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- added batteryCalibration

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- start with default Menus for DriveModes
This commit is contained in:
kleiax
2023-09-27 11:11:39 +02:00
parent e48f680fec
commit 38e7db7dee
13 changed files with 221 additions and 13 deletions
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doc/TODO allgemein.txt
+5 -1
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@@ -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
+1 -1
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@@ -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
+1 -1
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@@ -14,7 +14,7 @@
#include <stdint.h>
#define RHEDE
#define HOTSPOT
#ifdef HOTSPOT
namespace NetworkConfig {
lib/Battery/battery.cpp
+51 -1
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@@ -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
+25 -6
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@@ -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,
2109, 2136, 2163, 2189, 2218, 2244, 2273, 2302, 2334, 2363,
2391, 2415, 2441, 2471, 2499, 2531, 2557, 2587, 2617, 2646,
2674, 2699, 2730, 2761, 2791, 2816, 2843, 2872, 2900, 2930,
2958, 2991, 3017, 3049, 3080, 3115, 3144, 3178, 3208, 3242,
3276, 3313, 3346, 3389, 3433, 3470, 3509, 3548, 3590, 3636};
{1992, 2021, 2056, 2090, 2118, 2145, 2177, 2208, 2241, 2272,
2298, 2331, 2362, 2387, 2420, 2453, 2482, 2514, 2543, 2577,
2607, 2640, 2670, 2703, 2736, 2763, 2794, 2826, 2858, 2890,
2920, 2956, 2983, 3019, 3054, 3088, 3121, 3158, 3189, 3226,
3264, 3300, 3339, 3379, 3414, 3453, 3500, 3544, 3598, 3636,
3682, 3730, 3781, 3837, 3887, 3943, 3997, 4054, 4093, 4095};
};
#endif // BATTERY_H
platformio.ini
+2 -2
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@@ -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
+59
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@@ -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
+33
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@@ -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
+13
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@@ -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
+21
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@@ -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
+1
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@@ -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
+5
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@@ -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
+3
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@@ -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));