
}
}
void led_dotcircle(unsigned long loopmillis) {
uint32_t color=strip.Color(0, 0, 0, 255);
uint32_t colorOff=strip.Color(30, 0, 0, 0);
uint8_t position=(loopmillis/100)%strip.numPixels();
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
if (i==position) {
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
}else{
strip.setPixelColor(i, colorOff); // Set pixel's color (in RAM)
}
}
}
#endif

8
controller_teensy/include/logging.h
View File

@ -10,11 +10,11 @@
boolean datalogging=true;
String datalogging_filename="UNKNOWN.txt";
bool initLogging();
void initLogging();
void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear);
void writeLogComment(unsigned long time, String msg);
bool initLogging() {
void initLogging() {
Serial.print("Initializing SD card...");
// see if the card is present and can be initialized:
if (!SD.begin(SDCHIPSELECT)) {
@ -22,7 +22,6 @@ bool initLogging() {
display.print(F("Fail!")); display.display();
datalogging=false; //disable logging
delay(1000);
return false;
}else{
Serial.println("Card initialized.");
display.print(F("LOG=")); display.display();
@ -42,7 +41,6 @@ bool initLogging() {
display.print(datalogging_filename); display.display();
}
}
return true;
}
@ -88,7 +86,7 @@ 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(meanSpeedms); dataFile.print(";");
dataFile.print(escFront.getTrip()); dataFile.print(";");
dataFile.print(escFront.getCurrentConsumed(),3); dataFile.print(";");
dataFile.println("");

86
controller_teensy/src/main.cpp
View File

@ -1,15 +1,12 @@
#include <Arduino.h>
#include "led.h"
#include "definitions.h"
//#include "structs.h"
#include <TimeLib.h> //for teensy rtc
#include "helpfunctions.h"
#include <TimeLib.h> //for teensy rtc
#include "hoverboard-esc-serial-comm.h"
#include "led.h"
//#include "comms.h"
#include "display.h"
#include "logging.h"
@ -84,62 +81,52 @@ void setup()
init_led();
led_testLEDSBlocking();
led_update(millis());
delay(2000);
Serial.println("Init Functions");
led_simpeProgress(0,1);
bool initResult=false;
initResult=display_init();
led_simpeProgress(1,initResult);
led_update(millis());
initResult=initLogging();
led_simpeProgress(2,initResult);
display_init();
led_update(millis());
initLogging();
led_update(millis());
escFront.init();
led_simpeProgress(3,true);
led_update(millis());
escRear.init();
led_simpeProgress(4,true);
led_update(millis());
delay(2000);
Serial.println("Wait finished. Booting..");
led_simpeProgress(5,true);
led_update(millis());
//init ADS1115
if (!ADS.begin()) {
Serial.println("Error:"); delay(2000); Serial.println("ADS1115 Init Error!");
led_simpeProgress(6,false);
writeLogComment((unsigned long)millis(), "Error ADS1115 Init");
}else{
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
led_simpeProgress(6,true);
}
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);
led_update(millis());
setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
if (timeStatus()!= timeSet) {
Serial.println("Unable to sync with the RTC");
led_simpeProgress(7,false);
} else {
Serial.println("RTC has set the system time");
led_simpeProgress(7,true);
}
led_update(millis());
writeLogComment(millis(), "Setup Finished");
led_simpeProgress(15,true);
led_update(millis());
led_simpleProgressWait(); //wait longer if any errors were displayed with led_simpeProgress()
}
unsigned long loopmillis;
@ -247,12 +234,12 @@ void loop() {
loggingLoop(loopmillis,escFront,escRear);
leds();
led_update(loopmillis,escFront,escRear); //ws2812 led ring
led_update(loopmillis);
static unsigned long last_display_update=0;
if (loopmillis - last_display_update > DISPLAYUPDATEPERIOD) {
last_display_update=loopmillis;
display_update(escFront,escRear);
display_update();
}
}
@ -315,7 +302,7 @@ 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 || meanSpeedms>0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
last_notidle=loopmillis;
reverse_enabled=false;
}
@ -590,44 +577,16 @@ void leds() {
}
void readButtons() {
bool button_start_longpress_flag=false;
bool button_start_shortpress_flag=false;
static bool button_start_wait_release_flag=false;
bool last_button_start_state=button_start_state;
if (loopmillis > button_start_lastchange+DEBOUNCE_TIME) { //wait some time after last change
if (digitalRead(PIN_START) && !button_start_state) { //start engine button pressed and was not pressed before
button_start_state=true; //pressed
button_start_lastchange=loopmillis; //save time for debouncing
}else if (!digitalRead(PIN_START) && button_start_state) { //released an was pressed before
button_start_state=false; // not pressed
button_start_wait_release_flag=false;
button_start_lastchange=loopmillis; //save time for debouncing
}
}
if (!button_start_wait_release_flag) { //action not prohibited currently
if (button_start_state) { //button is pressed
if ( (loopmillis> button_start_lastchange + LONG_PRESS_ARMING_TIME)) { //pressed long
button_start_longpress_flag=true;
button_start_wait_release_flag=true; //do not trigger again until button released
}
}else if(!button_start_state && last_button_start_state) { //just released
button_start_shortpress_flag=true;
}
}
if (button_start_shortpress_flag) {
armed=false; //disarm
writeLogComment(loopmillis, "Disarmed by button");
}
if (button_start_longpress_flag) {
armed=true; //arm if button pressed long enough
writeLogComment(loopmillis, "Armed by button");
}
/* TODO: if works, remove this
if (button_start_state) { //pressed
if ( (loopmillis> button_start_lastchange + LONG_PRESS_ARMING_TIME)) { //pressed long
if (throttle_pos<=0 && brake_pos<=0 && controllers_connected && !armed) { //brake or thottle not pressed, controllers connected
@ -639,7 +598,6 @@ void readButtons() {
writeLogComment(loopmillis, "Disarmed by button");
}
}
*/
}