diff --git a/Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp b/Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp index 1e5dbf6..6c7ed0d 100755 --- a/Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp +++ b/Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp @@ -36,12 +36,28 @@ ADS1014 *ads1014_2 = 0; void ads1014_reset(ADS1014 *ads) { ads->reset(); ads->begin(); - ads->setGain(1); // 1=4.096V - ads->setMode(0); // 0 continuous - ads->setDataRate(6); // Max for ads101x - ads->readADC_Differential_0_1(); // This is the value we are interested in + ads->setGain(1); // 1=4.096V + ads->setMode(0); // 0 continuous + ads->setDataRate(6); // Max for ads101x + ads->readADC_Differential_0_1(); // This is the value we are interested in } +#include +class OhmicSensing { + public: + void handle(uint8_t voltageState, float inVoltage, float limitVoltage, + uint32_t setupTime, uint8_t enabled, uint8_t &sensed); + + private: + enum OhmicStates { OHMIC_IDLE, OHMIC_SETUP, OHMIC_PROBE }; + OhmicStates ohmicState = OHMIC_IDLE; + uint32_t setupTimeSoFar = 0; + float_t oldVoltage = 0.0; + std::queue voltages; +}; +OhmicSensing Ohm1; +OhmicSensing Ohm2; + void handleVoltageReader(float scale_in, float offset, float &outVoltage, int32_t &outRaw, float &oldVoltage, float &oldRaw, uint8_t devType, int8_t &old_devType, @@ -54,19 +70,16 @@ void lowpassFilter(float &oldLowPassGain, uint32_t LowpassFilterPoleFrequency, float LowPassFilterThresholdVoltage, float inVoltage, float &outFilteredVoltage); -void handleOhmicSensing(uint8_t &ohmicState, uint8_t voltageState, - float inVoltage, float limitVoltage, uint32_t setupTime, - uint32_t &setupTimeSoFar, uint8_t enabled, - uint8_t &sensed); + #define bitset(byte, nbit) ((byte) |= (1 << (nbit))) #define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit))) #define bitflip(byte, nbit) ((byte) ^= (1 << (nbit))) #define bitcheck(byte, nbit) ((byte) & (1 << (nbit))) -volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt +volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt 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 for (int i = 0; i < sizeof(outputPin); i++) @@ -78,7 +91,7 @@ float oldLowPassFilteredVoltage_1 = 0, oldLowPassFilteredVoltage_2 = 0; uint32_t oldLowpassFilterPoleFrequency_1 = 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_2 = 0.0, validVoltage0_2 = 0.0; @@ -113,24 +126,14 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation Obj.Out_Unit2.CalculatedVoltage, Obj.Out_Unit2.LowpassFilteredVoltage); -#define OHMIC_IDLE 0 -#define OHMIC_SETUP 1 -#define OHMIC_PROBE 2 - static uint8_t ohmicState_1 = OHMIC_IDLE; - static uint8_t ohmicState_2 = OHMIC_IDLE; - static uint32_t setupTimeSoFar_1 = 0; - static uint32_t setupTimeSoFar_2 = 0; - - handleOhmicSensing(ohmicState_1, stat_1, Obj.Out_Unit1.CalculatedVoltage, - Obj.In_Unit1.OhmicSensingVoltageLimit, - Obj.In_Unit1.OhmicSensingSetupTime, setupTimeSoFar_1, - Obj.In_Unit1.EnableOhmicSensing, - Obj.Out_Unit1.OhmicSensingSensed); - handleOhmicSensing(ohmicState_2, stat_2, Obj.Out_Unit2.CalculatedVoltage, - Obj.In_Unit2.OhmicSensingVoltageLimit, - Obj.In_Unit2.OhmicSensingSetupTime, setupTimeSoFar_2, - Obj.In_Unit2.EnableOhmicSensing, - Obj.Out_Unit2.OhmicSensingSensed); + Ohm1.handle( + stat_1, Obj.Out_Unit1.CalculatedVoltage, + Obj.In_Unit1.OhmicSensingVoltageLimit, Obj.In_Unit1.OhmicSensingSetupTime, + Obj.In_Unit1.EnableOhmicSensing, Obj.Out_Unit1.OhmicSensingSensed); + Ohm2.handle( + stat_2, Obj.Out_Unit2.CalculatedVoltage, + Obj.In_Unit2.OhmicSensingVoltageLimit, Obj.In_Unit2.OhmicSensingSetupTime, + Obj.In_Unit2.EnableOhmicSensing, Obj.Out_Unit2.OhmicSensingSensed); } void ESC_interrupt_enable(uint32_t mask); @@ -185,7 +188,7 @@ void setup(void) { ecat_slv_init(&config); #endif -#if 0 // Uncomment for commissioning tests +#if 0 // Uncomment for commissioning tests // #define only one of the below #define ADS1xxx #undef ADC_MCP3221 @@ -251,7 +254,7 @@ void loop(void) { ecat_slv_poll(); } dTime = longTime.extendTime(micros()) - irqTime; - if (dTime > 5000) // Not doing interrupts - handle free-run + if (dTime > 5000) // Not doing interrupts - handle free-run ecat_slv(); #endif @@ -318,89 +321,87 @@ void handleVoltageReader(float scale_in, float offset, float &outVoltage, MyMCP3221 *&mcp, uint8_t