use ads115 i2c 4ch ADC for throttle and brake

This commit is contained in:
interfisch 2023-03-01 00:31:46 +01:00
parent 41ba23790e
commit f27e0079da
3 changed files with 245 additions and 129 deletions

View File

@ -1632,27 +1632,27 @@
(junction (at 90.17 34.29) (diameter 0) (color 0 0 0 0)
(uuid 123968c6-74e7-4754-8c36-08ea08e42555)
)
(junction (at 135.89 158.75) (diameter 0) (color 0 0 0 0)
(uuid 1da8d6a9-fe3b-409f-b8fb-c383a8f14c75)
)
(junction (at 111.76 92.71) (diameter 0) (color 0 0 0 0)
(uuid 28904c58-13e1-4674-8bd4-90199e115ee4)
)
(junction (at 130.81 158.75) (diameter 0) (color 0 0 0 0)
(uuid 32979be0-ddcd-4bcc-bdc3-c2d538dd3917)
)
(junction (at 125.73 137.16) (diameter 0) (color 0 0 0 0)
(uuid 37e4953b-90f4-4631-b72e-3d8d5b6ad5a4)
)
(junction (at 185.42 152.4) (diameter 0) (color 0 0 0 0)
(uuid 38f3170a-b54c-4011-af49-381b27b9e9bb)
)
(junction (at 138.43 158.75) (diameter 0) (color 0 0 0 0)
(uuid 3b874771-539e-4f70-97f3-d863f151cc5f)
)
(junction (at 133.35 170.18) (diameter 0) (color 0 0 0 0)
(uuid 4c0db086-98b8-45db-ae33-e2ec36947136)
)
(junction (at 125.73 90.17) (diameter 0) (color 0 0 0 0)
(uuid 6720f220-33c9-45e2-b40a-e33dd15b6570)
)
(junction (at 133.35 158.75) (diameter 0) (color 0 0 0 0)
(uuid 6c991af1-2b26-4d8b-b43c-bcd5bb3794b3)
)
(junction (at 74.93 48.26) (diameter 0) (color 0 0 0 0)
(uuid 79451892-db6b-4999-916d-6392174ee493)
)
@ -1777,10 +1777,6 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 18f1018d-5857-4c32-a072-f3de80352f74)
)
(wire (pts (xy 265.43 135.89) (xy 266.7 135.89))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 18f11ed8-b9a6-4be1-a669-a98351531627)
)
(wire (pts (xy 177.8 82.55) (xy 162.56 82.55))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 1933ede3-fcf0-4253-afc0-01a98d446394)
@ -1912,7 +1908,7 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 4b0bee11-cc4c-4004-8f2c-c44a6715a0a1)
)
(wire (pts (xy 149.86 170.18) (xy 149.86 135.89))
(wire (pts (xy 149.86 128.27) (xy 149.86 170.18))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 4b792dc0-cc3e-43a8-a700-fcd82fd26433)
)
@ -1948,6 +1944,10 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 58e8a243-dbf1-46ec-a9ca-62db6c046a4b)
)
(wire (pts (xy 149.86 128.27) (xy 214.63 128.27))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 58fbb80d-a05f-42b1-b000-203665a084f7)
)
(wire (pts (xy 76.2 116.84) (xy 46.99 116.84))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 5a040418-8644-4cf8-9de0-ba3624649e9e)
@ -2047,7 +2047,7 @@
(uuid 7bfba61b-6752-4a45-9ee6-5984dcb15041)
)
(wire (pts (xy 138.43 82.55) (xy 138.43 181.61))
(wire (pts (xy 138.43 82.55) (xy 138.43 158.75))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 7c5f3091-7791-43b3-8d50-43f6a72274c9)
)
@ -2106,10 +2106,6 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 955cc99e-a129-42cf-abc7-aa99813fdb5f)
)
(wire (pts (xy 130.81 181.61) (xy 130.81 158.75))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 95da0586-f1ba-4b4b-affc-b687fd99334b)
)
(wire (pts (xy 53.34 99.06) (xy 78.74 99.06))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 965dcc1b-b3f1-4059-96bc-33cc40cfb1c9)
@ -2168,18 +2164,10 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 9a970ac1-63cf-40d6-bc9a-be6411b01438)
)
(wire (pts (xy 266.7 135.89) (xy 266.7 138.43))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 9c51c73b-3150-47dd-bb34-618d48e6b29c)
)
(wire (pts (xy 179.07 102.87) (xy 214.63 102.87))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 9d671c06-86f9-4e89-a7da-6f87b0b7d806)
)
(wire (pts (xy 149.86 135.89) (xy 214.63 135.89))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 9ef8f73d-a83a-4fab-ae69-3c69a7a8fa5c)
)
(polyline (pts (xy 193.04 22.86) (xy 193.04 48.26))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid a07b6b2b-7179-4297-b163-5e47ffbe76d3)
@ -2202,6 +2190,10 @@
(uuid a92f3b72-ed6d-4d99-9da6-35771bec3c77)
)
(wire (pts (xy 214.63 130.81) (xy 152.4 130.81))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid a950c719-307b-4a85-b77b-1b65fecb572b)
)
(wire (pts (xy 85.09 137.16) (xy 82.55 137.16))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid aa130053-a451-4f12-97f7-3d4d891a5f83)
