Add ControlMode For Hover
Signed-off-by: Lukas Bachschwell <lukas@lbsfilm.at>
This commit is contained in:
parent
f061d98098
commit
b1050c300c
GPG Key ID:
CCC6AA87CC8DF425
@ -35,6 +35,6 @@ monitor_speed = 115200
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lib_deps =
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# ServoESP32
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olikraus/U8g2@^2.35.19
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DallasTemperature
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# olikraus/U8g2@^2.35.19
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# DallasTemperature
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Adafruit NeoPixel
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@ -31,6 +31,7 @@
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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 DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
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#define wheelCircumference 52.00
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#define HoverSerial Serial2
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// GPIOS: 16:RXD 17:TXD
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@ -42,11 +43,20 @@ 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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uint8_t sendTemperature = 0;
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uint8_t sendTemperatureDecimals = 0;
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uint8_t sendVoltage = 0;
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uint8_t sendVoltageDecimals = 0;
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uint8_t sendSpeed = 0;
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uint8_t sendSpeedDecimals = 0;
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int16_t ctrl_mode = 1;
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typedef struct
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{
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uint16_t start;
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int16_t steer;
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int16_t speed;
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int16_t ctrl_mode; // 1 vlt // 2 trq
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uint16_t checksum;
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} SerialCommand;
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SerialCommand Command;
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@ -83,7 +93,8 @@ void Send(int16_t uSteer, int16_t uSpeed)
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Command.start = (uint16_t)START_FRAME;
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Command.steer = (int16_t)uSteer;
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Command.speed = (int16_t)uSpeed;
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Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed);
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Command.ctrl_mode = (int16_t)ctrl_mode;
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Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed ^ Command.ctrl_mode);
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// Write to Serial
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HoverSerial.write((uint8_t *)&Command, sizeof(Command));
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@ -148,6 +159,26 @@ void Receive()
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Serial.print(Feedback.boardTemp);
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Serial.print(" 7: ");
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Serial.println(Feedback.cmdLed);
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sendVoltage = abs(floor(Feedback.batVoltage / 100));
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sendVoltageDecimals = Feedback.batVoltage - sendVoltage * 100;
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Serial.println();
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Serial.print(" Volt: ");
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Serial.print(sendVoltage);
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Serial.print(" . ");
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Serial.println(sendVoltageDecimals);
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sendTemperature = abs(floor(Feedback.boardTemp / 10));
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sendTemperatureDecimals = Feedback.boardTemp - sendTemperature * 10;
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// average the two rpms and calculate the speed
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// mm/rpm*3600
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float kmh = wheelCircumference * (-Feedback.speedR_meas + Feedback.speedL_meas) / 2 * 60 / 100000;
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// Serial.print(kmh); Serial.print(" "); Serial.println(direction[0]);
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Serial.printf("KMH, %f0.2\n", kmh);
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sendSpeed = abs(floor(kmh));
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sendSpeedDecimals = (kmh - sendSpeed) * 100;
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}
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else
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{
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@ -40,7 +40,7 @@ Servo esc2;
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SSD1306 display(0x3c, 5, 4);
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#endif
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OneWire oneWire(ONE_WIRE_BUS);
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// OneWire oneWire(ONE_WIRE_BUS);
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// DallasTemperature sensors(&oneWire); // one instance for all sensrs
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esp_now_peer_info_t remote;
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@ -49,12 +49,14 @@ float temperature = 0;
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float voltage = 0;
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float kmh = 0;
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#ifndef VARIANT_HOVER
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uint8_t sendTemperature = 0;
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uint8_t sendTemperatureDecimals = 0;
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uint8_t sendVoltage = 0;
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uint8_t sendVoltageDecimals = 0;
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uint8_t sendSpeed = 0;
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uint8_t sendSpeedDecimals = 0;
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#endif
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#include "rpm.h"
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@ -85,6 +87,9 @@ void setBoardOptions(uint8_t options)
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lightMode = options & 3;
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lightActive = (options >> 3) & 1;
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fanMode = (options >> 2) & 3;
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#ifdef VARIANT_HOVER
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ctrl_mode = fanMode;
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#endif
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}
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// ESPNOW Functions ############################
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@ -287,6 +292,7 @@ bool manageRemote()
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// end ESPNOW functions
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#ifndef VARIANT_HOVER
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void checkTemperature()
