jeka/MyOwnEtherCATDevice
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Improved sensing algo, to only generate one 100 ms pulse every sense.

Browse Source 
Also some more conditions to make probing more reliable.
This commit is contained in:
Hakan Bastedt
2025-10-13 18:15:04 +02:00
parent b3bb88cf08
commit 93c48940b8
1 changed files with 43 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
View File

@@ -49,12 +49,21 @@ class OhmicSensing {
float voltageDropLimit, uint32_t setupTime, uint8_t enabled,
uint8_t &sensed);
private:
enum OhmicStates { OHMIC_IDLE, OHMIC_SETUP, OHMIC_PROBE };
// private:
enum OhmicStates {
OHMIC_IDLE,
OHMIC_SETUP,
OHMIC_PROBE,
OHMIC_PROBED_ON,
OHMIC_PROBE_DONE
};
OhmicStates ohmicState = OHMIC_IDLE;
uint32_t setupTimeSoFar = 0;
uint32_t probingTime = 0;
uint16_t senseOnTime = 0;
float_t oldVoltage = 0.0;
std::queue<float> voltages;
float_t refVoltage;
};
OhmicSensing Ohm1;
OhmicSensing Ohm2;
@@ -429,6 +438,7 @@ void lowpassFilter(float &oldLowPassGain,
oldLowPassFilteredVoltage = outFilteredVoltage;
}
#define N_VOLTAGES 3
void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
float limitVoltage, float voltageDropLimit,
uint32_t setupTime, uint8_t enabled,
@@ -438,26 +448,52 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) {
ohmicState = OHMIC_SETUP;
setupTimeSoFar = 0;
while (!voltages.empty()) voltages.pop(); // Remove history
return;
}
if (ohmicState == OHMIC_SETUP) {
if (setupTimeSoFar++ > setupTime) {
ohmicState = OHMIC_PROBE;
probingTime = 0;
oldVoltage = 0.0;
while (!voltages.empty()) voltages.pop(); // Remove history
refVoltage = inVoltage; // RefVoltage = voltage at end of setup
return;
}
}
if (ohmicState == OHMIC_PROBE) {
voltages.push(inVoltage);
#define N_VOLTAGES 3
while (voltages.size() > N_VOLTAGES) voltages.pop(); // Only N_VOLTAGES
if (inVoltage <= limitVoltage || // Below threshold
(abs(voltageDropLimit) > 1e-3 && // Immediate drop
if (probingTime++ > 30000) { // Go to IDLE after 30 seconds
ohmicState = OHMIC_IDLE;
return;
}
if ((inVoltage <= limitVoltage) || // Below starting threshold
(fabs(voltageDropLimit) > 1e-3 &&
refVoltage - inVoltage >=
voltageDropLimit) || // Delta below refVoltage
(fabs(voltageDropLimit) > 1e-3 && // Immediate drop
oldVoltage - inVoltage >= voltageDropLimit) ||
(abs(voltageDropLimit) > 1e-3 && // Drop over 3 cycles
(fabs(voltageDropLimit) > 1e-3 && // Drop over 3 cycles
voltages.front() - voltages.back() > voltageDropLimit)) {
sensed = 1;
senseOnTime = 0;
ohmicState = OHMIC_PROBED_ON;
}
oldVoltage = inVoltage;
return;
}
if (ohmicState == OHMIC_PROBED_ON) {
sensed = 1;
if (senseOnTime++ >= 100) {
sensed = 0;
ohmicState = OHMIC_PROBE_DONE;
}
return;
}
if (ohmicState == OHMIC_PROBE_DONE) {
sensed = 0;
if (!enabled) ohmicState = OHMIC_IDLE;
return;
}
} else {
ohmicState = OHMIC_IDLE;