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Got hypersensing to work pretty reliably now.

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Unfortunately indentation changes.
This commit is contained in:
Hakan Bastedt
2025-10-18 21:36:26 +02:00
parent 924ab972cb
commit a19a3b5b4e
1 changed files with 94 additions and 90 deletions
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184
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
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@@ -35,25 +35,21 @@ ADS1014 *ads1014_2 = 0;
void ads1014_reset(ADS1014 *ads) { void ads1014_reset(ADS1014 *ads) {
ads->reset(); ads->reset();
ads->begin(); ads->begin();
ads->setGain(1); // 1=4.096V ads->setGain(1); // 1=4.096V
ads->setMode(0); // 0 continuous ads->setMode(0); // 0 continuous
ads->setDataRate(6); // Max for ads101x ads->setDataRate(6); // Max for ads101x
ads->readADC_Differential_0_1(); // This is the value we are interested in ads->readADC_Differential_0_1(); // This is the value we are interested in
} }
#include <queue> #include <queue>
class OhmicSensing { class OhmicSensing {
public: public:
void handle(uint8_t voltageState, float inVoltage, float limitVoltage, void handle(uint8_t voltageState, float inVoltage, float limitVoltage,
float voltageDropLimit, uint32_t setupTime, uint8_t enabled, float voltageDropLimit, uint32_t setupTime, uint8_t enabled,
uint8_t &sensed); uint8_t &sensed);
// private: // private:
enum OhmicStates { enum OhmicStates { OHMIC_IDLE, OHMIC_SETUP, OHMIC_PROBE };
OHMIC_IDLE,
OHMIC_SETUP,
OHMIC_PROBE
};
OhmicStates ohmicState = OHMIC_IDLE; OhmicStates ohmicState = OHMIC_IDLE;
uint64_t startTime; uint64_t startTime;
float_t oldVoltage = 0.0; float_t oldVoltage = 0.0;
@@ -83,7 +79,7 @@ void lowpassFilter(float &oldLowPassGain,
extern "C" uint32_t ESC_SYNC0cycletime(void); extern "C" uint32_t ESC_SYNC0cycletime(void);
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{ {
// Update digital output pins // Update digital output pins
for (int i = 0; i < sizeof(outputPin); i++) for (int i = 0; i < sizeof(outputPin); i++)
@@ -95,7 +91,7 @@ float oldLowPassFilteredVoltage_1 = 0, oldLowPassFilteredVoltage_2 = 0;
uint32_t oldLowpassFilterPoleFrequency_1 = 0, uint32_t oldLowpassFilterPoleFrequency_1 = 0,
oldLowpassFilterPoleFrequency_2 = 0; oldLowpassFilterPoleFrequency_2 = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{ {
static float validData0_1 = 0.0, validVoltage0_1 = 0.0; static float validData0_1 = 0.0, validVoltage0_1 = 0.0;
static float validData0_2 = 0.0, validVoltage0_2 = 0.0; static float validData0_2 = 0.0, validVoltage0_2 = 0.0;
@@ -140,8 +136,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.In_Unit2.OhmicSensingVoltageLimit, Obj.In_Unit2.OhmicSensingVoltageLimit,
Obj.In_Unit2.OhmicSensingVoltageDrop, Obj.In_Unit2.OhmicSensingSetupTime, Obj.In_Unit2.OhmicSensingVoltageDrop, Obj.In_Unit2.OhmicSensingSetupTime,
Obj.In_Unit2.EnableOhmicSensing, Obj.Out_Unit2.OhmicSensingSensed); Obj.In_Unit2.EnableOhmicSensing, Obj.Out_Unit2.OhmicSensingSensed);
Obj.Out_Unit1.RawData = validVoltage0_2; Obj.Out_Unit1.RawData = (int)Ohm2.ohmicState;
Obj.Out_Unit2.RawData = Ohm2.ohmicState;
} }
uint16_t dc_checker(void); uint16_t dc_checker(void);
@@ -191,7 +186,7 @@ void setup(void) {
ecat_slv_init(&config); ecat_slv_init(&config);
#endif #endif
#if 0 // Uncomment for commissioning tests #if 0 // Uncomment for commissioning tests
// #define only one of the below // #define only one of the below
#define ADS1xxx #define ADS1xxx
#undef ADC_MCP3221 #undef ADC_MCP3221
@@ -265,87 +260,89 @@ void handleVoltageReader(float scale_in, float offset, float &outVoltage,
MyMCP3221 *&mcp, uint8_t I2C_address, MyMCP3221 *&mcp, uint8_t I2C_address,
uint32_t &I2C_restarts) { uint32_t &I2C_restarts) {
float scale = scale_in; float scale = scale_in;
if (scale == 0.0) scale = 1.0; if (scale == 0.0)
scale = 1.0;
int stat = 1, data0; int stat = 1, data0;
switch (devType) { switch (devType) {
case 0: // Not configured. case 0: // Not configured.
