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Commit ba5b844f authored by Pascal Engeler's avatar Pascal Engeler
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Fixed lots of bugs, now the new firmware compiles

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with 78 additions and 52 deletions
firmware/drivers/communicator/communicator.cpp
+ 33
− 22
View file @ ba5b844f
#include <communicator.cpp>
#include <communicator.hpp>
#include <cstdio> //snprintf
#include <utility.hpp>
#include <ptimer.hpp>
#include <pid_controller.hpp>
#include <cstdlib> //std::strtod
#include <algorithm> //This is necessary to fix a bug that cost me 4h.
/*
As I tracked down, a (standard) string library calls std::min() in some functions (like compare).
The arduino library device_usb.h defines a min() macro.
Because <algorithm> wasn't included anywhere in this compilation unit, but device_usb.h is, these calls to std::min() resolve to the device_usb.hpp version.
This, however, doesn't work, and the compiler throws an error concerning this macro.
Holy fucking shit.
*/
unsigned long Communicator::timeout_us_ = 20000; //timeout 20ms
char Communicator::outbuf[256]; //out buffer
char Communicator::outbuf_[256]; //out buffer
char Communicator::cmd_ = 'X'; //command received
std::vector<char> Communicator::arg_ = std::vector<char>('\0',256); //arguments received
std::vector<char> Communicator::arg_ = std::vector<char>(256, '\0'); //arguments received
bool Communicator::communicate(){
if(!serialCharAvailable_()){
......@@ -16,7 +27,7 @@ bool Communicator::communicate(){
cmd_ = getSerialChar_();
if(isSetCommand_()){
//read argument
char latest = cmd;
char latest = cmd_;
size_t i = 0;
PTimer::start();
while(latest != ';' && i < arg_.size()-10 && PTimer::elapsed() < timeout_us_){
......@@ -24,7 +35,7 @@ bool Communicator::communicate(){
latest = getSerialChar_();
arg_[i++] = latest;
if(latest == ';'){
arg[i-1] = '\0';
arg_[i-1] = '\0';
}
PTimer::start();
}
......@@ -47,12 +58,12 @@ bool Communicator::communicate(){
if(cmd_ == 't'){ //getTemperature
snprintf( outbuf_,
255,
"%f,%f,%f,%f,%f;",
Temperatures.temperatures[0],
Temperatures.temperatures[1],
Temperatures.temperatures[2],
Temperatures.temperatures[3],
Temperatures.temperatures[4]
"%f,%f,%f,%f,%f;",
Temperatures::temperatures[0],
Temperatures::temperatures[1],
Temperatures::temperatures[2],
Temperatures::temperatures[3],
Temperatures::temperatures[4]
);
sendBuf_();
return true;
......@@ -107,11 +118,11 @@ bool Communicator::communicate(){
}
}
bool Communicator::serialCharAvailable_() const{
bool Communicator::serialCharAvailable_(){
return SERCHAN.available() > 0;
}
bool Communicator::isSetCommand_() const{
bool Communicator::isSetCommand_(){
return cmd_ == 'P' ||
cmd_ == 'I' ||
cmd_ == 'D' ||
......@@ -119,7 +130,7 @@ bool Communicator::isSetCommand_() const{
cmd_ == 'S';
}
bool Communicator::isGetCommand_() const{
bool Communicator::isGetCommand_(){
return cmd_ == 't' ||
cmd_ == 'p' ||
cmd_ == 'v' ||
......@@ -127,11 +138,11 @@ bool Communicator::isGetCommand_() const{
cmd_ == 's';
}
bool Communicator::isNopCommand_() const{
bool Communicator::isNopCommand_(){
return cmd_ == '?';
}
char Communicator::getSerialChar_() const{
char Communicator::getSerialChar_(){
int newChar = SERCHAN.read();
if(newChar < 0 || newChar >= 128){//invalid char
return 'X';
......@@ -141,21 +152,21 @@ char Communicator::getSerialChar_() const{
}
}
void Communicator::sendBuf_() const{
void Communicator::sendBuf_(){
SERCHAN.write(outbuf_);
}
void Communicator::handleTimeout_() const{
void Communicator::handleTimeout_(){
snprintf(outbuf_, 255, "!");
sendBuf_();
}
void Communicator::handleInputOverflow_() const{
void Communicator::handleInputOverflow_(){
snprintf(outbuf_, 255, "!");
sendBuf_();
}
void Communicator::handleSetCommand_() const{
void Communicator::handleSetCommand_(){
char* endptr = arg_.data()+250;
double darg = std::strtod(arg_.data(), &endptr);
if(arg_.data() == endptr){ //error
......@@ -194,13 +205,13 @@ void Communicator::handleSetCommand_() const{
}
}
void Communicator::handleNopCommand_() const{
void Communicator::handleNopCommand_(){
snprintf(outbuf_, 255, ";");
sendBuf_();
return;
}
void Communicator::handleInvalidCommand_() const{
void Communicator::handleInvalidCommand_(){
snprintf(outbuf_, 255, "!");
sendBuf_();
return;
......
