add sd card trip logging and fix disarming when boards turned off
This commit is contained in:
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6c69e4c895
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4b5797d2f4
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@ -103,6 +103,12 @@ float max_filtered_currentAll;
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float min_filtered_currentAll;
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float max_meanSpeed;
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float minSpeedms; //speed in m/s of slowest wheel
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double overallTrip; //m. trip with read distance from sd card
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double trip; //m. trip distance since boot
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double currentConsumed;
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double overallCurrentConsumed;
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float lastTripVoltage=0;
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int16_t cmd_send=0;
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@ -119,6 +125,7 @@ bool button_start_state=false;
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#define DEBOUNCE_TIME 50
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bool armed = false; //cmd output values forced to 0 if false
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bool statswritten = true;
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@ -104,7 +104,9 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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display.setTextColor(SSD1306_WHITE); // Draw white text
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display.setCursor(0,SCREEN_HEIGHT-(SCREEN_HEIGHT-18)/2 - 3); // Start at top-left corner
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float _speeddisplay=(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0*3.6;
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//float _speeddisplay=(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0*3.6;
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float _speeddisplay=minSpeedms*3.6;
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//_speeddisplay=(millis()/1000)%21; //debugging
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char buf[8];
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dtostrf(_speeddisplay,1,1,buf);
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@ -172,6 +174,14 @@ void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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}
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void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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double _displaytrip=trip;
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double _displaycurrent=currentConsumed;
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bool _displayOverall= ((millis()/3000)%2==0);
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if (_displayOverall) { //alternate between this trip and overall trip
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_displaytrip=overallTrip;
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_displaycurrent=overallCurrentConsumed;
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}
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char buf[8];
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display.setFont();
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display.setCursor(0,0);
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@ -190,19 +200,23 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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display.println();
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display.print(F("Trip:"));
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dtostrf(min(escFront.getTrip(),escRear.getTrip()),1,0,buf);
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dtostrf(_displaytrip,1,0,buf);
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display.print((String)buf);
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display.print(" m ");
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dtostrf(escFront.getCurrentConsumed()+escRear.getCurrentConsumed(),1,2,buf);
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dtostrf(_displaycurrent,1,2,buf);
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display.print((String)buf);
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display.print(" Ah");
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display.println();
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display.print(F("Eff: "));
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dtostrf( min(escFront.getTrip(),escRear.getTrip())/1000/(escFront.getCurrentConsumed()+escRear.getCurrentConsumed()) ,1,2,buf);
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dtostrf( _displaytrip/1000/_displaycurrent ,1,2,buf);
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display.print((String)buf);
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display.print(" km/Ah");
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if (_displayOverall){
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display.print(" sum");
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}
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display.println();
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@ -20,27 +20,27 @@ bool initLogging() {
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// see if the card is present and can be initialized:
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if (!SD.begin(SDCHIPSELECT)) {
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Serial.println("Card failed, or not present");
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display.print(F("SD Init Fail!")); display.display();
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display.println(F("SD Init Fail!")); display.display();
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datalogging=false; //disable logging
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delay(1000);
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return false;
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}else{
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Serial.println("Card initialized.");
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display.print(F("LOG=")); display.display();
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display.println(F("LOG=")); display.display();
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if (datalogging){
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int filenumber=0;
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char buffer[6];
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sprintf(buffer, "%04d", filenumber);
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datalogging_filename="LOG_"+String(buffer)+".TXT";
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while(SD.exists(datalogging_filename) && filenumber<10000) {
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Serial.print(datalogging_filename); Serial.println(" exists");
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filenumber++;
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sprintf(buffer, "%04d", filenumber);
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datalogging_filename="LOG_"+String(buffer)+".TXT";
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int filenumber=0;
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char buffer[6];
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sprintf(buffer, "%04d", filenumber);
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datalogging_filename="LOG_"+String(buffer)+".TXT";
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while(SD.exists(datalogging_filename) && filenumber<10000) {
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Serial.print(datalogging_filename); Serial.println(" exists");
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filenumber++;
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sprintf(buffer, "%04d", filenumber);
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datalogging_filename="LOG_"+String(buffer)+".TXT";
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}
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Serial.print(datalogging_filename); Serial.println(" is free");
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display.print(datalogging_filename); display.display();
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}
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Serial.print(datalogging_filename); Serial.println(" is free");
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display.print(datalogging_filename); display.display();
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}
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}
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return true;
