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Part 4

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helgie22
2026-09-19 19:29:07 +00:00
parent 811e3540f6
commit 96800a05d8
7 changed files with 111 additions and 84 deletions
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.gitignore
+5
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@@ -1 +1,6 @@
.pio .pio
venv
*.py
*.csv
scripts
*.typ
.vscode/c_cpp_properties.json
Vendored
+19 -19
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@@ -8,29 +8,29 @@
{ {
"name": "PlatformIO", "name": "PlatformIO",
"includePath": [ "includePath": [
"C:/Users/isakt/Embedded/ESP_Project2_H26/include", "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
"C:/Users/isakt/Embedded/ESP_Project2_H26/src", "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
"" ""
], ],
"browse": { "browse": {
"limitSymbolsToIncludedHeaders": true, "limitSymbolsToIncludedHeaders": true,
"path": [ "path": [
"C:/Users/isakt/Embedded/ESP_Project2_H26/include", "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
"C:/Users/isakt/Embedded/ESP_Project2_H26/src", "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src", "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
"" ""
] ]
}, },
@@ -45,7 +45,7 @@
], ],
"cStandard": "gnu11", "cStandard": "gnu11",
"cppStandard": "gnu++11", "cppStandard": "gnu++11",
"compilerPath": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe", "compilerPath": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe",
"compilerArgs": [ "compilerArgs": [
"-mmcu=atmega328p", "-mmcu=atmega328p",
"" ""
.vscode/launch.json
Vendored
+6 -6
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@@ -12,9 +12,9 @@
"type": "platformio-debug", "type": "platformio-debug",
"request": "launch", "request": "launch",
"name": "PIO Debug", "name": "PIO Debug",
"executable": "C:/Users/isakt/Embedded/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf", "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new", "projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin", "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart", "internalConsoleOptions": "openOnSessionStart",
"preLaunchTask": { "preLaunchTask": {
"type": "PlatformIO", "type": "PlatformIO",
@@ -25,18 +25,18 @@
"type": "platformio-debug", "type": "platformio-debug",
"request": "launch", "request": "launch",
"name": "PIO Debug (skip Pre-Debug)", "name": "PIO Debug (skip Pre-Debug)",
"executable": "C:/Users/isakt/Embedded/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf", "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new", "projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin", "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart" "internalConsoleOptions": "openOnSessionStart"
}, },
{ {
"type": "platformio-debug", "type": "platformio-debug",
"request": "launch", "request": "launch",
"name": "PIO Debug (without uploading)", "name": "PIO Debug (without uploading)",
"executable": "C:/Users/isakt/Embedded/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf", "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new", "projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin", "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart", "internalConsoleOptions": "openOnSessionStart",
"loadMode": "manual" "loadMode": "manual"
} }
include/rotary_encoder_driver.h
+5
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@@ -8,11 +8,16 @@
#include "timer_usec.h" #include "timer_usec.h"
class RotaryEncoderDriver { class RotaryEncoderDriver {
static const uint8_t HIST_LEN = 4; // 8 x 5 ms = 40 ms gluggi fyrir rpm-utreikning
volatile uint8_t cycle; volatile uint8_t cycle;
volatile int16_t count; volatile int16_t count;
volatile int16_t prev_count; volatile int16_t prev_count;
volatile bool speed_ready; volatile bool speed_ready;
volatile int16_t history[HIST_LEN];
volatile uint8_t hist_idx;
Digital_out led; Digital_out led;
Digital_in eA; Digital_in eA;
src/main.cpp
+47 -39
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@@ -1,13 +1,24 @@
/* #include <avr/io.h> #include <avr/io.h>
#include <util/delay.h> #include <util/delay.h>
#include <Arduino.h> #include <Arduino.h>
#include "rotary_encoder_driver.h" #include "rotary_encoder_driver.h"
#include "motor_driver.h" #include "motor_driver.h"
#include "p_controller.h"
RotaryEncoderDriver encoder; RotaryEncoderDriver encoder;
MotorDriver motor; MotorDriver motor;
P_controller controller(12.5);
const double REF_RPM1 = 30.0;
