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adapted PID

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jenoack 2023-03-13 19:48:07 +01:00
parent f379b9c34f
commit 3a69935127
2 changed files with 46 additions and 28 deletions
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8
vscode/Unendlichkeitsmaschine/include/main.hpp
View file

@ -1,8 +1,8 @@
#ifndef MAIN_HPP #ifndef MAIN_HPP
#define MAIN_HPP #define MAIN_HPP
#define MACHINE_RESTART //#define MACHINE_RESTART
#define DUMMY_DATA //#define DUMMY_DATA
#define EEPROM_NAME_TICK "hall_tick" #define EEPROM_NAME_TICK "hall_tick"
#define EEPROM_NAME_TIMESTAMP "timestamp" #define EEPROM_NAME_TIMESTAMP "timestamp"
@ -19,7 +19,7 @@
#include "capportal.hpp" #include "capportal.hpp"
#include <esp32-hal-timer.h> #include <esp32-hal-timer.h>
#define HAS_MQTT //#define HAS_MQTT
#ifdef HAS_MQTT #ifdef HAS_MQTT
#include "mqtt.hpp" #include "mqtt.hpp"
#include "json.hpp" #include "json.hpp"
@ -78,7 +78,7 @@ const char *Data_units[ALL_DATA_COUNT] =
const float Data_units_factor[ALL_DATA_COUNT] = const float Data_units_factor[ALL_DATA_COUNT] =
{ {
//Hall sensors //Hall sensors
(60000.0/UPDATE_TURN_VALUES_EVERY_MS)/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN 60000.0, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN, 1.0/HALL_TICKS_PER_TURN
}; };
const char ** Hall_names = Data_names; const char ** Hall_names = Data_names;