firmware/drivers/communicator/communicator.hpp
+ 8
− 7
View file @ ba5b844f
#ifndef COMMUNICATOR_HPP_INCLUDED
#define COMMUNICATOR_HPP_INCLUDED
#include <vector>
#include <algorithm>
#define SERCHAN SerialUSB
......@@ -10,13 +11,13 @@ public:
private:
/*Function Members*/
static bool serialCharAvailable_() const;
static bool isSetCommand_() const;
static bool isGetCommand_() const;
static bool isNopCommand_() const;
static bool serialCharAvailable_();
static bool isSetCommand_();
static bool isGetCommand_();
static bool isNopCommand_();
static char getSerialChar_() const;
static void sendBuf_() const;
static char getSerialChar_();
static void sendBuf_();
static void handleTimeout_();
static void handleInputOverflow_();
......@@ -30,6 +31,6 @@ private:
static char outbuf_[256];
static char cmd_;
static std::vector<char> arg_;
}
};
#endif
firmware/drivers/pid_controller/pid_controller.cpp
+ 21
− 10
View file @ ba5b844f
......@@ -2,21 +2,32 @@
#include <algorithm>
#include <ltc6992.hpp>
/*Arduino isn't C++ standard compliant, need to fix this myself*/
namespace std {
void __throw_bad_alloc()
{
SerialUSB.println("Unable to allocate memory");
}
void __throw_length_error( char const*e )
{
SerialUSB.print("Length Error :");
SerialUSB.println(e);
}
}
//define statics
double Pid_controller::setpoint_=0.; //target temperature in °C
double Pid_controller::output_=0.05; //output to LTC6992
std::vector<double> Pid_controller::pid_vec_ = {0.,0.,0.}; //current values of P I D
std::vector<double> Pid_controller::pid_vec_ = {0., 0., 0.}; //current values of P I D
std::vector<double> Pid_controller::kpid_vec_ = {0., 0., 0.}; //coefficients Kp Ki Kd
double Pid_controller::I_reset_ = 0.; //reset value of I
double Pid_controller::I_reset_errsq_ = 0.; //value of error*error above which the I-term is held in reset
Pid_controller::
void Pid_controller::init(double setpoint, std::vector<double> kpid, double I_reset, double I_reset_errsq){
setpoint_ = setpoint;
kpid_ = kpid;
kpid_vec_ = kpid;
I_reset_ = I_reset;
I_reset_errsq_ = I_reset_errsq;
}
......@@ -62,22 +73,22 @@ void Pid_controller::set_setpoint(double temperature){
setpoint_ = temperature;
}
std::vector<double> Pid_controller::get_kpid() const{
std::vector<double> Pid_controller::get_kpid(){
return kpid_vec_;
}
std::vector<double> Pid_controller::get_pid() const{
std::vector<double> Pid_controller::get_pid(){
return pid_vec_;
}
double Pid_controller::get_output() const{
double Pid_controller::get_output(){
return output_;
}
double Pid_controller::get_I_reset() const{
double Pid_controller::get_I_reset(){
return I_reset_;
}
double Pid_controller::get_setpoint() const{
double Pid_controller::get_setpoint(){
return setpoint_;
}
firmware/drivers/pid_controller/pid_controller.hpp
+ 5
− 5
View file @ ba5b844f
......@@ -15,11 +15,11 @@ public:
static void set_I_reset_errsq(double I_reset_errsq);
static void set_setpoint(double temperature);
static std::vector<double> get_kpid() const;
static std::vector<double> get_pid() const;
static double get_output() const;
static double get_I_reset() const;
static double get_setpoint() const;
static std::vector<double> get_kpid();
static std::vector<double> get_pid();
static double get_output();
static double get_I_reset();
static double get_setpoint();
private:
static double setpoint_; //target temperature in °C
......
