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oled methods with some errors, speed calculation

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jenoack 2023-03-22 09:11:48 +01:00
parent cdafb2a107
commit ce45893fe9
5 changed files with 100 additions and 33 deletions
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1
vscode/Unendlichkeitsmaschine/include/json.hpp
View file

@ -13,7 +13,6 @@ typedef struct
const char * unit; const char * unit;
double value; double value;
float unit_factor; float unit_factor;
unsigned long prev_update_ms;
unsigned long act_update_ms; unsigned long act_update_ms;
unsigned long timestamp; unsigned long timestamp;
} DataStruct; } DataStruct;

4
vscode/Unendlichkeitsmaschine/include/main.hpp
View file

@ -60,8 +60,8 @@ const unsigned long UPDATE_ESC_EVERY_MS = 500;
const uint8_t HALL_SENSORS_COUNT = 8; // input, sec, min, hour, day, week, month, year const uint8_t HALL_SENSORS_COUNT = 8; // input, sec, min, hour, day, week, month, year
const uint8_t ALL_DATA_COUNT = HALL_SENSORS_COUNT; const uint8_t ALL_DATA_COUNT = HALL_SENSORS_COUNT;
const uint8_t HALL_NR_TURNS = 2; ///number of turns we wait before measuring each time
const uint8_t HALL_TICKS_PER_TURN = 4; const uint8_t HALL_TICKS_PER_TURN = 4;
const uint8_t HALL_NR_TURN = 4;
const uint8_t HALL_MIN_PULSE_MS = 50; const uint8_t HALL_MIN_PULSE_MS = 50;
volatile DataStruct AllData[ALL_DATA_COUNT]; volatile DataStruct AllData[ALL_DATA_COUNT];
@ -101,6 +101,8 @@ const uint8_t HALL6_PIN = 26;
const uint8_t HALL7_PIN = 27; const uint8_t HALL7_PIN = 27;
const uint8_t HALL8_PIN = 14; const uint8_t HALL8_PIN = 14;
const uint8_t TIME_PER_ROUND_VALS = 10;
const uint16_t MIN_SPEED = 800; const uint16_t MIN_SPEED = 800;
const uint16_t MAX_SPEED = 5000; const uint16_t MAX_SPEED = 5000;
const uint8_t MAX_ESC_SPEED = 100; const uint8_t MAX_ESC_SPEED = 100;

4
vscode/Unendlichkeitsmaschine/include/oled.hpp
View file

@ -34,7 +34,9 @@ class Oled
public: public:
void begin(); void begin();
void progressBar(uint8_t i); void progressBar(uint8_t i, String big_text, String small_text1, String small_text2);
void progressBar(uint8_t i, String big_text = "", String small_text1 = "", String small_text2 = "");
void progressBar(uint8_t i, String big_text , String small_text1 = "", String small_text2 = "");
void show_values(int speed, int min_speed, int max_speed, volatile DataStruct *HallData, uint8_t hall_sensors_count, unsigned long runtime, String ipaddr); void show_values(int speed, int min_speed, int max_speed, volatile DataStruct *HallData, uint8_t hall_sensors_count, unsigned long runtime, String ipaddr);
}; };

