From c2eba898ac628c6827d17c142a54e601bda5797b Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Tue, 12 Apr 2022 16:28:13 +0200
Subject: [PATCH] get functions for feedback

---
 src/hoverboard-esc-serial-comm.cpp | 50 ++++++++++++++++++++++++++++++
 src/hoverboard-esc-serial-comm.h   | 18 ++++++++++-
 2 files changed, 67 insertions(+), 1 deletion(-)

diff --git a/src/hoverboard-esc-serial-comm.cpp b/src/hoverboard-esc-serial-comm.cpp
index 29755fe..35607d6 100644
--- a/src/hoverboard-esc-serial-comm.cpp
+++ b/src/hoverboard-esc-serial-comm.cpp
@@ -50,9 +50,14 @@ bool ESCSerialComm::update(long millis) //returns true if something was sent or
 
     if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers    
         last_send=loopmillis;
+
+        Motorparams.filtered_curL=filterMedian(Motorparams.curL_DC)/50.0; //in Amps
+        Motorparams.filtered_curR=filterMedian(Motorparams.curR_DC)/50.0; //in Amps
         
         if (controller_connected) {
             SendSerial(Motorparams.cmdL,Motorparams.cmdR);
+
+            
             
 
             flag_sent=true;
@@ -60,6 +65,8 @@ bool ESCSerialComm::update(long millis) //returns true if something was sent or
             
         }
 
+        
+
         //Update speed and trip
         float _meanRPM=(Feedback.speedL_meas-Feedback.speedR_meas)/2.0;
         meanSpeedms=_meanRPM*wheelcircumference/60.0;   // Units: 1/min * m / 60s
@@ -187,4 +194,47 @@ float filterMedian(int16_t* values) {
   mean/=(1+CURRENT_MEANVALUECOUNT*2);
 
   return mean;
+}
+
+
+int16_t ESCSerialComm::getFeedback_cmd1() {
+  return Feedback.cmd1;
+}
+int16_t ESCSerialComm::getFeedback_cmd2() {
+  return Feedback.cmd2;
+}
+int16_t ESCSerialComm::getFeedback_speedL_meas() {
+  return Feedback.speedL_meas;
+}
+int16_t ESCSerialComm::getFeedback_speedR_meas() {
+  return Feedback.speedR_meas;
+}
+float ESCSerialComm::getFeedback_batVoltage() {
+  return Feedback.batVoltage/100.0;
+}
+float ESCSerialComm::getFeedback_boardTemp() {
+  return Feedback.boardTemp/10.0;
+}
+float ESCSerialComm::getFeedback_curL_DC() {
+  return Feedback.curL_DC/50.0;
+}
+float ESCSerialComm::getFeedback_curR_DC() {
+  return Feedback.curR_DC/50.0;
+}
+
+float ESCSerialComm::getFiltered_curL() {
+  return Motorparams.filtered_curL;
+}
+float ESCSerialComm::getFiltered_curR() {
+  return Motorparams.filtered_curR;
+}
+
+
+
+float ESCSerialComm::getCurrentConsumed() {
+  return currentConsumed;
+}
+
+float ESCSerialComm::getTrip() {
+  return trip;
 }
\ No newline at end of file
diff --git a/src/hoverboard-esc-serial-comm.h b/src/hoverboard-esc-serial-comm.h
index 4793be9..dd7ddd5 100644
--- a/src/hoverboard-esc-serial-comm.h
+++ b/src/hoverboard-esc-serial-comm.h
@@ -52,6 +52,7 @@ typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct
    uint16_t  checksum;
 } SerialFeedback;
 
+
 #define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
 #define CURRENT_MEANVALUECOUNT 20 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
 
@@ -81,6 +82,20 @@ class ESCSerialComm
     int16_t getCmdR();
     bool sendPending(long millis);
 
+    int16_t getFeedback_cmd1();
+    int16_t getFeedback_cmd2();
+    int16_t getFeedback_speedL_meas();
+    int16_t getFeedback_speedR_meas();
+    float getFeedback_batVoltage();
+    float getFeedback_boardTemp();
+    float getFeedback_curL_DC();
+    float getFeedback_curR_DC();
+    float getFiltered_curL();
+    float getFiltered_curR();
+
+    float getCurrentConsumed();
+    float getTrip();
+
   private:
     unsigned long loopmillis;
 
@@ -117,4 +132,5 @@ class ESCSerialComm
     void SendSerial(int16_t uSpeedLeft, int16_t uSpeedRight);
     bool ReceiveSerial();
 };
-#endif
\ No newline at end of file
+#endif
+