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Added criteria voltage of 2 V means ohmic sense hit

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Added criteria voltage drop of 2V over the 3 last cycles also means sense hit.
This commit is contained in:
Hakan Bastedt
2025-10-07 22:46:47 +02:00
parent 2770c70d90
commit b867d58b15
1 changed files with 110 additions and 101 deletions
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211
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
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@@ -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 <queue>
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<float> 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;