bf481ae8ea
motorctl, currentsensor:
- add config option for inverted current sensor
- adjust loglevels
config:
- Adjust gpio pins to actual wiring (not breakout board for testing)
- Add min pulse durations for speedsensors (measurements with scope)
- Adjust config to currently mounted encoders
control, buzzer:
- adjust beeping
- Add feature for optinal delay to buzzer class:
have some pause after beeps instead of immediately
continuing with next queued sequence
80 lines
2.0 KiB
C++
80 lines
2.0 KiB
C++
extern "C" {
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#include "hal/timer_types.h"
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#include "esp_log.h"
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}
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#include "currentsensor.hpp"
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//tag for logging
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static const char * TAG = "current-sensors";
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//--------------------------
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//------- getVoltage -------
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//--------------------------
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//local function to get average voltage from adc
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float getVoltage(adc1_channel_t adc, uint32_t samples){
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//measure voltage
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int measure = 0;
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for (int j=0; j<samples; j++){
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measure += adc1_get_raw(adc);
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ets_delay_us(50);
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}
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return (float)measure / samples / 4096 * 3.3;
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}
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//=============================
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//======== constructor ========
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//=============================
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currentSensor::currentSensor (adc1_channel_t adcChannel_f, float ratedCurrent_f, bool isInverted_f){
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//copy config
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adcChannel = adcChannel_f;
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ratedCurrent = ratedCurrent_f;
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isInverted = isInverted_f;
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//init adc
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adc1_config_width(ADC_WIDTH_BIT_12); //max resolution 4096
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adc1_config_channel_atten(adcChannel, ADC_ATTEN_DB_11); //max voltage
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//calibrate
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calibrateZeroAmpere();
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}
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//============================
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//=========== read ===========
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//============================
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float currentSensor::read(void){
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//measure voltage
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voltage = getVoltage(adcChannel, 30);
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//scale voltage to current
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if (voltage < centerVoltage){
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current = (1 - voltage / centerVoltage) * -ratedCurrent;
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} else if (voltage > centerVoltage){
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current = (voltage - centerVoltage) / (3.3 - centerVoltage) * ratedCurrent;
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}else {
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current = 0;
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}
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//invert calculated current if necessary
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if (isInverted) current = -current;
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ESP_LOGI(TAG, "read sensor adc=%d: voltage=%.3fV, centerVoltage=%.3fV => current=%.3fA", (int)adcChannel, voltage, centerVoltage, current);
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return current;
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}
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//===============================
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//===== calibrateZeroAmpere =====
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//===============================
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void currentSensor::calibrateZeroAmpere(void){
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//measure voltage
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float prev = centerVoltage;
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centerVoltage = getVoltage(adcChannel, 100);
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ESP_LOGW(TAG, "defined centerVoltage (0A) to %.3f (previous %.3f)", centerVoltage, prev);
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}
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