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{
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// sensors.requestTemperatures(); // Send the command to get temperatures
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@ -338,6 +344,7 @@ void checkVoltage()
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// Serial.println(batteryVoltage);
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digitalWrite(voltageEnable, LOW); // change to low
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}
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#endif
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void setup()
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{
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127
src/rpm.h
127
src/rpm.h
@ -25,39 +25,38 @@ int direction[2] = {0, 0};
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long rpmTimer = 0;
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// Zero states are non existant
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int motorPosition[2][2][2] {
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{
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{0, 1},
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{3, 2}
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},
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{
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{5, 6},
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{4, 0}
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}
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};
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int motorPosition[2][2][2]{
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{{0, 1},
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{3, 2}},
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{{5, 6},
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{4, 0}}};
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// old state, new state
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int relativeLookup[6][6] {
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{ 0, 1, 2, 3,-2,-1}, // 1
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{-1, 0, 1, 2, 3,-1}, // 2
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{-2,-1, 0, 1, 2, 3}, // 3
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{-3,-2,-1, 0, 1, 2}, // 4
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{ 1,-3,-2,-1, 0, 1}, // 5
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{ 1, 2,-3,-2,-1, 0} // 6
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int relativeLookup[6][6]{
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{0, 1, 2, 3, -2, -1}, // 1
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{-1, 0, 1, 2, 3, -1}, // 2
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{-2, -1, 0, 1, 2, 3}, // 3
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{-3, -2, -1, 0, 1, 2}, // 4
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{1, -3, -2, -1, 0, 1}, // 5
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{1, 2, -3, -2, -1, 0} // 6
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};
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#define PCNT_UNIT_LEFT PCNT_UNIT_0
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#define PCNT_UNIT_RIGHT PCNT_UNIT_1
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int getState(bool isLeft) {
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if(isLeft) {
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int getState(bool isLeft)
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{
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if (isLeft)
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{
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return motorPosition[digitalRead(halBlueLeft)][digitalRead(halYellowLeft)][digitalRead(halGreenLeft)];
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} else {
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}
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else
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{
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return motorPosition[digitalRead(halBlueRight)][digitalRead(halYellowRight)][digitalRead(halGreenRight)];
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}
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}
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void initRPMPins() {
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void initRPMPins()
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{
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pinMode(halBlueLeft, INPUT_PULLUP);
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pinMode(halYellowLeft, INPUT_PULLUP);
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pinMode(halGreenLeft, INPUT_PULLUP);
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@ -68,35 +67,32 @@ void initRPMPins() {
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// init counter
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pcnt_config_t pcnt_config_left = {
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.pulse_gpio_num = halBlueLeft,
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.ctrl_gpio_num = PCNT_PIN_NOT_USED,
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.lctrl_mode = PCNT_MODE_KEEP,
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.hctrl_mode = PCNT_MODE_KEEP,
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.pos_mode = PCNT_COUNT_INC, // count both rising and falling edges
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.neg_mode = PCNT_COUNT_INC,
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.counter_h_lim = 32767,
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.counter_l_lim = -1,
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.unit = PCNT_UNIT_LEFT,
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.channel = PCNT_CHANNEL_0
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};
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.pulse_gpio_num = halBlueLeft,
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.ctrl_gpio_num = PCNT_PIN_NOT_USED,
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.lctrl_mode = PCNT_MODE_KEEP,
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.hctrl_mode = PCNT_MODE_KEEP,
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.pos_mode = PCNT_COUNT_INC, // count both rising and falling edges
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.neg_mode = PCNT_COUNT_INC,
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.counter_h_lim = 32767,
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.counter_l_lim = -1,
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.unit = PCNT_UNIT_LEFT,
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.channel = PCNT_CHANNEL_0};
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pcnt_config_t pcnt_config_right = {
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.pulse_gpio_num = halBlueRight,
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.ctrl_gpio_num = PCNT_PIN_NOT_USED,
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.lctrl_mode = PCNT_MODE_KEEP,
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.hctrl_mode = PCNT_MODE_KEEP,
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.pos_mode = PCNT_COUNT_INC, // count both rising and falling edges
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.neg_mode = PCNT_COUNT_INC,
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.counter_h_lim = 32767,
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.counter_l_lim = -1,
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.unit = PCNT_UNIT_RIGHT,
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.channel = PCNT_CHANNEL_0
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};
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.pulse_gpio_num = halBlueRight,
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.ctrl_gpio_num = PCNT_PIN_NOT_USED,
