diff --git a/CHANGELOG.md b/CHANGELOG.md
index f9d3bdde8df0658efcedb685ed0e4058faeab6d6..fb7b6dc960e37f8421d2e0cdac4551a06a46e037 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,7 @@ to [Semantic Versioning][sem_ver].
- **Logging**: Output desired frequency as well
- **All**: Various refactoring and style improvements
- **All**: Use more precise types to limit RAM
+- **Refactor**: Split the code into different files
### Deprecated
diff --git a/controller/controller.ino b/controller/controller.ino
index 7e362e9afca1201d9f62b7adca0db69b7598c9aa..d95f95f98a48fd3d66f5fc959548ed8edad41f39 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -24,6 +24,8 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
Macros (for pins and fixed components only!)
*******************************************************************************/
+#define BAUD_RATE 115200 // baud rate for serial
+
// Pins
#define ESC1_PIN 10 // ESC Front motor
#define ESC2_PIN 9 // ESC Aft motor
@@ -45,7 +47,7 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
#define DIV_RES2 6800.0 // Resistance of R2 in the voltage dividers
#define SEN0098_VCC 5 // Supply voltage of the current sensors
-#define SEN0098_SENSI 20.0 // [FIXME] VERIFY!
+#define SEN0098_SENSI 40.0 // Chip ACS758LCB-050B-PFF-T
#define SEN0098_VIOUT 0.12 // [FIXME] VERIFY!
#define SEN0098_OFFSET 0.007 // [FIXME] VERIFY!
@@ -56,7 +58,7 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
#define ENC_PRECISION 4096 // 12-Bits encoders (nb of points per rot)
#define ENC_ORIENT {1, -1, 1, -1} // Encoder orientation
#define MAX_WING_POS {222.1, 117.77, 117, 117} // Maximum wing angle (returned by encoder value)
-#define TRUE_MAX_ANGLE 37.9 // Maximum wing angle (measured on setup)
+#define TRUE_MAX_ANGLE 38.07 // Maximum wing angle (measured on setup)
/*******************************************************************************
Globals (for things that I can change manually)
@@ -73,7 +75,6 @@ const uint8_t gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-er
const uint8_t gCSN_PINS[] = CSN_PINS; // Encoder Chip Select pins
const int8_t gENC_ORIENT[] = ENC_ORIENT; // Encoder orientation
-const uint16_t gMAX_WING_POS[] = MAX_WING_POS; // Encoder maximum recorder position
const float gCUR_FACT = SEN0098_SENSI / 1000.0; // Factor for current measurement
const float gCUR_QOV = SEN0098_VIOUT * SEN0098_VCC; // [FIXME] Verify
@@ -83,15 +84,14 @@ Servo gEsc2; // ESC for aft motor
uint8_t gEsc_val = 0; // ESC angle (to use with the Servo library) [0-180]
String gMode; // Mode of operation
-uint16_t max_wing_pos[4]; // Encoder maximum recorder position
+uint16_t max_wing_pos[] = MAX_WING_POS; // Encoder maximum recorder position
/*******************************************************************************
ARDUINO SETUP
*******************************************************************************/
void setup() {
- //Serial.begin(9600); //[DEBUG]: For debugging only
- Serial.begin(115200); // Need for good precision
+ Serial.begin(BAUD_RATE);
// Init ESCs
Serial.print("[INFO]: Attaching ESCs ... ");
@@ -116,17 +116,21 @@ void setup() {
int switch_state = digitalRead(SWITCH_PIN);
if (switch_state == LOW) {
gMode = "MANUAL";
- Serial.println("[WARN]: Control motors using potentiometer");
+ Serial.println("[WARNING]: Control motors using potentiometer");
} else {
gEsc1.write(0); // Must be initialized at 0 otherwise will not start
gEsc2.write(0);
gMode = "SERIAL";