I2C_address, uint32_t &I2C_restarts) { float scale = scale_in; - if (scale == 0.0) - scale = 1.0; + if (scale == 0.0) scale = 1.0; int stat = 1, data0; switch (devType) { - case 0: // Not configured. - outStatus = 0; - stat = data0 = 0; - break; - case MCP3221_TYPE: - if (old_devType != devType) // Initilize and make ready - { - if (ads) { - delete ads; - ads = 0; + case 0: // Not configured. + outStatus = 0; + stat = data0 = 0; + break; + case MCP3221_TYPE: + if (old_devType != devType) // Initilize and make ready + { + if (ads) { + delete ads; + 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; } - 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(); - stat = mcp->ping(); - break; - case ADS1014_TYPE: - if (old_devType != devType) // Initilize and make ready - { - if (ads) { - delete ads; - ads = 0; - } - if (mcp) { - delete mcp; - mcp = 0; - } - old_devType = 0; + data0 = mcp->getData(); + stat = mcp->ping(); + break; + case ADS1014_TYPE: + 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.begin(); - Wire2.setClock(I2C_BUS_SPEED); - ads = new ADS1014(I2C_address, &Wire2); - if (ads != nullptr) { - ads1014_reset(ads); - old_devType = ADS1014_TYPE; + Wire2.end(); + Wire2.begin(); + Wire2.setClock(I2C_BUS_SPEED); + ads = new ADS1014(I2C_address, &Wire2); + if (ads != nullptr) { + ads1014_reset(ads); + old_devType = ADS1014_TYPE; + } } - } - if (ads != nullptr) { - data0 = ads->getValue(); - stat = ads->isConnected() == 1 ? 0 : 1; - } - break; - default: // Not supported - break; + if (ads != nullptr) { + data0 = ads->getValue(); + stat = ads->isConnected() == 1 ? 0 : 1; + } + break; + default: // Not supported + break; } - if (stat == 0) { // Read good value - outVoltage = scale * data0 + offset; // - outRaw = data0; // Raw voltage, read by ADC + if (stat == 0) { // Read good value + outVoltage = scale * data0 + offset; // + outRaw = data0; // Raw voltage, read by ADC oldVoltage = outVoltage; oldRaw = data0; - } else { // Didn't read a good value. Return a hopefully useful value and - // restart - // the I2C bus - outVoltage = oldVoltage; // Use value from previous call + } else { // Didn't read a good value. Return a hopefully useful value and + // restart + // the I2C bus + outVoltage = oldVoltage; // Use value from previous call outRaw = oldRaw; // Reset wire here Wire2.end(); Wire2.begin(); Wire2.setClock(I2C_BUS_SPEED); 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 } readStat = stat; outStatus = - I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are - // number of restarts (restart attempts) + I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are + // number of restarts (restart attempts) } void lowpassFilter(float &oldLowPassGain, @@ -418,17 +419,16 @@ void lowpassFilter(float &oldLowPassGain, oldLowpassFilterPoleFrequency = LowpassFilterPoleFrequency; } if (inVoltage < LowPassFilterThresholdVoltage) - outFilteredVoltage = inVoltage; // Just forward + outFilteredVoltage = inVoltage; // Just forward else outFilteredVoltage = oldLowPassFilteredVoltage + (inVoltage - oldLowPassFilteredVoltage) * gain; oldLowPassFilteredVoltage = outFilteredVoltage; } -void handleOhmicSensing(uint8_t &ohmicState, uint8_t voltageState, - float inVoltage, float limitVoltage, uint32_t setupTime, - uint32_t &setupTimeSoFar, uint8_t enabled, - uint8_t &sensed) { +void OhmicSensing::handle(uint8_t voltageState, float inVoltage, + float limitVoltage, uint32_t setupTime, + uint8_t enabled, uint8_t &sensed) { sensed = 0; if (enabled && voltageState == 0) { if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) { @@ -438,10 +438,19 @@ void handleOhmicSensing(uint8_t &ohmicState, uint8_t voltageState, if (ohmicState == OHMIC_SETUP) { if (setupTimeSoFar++ > setupTime) { ohmicState = OHMIC_PROBE; + oldVoltage = 0.0; + while (!voltages.empty()) voltages.pop(); // Remove history } } - if (ohmicState == OHMIC_PROBE && inVoltage <= limitVoltage) { - sensed = 1; + if (ohmicState == OHMIC_PROBE) { + voltages.push(inVoltage); +#define N_VOLTAGES 3 + while (voltages.size() > N_VOLTAGES) voltages.pop(); // Only N_VOLTAGES + if (inVoltage <= limitVoltage || oldVoltage - inVoltage >= 1.0 || + voltages.front() - voltages.back() > 2.0) { + sensed = 1; + } + oldVoltage = inVoltage; } } else { ohmicState = OHMIC_IDLE;