add sensor serial command
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71e9fd7d4f
commit
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@ -70,7 +70,8 @@ bool control_buttonB=false;
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unsigned long loopmillis;
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unsigned long looptime_duration;
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unsigned long looptime_duration_min;
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unsigned long looptime_duration_max;
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#define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
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@ -318,7 +318,9 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
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display.setFont();
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display.setCursor(0,0);
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if (datalogging) {
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//Row1
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if (getDatalogging()) {
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display.print(getLogFilename());
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}else{
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display.print("LOG DISABLED");
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@ -328,12 +330,15 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
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display.print(F("s"));
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display.println();
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//Row2
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display.print(F("ESC F="));
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display.print(escFront.getControllerConnected());
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display.print(F(" R="));
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display.print(escRear.getControllerConnected());
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display.println();
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//Row3
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display.print("throttle=");
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dtostrf(ads_throttle_A_raw,1,0,buf);
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@ -343,6 +348,8 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
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display.print((String)buf);
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display.println();
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//Row 4
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display.print("brake=");
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dtostrf(ads_brake_raw,1,0,buf);
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display.print((String)buf);
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@ -11,16 +11,21 @@ boolean sdcard_available=false;
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boolean datalogging=true;
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String datalogging_filename="UNKNOWN.txt";
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#define LOGGINGINTERVAL 100
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bool serialCommandEcho_Enabled=true;
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bool initLogging();
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void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear);
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void writeLogComment(unsigned long time, String msg);
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void printFileListing();
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void printDirectory(File dir, int numTabs,String parent);
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void printFile(String filename);
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void removeFile(String filename);
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void serialCommandLoop();
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void serialCommandLoop(unsigned long loopmillis, ESCSerialComm& escFront, ESCSerialComm& escRear);
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float getBatteryVoltage(ESCSerialComm& escFront, ESCSerialComm& escRear);
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bool initLogging() {
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@ -58,7 +63,7 @@ bool initLogging() {
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Serial.print(datalogging_filename); Serial.println(" is free");
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display.print(datalogging_filename);
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if (!datalogging) { //datalogging is disabled during boot
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display.print( "NO LOG");
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display.print(" OFF");
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}
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display.println(); display.display();
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@ -71,23 +76,23 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
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static unsigned long last_datalogging_write=0;
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static boolean logging_headerWritten=false;
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if (datalogging && sdcard_available) {
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#define LOGGINGINTERVAL 100
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if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
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{
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last_datalogging_write=loopmillis;
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File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);
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if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
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{
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last_datalogging_write=loopmillis;
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if (datalogging && sdcard_available) {
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File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);
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if (dataFile) { // if the file is available, write to it
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if (!logging_headerWritten) {
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dataFile.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
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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("temp_ESCFront,temp_ESCRear,vbat_Front,vbat_Rear,");
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dataFile.print("currentAll,throttle,brake,speed,trip_Front,trip_Rear,trip,currentConsumed_Front,currentConsumed_Rear,currentConsumed,watthoursConsumed,");
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dataFile.println("temp_ESCFront,temp_ESCRear,temp_Air,looptime_duration");
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dataFile.println("temp_Front,temp_Rear,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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}
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@ -122,8 +127,12 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
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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); //dataFile.print(",");
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looptime_duration=0; //reset
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dataFile.print(looptime_duration_min); dataFile.print(",");
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dataFile.print(looptime_duration_max); //dataFile.print(",");
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looptime_duration_max=0; //reset
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looptime_duration_min=1000; //reset
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dataFile.println("");
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dataFile.close();
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@ -131,6 +140,10 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
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error_sdfile_unavailable=true;
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}
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}
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looptime_duration_max=0; //reset
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looptime_duration_min=1000; //reset
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}
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}
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@ -154,6 +167,10 @@ String getLogFilename() {
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return datalogging_filename;
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}
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bool getDatalogging() {
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return datalogging;
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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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@ -222,13 +239,17 @@ void writeTrip(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
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myFile.print("owh=");
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myFile.println(overallWatthoursConsumed);
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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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float _voltage=getBatteryVoltage(escFront, escRear);
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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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float getBatteryVoltage(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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return (escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