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.lctrl_mode = PCNT_MODE_KEEP,
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.hctrl_mode = PCNT_MODE_KEEP,
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.pos_mode = PCNT_COUNT_INC, // count both rising and falling edges
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.neg_mode = PCNT_COUNT_INC,
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.counter_h_lim = 32767,
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.counter_l_lim = -1,
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.unit = PCNT_UNIT_RIGHT,
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.channel = PCNT_CHANNEL_0};
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pcnt_unit_config(&pcnt_config_left);
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pcnt_unit_config(&pcnt_config_right);
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pcnt_counter_pause(PCNT_UNIT_LEFT);
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pcnt_counter_pause(PCNT_UNIT_RIGHT);
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@ -105,13 +101,15 @@ void initRPMPins() {
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pcnt_counter_resume(PCNT_UNIT_LEFT);
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pcnt_counter_resume(PCNT_UNIT_RIGHT);
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}
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void measureRpm(void * parameter) {
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void measureRpm(void *parameter)
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{
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while(true) {
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if(millis()-rpmTimer>250) {
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while (true)
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{
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if (millis() - rpmTimer > 250)
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{
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// read counters
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pcnt_get_counter_value(PCNT_UNIT_LEFT, &counter[1]);
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pcnt_get_counter_value(PCNT_UNIT_RIGHT, &counter[0]);
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@ -119,11 +117,10 @@ void measureRpm(void * parameter) {
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pcnt_counter_clear(PCNT_UNIT_LEFT);
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pcnt_counter_clear(PCNT_UNIT_RIGHT);
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rpmRight = (counter[0]/pulsesPerRotation)*4;
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rpmLeft = (counter[1]/pulsesPerRotation)*4;
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kmh = (wheelCircumference/100) * (rpmRight+rpmLeft)/2 * 3600/1000;
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//Serial.print(kmh); Serial.print(" "); Serial.println(direction[0]);
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rpmRight = (counter[0] / pulsesPerRotation) * 4; // LB: Actually only rps
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rpmLeft = (counter[1] / pulsesPerRotation) * 4;
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kmh = (wheelCircumference / 100) * (rpmRight + rpmLeft) / 2 * 3600 / 1000;
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// Serial.print(kmh); Serial.print(" "); Serial.println(direction[0]);
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sendSpeed = abs(floor(kmh));
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sendSpeedDecimals = (kmh - sendSpeed) * 100;
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counter[true] = 0;
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@ -132,20 +129,28 @@ void measureRpm(void * parameter) {
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}
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int state = getState(0);
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if(lastState[0] != state) {
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if(relativeLookup[lastState[0]-1][state-1] > 0) {
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if (lastState[0] != state)
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{
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if (relativeLookup[lastState[0] - 1][state - 1] > 0)
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{
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direction[0] = FORWARD;
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} else {
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}
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else
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{
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direction[0] = BACKWARD;
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}
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lastState[0] = state;
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}
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state = getState(1);
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if(lastState[1] != state) {
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if(relativeLookup[lastState[1]-1][state-1] > 0) {
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if (lastState[1] != state)
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{
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if (relativeLookup[lastState[1] - 1][state - 1] > 0)
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{
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direction[1] = FORWARD;
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} else {
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}
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else
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{
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direction[1] = BACKWARD;
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}
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@ -154,4 +159,4 @@ void measureRpm(void * parameter) {
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vTaskDelay(1 / portTICK_PERIOD_MS);
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}
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}
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}
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162
src/settings.h
162
src/settings.h
@ -28,27 +28,25 @@ bool settingsChangeFlag = false;
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bool settingsChangeValueFlag = false;
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const char *settingPages[SETTINGS_COUNT] = {
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"Page Display",
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"LimitMode",
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"FanOveride",
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"Wheel diameter",
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"Light Mode",
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"Throttle Min",
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"Throttle Center",
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"Throttle Max"
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};
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"Page Display",
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"LimitMode",
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"CTRL Mode", // OLD FAN OVERRIDE
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"Wheel diameter",
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"Light Mode",
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"Throttle Min",
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"Throttle Center",
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"Throttle Max"};
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// Setting rules format: default, min, max.
