From ba5b844f038401bbfa9dd606631ffeae6410d7b6 Mon Sep 17 00:00:00 2001
From: Pascal <engelerp@phys.ethz.ch>
Date: Mon, 12 Jun 2023 15:32:21 +0200
Subject: [PATCH] Fixed lots of bugs, now the new firmware compiles
---
.../drivers/communicator/communicator.cpp | 55 +++++++++++--------
.../drivers/communicator/communicator.hpp | 15 ++---
.../drivers/pid_controller/pid_controller.cpp | 31 +++++++----
.../drivers/pid_controller/pid_controller.hpp | 10 ++--
firmware/drivers/ptimer/ptimer.cpp | 3 +-
firmware/drivers/ptimer/ptimer.hpp | 2 +-
firmware/drivers/utility/utility.cpp | 1 +
firmware/drivers/utility/utility.hpp | 3 +-
firmware/pid_controller/pid_controller.ino | 10 ++--
9 files changed, 78 insertions(+), 52 deletions(-)
diff --git a/firmware/drivers/communicator/communicator.cpp b/firmware/drivers/communicator/communicator.cpp
index df399f3..7ff3c51 100644
--- a/firmware/drivers/communicator/communicator.cpp
+++ b/firmware/drivers/communicator/communicator.cpp
@@ -1,12 +1,23 @@
-#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;
diff --git a/firmware/drivers/communicator/communicator.hpp b/firmware/drivers/communicator/communicator.hpp
index ec2e69d..560722f 100644
--- a/firmware/drivers/communicator/communicator.hpp
+++ b/firmware/drivers/communicator/communicator.hpp
@@ -1,6 +1,7 @@
#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
diff --git a/firmware/drivers/pid_controller/pid_controller.cpp b/firmware/drivers/pid_controller/pid_controller.cpp
index 3ed79ba..b19b34a 100644
--- a/firmware/drivers/pid_controller/pid_controller.cpp
+++ b/firmware/drivers/pid_controller/pid_controller.cpp
@@ -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_;
}
diff --git a/firmware/drivers/pid_controller/pid_controller.hpp b/firmware/drivers/pid_controller/pid_controller.hpp
index 95a89c5..4c5bd04 100644
--- a/firmware/drivers/pid_controller/pid_controller.hpp
+++ b/firmware/drivers/pid_controller/pid_controller.hpp
@@ -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
diff --git a/firmware/drivers/ptimer/ptimer.cpp b/firmware/drivers/ptimer/ptimer.cpp
index 09c510c..883fc26 100644
--- a/firmware/drivers/ptimer/ptimer.cpp
+++ b/firmware/drivers/ptimer/ptimer.cpp
@@ -1,4 +1,5 @@
#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_);;
}
diff --git a/firmware/drivers/ptimer/ptimer.hpp b/firmware/drivers/ptimer/ptimer.hpp
index de4f843..1674c9f 100644
--- a/firmware/drivers/ptimer/ptimer.hpp
+++ b/firmware/drivers/ptimer/ptimer.hpp
@@ -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_;
};
diff --git a/firmware/drivers/utility/utility.cpp b/firmware/drivers/utility/utility.cpp
index c2b7c5e..a8da28b 100644
--- a/firmware/drivers/utility/utility.cpp
+++ b/firmware/drivers/utility/utility.cpp
@@ -1,6 +1,7 @@
#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.};
diff --git a/firmware/drivers/utility/utility.hpp b/firmware/drivers/utility/utility.hpp
index c413546..081a094 100644
--- a/firmware/drivers/utility/utility.hpp
+++ b/firmware/drivers/utility/utility.hpp
@@ -1,6 +1,7 @@
#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*/
diff --git a/firmware/pid_controller/pid_controller.ino b/firmware/pid_controller/pid_controller.ino
index 9b83ecf..c8fe31c 100644
--- a/firmware/pid_controller/pid_controller.ino
+++ b/firmware/pid_controller/pid_controller.ino
@@ -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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