copy functions from bobbycar code
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#include "hoverboard-esc-serial-comm.h"
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ESCSerialComm::ESCSerialComm() { //constructor
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ESCSerialComm::ESCSerialComm(HardwareSerial &_serialRef) { //constructor
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serialRef=&_serialRef;
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wheelcircumference=0.5278; //8.4cm radius -> 0.084m*2*Pi
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}
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void ESCSerialComm::update(long millis, boolean state) //example function
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void ESCSerialComm::setSpeed(int16_t uSpeedLeft, int16_t uSpeedRight)
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{
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//Do stuff
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Motorparams.cmdL=uSpeedLeft;
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Motorparams.cmdR=uSpeedRight;
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}
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bool ESCSerialComm::update(long millis) //returns true if something was sent or received
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{
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loopmillis=millis;
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bool flag_sent=false;
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bool flag_received=ReceiveSerial();
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if (flag_received) {
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updateMotorparams();
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}
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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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if (controller_connected) {
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SendSerial(Motorparams.cmdL,Motorparams.cmdR);
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flag_sent=true;
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//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
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}
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//Update speed and trip
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float _meanRPM=(Feedback.speedL_meas-Feedback.speedR_meas)/2.0;
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meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
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trip+=abs(meanSpeedms)* (SENDPERIOD/1000.0);
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//mah consumed
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currentConsumed += (Motorparams.filtered_curL+Motorparams.filtered_curR)* (SENDPERIOD/1000.0)/3600.0; //amp hours
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}
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return flag_received || flag_sent;
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}
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bool ESCSerialComm::feedbackAvailable()
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{
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return flag_received;
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}
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void ESCSerialComm::SendSerial(int16_t uSpeedLeft, int16_t uSpeedRight)
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{
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// Create command
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Command.start = (uint16_t)START_FRAME;
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Command.speedLeft = (int16_t)uSpeedLeft;
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Command.speedRight = (int16_t)uSpeedRight;
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Command.checksum = (uint16_t)(Command.start ^ Command.speedLeft ^ Command.speedRight);
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serialRef->write((uint8_t *) &Command, sizeof(Command));
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}
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bool ESCSerialComm::ReceiveSerial()
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{
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bool _result=1;
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// Check for new data availability in the Serial buffer
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if ( serialRef->available() ) {
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SRead.incomingByte = serialRef->read(); // Read the incoming byte
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SRead.bufStartFrame = ((uint16_t)(SRead.incomingByte) << 8) | SRead.incomingBytePrev; // Construct the start frame
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}
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else {
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return 0;
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}
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// If DEBUG_RX is defined print all incoming bytes
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#ifdef DEBUG_RX
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Serial.print(SRead.incomingByte);
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#endif
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// Copy received data
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if (SRead.bufStartFrame == START_FRAME) { // Initialize if new data is detected
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SRead.p = (byte *)&NewFeedback;
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*SRead.p++ = SRead.incomingBytePrev;
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*SRead.p++ = SRead.incomingByte;
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SRead.idx = 2;
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} else if (SRead.idx >= 2 && SRead.idx < sizeof(SerialFeedback)) { // Save the new received data
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*SRead.p++ = SRead.incomingByte;
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SRead.idx++;
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}
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// Check if we reached the end of the package
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if (SRead.idx == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2
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^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC ^ NewFeedback.cmdLed);
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// Check validity of the new data
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if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
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// Copy the new data
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memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
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SRead.lastValidDataSerial_time = millis();
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} else {
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_result=0;
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}
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SRead.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
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}
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/*
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// Print data to built-in Serial
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Serial.print("1: "); Serial.print(Feedback.cmd1);
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Serial.print(" 2: "); Serial.print(Feedback.cmd2);
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Serial.print(" 3: "); Serial.print(Feedback.speedR);
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Serial.print(" 4: "); Serial.print(Feedback.speedL);
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Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
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Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
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Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
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Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
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} else {
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Serial.println("Non-valid data skipped");
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}*/