62
vscode/Unendlichkeitsmaschine/src/main.cpp
View file

@ -59,7 +59,6 @@ void setup()
#endif #endif
Store.begin(); Store.begin();
data_init();
Serial.println("Init ETC ..."); Serial.println("Init ETC ...");
ESC.attach(ESC_PIN,1000,2000); ESC.attach(ESC_PIN,1000,2000);
@ -71,6 +70,8 @@ void setup()
ESC.write(0); ESC.write(0);
} }
data_init();
// Initialise timer // Initialise timer
timer = timerBegin(0, 80, true); // Timer 0, Prescaler 80, zähle im Up-Modus timer = timerBegin(0, 80, true); // Timer 0, Prescaler 80, zähle im Up-Modus
timerAttachInterrupt(timer, &ISR_onTimer, true); // Setze den Interrupt-Handler und aktiviere den Interrupt auf steigende Flanke timerAttachInterrupt(timer, &ISR_onTimer, true); // Setze den Interrupt-Handler und aktiviere den Interrupt auf steigende Flanke
@ -113,17 +114,17 @@ void loop()
count_secs(&run_time); count_secs(&run_time);
speed_set(); speed_set();
data_check(); //data_check();
data_store(); data_store();
#ifdef HAS_MQTT #ifdef HAS_MQTT
mqtt.send_and_loop("infinity/data", json.create_json_string(AllData, ALL_DATA_COUNT, run_time)); mqtt.send_and_loop("infinity/data", json.create_json_string(AllData, ALL_DATA_COUNT, run_time));
#endif #endif
display.show_values(speed, MIN_ESC_SPEED, MAX_ESC_SPEED, HallData, HALL_SENSORS_COUNT, run_time, capportal.localIP()); display.show_values(speed, MIN_SPEED, MAX_SPEED, HallData, HALL_SENSORS_COUNT, run_time, capportal.localIP());
// Serial.printf("PID ... (goal: %06.3f, current: %06.3f, err: %06.3f, integ: %06.3f, derive: %06.3f, output=%06.3f), esc_output=%06.3f \n", goal_speed, current_speed, err, integ, derivative, output, esc_output);
Serial.printf("PID ... (goal: %06.3f, current: %06.3f, err: %06.3f, integ: %06.3f, derive: %06.3f, output=%06.3f), esc_output=%06.3f \n", goal_speed, current_speed, err, integ, derivative, output, esc_output);
ESC.write(50);
} }
void count_secs(time_t* run_time) void count_secs(time_t* run_time)
@ -199,6 +200,7 @@ void data_init()
#endif #endif
last_speed = 0; last_speed = 0;
speed = 0; speed = 0;
unsigned long current_millis = millis();
for (uint8_t i = 0; i < ALL_DATA_COUNT; i ++) for (uint8_t i = 0; i < ALL_DATA_COUNT; i ++)
{ {
AllData[i].name = Data_names[i]; AllData[i].name = Data_names[i];
@ -208,16 +210,21 @@ void data_init()
AllData[i].period_ticks = 0; AllData[i].period_ticks = 0;
#ifdef MACHINE_RESTART #ifdef MACHINE_RESTART
AllData[i].ticks = 0; AllData[i].ticks = 0;
AllData[i].timestamp = 0;
#else #else
AllData[i].ticks = Store.get_int(EEPROM_NAME_TICK+String(i)); AllData[i].ticks = Store.get_int(EEPROM_NAME_TICK+String(i));
AllData[i].timestamp = Store.get_int(EEPROM_NAME_TIMESTAMP+String(i)); AllData[i].timestamp = Store.get_int(EEPROM_NAME_TIMESTAMP+String(i));
#endif if(i != 0)
AllData[i].last_update_ms = 0; {
AllData[i].timestamp = 0; AllData[i].value = (AllData[i].ticks * AllData[i].unit_factor);
}
#endif
AllData[i].last_update_ms = current_millis;
} }
delay(500);
} }
/*
void data_check() void data_check()
{ {
unsigned long current_millis = millis(); unsigned long current_millis = millis();
@ -235,23 +242,23 @@ void data_check()
); );
*/ */
/*
if(current_millis - speedchanged_ms >= UPDATE_TURN_VALUES_EVERY_MS) if(current_millis - speedchanged_ms >= UPDATE_TURN_VALUES_EVERY_MS)
{ {
HallData[0].value = (HallData[0].period_ticks * HallData[0].unit_factor); HallData[0].value = (HallData[0].period_ticks * HallData[0].unit_factor);
HallData[0].period_ticks = 0; HallData[0].period_ticks = 0;
Serial.printf("current_millis: %lu goal speed: %lu calc speed: %f (%lu ticks in %lu ms) \n", current_millis, speed, HallData[0].value, current_millis - speedchanged_ms); Serial.printf("current_millis: %lu goal speed: %lu calc speed: %f (%lu ticks in %lu ms) \n", current_millis, speed, HallData[0].value, current_millis - speedchanged_ms);
speedchanged_ms = current_millis; speedchanged_ms = current_millis;
} }
for(uint8_t nr = 1; nr < HALL_SENSORS_COUNT; nr++) for(uint8_t nr = 1; nr < HALL_SENSORS_COUNT; nr++)
{ {
HallData[nr].value = (HallData[nr].ticks * HallData[nr].unit_factor); HallData[nr].value = (HallData[nr].ticks * HallData[nr].unit_factor);
HallData[nr].period_ticks = 0; HallData[nr].period_ticks = 0;
} }
} }
*/
void data_store() void data_store()
{ {
@ -278,70 +285,81 @@ void IRAM_ATTR ISR_HALL1()
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++; HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
// each 4 ticks is one turn
// so we calculate speed each 4 ticks... just in case we check for bigger ...
/*
if(HallData[hallnr].period_ticks >= HALL_TICKS_PER_TURN){
HallData[hallnr].period_ticks = 0;
if(HallData[hallnr].last_update_ms != 0)
{
HallData[hallnr].value = HallData[hallnr].unit_factor / HallData[hallnr].last_update_ms;
}
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
} }
*/
}
void IRAM_ATTR ISR_HALL2() void IRAM_ATTR ISR_HALL2()
{ {
const uint8_t hallnr = 1; const uint8_t hallnr = 1;
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
//HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
} }
void IRAM_ATTR ISR_HALL3() void IRAM_ATTR ISR_HALL3()
{ {
const uint8_t hallnr = 2; const uint8_t hallnr = 2;
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
//HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
} }
void IRAM_ATTR ISR_HALL4() void IRAM_ATTR ISR_HALL4()
{ {
const uint8_t hallnr = 3; const uint8_t hallnr = 3;
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
//HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
} }
void IRAM_ATTR ISR_HALL5() void IRAM_ATTR ISR_HALL5()
{ {
const uint8_t hallnr = 4; const uint8_t hallnr = 4;
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
//HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
} }
void IRAM_ATTR ISR_HALL6() void IRAM_ATTR ISR_HALL6()
{ {
const uint8_t hallnr = 5; const uint8_t hallnr = 5;
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
//HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
} }
void IRAM_ATTR ISR_HALL7() void IRAM_ATTR ISR_HALL7()
{ {
const uint8_t hallnr = 6; const uint8_t hallnr = 6;
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
//HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
} }
void IRAM_ATTR ISR_HALL8() void IRAM_ATTR ISR_HALL8()
{ {
const uint8_t hallnr = 7; const uint8_t hallnr = 7;
HallData[hallnr].ticks++; HallData[hallnr].ticks++;
HallData[hallnr].period_ticks++;
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
HallData[hallnr].last_update_ms = millis(); HallData[hallnr].last_update_ms = millis();
//HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
} }
@ -356,15 +374,15 @@ void IRAM_ATTR ISR_onTimer()
output = kp * err + ki * integ + kd * derivative; output = kp * err + ki * integ + kd * derivative;
//Beschränkung der Ausgabe //Beschränkung der Ausgabe
esc_output = constrain(output, MIN_ESC_SPEED, MAX_ESC_SPEED); esc_output = MIN_ESC_SPEED + constrain(output, 0, MAX_ESC_SPEED - MIN_ESC_SPEED);
//Serial.printf("PID ... (goal: %f, current: %06.3f, err: %06.3f, integ: %06.3f, derive: 06.3%f) output=%06.3f \n", goal_speed, current_speed, err, integ, derivative, output); //Serial.printf("PID ... (goal: %f, current: %06.3f, err: %06.3f, integ: %06.3f, derive: %06.3f) output=%06.3f \n", goal_speed, current_speed, err, integ, derivative, output);
//Aktualisierung der letzten Fehler- und Zeitwerte //Aktualisierung der letzten Fehler- und Zeitwerte
last_error = err; last_error = err;
//Ansteuerung des Outputs //Ansteuerung des Outputs
ESC.write(esc_output); //ESC.write(50);
} }
//this code is just for generating dummy data - in normal use not needed //this code is just for generating dummy data - in normal use not needed