interfisch
/
bobbycar
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

board power checks unreliable and too complicated. backup commit

This commit is contained in:
interfisch 2019-12-13 00:22:53 +01:00
parent c56fd25c9c
commit 64d03939d0
1 changed files with 91 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

127
controller/controller.ino
View File

@ -76,6 +76,8 @@ long last_send = 0;
boolean board1Enabled=false;
boolean board2Enabled=false;
#define EXPECT_FEEDBACK_ABOVE_SPEED 250 //for error checking
#define SERIALACTIVECHECKTIME 3000 //time to say a board is online/active when last message received in the last x ms
// Global variables for serial communication
uint8_t idx1 = 0; // Index for new data pointer
@ -84,6 +86,8 @@ byte *p1; // Pointer declaration for the new rece
byte incomingByte1;
byte incomingBytePrev1;
long lastValidDataSerial1_time;
long lastSendSerial1expectFeedback; //to check time difference between last >0 speed send and last received feedback
long lastBoard1PowerChange;
//Same for Serial2
uint8_t idx2 = 0; // Index for new data pointer
@ -92,7 +96,8 @@ byte *p2; // Pointer declaration for the new rece
byte incomingByte2;
byte incomingBytePrev2;
long lastValidDataSerial2_time;
long lastSendSerial2expectFeedback; //to check time difference between last >0 speed send and last received feedback
long lastBoard2PowerChange;
typedef struct{
uint16_t start;
@ -140,8 +145,8 @@ void setup()
Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
Serial1.begin(SERIAL_CONTROL_BAUD); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2). Marked with "1" on connector
Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector
Serial1.begin(SERIAL_CONTROL_BAUD); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2). Marked with "1" on connector (Rear)
Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector (Front)
// Pin Setup
pinMode(PIN_STARTLED, OUTPUT);
@ -203,6 +208,19 @@ void loop() {
Serial.print("lastData1="); Serial.print(loopmillis-lastValidDataSerial1_time); Serial.print(", lastData2=");Serial.print(loopmillis-lastValidDataSerial2_time); Serial.print(", speedFL="); Serial.println(out_speedFL);
}
}
//for lastValidSerialData calculation
if (abs(out_speedRL)>EXPECT_FEEDBACK_ABOVE_SPEED || abs(out_speedRR)>EXPECT_FEEDBACK_ABOVE_SPEED) { //Rear is serial 1
lastSendSerial1expectFeedback=loopmillis;
}
if (abs(out_speedFL)>EXPECT_FEEDBACK_ABOVE_SPEED || abs(out_speedFR)>EXPECT_FEEDBACK_ABOVE_SPEED) { //Front is serial 2
lastSendSerial2expectFeedback=loopmillis;
}
if (currentmode!=error) { //keep last errormessage
failChecks();
}
}
@ -346,31 +364,24 @@ void handleModeChange() {
case 4:
// ### Request On ###
if (requestmode==on) {//wait for both boards to send feedback
if ( serial1Active() && serial2Active() ) { //got recent feedback from both boards
state_modechange++;
boardsPowered(); //check boards powered to set variable board1/2Enabled to true
}
if (loopmillis - state_modechange_time > 5000) { //timeout
currentmode=error; //error
requestmode=currentmode;
errormessage="No feedback from board(s) on startup";
state_modechange=0;
board1Enabled=false;
board2Enabled=false;
}
state_modechange++;
board1Enabled=true; //assume board is online
board2Enabled=true; //assume board is online
lastBoard1PowerChange=loopmillis;
lastBoard2PowerChange=loopmillis;
lastSendSerial1expectFeedback=loopmillis; //expect maybe feedback on power on
lastSendSerial2expectFeedback=loopmillis;
lastValidDataSerial1_time=loopmillis; //assume a feedback was received (boards do not send feedback on poweron)
lastValidDataSerial2_time=loopmillis; //assume a feedback was received (boards do not send feedback on poweron)
// ### Request Idle or Off (both power boards off) ###
}else if(requestmode==idle || requestmode==off) { //wait for no response
if ( !serial1Active() && !serial2Active() ) { //no new data since some time