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@ -65,7 +65,7 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
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dataFile.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
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dataFile.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
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dataFile.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
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dataFile.print("currentAll,throttle,brake,speed,trip_Front,trip_Rear,currentConsumed_Front,currentConsumed_Rear,");
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dataFile.print("currentAll,throttle,brake,speed,trip_Front,trip_Rear,trip,currentConsumed_Front,currentConsumed_Rear,currentConsumed,");
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dataFile.println("temp_ESCFront,temp_ESCRear,temp_Air,looptime_duration");
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dataFile.print("#TIMESTAMP:"); dataFile.println(now());
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logging_headerWritten=true;
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@ -93,12 +93,15 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
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dataFile.print((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0); dataFile.print(",");
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dataFile.print(escFront.getTrip()); dataFile.print(",");
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dataFile.print(escRear.getTrip()); dataFile.print(",");
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dataFile.print(trip); dataFile.print(",");
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dataFile.print(escFront.getCurrentConsumed(),3); dataFile.print(",");
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dataFile.print(escRear.getCurrentConsumed(),3); dataFile.print(",");
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dataFile.print(currentConsumed,3); dataFile.print(",");
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dataFile.print(temp_ESCFront,2); dataFile.print(",");
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dataFile.print(temp_ESCRear,2); dataFile.print(",");
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dataFile.print(temp_Air,2); dataFile.print(",");
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dataFile.print(looptime_duration,0); dataFile.print(",");
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dataFile.print(looptime_duration); dataFile.print(",");
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looptime_duration=0; //reset
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dataFile.println("");
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dataFile.close();
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@ -127,4 +130,90 @@ String getLogFilename() {
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return datalogging_filename;
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}
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bool loadTripSD()
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{
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//stats.txt containt lines with driven distance or consume current.
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//the lowest line is the latest data
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//data is usually written rather slowly
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File myFile = SD.open("stats.txt", FILE_WRITE);
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if (myFile) {
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myFile.print("ini=");
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myFile.println(now());
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myFile.flush();
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delay(100);
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myFile.close();
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Serial.println("TripSD: time written");
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}else{
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return false;
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}
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myFile = SD.open("stats.txt");
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if (myFile) {
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while (myFile.available()) {
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String line=myFile.readStringUntil('\n');
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Serial.print("TripSD Read Line:");
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Serial.println(line);
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if (line.substring(0,4)=="trp="){
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overallTrip=(line.substring(4)).toFloat();
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}else if (line.substring(0,4)=="occ="){
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overallCurrentConsumed=(line.substring(4)).toFloat();
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}
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else if (line.substring(0,4)=="vlt="){
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lastTripVoltage=(line.substring(4)).toFloat();
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}
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}
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Serial.print("TripSD trip:");
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Serial.println(overallTrip);
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display.print(F("TripSD=")); display.println(overallTrip);
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Serial.print("TripSD current:");
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Serial.println(overallCurrentConsumed);
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display.print(F("Cur. SD=")); display.println(overallCurrentConsumed); display.display();
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Serial.print("TripSD voltage:");
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Serial.println(lastTripVoltage);
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display.print(F("Volt. SD=")); display.println(lastTripVoltage); display.display();
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myFile.flush();
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delay(10);
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myFile.close();
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}else{
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return false;
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}
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return true;
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}
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void writeTrip(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
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if (datalogging) {
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File myFile = SD.open("stats.txt", FILE_WRITE);
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if (myFile) {
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myFile.print("trp=");
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myFile.println(overallTrip);
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myFile.print("occ=");
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myFile.println(overallCurrentConsumed);
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myFile.print("vlt=");
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float _voltage=(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
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myFile.println(_voltage,2);
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myFile.close();
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}
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}
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}
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void resetTrip() {
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if (datalogging) {
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File myFile = SD.open("stats.txt", FILE_WRITE);
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if (myFile) {
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myFile.print("trp=");
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myFile.println(0);
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myFile.print("occ=");
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myFile.println(0);
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myFile.print("vlt=");
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myFile.println(0);
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myFile.flush();
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delay(10);
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myFile.close();
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}
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}