@ -2243,11 +2235,15 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid b66bd561-8b9b-4d7d-a674-bd75e545031f)
)
(wire (pts (xy 138.43 158.75) (xy 138.43 181.61))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid ba24d722-243f-45ee-b521-7865e70d35e3)
)
(wire (pts (xy 273.05 54.61) (xy 189.23 54.61))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid bd33b194-268e-44c3-b0b1-b7463d83fbac)
)
(wire (pts (xy 130.81 158.75) (xy 130.81 140.97))
(wire (pts (xy 130.81 140.97) (xy 130.81 181.61))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid befb4d6e-122e-409d-8dd0-eb4553de6303)
)
@ -2272,7 +2268,7 @@
(uuid c8a44971-63c1-4a19-879d-b6647b2dc08d)
)
(wire (pts (xy 152.4 138.43) (xy 152.4 172.72))
(wire (pts (xy 152.4 130.81) (xy 152.4 172.72))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid c9c0254d-2aea-44d0-921d-4f10c1d900d7)
)
@ -2288,10 +2284,6 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid cb9cdea3-d2ff-4b19-845c-07985c9f22e6)
)
(wire (pts (xy 130.81 158.75) (xy 133.35 158.75))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid cc26466d-7d1b-4bc5-bd48-b0279c5b13e2)
)
(wire (pts (xy 130.81 140.97) (xy 267.97 140.97))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid cd93a1bc-9d41-4f33-a8a6-0ee065143737)
@ -2342,10 +2334,6 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid d8715077-3de6-462f-8157-bd58811f8b11)
)
(wire (pts (xy 266.7 138.43) (xy 152.4 138.43))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid d94423f3-9e5e-452a-a13a-39784938a963)
)
(wire (pts (xy 135.89 172.72) (xy 152.4 172.72))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid da384d7e-2585-4a93-8461-19ed14a896e3)
@ -2366,6 +2354,10 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid dde8619c-5a8c-40eb-9845-65e6a654222d)
)
(wire (pts (xy 135.89 158.75) (xy 138.43 158.75))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid de1885af-eff1-4774-869f-ad50f9e6fd59)
)
(wire (pts (xy 104.14 137.16) (xy 125.73 137.16))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid de370984-7922-4327-a0ba-7cd613995df4)
@ -2693,44 +2685,44 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005dece90e)
(property "Reference" "U2" (id 0) (at 95.25 144.78 0))
(property "Value" "" (id 1) (at 93.98 142.24 0))
(property "Value" "StepDown" (id 1) (at 93.98 142.24 0))
(property "Footprint" "" (id 2) (at 95.25 134.62 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 95.25 134.62 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5c))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5c))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5c))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5c))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5f))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5f))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5f))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae5f))
)
(symbol (lib_id "Bobbycar_components:powerlatch") (at 68.58 133.35 0) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005decec56)
(property "Reference" "U1" (id 0) (at 69.215 120.015 0))
(property "Value" "" (id 1) (at 69.215 122.3264 0))
(property "Value" "powerlatch" (id 1) (at 69.215 122.3264 0))
(property "Footprint" "" (id 2) (at 68.58 133.35 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 68.58 133.35 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f41))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f41))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f41))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f41))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f41))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f41))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f41))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f47))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f47))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f47))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f47))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f47))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f47))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f47))