outStatus = 0; outStatus = 0;
stat = data0 = 0; stat = data0 = 0;
break; break;
case MCP3221_TYPE: case MCP3221_TYPE:
if (old_devType != devType) // Initilize and make ready if (old_devType != devType) // Initilize and make ready
{ {
if (ads) { if (ads) {
delete ads; delete ads;
ads = 0; ads = 0;
}
if (mcp) {
delete mcp;
mcp = 0;
}
Wire2.end();
Wire2.begin();
Wire2.setClock(I2C_BUS_SPEED);
mcp = new MyMCP3221(I2C_address, &Wire2);
old_devType = mcp ? MCP3221_TYPE : -1;
} }
data0 = mcp->getData(); if (mcp) {
stat = mcp->ping(); delete mcp;
break; mcp = 0;
case ADS1014_TYPE: }
if (old_devType != devType) // Initilize and make ready Wire2.end();
{ Wire2.begin();
if (ads) { Wire2.setClock(I2C_BUS_SPEED);
delete ads; mcp = new MyMCP3221(I2C_address, &Wire2);
ads = 0; old_devType = mcp ? MCP3221_TYPE : -1;
} }
if (mcp) { data0 = mcp->getData();
delete mcp; stat = mcp->ping();
mcp = 0; break;
} case ADS1014_TYPE:
old_devType = 0; if (old_devType != devType) // Initilize and make ready
{
if (ads) {
delete ads;
ads = 0;
}
if (mcp) {
delete mcp;
mcp = 0;
}
old_devType = 0;
Wire2.end(); Wire2.end();
Wire2.begin(); Wire2.begin();
Wire2.setClock(I2C_BUS_SPEED); Wire2.setClock(I2C_BUS_SPEED);
ads = new ADS1014(I2C_address, &Wire2); ads = new ADS1014(I2C_address, &Wire2);
if (ads != nullptr) {
ads1014_reset(ads);
old_devType = ADS1014_TYPE;
}
}
if (ads != nullptr) { if (ads != nullptr) {
data0 = ads->getValue(); ads1014_reset(ads);
stat = ads->isConnected() == 1 ? 0 : 1; old_devType = ADS1014_TYPE;
} }
break; }
default: // Not supported if (ads != nullptr) {
break; data0 = ads->getValue();
stat = ads->isConnected() == 1 ? 0 : 1;
}
break;
default: // Not supported
break;
} }
if (stat == 0) { // Read good value if (stat == 0) { // Read good value
outVoltage = scale * data0 + offset; // outVoltage = scale * data0 + offset; //
outRaw = data0; // Raw voltage, read by ADC outRaw = data0; // Raw voltage, read by ADC
oldVoltage = outVoltage; oldVoltage = outVoltage;
oldRaw = data0; oldRaw = data0;
} else { // Didn't read a good value. Return a hopefully useful value and } else { // Didn't read a good value. Return a hopefully useful value and
// restart // restart
// the I2C bus // the I2C bus
outVoltage = oldVoltage; // Use value from previous call outVoltage = oldVoltage; // Use value from previous call
outRaw = oldRaw; outRaw = oldRaw;
// Reset wire here // Reset wire here
Wire2.end(); Wire2.end();
Wire2.begin(); Wire2.begin();
Wire2.setClock(I2C_BUS_SPEED); Wire2.setClock(I2C_BUS_SPEED);
I2C_restarts++; I2C_restarts++;
if (devType == ADS1014_TYPE && ads != nullptr) ads1014_reset(ads); if (devType == ADS1014_TYPE && ads != nullptr)
ads1014_reset(ads);
// mcp3221 has no reset, reset the I2C bus is the best we can do // mcp3221 has no reset, reset the I2C bus is the best we can do
} }
readStat = stat; readStat = stat;
outStatus = outStatus =
I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are
// number of restarts (restart attempts) // number of restarts (restart attempts)
} }
void lowpassFilter(float &oldLowPassGain, void lowpassFilter(float &oldLowPassGain,