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}
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void resetTrip() {
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if (datalogging && sdcard_available) {
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File myFile = SD.open("stats.txt", FILE_WRITE);
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@ -251,7 +272,7 @@ void resetTrip() {
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void serialCommandLoop() {
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void serialCommandLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
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#define MAX_MESSAGE_LENGTH 80
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uint8_t timeoutcounter=MAX_MESSAGE_LENGTH;
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@ -299,15 +320,46 @@ void serialCommandLoop() {
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}else if(smessage.equals("ls")) {
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printFileListing();
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}else if(smessage.startsWith("cat")) {
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printFile(smessage.substring(4));
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String _filename=smessage.substring(4);
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if (_filename.length()<3){ //if no filename given, use current log file
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_filename=getLogFilename();
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}
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printFile(_filename);
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}else if(smessage.startsWith("rm")) {
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removeFile(smessage.substring(3));
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}else if(smessage.equals("log off")) {
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writeLogComment(loopmillis, "Datalogging disabled by serial command");
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datalogging=false;
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Serial.print("Log disabled: "); Serial.println(datalogging_filename);
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}else if(smessage.equals("log on")) {
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datalogging=true;
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writeLogComment(loopmillis, "Datalogging enabled by serial command");
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Serial.print("Log enabled: "); Serial.println(datalogging_filename);
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}else if(smessage.equals("show stats")) {
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Serial.print("overallTrip="); Serial.println(overallTrip);
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Serial.print("overallCurrentConsumed="); Serial.println(overallCurrentConsumed);
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Serial.print("overallWatthoursConsumed="); Serial.println(overallWatthoursConsumed);
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Serial.print("voltage="); Serial.println(getBatteryVoltage(escFront,escRear));
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}else if(smessage.equals("show sensors")) {
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Serial.print("loopmillis(s) \t"); Serial.println(loopmillis/1000.0,3);
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Serial.print("temp_ESCFront \t"); Serial.println(escFront.getFeedback_boardTemp());
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Serial.print("temp_ESCRear \t"); Serial.println(escRear.getFeedback_boardTemp());
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Serial.print("vbat_Front \t"); Serial.println(escFront.getFeedback_batVoltage());
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Serial.print("vbat_Rear \t"); Serial.println(escRear.getFeedback_batVoltage());
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Serial.print("throttle \t"); Serial.println(throttle_pos);
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Serial.print("brake \t"); Serial.println(brake_pos);
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Serial.print("trip_Front \t"); Serial.println(escFront.getTrip());
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Serial.print("trip_Rear \t"); Serial.println(escRear.getTrip());
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Serial.print("trip \t"); Serial.println(trip);
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Serial.print("currentConsumed_Front \t"); Serial.println(escFront.getCurrentConsumed(),3);
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Serial.print("currentConsumed_Rear \t"); Serial.println(escRear.getCurrentConsumed(),3);
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Serial.print("currentConsumed \t"); Serial.println(currentConsumed,3);
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Serial.print("watthoursConsumed \t"); Serial.println(watthoursConsumed,3);
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Serial.print("temp_Front \t"); Serial.println(temp_ESCFront,3);
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Serial.print("temp_Rear \t"); Serial.println(temp_ESCRear,3);
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Serial.print("temp_Air \t"); Serial.println(temp_Air,3);
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Serial.print("looptime_duration_min \t"); Serial.println(looptime_duration_min);
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Serial.print("looptime_duration_max \t"); Serial.println(looptime_duration_max);
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}
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message_pos = 0;
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@ -16,8 +16,9 @@
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#include "led.h"
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#include "temperature.h"
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//#include "comms.h"
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String getLogFilename();
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bool getDatalogging();
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#include "display.h"
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#include "logging.h"
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@ -161,7 +162,6 @@ void setup()
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writeLogComment(millis(), "Setup Finished");
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led_simpeProgress(15,true);
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led_simpleProgressWait(); //wait longer if any errors were displayed with led_simpeProgress()
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@ -176,46 +176,6 @@ void loop() {
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loopmillis=millis(); //read millis for this cycle
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/*
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// ____ Debugging pending serial byted for feedback
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static int s2availmax=0;
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int _a2=Serial2.available();
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if (_a2>s2availmax) {
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s2availmax=_a2;
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//Serial.print("new s2availmax"); Serial.println(s2availmax);
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String _text="Serial2 Bytes Available Max=";
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_text+=s2availmax;
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writeLogComment(Serial1,loopmillis, _text);
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}
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static int s3availmax=0;
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int _a3=Serial3.available();
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if (_a3>s3availmax) {
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s3availmax=_a3;
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//Serial.print("new s3availmax"); Serial.println(s3availmax);
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String _text="Serial3 Bytes Available Max=";
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_text+=s3availmax;
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writeLogComment(Serial1,loopmillis, _text);
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}
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// ----- End of debug
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bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
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bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
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//Max (40) or 22 available/pending bytes
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if (newData2) {
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updateMotorparams(motorparamsFront,FeedbackFront,loopmillis);
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}
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if (newData3) {
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updateMotorparams(motorparamsRear,FeedbackRear,loopmillis);
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}
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*/
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@ -362,12 +322,13 @@ void loop() {
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}
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serialCommandLoop();
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serialCommandLoop(loopmillis,escFront,escRear);
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looptime_duration=max(looptime_duration,millis()-loopmillis);
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looptime_duration_min=min(looptime_duration_min,millis()-loopmillis);
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looptime_duration_max=max(looptime_duration_max,millis()-loopmillis);
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}
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