)
(symbol (lib_id "Switch:SW_Push_SPDT") (at 44.45 99.06 0) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005decf526)
(property "Reference" "SW1" (id 0) (at 44.45 102.87 0))
(property "Value" "" (id 1) (at 44.45 94.1324 0))
(property "Value" "POWERBUTTON" (id 1) (at 44.45 94.1324 0))
(property "Footprint" "" (id 2) (at 44.45 99.06 0)
(effects (font (size 1.27 1.27)) hide)
)
@ -2748,10 +2740,10 @@
(property "Reference" "Q1" (id 0) (at 115.6716 88.646 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 117.983 88.646 0)
(property "Value" "BC337" (id 1) (at 117.983 88.646 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 118.745 88.9 0)
(property "Footprint" "Package_TO_SOT_THT:TO-92_Inline" (id 2) (at 118.745 88.9 0)
(effects (font (size 1.27 1.27) italic) (justify left) hide)
)
(property "Datasheet" "http://www.nxp.com/documents/data_sheet/BC817_BC817W_BC337.pdf" (id 3) (at 116.84 83.82 0)
@ -2766,7 +2758,7 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005ded2168)
(property "Reference" "R1" (id 0) (at 123.19 69.6722 90))
(property "Value" "" (id 1) (at 123.19 71.9836 90))
(property "Value" "220" (id 1) (at 123.19 71.9836 90))
(property "Footprint" "" (id 2) (at 123.19 73.152 90)
(effects (font (size 1.27 1.27)) hide)
)
@ -2783,7 +2775,7 @@
(property "Reference" "J16" (id 0) (at 236.9312 37.4396 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 236.9312 39.751 0)
(property "Value" "Serial" (id 1) (at 236.9312 39.751 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 236.22 36.83 0)
@ -2806,7 +2798,7 @@
(property "Reference" "J12" (id 0) (at 195.2752 158.0642 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Value" "" (id 1) (at 195.2752 160.3756 90)
(property "Value" "Serial3" (id 1) (at 195.2752 160.3756 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Footprint" "" (id 2) (at 187.96 161.29 0)
@ -2827,7 +2819,7 @@
(property "Reference" "J13" (id 0) (at 215.5952 158.0642 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Value" "" (id 1) (at 215.5952 160.3756 90)
(property "Value" "Serial2" (id 1) (at 215.5952 160.3756 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Footprint" "" (id 2) (at 208.28 161.29 0)
@ -2846,7 +2838,7 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005dee315d)
(property "Reference" "F1" (id 0) (at 83.82 48.1838 90))
(property "Value" "" (id 1) (at 83.82 45.8724 90))
(property "Value" "AGU Fuseholder" (id 1) (at 83.82 45.8724 90))
(property "Footprint" "" (id 2) (at 83.82 44.958 90)
(effects (font (size 1.27 1.27)) hide)
)
@ -2863,7 +2855,7 @@
(property "Reference" "J5" (id 0) (at 46.99 31.75 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 55.88 38.1 90)
(property "Value" "xt60_male" (id 1) (at 55.88 38.1 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 58.42 33.02 0)
@ -2872,8 +2864,8 @@
(property "Datasheet" "" (id 3) (at 58.42 33.02 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82e))
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82e))
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82f))
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82f))
)
(symbol (lib_id "Bobbycar_components:xt60_male") (at 55.88 50.8 90) (unit 1)
@ -2882,7 +2874,7 @@
(property "Reference" "J6" (id 0) (at 46.99 50.8 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 55.88 57.15 90)
(property "Value" "xt60_male" (id 1) (at 55.88 57.15 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 58.42 52.07 0)
@ -2891,38 +2883,38 @@
(property "Datasheet" "" (id 3) (at 58.42 52.07 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a18))
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a18))
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a19))
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a19))
)
(symbol (lib_id "Bobbycar_components:xt60_female") (at 92.71 31.75 270) (mirror x) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005def4065)
(property "Reference" "J7" (id 0) (at 97.79 31.75 90))
(property "Value" "" (id 1) (at 97.79 25.4 90))