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int settingRules[SETTINGS_COUNT][3] {
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{0, 0, 3}, //page: 0 cycle, 1 speed, 2 volt, 3 temp
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{0, 0, 1}, //limit default is no limit
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{0, 0, 2}, //fan 0 no, 1 on, 2 off
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{83, 0, 250}, // wheel mm
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{0, 0, 3}, // LightMode
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{HAL_MIN, 1000, 3000},
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{HAL_CENTER, 1000, 3000},
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{HAL_MAX, 1000, 3000}
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};
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int settingRules[SETTINGS_COUNT][3]{
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{0, 0, 3}, // page: 0 cycle, 1 speed, 2 volt, 3 temp
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{0, 0, 1}, // limit default is no limit
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{0, 0, 2}, // fan 0 no, 1 on, 2 off // CTRL Mode 0 and 1 vlt 2 is torq
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{83, 0, 250}, // wheel mm
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{0, 0, 3}, // LightMode
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{HAL_MIN, 1000, 3000},
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{HAL_CENTER, 1000, 3000},
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{HAL_MAX, 1000, 3000}};
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/*
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const char *settingAliases[SETTINGS_COUNT] = {
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"Off", "ON"
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@ -60,24 +58,28 @@ int settingRules[SETTINGS_COUNT][3] {
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};
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*/
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// Check if an integer is within a min and max value
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bool inRange(int val, int minimum, int maximum) {
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bool inRange(int val, int minimum, int maximum)
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{
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return ((minimum <= val) && (val <= maximum));
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}
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void updateBoardOptions() {
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void updateBoardOptions()
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{
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boardOptions = 0;
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boardOptions |= (uint8_t) settings[fanOveride] << 2;
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boardOptions |= (uint8_t)settings[fanOveride] << 2;
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boardOptions |= boardOptions | (uint8_t) lightActive << 3;
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boardOptions |= boardOptions | (uint8_t) settings[lightMode];
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DEBUG_PRINT("board: "); DEBUG_PRINTLN(boardOptions);
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boardOptions |= boardOptions | (uint8_t)lightActive << 3;
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boardOptions |= boardOptions | (uint8_t)settings[lightMode];
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DEBUG_PRINT("board: ");
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DEBUG_PRINTLN(boardOptions);
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}
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void updateSettings() {
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void updateSettings()
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{
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preferences.begin("remote-set", false);
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for (int i = 0; i < SETTINGS_COUNT; i++) {
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for (int i = 0; i < SETTINGS_COUNT; i++)
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{
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preferences.putInt(settingPages[i], settings[i]);
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}
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@ -86,48 +88,59 @@ void updateSettings() {
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preferences.begin("remote-set", false);
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DEBUG_PRINTLN(preferences.getInt(settingPages[0], 0));
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preferences.end();
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//calculateRatios();
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// calculateRatios();
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updateBoardOptions();
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}
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void setDefaultSettings() {
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for (int i = 0; i < SETTINGS_COUNT; i++) {
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void setDefaultSettings()
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{
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for (int i = 0; i < SETTINGS_COUNT; i++)
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{
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settings[i] = settingRules[i][0];
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}
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updateSettings();
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}
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void loadSettings() {
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void loadSettings()
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{
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preferences.begin("remote-set", false);
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for (int i = 0; i < SETTINGS_COUNT; i++) {
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for (int i = 0; i < SETTINGS_COUNT; i++)
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{
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settings[i] = preferences.getInt(settingPages[i], settingRules[i][0]); // retrieve default value
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}
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preferences.end();
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bool rewriteSettings = false;
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// Loop through all settings to check if everything is fine
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for (int i = 0; i < SETTINGS_COUNT; i++) {
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for (int i = 0; i < SETTINGS_COUNT; i++)
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{
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int val = settings[i];
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if (!inRange(val, settingRules[i][1], settingRules[i][2])) {
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if (!inRange(val, settingRules[i][1], settingRules[i][2]))
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{
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// Setting is damaged or never written. Rewrite default.