state_modechange++;
board1Enabled=false;
board2Enabled=false;
}
if (loopmillis - state_modechange_time > 5000) { //timeout
currentmode=error; //error
requestmode=currentmode;
errormessage="Boards did not turn off";
state_modechange=0;
}
}else if(requestmode==idle || requestmode==off) {
state_modechange++;
board1Enabled=false; //assume board is offline
board2Enabled=false; //assume board is offline
lastBoard1PowerChange=loopmillis;
lastBoard2PowerChange=loopmillis;
lastSendSerial1expectFeedback=loopmillis; //expect maybe feedback on power on
lastSendSerial2expectFeedback=loopmillis;
}else{ //if changed off from error mode
state_modechange++;
}
@ -399,11 +410,30 @@ void handleModeChange() {
}
}
boolean serial1Active() {
return loopmillis-lastValidDataSerial1_time < 2000;
if (loopmillis-lastBoard1PowerChange<=SERIALACTIVECHECKTIME) {
return board1Enabled; //unclear if mcu just started or board is just starting up. reply with exprected answer
}
if (lastValidDataSerial1_time==0 && lastSendSerial1expectFeedback==0) { //no valid data received and send ever
return false;
}
if (loopmillis-lastSendSerial1expectFeedback <= SERIALACTIVECHECKTIME){ //enough time passed since last exprected feedback
return board1Enabled; //unclear, return exprected value
}
return loopmillis-lastValidDataSerial1_time < SERIALACTIVECHECKTIME;
}
boolean serial2Active() {
return loopmillis-lastValidDataSerial2_time < 2000;
if (loopmillis-lastBoard2PowerChange<=SERIALACTIVECHECKTIME) {
return board2Enabled; //unclear if mcu just started or board is just starting up. reply with exprected answer
}
if (lastValidDataSerial2_time==0 && lastSendSerial2expectFeedback==0) { //no valid data received and send ever
return false;
}
if (loopmillis-lastSendSerial2expectFeedback <= SERIALACTIVECHECKTIME){ //enough time passed since last exprected feedback
return board2Enabled; //unclear, return exprected value
}
return loopmillis-lastValidDataSerial2_time < SERIALACTIVECHECKTIME;
}
void modeloops() {
@ -459,16 +489,41 @@ void loop_off() {
boolean boardsPowered()
{
if (serial1Active()){
board1Enabled=true;
}
if (serial2Active()){
board2Enabled=true;
}
return (board1Enabled && board2Enabled); //true if both boards enabled
}
void failChecks()
{
if (serial1Active() && !board1Enabled){ //serial is active and board should be offline
errormessage="Board 1 is online but shouldnt";
requestmode=error;
}
if (serial2Active() && !board2Enabled){ //serial is active and board should be offline
errormessage="Board 2 is online but shouldnt";
requestmode=error;
Serial.print("loopmillis="); Serial.println(loopmillis);
Serial.print("lastBoard2PowerChange="); Serial.println(lastBoard2PowerChange);
Serial.print("lastSendSerial2expectFeedback="); Serial.println(lastSendSerial2expectFeedback);
Serial.print("lastValidDataSerial2_time="); Serial.println(lastValidDataSerial2_time);
}
if (out_speedRL != 0 || out_speedRR != 0) { //Rear is Serial1
if (!serial1Active() && board1Enabled){ //serial is not active and board should be online. only check this if feedback can be exprected (out_speedFL/R > 0)
errormessage="Board 1 is offline but should be online";
requestmode=error;
}
}
if (out_speedFL != 0 || out_speedFR != 0) { //Front is Serial2
if (!serial2Active() && board2Enabled){ //serial is not active and board should be online. only check this if feedback can be exprected (out_speedFL/R > 0)
errormessage="Board 2 is offline but should be online";
requestmode=error;
Serial.print("loopmillis="); Serial.println(loopmillis);
Serial.print("lastBoard2PowerChange="); Serial.println(lastBoard2PowerChange);
Serial.print("lastSendSerial2expectFeedback="); Serial.println(lastSendSerial2expectFeedback);
Serial.print("lastValidDataSerial2_time="); Serial.println(lastValidDataSerial2_time);
}
}
}
String modeToString(uint8_t m) {
if (m==idle) return "idle";