101
vscode/Unendlichkeitsmaschine/src/main.cpp
View file

@ -3,6 +3,8 @@
int Drehregler; // Ausgabewert des Drehreglers int Drehregler; // Ausgabewert des Drehreglers
int speed; // Das Wort "Geschwindigkeit" steht als Variable für den Ansteuerungswert am ESC. int speed; // Das Wort "Geschwindigkeit" steht als Variable für den Ansteuerungswert am ESC.
int last_speed; int last_speed;
volatile uint8_t time_per_round_pointer = 0;
volatile double time_per_round_ms[TIME_PER_ROUND_VALS];
time_t run_time = 0; time_t run_time = 0;
time_t start_time = 0; time_t start_time = 0;
@ -42,6 +44,7 @@ void data_init();
void speed_get(); void speed_get();
void speed_set(); void speed_set();
void PID(); void PID();
double time_per_round_calc();
void count_secs(time_t* run_time); void count_secs(time_t* run_time);
void get_serial_cmd(); void get_serial_cmd();
@ -59,6 +62,17 @@ void setup()
randomSeed(micros()); randomSeed(micros());
display.begin(); display.begin();
/*
display->setTextAlignment(TEXT_ALIGN_CENTER);
display->setFont(ArialMT_Plain_16);
display->drawString(64, 2, "Init controller");
display->setFont(ArialMT_Plain_10);
display->drawString(64, 40, "You may hear some beeps.");
display->drawString(64, 52, "That's OK! ;-)");
display->display();
*/
capportal.begin(); capportal.begin();
html_content = "<!DOCTYPE html><html><head><meta http-equiv=\"refresh\" content=\"0; url='/_ac'\" /></head><body></body></html>"; html_content = "<!DOCTYPE html><html><head><meta http-equiv=\"refresh\" content=\"0; url='/_ac'\" /></head><body></body></html>";
@ -70,16 +84,21 @@ void setup()
Serial.println("Init ETC ..."); Serial.println("Init ETC ...");
ESC.attach(ESC_PIN,1000,2000); ESC.attach(ESC_PIN,1000,2000);
display.progressBar(0); display.progressBar(0,"Init controller");
ESC.write(180); ESC.write(180);
delay(1000);
display.progressBar(1,"Connect ETC now!");
delay(5000); delay(5000);
display.progressBar(2,"Calibrating ETC", "You may hear some beeps.", "That's OK! ;-)");
ESC.write(0); ESC.write(0);
for(uint8_t i=0;i<=100;i=i+10) for(uint8_t i=3;i<=100;i=i+10)
{ {
display.progressBar(i); display.progressBar(i);
delay(1000); delay(1000);
} }
ESC.write(0); ESC.write(0);
display.progressBar(100,"ETC init done!");
delay(1000);
data_init(); data_init();
// Initialise timer // Initialise timer
@ -100,9 +119,6 @@ void setup()
pinMode(HALL7_PIN, INPUT); pinMode(HALL7_PIN, INPUT);
pinMode(HALL8_PIN, INPUT); pinMode(HALL8_PIN, INPUT);
//Serial.println("Init light sensor interrupt ...");
//attachInterrupt(LS1_PIN, ISR_LS1, RISING);
Serial.println("Init hall sensor interrupts ..."); Serial.println("Init hall sensor interrupts ...");
attachInterrupt(digitalPinToInterrupt(HALL1_PIN), ISR_HALL1, FALLING); attachInterrupt(digitalPinToInterrupt(HALL1_PIN), ISR_HALL1, FALLING);
attachInterrupt(digitalPinToInterrupt(HALL2_PIN), ISR_HALL2, FALLING); attachInterrupt(digitalPinToInterrupt(HALL2_PIN), ISR_HALL2, FALLING);
@ -169,35 +185,58 @@ void PID()
//current_speed = map(HallData[0].value, MIN_SPEED, MAX_SPEED, MIN_ESC_SPEED, MAX_ESC_SPEED); //current_speed = map(HallData[0].value, MIN_SPEED, MAX_SPEED, MIN_ESC_SPEED, MAX_ESC_SPEED);
double int_err = goal_speed - current_speed; double int_err = goal_speed - current_speed;
double int_integ = integ + int_err; double int_integ = ki>0?integ + int_err:0;
double int_derivative = (int_err - last_error); double int_derivative = kd>0?(int_err - last_error):0;
double int_output = kp * int_err + ki * int_integ + kd * int_derivative; double int_output = kp * int_err + ki * int_integ + kd * int_derivative;
if( int_output <= MIN_SPEED) if( int_output <= MIN_ESC_SPEED)
{ {
output = MIN_SPEED; output = MIN_ESC_SPEED;
} }
else if( int_output > MAX_SPEED) else if( int_output > MAX_ESC_SPEED)
{ {
output = MAX_SPEED; output = MAX_ESC_SPEED;
} }
else if((int_output >= MIN_SPEED) && (int_output <= MAX_SPEED)) else if((int_output >= MIN_ESC_SPEED) && (int_output <= MAX_ESC_SPEED))
{ {
err = int_err; err = int_err;
integ = int_integ; integ = int_integ;
derivative = int_derivative; derivative = int_derivative;
output = int_output; output = int_output;
} }
esc_output = constrain(output, MIN_ESC_SPEED, MAX_ESC_SPEED);
//Beschränkung der Ausgabe
esc_output = speed_map(output, MIN_SPEED, MAX_SPEED, MIN_ESC_SPEED, MAX_ESC_SPEED);
//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); //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;
} }
double time_per_round_calc()
{
double mid_time = 0;
double min_time = -1;
double max_time = 0;
uint8_t nr_times = 0;
for(uint8_t i = 0; i < TIME_PER_ROUND_VALS; i++)
{
if(time_per_round_ms[i] >= 0)
{
if(time_per_round_ms[i] < min_time || min_time == -1)
{
min_time = time_per_round_ms[i];
}
else if(time_per_round_ms[i] > max_time)
{
max_time = time_per_round_ms[i];
}
nr_times++;
mid_time = mid_time + time_per_round_ms[i];
}
}
if(nr_times >= 3)
{
mid_time = (mid_time - max_time - min_time)/(nr_times - 2);
}
return(mid_time);
}
void speed_set() void speed_set()
{ {
@ -284,6 +323,10 @@ void data_init()
#endif #endif
last_speed = 0; last_speed = 0;
speed = 0; speed = 0;
for (uint8_t i= 0; i < TIME_PER_ROUND_VALS; i++)
{
time_per_round_ms[i] = -1;
}
unsigned long current_millis = millis(); 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 ++)
{ {
@ -304,7 +347,7 @@ void data_init()
} }
#endif #endif
AllData[i].act_update_ms = 0; AllData[i].act_update_ms = 0;
AllData[i].prev_update_ms = 0; //AllData[i].prev_update_ms = 0;
} }
} }
@ -329,12 +372,10 @@ void data_check()
{ {
if( 0 == nr) if( 0 == nr)
{ {
if( (HallData[nr].act_update_ms != 0) double mid_time = time_per_round_calc();
&& (HallData[nr].prev_update_ms != 0) if( mid_time != 0)
&& (HallData[nr].prev_update_ms != HallData[nr].act_update_ms)
)
{ {
HallData[nr].value = HallData[nr].unit_factor / ((HallData[nr].act_update_ms - HallData[nr].prev_update_ms)/ HALL_NR_TURNS) ; HallData[nr].value = HallData[nr].unit_factor / (mid_time/HALL_NR_TURN);
} }
} }
else{ else{
@ -436,10 +477,16 @@ void IRAM_ATTR ISR_HALL1()
HallData[hallnr].timestamp = run_time; HallData[hallnr].timestamp = run_time;
// each 4 ticks is one turn // each 4 ticks is one turn
// so we calculate speed each 4 ticks... just in case we check for bigger ... // so we calculate speed each 4 ticks... just in case we check for bigger ...
if(HallData[hallnr].period_ticks >= HALL_NR_TURNS*HALL_TICKS_PER_TURN){ if(HallData[hallnr].period_ticks >= (HALL_NR_TURN * HALL_TICKS_PER_TURN)){
unsigned long time_ms = millis();
HallData[hallnr].period_ticks = 0; HallData[hallnr].period_ticks = 0;
HallData[hallnr].prev_update_ms = HallData[hallnr].act_update_ms; time_per_round_ms[time_per_round_pointer] = time_ms - HallData[hallnr].act_update_ms;
HallData[hallnr].act_update_ms = millis(); HallData[hallnr].act_update_ms = time_ms;
time_per_round_pointer++;
if(time_per_round_pointer > TIME_PER_ROUND_VALS)
{
time_per_round_pointer = 0;
}
} }
} }

