- added batteryCalibration

- start with default Menus for DriveModes

doc/TODO allgemein.txt

@@ -45,12 +45,16 @@ Code:
     sensor data gnss daten aktualisieren
     Menübaum korrigieren, Verlinkung Sensor in Mode etc.
     esp und sensoren in den deepsleep
+    battery Prozent ausgabe wirkt komisch
 
 Latex:
     Anhang: Liste mit allen Komponenten und Kurzbeschreibung
     Unterschied funktionale und nicht funktionale Anforderungen
     Strom nicht über Zeit sondern Rampe
+    Formel für Zeit anfahrrampe Einheiten
+    Überall den Durchmesser der Räder auf 12cm und Pulse auf 384 / 3 = 128
 
 3D:
     
-    
+Rover:
+    Spannungsteiler neu kalibrieren.

include/config.h

@@ -21,7 +21,7 @@ namespace PinNumbers {
         constexpr uint8_t dir1 = 27;
         constexpr uint8_t dir2 = 12;
         constexpr uint8_t pwm  = 13;
-        constexpr uint8_t encoder = 26;
+        constexpr uint8_t encoder = 32;
         constexpr uint8_t pmwChannel = 0;
     }
 

include/networkConfig.h

@@ -14,7 +14,7 @@
 
 #include <stdint.h>
 
-#define RHEDE
+#define HOTSPOT
 
 #ifdef HOTSPOT
 namespace NetworkConfig {

lib/Battery/battery.cpp

@@ -27,10 +27,15 @@ Battery::Battery(uint8_t pin) {
 }
 
 void Battery::run() {
+    if (this->calibrationState != CalibrationState::None) {
+        this->runCalibration();
+        return;
+    }
+
     this->readAdcToBuf();
     this->loopCounter++;
 
-    if (this->loopCounter == this->calulationDelayMultiplier) {
+    if (this->loopCounter >= this->calulationDelayMultiplier) {
         this->calculateBatteryVoltage();
         this->calculateBatteryPercent();
         this->loopCounter = 0;
@@ -40,6 +45,28 @@ void Battery::run() {
     return;
 }
 
+void Battery::runCalibration() {
+    if (this->calibrationState != CalibrationState::Reading)
+        return;
+
+    this->readAdcToBuf();        
+    if (this->bufferPos == 0) {
+        uint16_t res = this->getBufAvg();
+        this->newRawAdcVoltages[this->currentCalibrationVoltage] = res;
+        std::cout << "Index: " 
+                  << (int) this->currentCalibrationVoltage 
+                  << " Value: "
+                  << (int) res
+                  << std::endl;
+        this->currentCalibrationVoltage++;
+        this->calibrationState = CalibrationState::Waiting;
+
+        if (this->currentCalibrationVoltage == 60) {
+            this->calibrationState = CalibrationState::Finished;
+        }
+    }
+}
+
 double Battery::getBatteryVoltage() const {
     double res = this->batteryVoltage;
     return (int)(res*100+0.5)/100.0;
@@ -59,6 +86,29 @@ bool Battery::isNewValue() {
     return true;
 }
 
+void Battery::nextVoltageIsReady() {
+    if (this->calibrationState == CalibrationState::Waiting) {
+        this->calibrationState = CalibrationState::Reading;
+    }
+}
+
+void Battery::startCalibration() {
+    this->calibrationState = CalibrationState::Waiting;
+    this->currentCalibrationVoltage = 0;
+    this->bufferPos = 0;
+    this->loopDelay = 50;
+    this->newRawAdcVoltages = new uint16_t[60];
+}
+
+void Battery::finishCalibration() {
+    if (this->calibrationState != CalibrationState::None)
+        return;
+
+    delete[] this->newRawAdcVoltages;
+    this->calibrationState = CalibrationState::None;
+    this->loopDelay = 100;
+}
+
 double Battery::calculateInputVoltage() {
     // Reference voltage is 3v3 so maximum reading is 3v3 = 4095 in range 0 to 4095
     double reading = this->getBufAvg();

lib/Battery/battery.h

@@ -29,6 +29,13 @@
  */
 class Battery : public Component {
     public:
+        enum CalibrationState {
+            None,
+            Reading,
+            Waiting,
+            Finished
+        };
+
         /**
          * @brief Construct a new Battery object
          * 
@@ -72,8 +79,16 @@ class Battery : public Component {
 
         bool isNewValue();
 