@@ -363,7 +360,7 @@ void lowpassFilter(float &oldLowPassGain,
oldLowpassFilterPoleFrequency = LowpassFilterPoleFrequency; oldLowpassFilterPoleFrequency = LowpassFilterPoleFrequency;
} }
if (inVoltage < LowPassFilterThresholdVoltage) if (inVoltage < LowPassFilterThresholdVoltage)
outFilteredVoltage = inVoltage; // Just forward outFilteredVoltage = inVoltage; // Just forward
else else
outFilteredVoltage = oldLowPassFilteredVoltage + outFilteredVoltage = oldLowPassFilteredVoltage +
(inVoltage - oldLowPassFilteredVoltage) * gain; (inVoltage - oldLowPassFilteredVoltage) * gain;
@@ -382,37 +379,44 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) { if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) {
ohmicState = OHMIC_SETUP; ohmicState = OHMIC_SETUP;
startTime = longTime.extendTime(micros()); startTime = longTime.extendTime(micros());
while (!voltages.empty()) voltages.pop(); // Remove history while (!voltages.empty())
voltages.pop(); // Remove history
return; return;
} }
if (ohmicState == OHMIC_SETUP) { if (ohmicState == OHMIC_SETUP) {
dTime = longTime.extendTime(micros()) - startTime; dTime = longTime.extendTime(micros()) - startTime;
Obj.Out_Unit2.RawData = dTime;
if (dTime > setupTime * 1000) { if (dTime > setupTime * 1000) {
ohmicState = OHMIC_PROBE; ohmicState = OHMIC_PROBE;
startTime = longTime.extendTime(micros()); startTime = longTime.extendTime(micros());
oldVoltage = 0.0; oldVoltage = 0.0;
refVoltage = inVoltage; // RefVoltage = voltage at end of setup refVoltage = inVoltage; // RefVoltage = voltage at end of setup
return; return;
} }
} }
if (ohmicState == OHMIC_PROBE) { if (ohmicState == OHMIC_PROBE) {
dTime = longTime.extendTime(micros()) - startTime; dTime = longTime.extendTime(micros()) - startTime;
Obj.Out_Unit2.RawData = dTime;
voltages.push(inVoltage); voltages.push(inVoltage);
while (voltages.size() > N_VOLTAGES) voltages.pop(); // Only N_VOLTAGES while (voltages.size() > N_VOLTAGES)
if (dTime > 30000000) { // Go to IDLE after 30 seconds voltages.pop(); // Only N_VOLTAGES
if (dTime > 30000000) { // Go to IDLE after 30 seconds
ohmicState = OHMIC_IDLE; ohmicState = OHMIC_IDLE;
return; return;
} }
if ((inVoltage <= limitVoltage) || // Below starting threshold byte c1 = (inVoltage <= limitVoltage) ? 1 : 0; // Below starting threshold
(fabs(voltageDropLimit) > 1e-3 && byte c2 = (fabs(voltageDropLimit) > 1e-3 &&
refVoltage - inVoltage >= refVoltage - inVoltage >= voltageDropLimit)
voltageDropLimit) || // Delta below refVoltage ? 2
(fabs(voltageDropLimit) > 1e-3 && // Immediate drop : 0; // Delta below refVoltage
oldVoltage - inVoltage >= voltageDropLimit) || byte c3 = (fabs(voltageDropLimit) > 1e-3 && // Immediate drop
(fabs(voltageDropLimit) > 1e-3 && // Drop over 3 cycles oldVoltage - inVoltage >= voltageDropLimit)
voltages.front() - voltages.back() > voltageDropLimit)) { ? 4
: 0;
byte c4 = (fabs(voltageDropLimit) > 1e-3 && // Drop over 3 cycles
voltages.front() - voltages.back() > voltageDropLimit)
? 8
: 0;
Obj.Out_Unit2.RawData = c1 + c2 + c3 + c4;
if (c1 + c2 + c3 + c4 > 0) {
sensed = 1; sensed = 1;
} }
oldVoltage = inVoltage; oldVoltage = inVoltage;