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

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

9
main/displays/statusdisplay.h
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@ -297,7 +297,14 @@ void StatusDisplay::BoardStatus::redraw(const Controller &controller)
if (controller.feedbackValid) 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_labelTemperature.redraw(fmt::format("{:.2f}C", fixBoardTemp(controller.feedback.boardTemp)));
m_leftMotor.redraw(controller.feedback.left); m_leftMotor.redraw(controller.feedback.left);
m_rightMotor.redraw(controller.feedback.right); 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 fixFrontBatVoltage(int16_t value)
{ {
float frontVoltage = fixBatVoltage(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); frontVoltage = ((frontVoltage - fixBatVoltage(settings.battery.front30VoltCalibration)) * (20.f / (fixBatVoltage(settings.battery.front50VoltCalibration) - fixBatVoltage(settings.battery.front30VoltCalibration))) + 30.f);
return frontVoltage; return frontVoltage;
} }
@ -74,6 +75,7 @@ float fixFrontBatVoltage(int16_t value)
float fixBackBatVoltage(int16_t value) float fixBackBatVoltage(int16_t value)
{ {
float backVoltage = fixBatVoltage(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); backVoltage = ((backVoltage - fixBatVoltage(settings.battery.back30VoltCalibration)) * (20.f / (fixBatVoltage(settings.battery.back50VoltCalibration) - fixBatVoltage(settings.battery.back30VoltCalibration))) + 30.f);
return backVoltage; return backVoltage;
} }