apply fix for low voltage poweroff and uart checksum
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567b0d40d3
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@ -43,8 +43,8 @@ uint8_t modeled_green=0;
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uint8_t modeled_red=0;
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long last_ledupdate=0;
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#define PIN_RELAISFRONT PB14 //connected to relais which presses the powerbutton of the hoverboard for the front wheels
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#define PIN_RELAISREAR PB15 //connected to relais which presses the powerbutton of the hoverboard for the rear wheels
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#define PIN_RELAISFRONT PB15 //connected to relais which presses the powerbutton of the hoverboard for the front wheels
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#define PIN_RELAISREAR PB14 //connected to relais which presses the powerbutton of the hoverboard for the rear wheels
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#define DEBOUNCETIME 20 //time to not check for inputs after key press
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#define BUTTONTIMEHOLD 750 //time for button hold
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@ -79,10 +79,10 @@ float adc_throttle=0; //filtered value
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int adc_brake_raw=0; //raw throttle value from adc
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float adc_brake=0; //filtered value
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uint16_t out_speedFL=0;
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uint16_t out_speedFR=0;
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uint16_t out_speedRL=0;
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uint16_t out_speedRR=0;
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int16_t out_speedFL=0;
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int16_t out_speedFR=0;
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int16_t out_speedRL=0;
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int16_t out_speedRR=0;
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long last_send = 0;
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@ -101,8 +101,7 @@ byte incomingBytePrev1;
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long lastValidDataSerial1_time;
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long board1lastPoweron=0; //mainly for failcheck
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long board1lastPoweroff=0;
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long board1lastFeedbackMinSpeed;
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boolean board1lastFeedbackMinSpeed_above=false;
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//Same for Serial2 (Front)
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uint8_t idx2 = 0; // Index for new data pointer
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@ -113,8 +112,6 @@ byte incomingBytePrev2;
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long lastValidDataSerial2_time;
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long board2lastPoweron=0; //mainly for failcheck
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long board2lastPoweroff=0;
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long board2lastFeedbackMinSpeed;
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boolean board2lastFeedbackMinSpeed_above=false;
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typedef struct{
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uint16_t start;
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@ -137,7 +134,7 @@ typedef struct{
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int16_t boardTemp;
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int16_t curL_DC;
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int16_t curR_DC;
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int16_t checksum;
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uint16_t checksum;
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} SerialFeedback;
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SerialFeedback Feedback1;
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SerialFeedback NewFeedback1;
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@ -352,6 +349,15 @@ void handleModeChange() {
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//TODO: led show aborted modechange
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}else{ //everythings fine, turn on/off
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digitalWrite(PIN_RELAISFRONT,HIGH); //simulate hoverboard power button press
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//Front board is Serial2
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if (requestmode==on) {
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board2Enabled=true; //assume board is online
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board2lastPoweron=loopmillis; //save time at which board was powered on
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// ### Request Idle or Off ###
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}else if(requestmode==idle || requestmode==off) {
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board2Enabled=false; //assume board is offline
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board2lastPoweroff=loopmillis; //save time at which board was powered off
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}
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state_modechange++;
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state_modechange_time=loopmillis; //set to current time
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Serial.println("PIN_RELAISFRONT,HIGH");
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@ -368,6 +374,15 @@ void handleModeChange() {
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case 2:
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if (loopmillis - state_modechange_time > 200) { //wait some time
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digitalWrite(PIN_RELAISREAR,HIGH); //simulate hoverboard power button press
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//Rear board is Serial1
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if (requestmode==on) {
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board1Enabled=true; //assume board is online
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board1lastPoweron=loopmillis; //save time at which board was powered on
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// ### Request Idle or Off ###
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}else if(requestmode==idle || requestmode==off) {
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board1Enabled=false; //assume board is offline
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board1lastPoweroff=loopmillis; //save time at which board was powered off
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}
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state_modechange++;
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state_modechange_time=loopmillis; //set to current time
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Serial.println("PIN_RELAISREAR,HIGH");
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@ -388,27 +403,6 @@ void handleModeChange() {
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Serial.println("Waiting finished");
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}
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break;
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case 5:
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// ### Request On ###
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if (requestmode==on) {//wait for both boards to send feedback
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state_modechange++;
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board1Enabled=true; //assume board is online
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board1lastPoweron=loopmillis; //save time at which board was powered on
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board2Enabled=true; //assume board is online