+        //Calibration
+        CalibrationState getCalibrationState() const { return this->calibrationState; }
+        uint8_t getCurrentCalibrationVoltage() const { return this->currentCalibrationVoltage; }
+        void nextVoltageIsReady();
+        void startCalibration();
+        void finishCalibration();
+
     private:
         void run() override;
+        void runCalibration();
         double calculateInputVoltage();
         void calculateBatteryVoltage();
         void calculateBatteryPercent();
@@ -83,6 +98,8 @@ class Battery : public Component {
 
         static const uint8_t bufferSize = 30;
 
+        CalibrationState calibrationState = CalibrationState::None;
+
         uint8_t absurdLowVoltage = 5;
         uint8_t pin;
         uint8_t batteryPercent = 0;
@@ -90,7 +107,9 @@ class Battery : public Component {
         uint8_t bufferPos = 0;
         uint8_t calulationDelayMultiplier = 5;
         uint8_t loopCounter = 0;
+        uint8_t currentCalibrationVoltage = 0; // *0.1 + 7
         uint16_t adcBuffer[bufferSize];
+        uint16_t* newRawAdcVoltages;
         uint32_t r1 = 0;
         uint32_t r2 = 0;
         bool calculatetNewValues = false;
@@ -108,12 +127,12 @@ class Battery : public Component {
         const double startVoltage = 7;
         const double stepVoltage = 0.1;
         const uint16_t rawAdcVoltages[60] = // from 7.0V to 12.9V in 0.1V steps
-                           {1820, 1851, 1880, 1910, 1937, 1967, 1992, 2020, 2048, 2080,
+                           {1992, 2021, 2056, 2090, 2118, 2145, 2177, 2208, 2241, 2272,
-                            2109, 2136, 2163, 2189, 2218, 2244, 2273, 2302, 2334, 2363,
+                            2298, 2331, 2362, 2387, 2420, 2453, 2482, 2514, 2543, 2577,
-                            2391, 2415, 2441, 2471, 2499, 2531, 2557, 2587, 2617, 2646,
+                            2607, 2640, 2670, 2703, 2736, 2763, 2794, 2826, 2858, 2890,
-                            2674, 2699, 2730, 2761, 2791, 2816, 2843, 2872, 2900, 2930,
+                            2920, 2956, 2983, 3019, 3054, 3088, 3121, 3158, 3189, 3226,
-                            2958, 2991, 3017, 3049, 3080, 3115, 3144, 3178, 3208, 3242,
+                            3264, 3300, 3339, 3379, 3414, 3453, 3500, 3544, 3598, 3636,
-                            3276, 3313, 3346, 3389, 3433, 3470, 3509, 3548, 3590, 3636};
+                            3682, 3730, 3781, 3837, 3887, 3943, 3997, 4054, 4093, 4095};
 };
 
 #endif // BATTERY_H

platformio.ini

@@ -15,7 +15,7 @@ board_build.partitions = no_ota.csv
 framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
-monitor_port = COM3
+monitor_port = COM6
 lib_deps = 
 	https://git.kleiax.de/PlatformIO-Libs/SparkFunGNSS.git
 	knolleary/PubSubClient@^2.8
@@ -26,7 +26,7 @@ lib_deps =
 	https://git.kleiax.de/PlatformIO-Libs/Menu.git
 	nrf24/RF24@^1.4.5
 	jrowberg/I2Cdevlib-MPU6050@^1.0.0
-upload_port = COM3
+upload_port = COM6
 test_ignore = test_desktop
 build_type = debug
 monitor_filters = esp32_exception_decoder