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}
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#endif
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@ -71,9 +71,7 @@ void temperatureLoop(unsigned long loopmillis) {
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flag_requestTemperatures=false;
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}
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if (!flag_requestTemperatures) {
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unsigned long _start=millis();
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sensors.requestTemperatures(); //this takes ~34ms
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Serial.print("DS Request took ms:"); Serial.println(millis()-_start);
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flag_requestTemperatures=true;
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}
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if (sensors.isConversionComplete()) {
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@ -1 +1 @@
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Subproject commit 8d180debf7633d3a8ff86a588c00b199c0876225
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Subproject commit 150ce61f9f8d8c013f2fca424ec2976c3582d403
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@ -1,3 +1,9 @@
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//TODO:
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/*
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- reset Trip to 0 by button press or something. function: resetTrip()
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*/
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#include <Arduino.h>
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@ -107,6 +113,8 @@ void setup()
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initResult=initLogging();
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led_simpeProgress(2,initResult);
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escFront.init();
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led_simpeProgress(3,true);
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@ -146,8 +154,17 @@ void setup()
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led_simpeProgress(7,true);
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}
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if (datalogging) { //sd init was successful
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initResult=loadTripSD();
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}else{
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initResult=false;
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}
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led_simpeProgress(8,initResult);
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initTemperature();
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led_simpeProgress(8,true);
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led_simpeProgress(9,true);
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@ -254,6 +271,22 @@ void loop() {
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escFront.update(loopmillis);
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escRear.update(loopmillis);
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static unsigned long last_statsupdate=0;
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#define STATSUPDATEINTERVAL 100
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if (loopmillis-last_statsupdate>STATSUPDATEINTERVAL) {
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minSpeedms=min(escFront.getWheelspeed_L(),min(escFront.getWheelspeed_R(),min(escRear.getWheelspeed_L(),escRear.getWheelspeed_R()))); //take speed of slowest wheel
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float _tripincrease=abs(minSpeedms) * ((loopmillis-last_statsupdate)/1000.0);
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trip+=_tripincrease;
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overallTrip+=_tripincrease;
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float _currentIncrease=(escFront.getFiltered_curL()+escFront.getFiltered_curR()+escRear.getFiltered_curL()+escRear.getFiltered_curR())* ((loopmillis-last_statsupdate)/1000.0)/3600.0; //amp hours
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currentConsumed += _currentIncrease;
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overallCurrentConsumed += _currentIncrease;
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last_statsupdate=loopmillis;
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}
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/* TODO: remove this if, because everything contained in esc.update()
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if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers
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last_send=loopmillis;
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@ -273,6 +306,13 @@ void loop() {
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//If needed write log to serial port
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//checkLog(); //TODO remove
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loggingLoop(loopmillis,escFront,escRear);
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if (!armed && !statswritten) { //write stats only once when disarmed
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statswritten=true;
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writeTrip(loopmillis,escFront,escRear);
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}
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if (statswritten && armed) {
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statswritten=false;
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}
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leds();
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led_update(loopmillis,escFront,escRear); //ws2812 led ring
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@ -296,9 +336,11 @@ void loop() {
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boolean fanstatus=digitalRead(PIN_FAN);
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//float temp=max(escFront.getFeedback_boardTemp(),escRear.getFeedback_boardTemp());
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float temp=max(temp_ESCFront,temp_ESCRear);
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if (!escFront.getControllerConnected() || !escRear.getControllerConnected()) { //boards are not powered on
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if (temp_ESCFront==DEVICE_DISCONNECTED_C || temp_ESCRear==DEVICE_DISCONNECTED_C ) { //temperature error
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digitalWrite(PIN_FAN,HIGH); //force fan on
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}else{ //if both controllers are on, use temperature regulation
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}else{ //normal temperature control
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if (!fanstatus) { //fan is off
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if (temp>=fan_turn_on_temp){
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digitalWrite(PIN_FAN,HIGH);
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@ -309,6 +351,7 @@ void loop() {
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}
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}
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}
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}
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@ -475,10 +518,11 @@ void failChecks() {
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error_ads_max_read_interval=true;
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writeLogComment(loopmillis, "Error ADS Max read interval");
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}
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//Serial.print("Error ADS Max read interval=");Serial.println(loopmillis-last_adsread);
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//Serial.print("Error ADS Max read interval="); Serial.println(loopmillis-last_adsread);
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}
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if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { //any errors?
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armed=false; //disarm
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throttle_pos=0;
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brake_pos=0;
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}
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@ -533,7 +577,6 @@ void calculateSetSpeed(unsigned long timediff){
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escRear.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
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log_update=true;
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}
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/*
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