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// Update previous states
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SRead.incomingBytePrev = SRead.incomingByte;
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return _result; //new data was available
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}
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void ESCSerialComm::updateMotorparams() {
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Motorparams.cur_pos++;
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Motorparams.cur_pos%=CURRENT_FILTER_SIZE;
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Motorparams.curL_DC[Motorparams.cur_pos] = -Feedback.curL_DC; //invert so positive current is consumed current. negative then means regenerated
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Motorparams.curR_DC[Motorparams.cur_pos] = -Feedback.curR_DC;
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Motorparams.millis=loopmillis;
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}
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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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float b = *((float *)cmp2);
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return a > b ? -1 : (a < b ? 1 : 0);
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}
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float filterMedian(int16_t* values) {
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float copied_values[CURRENT_FILTER_SIZE];
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for(int i=0;i<CURRENT_FILTER_SIZE;i++) {
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copied_values[i] = values[i]; //TODO: maybe some value filtering/selection here
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}
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float copied_values_length = sizeof(copied_values) / sizeof(copied_values[0]);
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qsort(copied_values, copied_values_length, sizeof(copied_values[0]), sort_desc);
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float mean=copied_values[CURRENT_FILTER_SIZE/2];
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for (uint8_t i=1; i<=CURRENT_MEANVALUECOUNT;i++) {
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mean+=copied_values[CURRENT_FILTER_SIZE/2-i]+copied_values[CURRENT_FILTER_SIZE/2+i]; //add two values around center
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}
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mean/=(1+CURRENT_MEANVALUECOUNT*2);
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return mean;
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}
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@ -3,17 +3,115 @@
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#include <Arduino.h>
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int sort_desc(const void *cmp1, const void *cmp2);
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float filterMedian(int16_t* values);
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#define SERIAL_CONTROL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
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#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
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#define FEEDBACKRECEIVETIMEOUT 500
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// Global variables for serial communication
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typedef struct{
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uint8_t idx = 0; // Index for new data pointer
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uint16_t bufStartFrame; // Buffer Start Frame
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byte *p; // Pointer declaration for the new received data
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byte incomingByte;
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byte incomingBytePrev;
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long lastValidDataSerial_time;
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} SerialRead;
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typedef struct{
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uint16_t start;
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int16_t speedLeft;
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int16_t speedRight;
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uint16_t checksum;
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} SerialCommand;
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typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedL_meas; //left speed is positive when driving forward
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int16_t speedR_meas; //right speed is negatie when driving forward
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC; //negative values are current consumed. positive values mean generated current
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int16_t curR_DC;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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#define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
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#define CURRENT_MEANVALUECOUNT 20 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
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typedef struct{
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int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
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int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
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uint8_t cur_pos=0;
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int16_t cmdL=0;
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int16_t cmdR=0;
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float filtered_curL=0;
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float filtered_curR=0;
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unsigned long millis=0; //time when last message received
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} MotorParameter;
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class ESCSerialComm
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{
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public:
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ESCSerialComm(); //constructor
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void update(long millis, boolean state); //declare example function
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ESCSerialComm(HardwareSerial& _SerialRef); //constructor
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bool update(long millis);
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bool feedbackAvailable();
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void setSpeed(int16_t uSpeedLeft, int16_t uSpeedRight);
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private:
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unsigned long loopmillis;
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long _millis_lastinput; //declare private variable
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HardwareSerial *serialRef;
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bool controller_connected=false;
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float meanSpeedms;
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float trip; //trip distance in meters
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float wheelcircumference; //wheel diameter in m.
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float currentConsumed; //Ah
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unsigned long last_send;
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unsigned long last_receive;
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SerialCommand Command;
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SerialRead SRead;
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SerialFeedback Feedback;
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SerialFeedback NewFeedback;
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MotorParameter Motorparams;
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bool flag_received=false;
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void updateMotorparams();
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void SendSerial(int16_t uSpeedLeft, int16_t uSpeedRight);
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bool ReceiveSerial();
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};
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#endif
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