(property "Value" "xt60_female" (id 1) (at 97.79 25.4 90))
(property "Footprint" "" (id 2) (at 92.71 31.75 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 92.71 31.75 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a0))
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a0))
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a1))
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663a1))
)
(symbol (lib_id "Bobbycar_components:xt60_female") (at 92.71 50.8 270) (mirror x) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005def4204)
(property "Reference" "J8" (id 0) (at 97.79 50.8 90))
(property "Value" "" (id 1) (at 97.79 44.45 90))
(property "Value" "xt60_female" (id 1) (at 97.79 44.45 90))
(property "Footprint" "" (id 2) (at 92.71 50.8 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 92.71 50.8 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7d))
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7d))
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7e))
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b7e))
)
(symbol (lib_id "Bobbycar_components:xt90antispark_female") (at 116.84 40.64 270) (unit 1)
@ -2931,7 +2923,7 @@
(property "Reference" "J9" (id 0) (at 116.84 53.34 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 116.84 50.8 90)
(property "Value" "xt90antispark_female" (id 1) (at 116.84 50.8 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 116.84 40.64 0)
@ -2940,23 +2932,23 @@
(property "Datasheet" "" (id 3) (at 116.84 40.64 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e5))
(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e5))
(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e6))
(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5e6))
)
(symbol (lib_id "Bobbycar_components:xt90_male") (at 148.59 40.64 90) (mirror x) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df0861f)
(property "Reference" "J11" (id 0) (at 141.1224 28.829 90))
(property "Value" "" (id 1) (at 141.1224 31.1404 90))
(property "Value" "xt90_male" (id 1) (at 141.1224 31.1404 90))
(property "Footprint" "" (id 2) (at 148.59 40.64 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 148.59 40.64 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053d))
(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053d))
(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053e))
(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053e))
)
(symbol (lib_id "Connector_Generic:Conn_01x04") (at 133.35 186.69 90) (mirror x) (unit 1)
@ -2965,7 +2957,7 @@
(property "Reference" "J10" (id 0) (at 140.6652 183.4642 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Value" "" (id 1) (at 140.6652 185.7756 90)
(property "Value" "Steering Wheel I2C" (id 1) (at 140.6652 185.7756 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Footprint" "" (id 2) (at 133.35 186.69 0)
@ -2986,7 +2978,7 @@
(property "Reference" "J2" (id 0) (at 17.78 96.52 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 27.94 105.41 90)
(property "Value" "xt30_male" (id 1) (at 27.94 105.41 90)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 22.86 105.41 0)
@ -2995,8 +2987,8 @@
(property "Datasheet" "" (id 3) (at 22.86 105.41 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ad))
(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ad))
(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ae))
(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ae))
)
(symbol (lib_id "Bobbycar_components:xt30_female") (at 22.86 81.28 0) (mirror x) (unit 1)
@ -3005,7 +2997,7 @@
(property "Reference" "J1" (id 0) (at 17.78 83.82 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Value" "" (id 1) (at 27.94 92.71 90)
(property "Value" "xt30_female" (id 1) (at 27.94 92.71 90)
(effects (font (size 1.27 1.27)) (justify right))
)
(property "Footprint" "" (id 2) (at 22.86 81.28 0)
@ -3014,15 +3006,15 @@
(property "Datasheet" "" (id 3) (at 22.86 81.28 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05e))
(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05e))
(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05f))