firmware/drivers/ptimer/ptimer.cpp
+ 2
− 1
View file @ ba5b844f
#include <ptimer.hpp>
#include <Arduino.h>
unsigned long PTimer::start_t_ = 0;
......@@ -7,5 +8,5 @@ void PTimer::start(){
}
unsigned long PTimer::elapsed(){
return static_cast<unsigned long>(micros - start_t_);;
return static_cast<unsigned long>(micros() - start_t_);;
}
firmware/drivers/ptimer/ptimer.hpp
+ 1
− 1
View file @ ba5b844f
......@@ -4,7 +4,7 @@ class PTimer{
public:
static void start();
//returns the elapsed time in microseconds
static unsigned long elapsed() const;
static unsigned long elapsed();
private:
static unsigned long start_t_;
};
......
firmware/drivers/utility/utility.cpp
+ 1
− 0
View file @ ba5b844f
#include <utility.hpp>
#include <ad7124_4.hpp>
#include <ad7124_registers.hpp>
#include <spi_selecta.hpp>
std::array<double,5> Temperatures::temperatures = {0., 0., 0., 0., 0.};
......
firmware/drivers/utility/utility.hpp
+ 2
− 1
View file @ ba5b844f
#ifndef UTILITY_HPP_INCLUDED
#define UTILITY_HPP_INCLUDED
#include <ad7124_4.hpp>
#include <array>
struct Adc_data{
bool valid;
......@@ -8,7 +9,7 @@ struct Adc_data{
uint32_t data;
};
Adc_Data readAdc(Ad7124_4* device);
Adc_data readAdc(Ad7124_4* device);
struct Temperatures{
/*The 0th temperature shall always be the loop, the others the out-of-loops*/
......
firmware/pid_controller/pid_controller.ino
+ 5
− 5
View file @ ba5b844f
......@@ -10,6 +10,8 @@
#include <communicator.hpp>
#define SPIRATE 84000000/32
#define nCS_0 4
......@@ -23,8 +25,8 @@ SPISettings spisettings = SPISettings(SPIRATE, MSBFIRST, SPI_MODE3);
Ad7124_4 adc_1(nCS_1, &spisettings);
Ad7124_4 adc_2(nCS_2, &spisettings);
/*ADC Data Storage*/
Adc_data adc1_data;
Adc_data adc2_data;
Adc_data adc1Data;
Adc_data adc2Data;
/*Set up Timer Interrupt Infrastructure*/
......@@ -36,8 +38,6 @@ void handlerPid(){
}
void setup() {
Temperatures::init();
SerialUSB.begin(9600);
Ltc6992::init();
......@@ -125,7 +125,7 @@ void loop() {
//ADC 2
adc2Data = readAdc(&adc_2);
if(adc2Data.valid && adc2Data.channel < 4u){
Temperatures[adc2Data.channel+1] = data_to_temperature(adc2Data.data);
Temperatures::temperatures[adc2Data.channel+1] = data_to_temperature(adc2Data.data);
}
/*Receive Commands*/
......
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