refact: split into multiple files

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
 

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;
-
-}
-

controller/sensors.ino

+/*******************************************************************************
+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);
+}

controller/utils.ino

+/*******************************************************************************
+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;
+}
+