(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05f))
)
(symbol (lib_id "Bobbycar_wiring-rescue:SW_DPST_x2-Switch") (at 173.99 43.18 0) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df361c7)
(property "Reference" "SW2" (id 0) (at 173.99 37.211 0))
(property "Value" "" (id 1) (at 173.99 45.72 0))
(property "Value" "MODESWITCH" (id 1) (at 173.99 45.72 0))
(property "Footprint" "" (id 2) (at 173.99 43.18 0)
(effects (font (size 1.27 1.27)) hide)
)
@ -3039,7 +3031,7 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df36553)
(property "Reference" "D1" (id 0) (at 50.8 85.09 0))
(property "Value" "" (id 1) (at 53.34 90.17 0))
(property "Value" "POWERLED" (id 1) (at 53.34 90.17 0))
(property "Footprint" "" (id 2) (at 44.45 86.36 0)
(effects (font (size 1.27 1.27)) hide)
)
@ -3054,7 +3046,7 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df45e41)
(property "Reference" "D2" (id 0) (at 173.99 24.765 0))
(property "Value" "" (id 1) (at 173.99 27.0764 0))
(property "Value" "MODELED_RED/GREEN" (id 1) (at 173.99 27.0764 0))
(property "Footprint" "" (id 2) (at 175.26 35.56 0)
(effects (font (size 1.27 1.27)) hide)
)
@ -3070,7 +3062,7 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df4cd3f)
(property "Reference" "R5" (id 0) (at 186.69 59.69 90))
(property "Value" "" (id 1) (at 185.42 55.88 90))
(property "Value" "66" (id 1) (at 185.42 55.88 90))
(property "Footprint" "" (id 2) (at 187.198 55.88 90)
(effects (font (size 1.27 1.27)) hide)
)
@ -3085,7 +3077,7 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df4cdeb)
(property "Reference" "R4" (id 0) (at 181.61 59.69 90))
(property "Value" "" (id 1) (at 182.88 55.88 90))
(property "Value" "20" (id 1) (at 182.88 55.88 90))
(property "Footprint" "" (id 2) (at 184.658 55.88 90)
(effects (font (size 1.27 1.27)) hide)
)
@ -3099,10 +3091,10 @@
(symbol (lib_id "Device:R") (at 133.35 163.83 0) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df4d8f9)
(property "Reference" "R2" (id 0) (at 129.54 162.56 0)
(property "Reference" "R2" (id 0) (at 127.635 162.56 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 127 165.1 0)
(property "Value" "4k7" (id 1) (at 127 165.1 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 131.572 163.83 90)
@ -3118,10 +3110,10 @@
(symbol (lib_id "Device:R") (at 135.89 163.83 0) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005df4d9c1)
(property "Reference" "R3" (id 0) (at 137.668 162.6616 0)
(property "Reference" "R3" (id 0) (at 139.065 162.56 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 137.668 164.973 0)
(property "Value" "4k7" (id 1) (at 139.065 165.1 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 134.112 163.83 90)
@ -3138,38 +3130,38 @@
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005dfdc06d)
(property "Reference" "J3" (id 0) (at 30.48 31.75 90))
(property "Value" "" (id 1) (at 33.02 38.1 90))
(property "Value" "xt60_female" (id 1) (at 33.02 38.1 90))
(property "Footprint" "" (id 2) (at 26.67 31.75 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 26.67 31.75 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b8))
(pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b8))
(pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b9))
(pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b9))
)
(symbol (lib_id "Bobbycar_components:xt60_female") (at 26.67 50.8 270) (mirror x) (unit 1)
(in_bom yes) (on_board yes)
(uuid 00000000-0000-0000-0000-00005dfdc2fb)
(property "Reference" "J4" (id 0) (at 30.48 50.8 90))
(property "Value" "" (id 1) (at 33.02 57.15 90))
(property "Value" "xt60_female" (id 1) (at 33.02 57.15 90))
(property "Footprint" "" (id 2) (at 26.67 50.8 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 26.67 50.8 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec89))
(pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec89))
(pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec8a))
(pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec8a))
)
(symbol (lib_id "Regulator_Linear:L78L33_TO92") (at 209.55 24.13 0) (unit 1)
(in_bom yes) (on_board yes) (fields_autoplaced)
