feedc0de/bobbycar-boardcomputer-firmware
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Moved calibration in controller object (#111)

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This commit is contained in:
CommanderRedYT
2021-10-12 16:55:42 +02:00
committed by 0xFEEDC0DE64
parent abf92f439e
commit 63c6322792
4 changed files with 21 additions and 1 deletions
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7
main/can.h
View File

@ -22,6 +22,11 @@
#include CAN_PLUGIN
#endif
namespace {
float fixFrontBatVoltage(int16_t value);
float fixBackBatVoltage(int16_t value);
}
namespace can {
namespace {
@ -252,6 +257,7 @@ bool tryParseCanInput()
front.lastCanFeedback = espchrono::millis_clock::now();
front.feedbackValid = true;
front.calibrated.batVoltage = fixFrontBatVoltage(front.feedback.batVoltage);
return true;
}
else
@ -264,6 +270,7 @@ bool tryParseCanInput()
{
back.lastCanFeedback = espchrono::millis_clock::now();
back.feedbackValid = true;
back.calibrated.batVoltage = fixBackBatVoltage(back.feedback.batVoltage);
return true;
}
else

4
main/controller.h
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@ -52,8 +52,12 @@ struct Controller {
bool feedbackValid{};
bobbycar::protocol::serial::Feedback feedback{};
#ifdef FEATURE_SERIAL
FeedbackParser parser{serial, feedbackValid, feedback};
#endif
struct Calibrated {
float batVoltage;
} calibrated;
};
}

9
main/displays/statusdisplay.h
View File

@ -297,7 +297,14 @@ void StatusDisplay::BoardStatus::redraw(const Controller &controller)
if (controller.feedbackValid)
{
m_labelVoltage.redraw(fmt::format("{:.2f}V", fixBatVoltage(controller.feedback.batVoltage)));
if (settings.battery.applyCalibration)
{
m_labelVoltage.redraw(fmt::format("{:.2f}V", controller.calibrated.batVoltage));
}
else
{
m_labelVoltage.redraw(fmt::format("{:.2f}V", fixBatVoltage(controller.feedback.batVoltage)));
}
m_labelTemperature.redraw(fmt::format("{:.2f}C", fixBoardTemp(controller.feedback.boardTemp)));
m_leftMotor.redraw(controller.feedback.left);
m_rightMotor.redraw(controller.feedback.right);

2
main/utils.h
View File

@ -67,6 +67,7 @@ float fixBatVoltage(int16_t value)
float fixFrontBatVoltage(int16_t value)
{
float frontVoltage = fixBatVoltage(value);
if (!settings.battery.applyCalibration) return frontVoltage;
frontVoltage = ((frontVoltage - fixBatVoltage(settings.battery.front30VoltCalibration)) * (20.f / (fixBatVoltage(settings.battery.front50VoltCalibration) - fixBatVoltage(settings.battery.front30VoltCalibration))) + 30.f);
return frontVoltage;
}
@ -74,6 +75,7 @@ float fixFrontBatVoltage(int16_t value)
float fixBackBatVoltage(int16_t value)
{
float backVoltage = fixBatVoltage(value);
if (!settings.battery.applyCalibration) return backVoltage;
backVoltage = ((backVoltage - fixBatVoltage(settings.battery.back30VoltCalibration)) * (20.f / (fixBatVoltage(settings.battery.back50VoltCalibration) - fixBatVoltage(settings.battery.back30VoltCalibration))) + 30.f);
return backVoltage;
}