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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) { 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>
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, void handleVoltageReader(float scale_in, float offset, float &outVoltage,
int32_t &outRaw, float &oldVoltage, float &oldRaw, int32_t &outRaw, float &oldVoltage, float &oldRaw,
uint8_t devType, int8_t &old_devType, uint8_t devType, int8_t &old_devType,
@@ -54,19 +70,16 @@ void lowpassFilter(float &oldLowPassGain,
uint32_t LowpassFilterPoleFrequency, uint32_t LowpassFilterPoleFrequency,
float LowPassFilterThresholdVoltage, float inVoltage, float LowPassFilterThresholdVoltage, float inVoltage,
float &outFilteredVoltage); 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 bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit))) #define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit))) #define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
#define bitcheck(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); 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++)
@@ -78,7 +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;
@@ -113,24 +126,14 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.Out_Unit2.CalculatedVoltage, Obj.Out_Unit2.CalculatedVoltage,
Obj.Out_Unit2.LowpassFilteredVoltage); Obj.Out_Unit2.LowpassFilteredVoltage);
#define OHMIC_IDLE 0 Ohm1.handle(
#define OHMIC_SETUP 1 stat_1, Obj.Out_Unit1.CalculatedVoltage,
#define OHMIC_PROBE 2 Obj.In_Unit1.OhmicSensingVoltageLimit, Obj.In_Unit1.OhmicSensingSetupTime,
static uint8_t ohmicState_1 = OHMIC_IDLE; Obj.In_Unit1.EnableOhmicSensing, Obj.Out_Unit1.OhmicSensingSensed);
static uint8_t ohmicState_2 = OHMIC_IDLE; Ohm2.handle(
static uint32_t setupTimeSoFar_1 = 0; stat_2, Obj.Out_Unit2.CalculatedVoltage,
static uint32_t setupTimeSoFar_2 = 0; Obj.In_Unit2.OhmicSensingVoltageLimit, Obj.In_Unit2.OhmicSensingSetupTime,
Obj.In_Unit2.EnableOhmicSensing, Obj.Out_Unit2.OhmicSensingSensed);
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);
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -185,7 +188,7 @@ 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
@@ -251,7 +254,7 @@ void loop(void) {
ecat_slv_poll(); ecat_slv_poll();
} }
dTime = longTime.extendTime(micros()) - irqTime; 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(); ecat_slv();
#endif #endif
@@ -318,89 +321,87 @@ 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) if (scale == 0.0) scale = 1.0;
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;
} }
if (mcp) { data0 = mcp->getData();
delete mcp; stat = mcp->ping();
mcp = 0; break;
} case ADS1014_TYPE:
Wire2.end(); if (old_devType != devType) // Initilize and make ready
Wire2.begin(); {
Wire2.setClock(I2C_BUS_SPEED); if (ads) {
mcp = new MyMCP3221(I2C_address, &Wire2); delete ads;
old_devType = mcp ? MCP3221_TYPE : -1; ads = 0;
} }
data0 = mcp->getData(); if (mcp) {
stat = mcp->ping(); delete mcp;
break; mcp = 0;
case ADS1014_TYPE: }
if (old_devType != devType) // Initilize and make ready old_devType = 0;
{
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) { if (ads != nullptr) {
ads1014_reset(ads); ads1014_reset(ads);
old_devType = ADS1014_TYPE; old_devType = ADS1014_TYPE;
}
} }
} if (ads != nullptr) {
if (ads != nullptr) { data0 = ads->getValue();
data0 = ads->getValue(); stat = ads->isConnected() == 1 ? 0 : 1;
stat = ads->isConnected() == 1 ? 0 : 1; }
} break;
break; default: // Not supported
default: // Not supported break;
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) if (devType == ADS1014_TYPE && ads != nullptr) ads1014_reset(ads);
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,
@@ -418,17 +419,16 @@ 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;
oldLowPassFilteredVoltage = outFilteredVoltage; oldLowPassFilteredVoltage = outFilteredVoltage;
} }
void handleOhmicSensing(uint8_t &ohmicState, uint8_t voltageState, void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
float inVoltage, float limitVoltage, uint32_t setupTime, float limitVoltage, uint32_t setupTime,
uint32_t &setupTimeSoFar, uint8_t enabled, uint8_t enabled, uint8_t &sensed) {
uint8_t &sensed) {
sensed = 0; sensed = 0;
if (enabled && voltageState == 0) { if (enabled && voltageState == 0) {
if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) { if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) {
@@ -438,10 +438,19 @@ void handleOhmicSensing(uint8_t &ohmicState, uint8_t voltageState,
if (ohmicState == OHMIC_SETUP) { if (ohmicState == OHMIC_SETUP) {
if (setupTimeSoFar++ > setupTime) { if (setupTimeSoFar++ > setupTime) {
ohmicState = OHMIC_PROBE; ohmicState = OHMIC_PROBE;
oldVoltage = 0.0;
while (!voltages.empty()) voltages.pop(); // Remove history
} }
} }
if (ohmicState == OHMIC_PROBE && inVoltage <= limitVoltage) { if (ohmicState == OHMIC_PROBE) {
sensed = 1; 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 { } else {
ohmicState = OHMIC_IDLE; ohmicState = OHMIC_IDLE;