(uuid 5fed31b2-9dc0-4157-9739-9e2eeac4aede)
(property "Reference" "U3" (id 0) (at 209.55 16.51 0))
(property "Value" "" (id 1) (at 209.55 19.05 0))
(property "Footprint" "" (id 2) (at 209.55 18.415 0)
(property "Value" "L78L33_TO92" (id 1) (at 209.55 19.05 0))
(property "Footprint" "Package_TO_SOT_THT:TO-92_Inline" (id 2) (at 209.55 18.415 0)
(effects (font (size 1.27 1.27) italic) hide)
)
(property "Datasheet" "http://www.st.com/content/ccc/resource/technical/document/datasheet/15/55/e5/aa/23/5b/43/fd/CD00000446.pdf/files/CD00000446.pdf/jcr:content/translations/en.CD00000446.pdf" (id 3) (at 209.55 25.4 0)
@ -3186,7 +3178,7 @@
(property "Reference" "C1" (id 0) (at 181.61 84.2009 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 181.61 86.7409 0)
(property "Value" "100uF" (id 1) (at 181.61 86.7409 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 178.7652 90.17 0)
@ -3205,7 +3197,7 @@
(property "Reference" "BT?" (id 0) (at 182.88 104.6479 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Value" "" (id 1) (at 182.88 107.1879 0)
(property "Value" "3V" (id 1) (at 182.88 107.1879 0)
(effects (font (size 1.27 1.27)) (justify left))
)
(property "Footprint" "" (id 2) (at 179.07 106.426 90)
@ -3224,7 +3216,7 @@
(property "Reference" "U4" (id 0) (at 240.03 59.69 0)
(effects (font (size 1.524 1.524)))
)
(property "Value" "" (id 1) (at 240.03 63.5 0)
(property "Value" "Teensy3.2" (id 1) (at 240.03 63.5 0)
(effects (font (size 1.524 1.524)))
)
(property "Footprint" "" (id 2) (at 240.03 120.65 0)
@ -3337,7 +3329,7 @@
(reference "J9") (unit 1) (value "xt90antispark_female") (footprint "")
)
(path "/00000000-0000-0000-0000-00005df0cf60"
(reference "J10") (unit 1) (value "Throttle") (footprint "")
(reference "J10") (unit 1) (value "Steering Wheel I2C") (footprint "")
)
(path "/00000000-0000-0000-0000-00005df0861f"
(reference "J11") (unit 1) (value "xt90_male") (footprint "")
@ -3358,10 +3350,10 @@
(reference "R1") (unit 1) (value "220") (footprint "")
)
(path "/00000000-0000-0000-0000-00005df4d8f9"
(reference "R2") (unit 1) (value "100k") (footprint "")
(reference "R2") (unit 1) (value "4k7") (footprint "")
)
(path "/00000000-0000-0000-0000-00005df4d9c1"
(reference "R3") (unit 1) (value "100k") (footprint "")
(reference "R3") (unit 1) (value "4k7") (footprint "")
)
(path "/00000000-0000-0000-0000-00005df4cdeb"
(reference "R4") (unit 1) (value "20") (footprint "")

View File

@ -19,3 +19,6 @@ monitor_speed = 115200
build_flags =
-D USB_SERIAL_HID
lib_deps =
robtillaart/ADS1X15@^0.3.9

View File

@ -1,6 +1,9 @@
#include <Arduino.h>
#include "ADS1X15.h"
ADS1115 ADS(0x48);
/*
Connections:
@ -37,28 +40,38 @@ bool controllers_connected=false;
#define PIN_THROTTLE A7
//const uint16_t calib_throttle_min = 420; //better a bit too high than too low
//const uint16_t calib_throttle_max = 790;
const uint16_t failsafe_throttle_min = 20; //if adc value falls below this failsafe is triggered
const uint16_t failsafe_throttle_max = 1000; //if adc value goes above this failsafe is triggered
const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
const uint16_t failsafe_throttle_min = 4900; //if adc value falls below this failsafe is triggered. old 20
const uint16_t failsafe_throttle_max = 14000; //if adc value goes above this failsafe is triggered. old 1000
//const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9823,9877,9932,9978,10032,10087,10169,10278,10451,10697,11061,11579,11898,11952}; //adc values for every unit (mm) of linear travel
#define PIN_BRAKE A8
const uint16_t calib_brake_min = 100;//better a bit too high than too low
const uint16_t calib_brake_max = 600;
const uint16_t failsafe_brake_min = 20; //if adc value falls below this failsafe is triggered
const uint16_t failsafe_brake_max = 1000; //if adc value goes above this failsafe is triggered
const uint16_t calib_brake_min = 2000;//better a bit too high than too low
const uint16_t calib_brake_max = 11000;
const uint16_t failsafe_brake_min = 700; //if adc value falls below this failsafe is triggered
const uint16_t failsafe_brake_max = 13000; //if adc value goes above this failsafe is triggered