23
vscode/Unendlichkeitsmaschine/src/oled.cpp
View file

@ -9,21 +9,38 @@ void Oled::begin()
display->clear(); display->clear();
display->flipScreenVertically(); display->flipScreenVertically();
//display->setFont(ArialMT_Plain_10); //display->setFont(ArialMT_Plain_10);
/*
display->setTextAlignment(TEXT_ALIGN_CENTER); display->setTextAlignment(TEXT_ALIGN_CENTER);
display->setFont(ArialMT_Plain_24); display->setFont(ArialMT_Plain_16);
display->setFont(ArialMT_Plain_16);
display->drawString(64, 2, "Init controller"); display->drawString(64, 2, "Init controller");
display->setFont(ArialMT_Plain_10); display->setFont(ArialMT_Plain_10);
display->drawString(64, 40, "You may hear some beeps."); display->drawString(64, 40, "You may hear some beeps.");
display->drawString(64, 52, "That's OK! ;-)"); display->drawString(64, 52, "That's OK! ;-)");
display->display(); display->display();
*/
display->setTextAlignment(TEXT_ALIGN_LEFT); display->setTextAlignment(TEXT_ALIGN_LEFT);
display->setFont(ArialMT_Plain_16); display->setFont(ArialMT_Plain_16);
} }
void Oled::progressBar(uint8_t i) void Oled::progressBar(uint8_t i, String big_text, String small_text1, String small_text2)
{ {
display->drawProgressBar(6, 28, 116, 6, i); display->drawProgressBar(6, 28, 116, 6, i);
display->setTextAlignment(TEXT_ALIGN_CENTER);
if(big_text != "")
{
display->setFont(ArialMT_Plain_16);
display->drawString(64, 2, big_text);
}
if(small_text1 != "")
{
display->setFont(ArialMT_Plain_10);
display->drawString(64, 40, small_text1);
}
if(small_text2 != "")
{
display->setFont(ArialMT_Plain_10);
display->drawString(64, 52, small_text2);
}
display->display(); display->display();
} }