adapted PID

vscode/Unendlichkeitsmaschine/include/main.hpp

@@ -1,8 +1,8 @@
 #ifndef 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_TIMESTAMP "timestamp"
@@ -19,7 +19,7 @@
 #include "capportal.hpp"
 #include <esp32-hal-timer.h>
 
-#define HAS_MQTT
+//#define HAS_MQTT
 #ifdef HAS_MQTT
 #include "mqtt.hpp"
 #include "json.hpp"
@@ -78,7 +78,7 @@ const char *Data_units[ALL_DATA_COUNT] =
 const float Data_units_factor[ALL_DATA_COUNT] = 
 {
     //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; 

vscode/Unendlichkeitsmaschine/src/main.cpp

@@ -59,8 +59,7 @@ void setup()
   #endif
 
   Store.begin();
-  data_init();
+  
-
   Serial.println("Init ETC ...");
   ESC.attach(ESC_PIN,1000,2000); 
 
@@ -71,6 +70,8 @@ void setup()
     ESC.write(0);
   }
 
+  data_init();
+
   // Initialise  timer
   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
@@ -113,17 +114,17 @@ void loop()
 
   count_secs(&run_time);
   speed_set();
-  data_check();
+  //data_check();
   data_store();
 
   #ifdef HAS_MQTT
   mqtt.send_and_loop("infinity/data", json.create_json_string(AllData, ALL_DATA_COUNT, run_time));
   #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)
@@ -199,6 +200,7 @@ void data_init()
   #endif
   last_speed = 0;
   speed = 0;
+  unsigned long current_millis = millis();
   for (uint8_t i = 0; i < ALL_DATA_COUNT; i ++)
   {
     AllData[i].name = Data_names[i];
@@ -208,16 +210,21 @@ void data_init()
     AllData[i].period_ticks = 0;
     #ifdef MACHINE_RESTART
     AllData[i].ticks = 0;
+    AllData[i].timestamp = 0;
     #else
     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));
+    if(i != 0)
+    {
+      AllData[i].value = (AllData[i].ticks * AllData[i].unit_factor);
+    }
     #endif
-    AllData[i].last_update_ms = 0;
+    AllData[i].last_update_ms = current_millis;
-    AllData[i].timestamp = 0;
+
   }
-  delay(500);
 }
 
+/*
 void data_check()
 {
   unsigned long current_millis = millis();
@@ -235,23 +242,23 @@ void data_check()
                 );
   
   */
+
+  /*
   if(current_millis - speedchanged_ms >= UPDATE_TURN_VALUES_EVERY_MS)
   {
-
-
     HallData[0].value = (HallData[0].period_ticks * HallData[0].unit_factor);
     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);
     speedchanged_ms = current_millis;
   }
 
-
   for(uint8_t nr = 1; nr < HALL_SENSORS_COUNT; nr++)
   {
     HallData[nr].value = (HallData[nr].ticks * HallData[nr].unit_factor);
     HallData[nr].period_ticks = 0;
   }
 }
+*/
 
 void data_store()
 {
@@ -278,70 +285,81 @@ void IRAM_ATTR ISR_HALL1()
   HallData[hallnr].ticks++;
   HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
+  // 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();
+  }
+  */
 }
 
 void IRAM_ATTR ISR_HALL2()
 {
   const uint8_t hallnr = 1;
   HallData[hallnr].ticks++;
-  HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
   HallData[hallnr].last_update_ms = millis();
+  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
 }
 
 void IRAM_ATTR ISR_HALL3()
 {
   const uint8_t hallnr = 2;
   HallData[hallnr].ticks++;
-  HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
   HallData[hallnr].last_update_ms = millis();
+  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
 }
 
 void IRAM_ATTR ISR_HALL4()
 {
   const uint8_t hallnr = 3;
   HallData[hallnr].ticks++;
-  HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
   HallData[hallnr].last_update_ms = millis();
+  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
 }
 
 void IRAM_ATTR ISR_HALL5()
 {
   const uint8_t hallnr = 4;
   HallData[hallnr].ticks++;
-  HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
   HallData[hallnr].last_update_ms = millis();
+  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
 }
 
 void IRAM_ATTR ISR_HALL6()
 {
   const uint8_t hallnr = 5;
   HallData[hallnr].ticks++;
-  HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
   HallData[hallnr].last_update_ms = millis();
+  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
 }
 
 void IRAM_ATTR ISR_HALL7()
 {
   const uint8_t hallnr = 6;
   HallData[hallnr].ticks++;
-  HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
   HallData[hallnr].last_update_ms = millis();
+  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
 }
 
 void IRAM_ATTR ISR_HALL8()
 {
   const uint8_t hallnr = 7;
   HallData[hallnr].ticks++;
-  HallData[hallnr].period_ticks++;
   HallData[hallnr].timestamp = run_time;
   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;
 
   //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
   last_error = err;
 
   //Ansteuerung des Outputs
   
-  ESC.write(esc_output); 
+  //ESC.write(50); 
 }
 
 //this code is just for generating dummy data - in normal use not needed