- Serial.println("[WARN]: Control motors using serial");
+ Serial.println("[WARNING]: Control motors using serial");
gEsc_val = SetupSerial();
}
+
+ // Calibrate angle sensors
+ // SetupCalibration();
+
Serial.println("[INFO]: Setup OK, starting now...");
delay(1000); // Ensure all is properly initialized
}
@@ -216,27 +220,6 @@ float SetupSerial() {
}
-// Converts frequence to ESC angle to use with Servo library
-int FreqToEsc(float freq) {
-
- // Need to scale times 100 so we can have better precision
- int esc_val = freq * (180.0 / RpmToFreq(gMAX_RPM));
-
- if (esc_val < gMIN_ESC_VAL) {
- esc_val = gMIN_ESC_VAL;
- } else if (esc_val > gMAX_ESC_VAL) {
- esc_val = gMAX_ESC_VAL;
- }
-
- return esc_val;
-}
-
-// Converts RPM to Flapping frequency
-float RpmToFreq(int rpm) {
- return rpm * GEAR_RATIO / 60.0;
-}
-
-
// Gracefully stops the motor in serial mode
void StopMotor(int old_esc_val) {
@@ -259,26 +242,6 @@ void StopMotor(int old_esc_val) {
}
-//Read 12-bit rotary encoder (RobinL modified by linarism on forum.arduino.cc)
-unsigned int ReadSensor(uint8_t csn, int8_t orient) {
- unsigned int ret = 0;
-
- digitalWrite(csn, LOW);
- delayMicroseconds(1); //Waiting for Tclkfe
-
- //Passing 12 times, from 0 to 11
- for (int x = 0; x < 12; x++) {
- digitalWrite(CLK_PIN, LOW);
- delayMicroseconds(1); //Tclk/2
- digitalWrite(CLK_PIN, HIGH);
- delayMicroseconds(1); //Tdo valid, like Tclk/2
- ret = (ret << 1) | digitalRead(DO_PIN); //shift all the entering data to the left and past the pin state to it. 1e bit is MSB
- }
-
- digitalWrite(csn, HIGH); //deselects the encoder from reading
- return (1-orient)/2 * ENC_PRECISION + orient*ret;
-}
-
// Output data to use with serial-studio
void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[], float psu_vol[], float psu_cur[]) {
@@ -297,7 +260,7 @@ void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[
Serial.print(freq);
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
Serial.print(",");
- Serial.print(PosToDeg(wing_angles[i])-gMAX_WING_POS[i] + TRUE_MAX_ANGLE);
+ Serial.print(PosToDeg(wing_angles[i])-max_wing_pos[i] + TRUE_MAX_ANGLE);
}
for (int i = 0; i < sizeof(psu_vol); i++) {
Serial.print(",");
@@ -307,34 +270,3 @@ void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[
}
Serial.println("*/"); // End of data stream
}
-
-
-// Get the tension and current of a PSU
-void GetPsu(byte vol_pin, byte cur_pin, float &vol, float &cur) {
- vol = GetTension(vol_pin);
- cur = GetCurrent(cur_pin);
-}
-
-// Measure current consumed by module
-// [FIXME] Check properly
-float GetCurrent(byte cur_pin) {
- float volt_raw = (5.0 / 1023.0) * analogRead(cur_pin);
-
- float volt = volt_raw * -gCUR_QOV + SEN0098_OFFSET; // Trimming value to make current equal to 0 when no current
- return volt / gCUR_FACT; // Actual current
-}
-
-// Measure the tension provided by the PSU
-float GetTension(byte vol_pin) {
- float vol_raw = analogRead(vol_pin) * (5.0 / 1023.0);
-
- return vol_raw * (DIV_RES1 + DIV_RES2) / (DIV_RES2);
-}
-
-// Convert encoder position to degree
-float PosToDeg(unsigned int pos){
-
- return pos * 360.0 / ENC_PRECISION;
-
-}
-
diff --git a/controller/sensors.ino b/controller/sensors.ino
new file mode 100644
index 0000000000000000000000000000000000000000..f847951a6452f461a648b8b125cdec2f0c85d607
--- /dev/null
+++ b/controller/sensors.ino
@@ -0,0 +1,55 @@
+/*******************************************************************************
+Sensors
+
+Functions for sensors and acquisition.