const double REF_RPM2 = 50.0;
const uint16_t STEP1_AT_SAMPLE = 50;
const uint16_t STEP2_AT_SAMPLE = 500;
const uint16_t STOP_AT_SAMPLE = 1000;
int main() { int main() {
init(); init();
Serial.begin(115200); Serial.begin(115200);
@@ -15,65 +26,62 @@ int main() {
cli(); cli();
encoder.begin(); encoder.begin();
motor.begin(); motor.begin();
sei(); sei();
// Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst
// Make sure motor is stopped before starting test
motor.stop(); motor.stop();
_delay_ms(2000); _delay_ms(2000);
Serial.println("time_ms,rpm"); Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
Serial.println("0.0,0.0"); Serial.println("0.0,0.0,0.0,0.0,0.0");
// Synchronize the RPM measurement window with the step input
encoder.reset_speed_measurement(); encoder.reset_speed_measurement();
// Apply unit-step input
motor.forward();
uint16_t sample = 0; uint16_t sample = 0;
double ref = 0.0;
while (true) { while (true) {
if (encoder.new_speed_available()) {
if (encoder.new_speed_available())
{
sample++; sample++;
float time_ms = sample * 5.0f; float time_ms = sample * 4.0f;
float speed = encoder.rpm();
// Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE
if (sample == STEP1_AT_SAMPLE) {
ref = REF_RPM1;
}
if (sample == STEP2_AT_SAMPLE) {
ref = REF_RPM2;
}
double actual = encoder.rpm();
double pwm_percent = controller.update(ref, actual);
double pwm_requested = pwm_percent * 2.55;
double pwm_actual = pwm_requested;
if (pwm_actual > 255.0) pwm_actual = 255.0;
if (pwm_actual < -255.0) pwm_actual = -255.0;
motor.set(pwm_actual);
Serial.print(time_ms, 1); Serial.print(time_ms, 1);
Serial.print(","); Serial.print(",");
Serial.println(speed, 2); Serial.print(ref, 1);
Serial.print(",");
Serial.print(actual, 2);
Serial.print(",");
Serial.print(pwm_requested, 1);
Serial.print(",");
Serial.println(pwm_actual, 1);
if (sample >= STOP_AT_SAMPLE) {
// Stop after about 8 seconds {2000 (<- input in sample >= xxxx) * 4 = 8 sec}
if (sample >= 400)
{
motor.stop(); motor.stop();
while (true) {
while (true)
{
} }
} }
} }
//Serial.print("POSITION: ");
//Serial.print("RPM: ");
//Serial.println(encoder.position());
//Serial.println(encoder.rpm());
//_delay_ms(50);
} }
return 0; return 0;
} }
*/
src/rotary_encoder_driver.cpp
+23 -8
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@@ -8,9 +8,15 @@ RotaryEncoderDriver::RotaryEncoderDriver()
, count(0) , count(0)
, prev_count(0) , prev_count(0)
, speed_ready(false) , speed_ready(false)
, hist_idx(0)
, led(5) , led(5)
, eA(2) , eA(2)
, eB(5) {} , eB(5)
{
for (uint8_t i = 0; i < HIST_LEN; i++) {
history[i] = 0;
}
}
void RotaryEncoderDriver::begin() { void RotaryEncoderDriver::begin() {
@@ -23,7 +29,7 @@ void RotaryEncoderDriver::begin() {
EICRA |= (1<<ISC01) | (1<<ISC00); EICRA |= (1<<ISC01) | (1<<ISC00);
EIMSK |= (1<<INT0); EIMSK |= (1<<INT0);
timer.init(5000); timer.init(4000);
} }
void RotaryEncoderDriver::update() { void RotaryEncoderDriver::update() {
@@ -47,13 +53,17 @@ int RotaryEncoderDriver::position() {
} }
void RotaryEncoderDriver::update_delta() { void RotaryEncoderDriver::update_delta() {
delta = count - prev_count;
prev_count = count; int16_t oldest = history[hist_idx];
history[hist_idx] = count;
hist_idx = (hist_idx + 1) % HIST_LEN;
delta = count - oldest; // breyting yfir HIST_LEN * Ts (40 ms) glugga
prev_count = count;
speed_ready = true;
speed_ready = true;
led.set_lo(); led.set_lo();
} }
@@ -67,7 +77,7 @@ float RotaryEncoderDriver::count_per_sec() {
SREG = oldSREG; SREG = oldSREG;
return local_delta / 0.005f; return local_delta / (HIST_LEN * 0.004f);
} }
@@ -108,6 +118,11 @@ void RotaryEncoderDriver::reset_speed_measurement()
delta = 0; delta = 0;
speed_ready = false; speed_ready = false;
for (uint8_t i = 0; i < HIST_LEN; i++) {
history[i] = count;
}
hist_idx = 0;
SREG = oldSREG; SREG = oldSREG;
} }
src/temporary_main.cpp
+6 -12
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@@ -1,4 +1,6 @@
/* #include <Arduino.h> /* Óvirkt núna, "alvöru" main() er í main.cpp. Þessi skrá var notuð í undirbúning/prófun
#include <Arduino.h>
#include "p_controller.h" #include "p_controller.h"
@@ -20,7 +22,7 @@ int main()
} }
return 0; return 0;
} */ }
#include <Arduino.h> #include <Arduino.h>
@@ -36,9 +38,6 @@ int main()
motor.begin(); motor.begin();
//_delay_ms(3000);
//motor.set(200);
while (true) while (true)
{ {
motor.set(60); motor.set(60);
@@ -49,11 +48,6 @@ int main()
motor.set(240); motor.set(240);
_delay_ms(3000); _delay_ms(3000);
//motor.stop();
//_delay_ms(2000);
} }
}
*/
}