uint16_t ads_throttle_A_raw=0;
uint16_t ads_throttle_B_raw=0;
uint16_t ads_brake_raw=failsafe_brake_min;
uint16_t ads_control_raw=0;
int16_t throttle_pos=0;
int16_t brake_pos=0;
unsigned long last_adcread=0;
#define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
#define ADCREADPERIOD 10
uint16_t throttle_raw=0;
#define BUTTONREADPERIOD 20
unsigned long last_adsread=0; //needed for failcheck
uint16_t throttle_raw=failsafe_throttle_min; //start at min so that failsafe is not triggered
#define THROTTLE_ADC_FILTER 0.15 //higher value = faster response
uint16_t brake_raw=0;
uint16_t brake_raw=failsafe_brake_min; //start at min so that failsafe is not triggered
#define ADC_OUTOFRANGE_TIME 100
unsigned long throttle_ok_time=0;
unsigned long brake_ok_time=0;
bool error_throttle_outofrange=false;
bool error_brake_outofrange=false;
bool error_ads_max_read_interval=false;
#define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward
#define REVERSE_SPEED 0.25 //reverse driving speed //0 to 1
@ -181,8 +194,9 @@ float filterMedian(int16_t* values);
void writeLogHeader(HardwareSerial &SerialRef);
void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake);
void writeLogComment(HardwareSerial &SerialRef, String msg);
void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg);
void readADS();
void readADC();
void failChecks();
void sendCMD();
@ -211,14 +225,14 @@ void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, Ha
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
{
bool _result=1;
bool _result=false; //return true if new full data frame received
// Check for new data availability in the Serial buffer
if ( SerialRef.available() ) {
sread.incomingByte = SerialRef.read(); // Read the incoming byte
sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame
}
else {
return 0;
return false; //nothing new
}
// If DEBUG_RX is defined print all incoming bytes
@ -249,8 +263,9 @@ bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &N
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
sread.lastValidDataSerial_time = millis();
_result=true;
} else {
_result=0;
_result=false;
}
sread.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
@ -300,6 +315,20 @@ void setup()
digitalWrite(PIN_LATCH_ENABLE,HIGH); //latch on
pinMode(PIN_MODE_SWITCH, INPUT_PULLUP);
delay(2000);
Serial.println("Wait finished. Booting..");
//init ADS1115
if (!ADS.begin()) {
Serial.println("Error:"); delay(2000); Serial.println("ADS1115 Init Error!");
writeLogComment(Serial1,(unsigned long)millis(), "Error ADS1115 Init");
}
ADS.setGain(0);
ADS.setDataRate(7);// Read Interval: 7-> 2ms, 6-> 3-4ms , 5-> 5-6ms, 4-> 9ms, 0-> 124ms
// also set ADSREADPERIOD to at least the read interval
ADS.requestADC(0); //Start requesting a channel
delay(10);
setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
if (timeStatus()!= timeSet) {
Serial.println("Unable to sync with the RTC");
@ -313,10 +342,38 @@ void setup()
unsigned long loopmillis;
// ########################## LOOP ##########################
void loop() {
//Serial.print("Loopduration="); Serial.println(); //loopduration is at max 11ms
loopmillis=millis(); //read millis for this cycle
// ____ Debugging pending serial byted for feedback
static int s2availmax=0;
int _a2=Serial2.available();
if (_a2>s2availmax) {
s2availmax=_a2;
//Serial.print("new s2availmax"); Serial.println(s2availmax);
String _text="Serial2 Bytes Available Max=";
_text+=s2availmax;
writeLogComment(Serial1,loopmillis, _text);
}
static int s3availmax=0;
int _a3=Serial3.available();
if (_a3>s3availmax) {
s3availmax=_a3;
//Serial.print("new s3availmax"); Serial.println(s3availmax);
String _text="Serial3 Bytes Available Max=";
_text+=s3availmax;
writeLogComment(Serial1,loopmillis, _text);
}
// ----- End of debug
bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
//Max (40) or 22 available/pending bytes
if (newData2) {
updateMotorparams(motorparamsFront,FeedbackFront);
@ -325,13 +382,30 @@ void loop() {
updateMotorparams(motorparamsRear,FeedbackRear);
}
if (loopmillis - last_adsread > ADSREADPERIOD) { //read teensy adc and filter