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rewriteSettings = true;
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settings[i] = settingRules[i][0];
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}
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}
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if (rewriteSettings == true) {
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if (rewriteSettings == true)
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{
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updateSettings();
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} else {
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}
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else
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{
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// Calculate constants
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//calculateRatios();
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// calculateRatios();
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updateBoardOptions();
|
||||
}
|
||||
}
|
||||
|
||||
void drawSettingsMenu() {
|
||||
void drawSettingsMenu()
|
||||
{
|
||||
// Position on OLED
|
||||
int x = 0; int y = 10;
|
||||
int x = 0;
|
||||
int y = 10;
|
||||
|
||||
// Draw setting title
|
||||
displayString = settingPages[currentSetting];
|
||||
@ -140,18 +153,23 @@ void drawSettingsMenu() {
|
||||
|
||||
displayString = (String)val + ""; //+ settingPages[currentSetting][1];
|
||||
displayString.toCharArray(displayBuffer, displayString.length() + 1);
|
||||
u8g2.setFont(u8g2_font_10x20_tr );
|
||||
u8g2.setFont(u8g2_font_10x20_tr);
|
||||
|
||||
if (changeSelectedSetting == true) {
|
||||
if (changeSelectedSetting == true)
|
||||
{
|
||||
u8g2.drawStr(x + 10, y + 20, displayBuffer);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
u8g2.drawStr(x, y + 20, displayBuffer);
|
||||
}
|
||||
}
|
||||
|
||||
void drawSettingNumber() {
|
||||
void drawSettingNumber()
|
||||
{
|
||||
// Position on OLED
|
||||
int x = 2; int y = 10;
|
||||
int x = 2;
|
||||
int y = 10;
|
||||
|
||||
// Draw current setting number box
|
||||
u8g2.drawRFrame(x + 102, y - 10, 22, 32, 4);
|
||||
@ -176,55 +194,75 @@ void drawSettingNumber() {
|
||||
ratioPulseDistance = (gearRatio * (float)remoteSettings.wheelDiameter * 3.14156) / (((float)remoteSettings.motorPoles * 3) * 1000000); // Pulses to km travelled
|
||||
}
|
||||
*/
|
||||
void controlSettingsMenu() {
|
||||
if (triggerActive()) {
|
||||
if (settingsChangeFlag == false) {
|
||||
void controlSettingsMenu()
|
||||
{
|
||||
if (triggerActive())
|
||||
{
|
||||
if (settingsChangeFlag == false)
|
||||
{
|
||||
|
||||
// Save settings
|
||||
if (changeSelectedSetting == true) {
|
||||
if (changeSelectedSetting == true)
|
||||
{
|
||||
updateSettings();
|
||||
}
|
||||
|
||||
changeSelectedSetting = !changeSelectedSetting;
|
||||
settingsChangeFlag = true;
|
||||
}
|
||||
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
settingsChangeFlag = false;
|
||||
}
|
||||
|
||||
if (hallMeasurement >= (settings[maxHallValue] - 250) && settingsLoopFlag == false) {
|
||||
if (hallMeasurement >= (settings[maxHallValue] - 250) && settingsLoopFlag == false)
|
||||
{
|
||||
// Up
|
||||
if (changeSelectedSetting == true) {
|
||||
if (changeSelectedSetting == true)
|
||||
{
|
||||
int val = settings[currentSetting] - 1;
|
||||
|
||||
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2])) {
|
||||
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2]))
|
||||
{
|
||||
settings[currentSetting] = val;
|
||||
|
||||
settingsLoopFlag = true;
|
||||
}
|
||||
} else {
|
||||
if (currentSetting != 0) {
|
||||
}
|
||||
else
|
||||
{
|
||||
if (currentSetting != 0)
|
||||
{
|
||||
currentSetting--;
|
||||
settingsLoopFlag = true;
|
||||
}
|
||||
}
|
||||
} else if (hallMeasurement <= (settings[minHallValue] + 250) && settingsLoopFlag == false) {
|
||||
}
|
||||
else if (hallMeasurement <= (settings[minHallValue] + 250) && settingsLoopFlag == false)
|
||||
{
|
||||
// Down
|
||||
if (changeSelectedSetting == true) {
|
||||
if (changeSelectedSetting == true)
|
||||
{
|
||||
int val = settings[currentSetting] + 1;
|
||||
|
||||
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2])) {
|
||||
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2]))
|
||||
{
|
||||
settings[currentSetting] = val;
|
||||
settingsLoopFlag = true;
|
||||
}
|
||||
} else {
|
||||
if (currentSetting < (SETTINGS_COUNT - 1)) {
|
||||
}
|
||||
else
|
||||
{
|
||||
if (currentSetting < (SETTINGS_COUNT - 1))
|
||||
{
|
||||
currentSetting++;
|
||||
settingsLoopFlag = true;
|
||||
}
|
||||
}
|
||||
} else if (inRange(hallMeasurement, settings[centerHallValue] - 50, settings[centerHallValue] + 50)) {
|
||||
}
|
||||
else if (inRange(hallMeasurement, settings[centerHallValue] - 50, settings[centerHallValue] + 50))
|
||||
{
|
||||
settingsLoopFlag = false;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user