+
+--------------------------------------------------------------------------------
+(c) Copyright 2022 University of Liege
+Author: Thomas Lambert <t.lambert@uliege.be>
+ULiege - Aeroelasticity and Experimental Aerodynamics
+MIT License
+Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
+*******************************************************************************/
+
+//Read 12-bit rotary encoder (RobinL modified by linarism on forum.arduino.cc)
+unsigned int ReadSensor(uint8_t csn, int8_t orient) {
+ unsigned int ret = 0;
+
+ digitalWrite(csn, LOW);
+ delayMicroseconds(1); //Waiting for Tclkfe
+
+ //Passing 12 times, from 0 to 11
+ for (int x = 0; x < 12; x++) {
+ digitalWrite(CLK_PIN, LOW);
+ delayMicroseconds(1); //Tclk/2
+ digitalWrite(CLK_PIN, HIGH);
+ delayMicroseconds(1); //Tdo valid, like Tclk/2
+ ret = (ret << 1) | digitalRead(DO_PIN); //shift all the entering data to the left and past the pin state to it. 1e bit is MSB
+ }
+
+ digitalWrite(csn, HIGH); //deselects the encoder from reading
+ return (1-orient)/2 * ENC_PRECISION + orient*ret;
+}
+
+// Get the tension and current of a PSU
+void GetPsu(byte vol_pin, byte cur_pin, float &vol, float &cur) {
+ vol = GetTension(vol_pin);
+ cur = GetCurrent(cur_pin);
+}
+
+// Measure current consumed by module
+// https://www.youtube.com/watch?v=SiHfjzcqnU4
+// [FIXME] Check properly
+float GetCurrent(byte cur_pin) {
+ float volt_raw = (5.0 / 1023.0) * analogRead(cur_pin);
+
+ float volt = volt_raw * -gCUR_QOV + SEN0098_OFFSET; // Trimming value to make current equal to 0 when no current
+ return volt / gCUR_FACT; // Actual current
+}
+
+// Measure the tension provided by the PSU
+float GetTension(byte vol_pin) {
+ float vol_raw = analogRead(vol_pin) * (5.0 / 1023.0);
+
+ return vol_raw * (DIV_RES1 + DIV_RES2) / (DIV_RES2);
+}
diff --git a/controller/utils.ino b/controller/utils.ino
new file mode 100644
index 0000000000000000000000000000000000000000..562ec985666fc7fd4050dcc4e9adb08509be6dd4
--- /dev/null
+++ b/controller/utils.ino
@@ -0,0 +1,39 @@
+/*******************************************************************************
+Utils
+
+Miscellaneous utilities.
+
+--------------------------------------------------------------------------------
+(c) Copyright 2022 University of Liege
+Author: Thomas Lambert <t.lambert@uliege.be>
+ULiege - Aeroelasticity and Experimental Aerodynamics
+MIT License
+Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
+*******************************************************************************/
+
+// Converts frequence to ESC angle to use with Servo library
+int FreqToEsc(float freq) {
+
+ // Need to scale times 100 so we can have better precision
+ int esc_val = freq * (180.0 / RpmToFreq(gMAX_RPM));
+
+ if (esc_val < gMIN_ESC_VAL) {
+ esc_val = gMIN_ESC_VAL;
+ } else if (esc_val > gMAX_ESC_VAL) {
+ esc_val = gMAX_ESC_VAL;
+ }
+
+ return esc_val;
+}
+
+// Converts RPM to Flapping frequency
+float RpmToFreq(int rpm) {
+ return rpm * GEAR_RATIO / 60.0;
+}
+
+
+// Convert encoder position to degree
+float PosToDeg(unsigned int pos) {
+ return pos * 360.0 / ENC_PRECISION;
+}
+