last_adsread=loopmillis;
if (ADS.isBusy() == false) //reads a register on ads
{
readADS();
}else{
Serial.println("Unnecessary ADS poll. Increase ADSREADPERIOD");
}
}
static unsigned long last_adcread=0;
if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
last_adcread=loopmillis;
readADC();
}
static unsigned long last_buttonread=0;
if (loopmillis - last_buttonread > BUTTONREADPERIOD) { //read digital input states
last_buttonread=loopmillis;
readButtons();
}
@ -355,6 +429,7 @@ void loop() {
leds();
}
@ -442,21 +517,55 @@ void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
}
void readADS() { //sequentially read ads and write to variable
/*static unsigned long _lastReadADS=0;
Serial.print("readADS Interval="); Serial.println(millis()-_lastReadADS);
_lastReadADS=millis();*/
static uint8_t ads_input_switch=0;
int16_t ads_val = ADS.getValue(); //get value from last selected channel
switch (ads_input_switch) {
case 0: //Throttle Sensor A
ads_throttle_A_raw=ads_val;
break;
case 1: //Throttle Sensor B
ads_throttle_B_raw=ads_val;
break;
case 2: //Brake
ads_brake_raw=ads_val;
break;
case 3: //Buttons TODO
ads_control_raw=ads_val;
break;
}
ads_input_switch++;
ads_input_switch%=4; //max 4 channels
ADS.requestADC(ads_input_switch); // request a new one
}
// #### LOOPFUNCTIONS
void readADC() {
/*Serial.print(ads_throttle_A_raw); Serial.print('\t');
Serial.print(ads_throttle_B_raw); Serial.print('\t');
Serial.print(ads_brake_raw); Serial.print('\t');
Serial.print(ads_control_raw); Serial.println();*/
throttle_raw = ads_throttle_A_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
uint16_t new_throttle_raw = analogRead(PIN_THROTTLE);
throttle_raw = new_throttle_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
//maps throttle curve to be linear
//maps throttle curve to be linear
throttle_pos=max(0,min(1000,linearizeThrottle(throttle_raw))); //map and constrain
brake_raw = analogRead(PIN_BRAKE);
brake_raw=ads_brake_raw;
brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
//brake_pos = (int16_t)(pow((brake_pos/1000.0),2)*1000);
if (throttle_pos>0 || meanSpeedms>0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
last_notidle=loopmillis;
reverse_enabled=false;
@ -505,6 +614,7 @@ void failChecks() {
if (controllerFront_connected) { //just got disconnected
controllerFront_connected=false;
writeLogComment(Serial1,loopmillis, "Controller Front feedback timeout");
//Serial.println("Controller Front feedback timeout");
}
}else if(!controllerFront_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
controllerFront_connected=true;
@ -515,6 +625,7 @@ void failChecks() {
if (controllerRear_connected) { //just got disconnected
controllerRear_connected=false;
writeLogComment(Serial1,loopmillis, "Controller Rear feedback timeout");
//Serial.println("Controller Rear feedback timeout");
}
}else if(!controllerRear_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
controllerRear_connected=true;
@ -531,7 +642,9 @@ void failChecks() {
if (!error_throttle_outofrange) {
error_throttle_outofrange=true;
writeLogComment(Serial1,loopmillis, "Error Throttle ADC Out of Range");
}
//Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
}
if ((brake_raw >= failsafe_brake_min) & (brake_raw <= failsafe_brake_max)) { //outside safe range. maybe wire got disconnected
brake_ok_time=loopmillis;
@ -540,12 +653,20 @@ void failChecks() {
if(!error_brake_outofrange) {
error_brake_outofrange=true;
writeLogComment(Serial1,loopmillis, "Error Brake ADC Out of Range");
}
//Serial.print("Error Brake ADC Out of Range="); Serial.println(brake_raw);
}
#define ADS_MAX_READ_INTERVAL 100
if (loopmillis-last_adsread > ADS_MAX_READ_INTERVAL) {
if (!error_ads_max_read_interval) {
error_ads_max_read_interval=true;
writeLogComment(Serial1,loopmillis, "Error ADS Max read interval");
}
//Serial.print("Error ADS Max read interval=");Serial.println(loopmillis-last_adsread);
}
if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange) { //any errors?
if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { //any errors?
throttle_pos=0;
brake_pos=0;
}