src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp

@@ -0,0 +1,59 @@
+/**
+ * @file menuCalibrateBattery.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-26
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "menuCalibrateBattery.h"
+
+MenuCalibrateBattery::MenuCalibrateBattery(Battery* battery) {
+    this->setUpdateDelay(400);
+    this->battery = battery;
+}
+
+void MenuCalibrateBattery::printMenu() {
+    if (this->battery->getCalibrationState() == Battery::CalibrationState::None)
+        this->battery->startCalibration();
+
+    String lineOne = "";
+    String lineTwo = "";
+
+    switch (this->battery->getCalibrationState()) {
+        case Battery::CalibrationState::Waiting:
+            lineOne = "Target Voltage:";
+            lineTwo = "7 + ";
+            lineTwo.concat(this->battery->getCurrentCalibrationVoltage());
+            lineTwo.concat(" / 10");
+            break;
+
+        case Battery::CalibrationState::Reading:
+            lineOne = "Reading...";
+            break;
+
+        case Battery::CalibrationState::Finished:
+            lineOne = "Finished!";
+            break;
+        
+        default:
+            break;
+    }
+
+    this->print(lineOne, lineTwo);
+}
+
+void MenuCalibrateBattery::left() {
+    this->battery->finishCalibration();
+
+    if (parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuCalibrateBattery::right() {
+    if (this->battery->getCalibrationState() == Battery::CalibrationState::Waiting)
+        this->battery->nextVoltageIsReady();
+}

src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.h

@@ -0,0 +1,33 @@
+/**
+ * @file menuCalibrateBattery.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-26
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#ifndef MENU_CALIBRATE_BATTERY_H
+#define MENU_CALIBRATE_BATTERY_H
+
+#include "menuControl.h"
+#include "battery.h"
+
+class MenuCalibrateBattery : public MenuControl {
+    public:
+        MenuCalibrateBattery(Battery* battery);
+
+        void printMenu() override;
+
+        void left() override;
+        void no() override { this->left(); }
+        void right() override;
+        void yes() override { this->right(); }
+
+    private:
+        Battery* battery;
+};
+
+#endif //MENU_CALIBRATE_BATTERY_H

src/SpecialMenus/Speed/menuSpeed.cpp

@@ -0,0 +1,13 @@
+/**
+ * @file menuSpeed.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-26
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "menuSpeed.h"
+

src/SpecialMenus/Speed/menuSpeed.h

@@ -0,0 +1,21 @@
+/**
+ * @file menuSpeed.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-26
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#ifndef MENU_SPEED_H
+#define MENU_SPEED_H
+
+#include <menuIntInput.h>
+
+class MenuSpeed : MenuIntInput {
+    
+};
+
+#endif // MENU_SPEED_H

src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp

@@ -14,6 +14,7 @@
 MenuSysteminformation::MenuSysteminformation(Battery* mainBattery) 
             : MenuInformationSites(8) {
     this->mainBattery = mainBattery;
+    this->noEqualLeft = true;
 }
 
 void MenuSysteminformation::printPage() const {

src/SpecialMenus/driveModi/menuDriveMode.h

@@ -13,6 +13,8 @@
 
 #include "menuInformationSites.h"
 #include "driveModi/driveManager.h"
+#include "SpecialMenus/SensorData/menuSensorData.h"
+#include "SpecialMenus/Speed/menuSpeed.h"
 
 /**
  * @brief A base class for Menus about DriveModi
@@ -36,6 +38,9 @@ class MenuDriveMode : public MenuInformationSites {
         void configureOnLeave() {}
 
         DriveManager* driveManager;
+        MenuSensorData* menuSensor;
+        MenuSpeed* menuSpeed;
+        
         bool firstPrint = true;
 };
 

src/main.cpp

@@ -47,6 +47,7 @@
 #include "SpecialMenus/PID/menuPidSettings.h"
 #include "SpecialMenus/Route/menuRoute.h"
 #include "SpecialMenus/SensorData/menuSensorData.h"
+#include "SpecialMenus/CalibrateBattery/menuCalibrateBattery.h"
 
 MoveControl moveController;
 Network* network;
@@ -216,6 +217,7 @@ void makeMenu() {
     MenuSensorData* sen_m = new MenuSensorData(sensorData);
     //TODO: Wie bekommt jeder die dumme Route?
     MenuRoute* rout_m = new MenuRoute(new Route());
+    MenuCalibrateBattery* bat_m = new MenuCalibrateBattery(mainBattery);
 
     auto_m->setUpdateDelay(1000);
     sys_m->setUpdateDelay(1500);
@@ -242,6 +244,7 @@ void makeMenu() {
     set_m->addEntry(new MenuAction("Speed", dummy));
     set_m->addEntry(new MenuAction("Distance", dummy));
     set_m->addEntry(new MenuAction("WiFi", dummy));
+    set_m->addEntry(new MenuAction("Battery", bat_m));
 
     // Entry for the PID Menu
     pid_m->addEntry(new MenuAction("Left", pidl_m));