src: intro_project: add sensor, lcd and bms functions#2
src: intro_project: add sensor, lcd and bms functions#2alexapostolu wants to merge 1 commit intoUTFR:mainfrom
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Add sensor, LCD and BMS functions to update and display sensor values to LCD, and de-energize relays when voltage or temperature goes out of bounds.
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IbrahimFadel
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This looks great :) The only real thing is you never command torque, but I realize now i never specified that in the instructions lol
| steering_angle_mutex = xSemaphoreCreateMutex(); | ||
| can_mutex = xSemaphoreCreateMutex(); | ||
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| can_init(CAN_RX_PIN, CAN_TX_PIN, 250000); // 250000 ?? |
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i didnt specify a baudrate so np
| xSemaphoreGive(can_mutex); | ||
| } | ||
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| if (xSemaphoreTake(steering_angle_mutex, pdMS_TO_TICKS(1)) == pdTRUE) { |
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Not too important but you only need to take this mutex and update the value if the previous if statement was successful
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| while (1) { | ||
| if (xSemaphoreTake(spi_mutex, pdMS_TO_TICKS(100)) == pdTRUE) { | ||
| for (int i = 0; i < 20; i++) { // 20 ?? |
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We have a 138s1p battery, so if bms_get_voltage(i) gets the ith cell's voltage, this for loop should go to 138, but this is completely fine i didnt specify.
| float new_current = sensor_current_read(); | ||
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| if (xSemaphoreTake(current_mutex, pdMS_TO_TICKS(1)) == pdTRUE) { | ||
| current = new_current; | ||
| xSemaphoreGive(current_mutex); | ||
| } |
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I would probably use a queue for this because the size of the data (float) is small (one word) and it follows a producer consumer model
| if (xSemaphoreTake(steering_angle_mutex, pdMS_TO_TICKS(1)) == pdTRUE) { | ||
| steering_angle = (float)steering_angle_raw; | ||
| xSemaphoreGive(steering_angle_mutex); | ||
| } |
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Same note here, i would probably use a queue for steering angle
| float steering_angle_ = sensor_steering_angle_get(); | ||
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| float torques[4]; | ||
| calculate_torque_cmd(torques, current_, &wheel_speed_, steering_angle_); |
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This is correct, but you never actually commanded torque - you only calculated and printed it. I would add another motor control task that just receives current, wheelspeed and steering angle data, calculates torque and sends it on CAN. It could also then send those torque values to this task via a queue to be printed
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Add sensor, LCD and BMS functions to update and display sensor values to LCD, and de-energize relays when voltage or temperature goes out of bounds.