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board2lastPoweron=loopmillis; //save time at which board was powered on
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// ### Request Idle or Off (both power boards off) ###
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}else if(requestmode==idle || requestmode==off) {
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state_modechange++;
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board1Enabled=false; //assume board is offline
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board1lastPoweroff=loopmillis; //save time at which board was powered off
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board2Enabled=false; //assume board is offline
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board2lastPoweroff=loopmillis; //save time at which board was powered off
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Serial.println("finished");
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}else{ //if changed off from error mode
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state_modechange++;
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}
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break;
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default: //finished modechange
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currentmode=requestmode;
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state_modechange=0;
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@ -520,8 +514,8 @@ boolean boardsPowered()
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void failChecks()
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{
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#define FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME 3000 //time to start failchecking boardpower after board poweroff
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#define FAILCHECK_RECEIVERECENT_TIME 1000 //timeout .should be less than FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME
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#define FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME 1000 //time to start failchecking boardpower after board poweroff
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#define FAILCHECK_RECEIVERECENT_TIME 100 //timeout .should be less than FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME and greater than send delay from mainboard
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// ## Check if board is really offline ##
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if (!board1Enabled) { //board should be offline
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if (loopmillis-board1lastPoweroff > FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME){ //wait some time before checking if board did power off
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@ -542,29 +536,12 @@ void failChecks()
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}
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}
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#define MINSPEED_FOR_FEEDBACK 250 //speed at which feedback output should be expected
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#define RESETSPEED_FOR_FEEDBACK 50 //should be less than MINSPEED_FOR_FEEDBACK. speed at which board2lastFeedbackMinSpeed will be able to be reset
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if (!board2lastFeedbackMinSpeed_above && ( abs(out_speedFL) > MINSPEED_FOR_FEEDBACK || abs(out_speedFR) > MINSPEED_FOR_FEEDBACK ) ){
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board2lastFeedbackMinSpeed=loopmillis; //front is board 2
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board2lastFeedbackMinSpeed_above=true;
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}
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if (board2lastFeedbackMinSpeed_above && abs(out_speedFL) < RESETSPEED_FOR_FEEDBACK && abs(out_speedFR) < RESETSPEED_FOR_FEEDBACK) { //if speed of both wheels goes below a threshold, board2lastFeedbackMinSpeed will be able to reset
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board2lastFeedbackMinSpeed_above=false;
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}
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if (!board1lastFeedbackMinSpeed_above && ( abs(out_speedRL) > MINSPEED_FOR_FEEDBACK || abs(out_speedRR) > MINSPEED_FOR_FEEDBACK ) ){
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board1lastFeedbackMinSpeed=loopmillis; //rear is board 1
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board1lastFeedbackMinSpeed_above=true;
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}
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if (board1lastFeedbackMinSpeed_above && abs(out_speedRL) < RESETSPEED_FOR_FEEDBACK && abs(out_speedRR) < RESETSPEED_FOR_FEEDBACK) { //if speed of both wheels goes below a threshold, board2lastFeedbackMinSpeed will be able to reset
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board1lastFeedbackMinSpeed_above=false;
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}
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#define FAILCHECK_WAITCHECK_AFTER_MINSPEED_TIME 3000 //time to start failchecking boardpower after minimum throttle that should give some feedback
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#define FAILCHECK_WAITCHECK_AFTER_POWERON_TIME 2000 //time to start failchecking boardpower after startup
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// ## Check if board is online (when it should send feedback) ##
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if (board1Enabled) { //board should be online
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if (loopmillis-board1lastFeedbackMinSpeed > FAILCHECK_WAITCHECK_AFTER_MINSPEED_TIME) { //wait some time before checking
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if (board1lastFeedbackMinSpeed_above && loopmillis-lastValidDataSerial1_time > FAILCHECK_RECEIVERECENT_TIME) { //speed still high enough but no new messages recently received?
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if (loopmillis-board1lastPoweron > FAILCHECK_WAITCHECK_AFTER_POWERON_TIME) { //wait some time before checking
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if (loopmillis-lastValidDataSerial1_time > FAILCHECK_RECEIVERECENT_TIME) { //speed still high enough but no new messages recently received?
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errormessage="Board 1 should be online and give feedback but didnt";
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Serial.println(errormessage);
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requestmode=error;
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@ -572,8 +549,8 @@ void failChecks()
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}
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}
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if (board2Enabled) { //board should be online
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if (loopmillis-board2lastFeedbackMinSpeed > FAILCHECK_WAITCHECK_AFTER_MINSPEED_TIME) { //wait some time before checking
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if (board2lastFeedbackMinSpeed_above && loopmillis-lastValidDataSerial2_time > FAILCHECK_RECEIVERECENT_TIME) { //speed still high enough but no new messages recently received?
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if (loopmillis-board2lastPoweron > FAILCHECK_WAITCHECK_AFTER_POWERON_TIME) { //wait some time before checking
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if (loopmillis-lastValidDataSerial2_time > FAILCHECK_RECEIVERECENT_TIME) { //no new messages recently received?
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errormessage="Board 2 should be online and give feedback but didnt";
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Serial.println(errormessage);
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requestmode=error;
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@ -1 +1 @@
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Subproject commit fc5f5a26ca648aa30aec3fc4904a3a7560c11baa
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Subproject commit b9bf849330f8e7355d0881300ebdc59607845e2d
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