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Verified Commit d643cd9d authored by Thomas Lambert's avatar Thomas Lambert :helicopter:
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feat: add psu monitoring

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CHANGELOG.md
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......@@ -12,6 +12,7 @@ to [Semantic Versioning][sem_ver].
- **Doc**: Changelog
- **Controller**: Complete control over Serial
- **Acquisition**: Angle sensor acquisition
- **Acquisition**: PSU current and tension monitoring
### Changed
......
README.md
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......@@ -51,14 +51,22 @@ the motor.
## Data logging and visualization
The controller returns the important data through the serial connection.
Besides controlling the system, the Arduino also logs the input data and some
measurements. The most important data are:
- ESC input setting
- Wing angles (for each wing)
- PSU current and tension
These logged data are transmitted through the serial connection in order to be
saved on a separate laptop and analyzed later.
A [_json_ configuration file](controller/mechaRaptor.json) is provided in order
to visualize the output stream in real time with [serial-studio]. This also
allows the logging and retention of all data in _csv_ spreadsheets for future
analysis.
## Material
## Bill of Materials
The system consists in two completely independent sets of wings, powered
separately.
......@@ -79,6 +87,8 @@ wing, which is measured using absolute magnetic rotary encoders.
| **Encoders** | [Broadcom AEAT 6012][AEAT612] | Flapping angle measurement |
| **Potentiometer** | N/A | Manual control of RPM|
| **ON/OFF switch** | N/A | Switch between `Serial` and `Manual` control |
| **Resistors** | N/A | Voltage divider, noise reduction |
| **Current sensor** | [Allegro SEN0098][SEN0098] | PSU current logging |
## Schematics
......@@ -91,3 +101,4 @@ To Do (January 2023)
[arduino]: <https://store.arduino.cc/products/arduino-uno-rev3>
[elektro]: <https://elektroautomatik.de>
[AEAT612]: <https://docs.broadcom.com/doc/AV02-0188EN>
[SEN0098]: https://www.allegromicro.com/~/media/Files/Datasheets/ACS758-Datasheet.ashx
controller/controller.ino
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......@@ -21,30 +21,54 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
#include <Servo.h> // Control ESC by sending appropriate PWM signal
/*******************************************************************************
Macros (use for pins only)
Macros (for pins and fixed components only!)
*******************************************************************************/
// Pins
#define ESC1_PIN 10 // ESC Front motor
#define ESC2_PIN 9 // ESC Aft motor
#define SWITCH_PIN 7 // ON/OFF switch (mode control)
#define CLK_PIN 2 // Encoder CLK
#define DO_PIN 8 // Encoder Digital Output
#define POT_PIN A0 // Potentiometer
#define CLK_PIN 2 // Encoder CLK
#define DO_PIN 8 // Encoder Digital Output
#define CSN_PINS { 3, 4, 5, 6 } // Encoder Chip Select pins
#define CUR1_PIN A1 // Current measurement for Front motor
#define CUR2_PIN A2 // Current measurement for Aft motor
#define TENS1_PIN A3 // Tension measurement for Front motor
#define TENS2_PIN A4 // Tension measurement for Aft motor
// Values
#define DIV_RES1 9000.0 // Resistance of R1 in the voltage dividers
#define DIV_RES2 1000.0 // 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_VIOUT 0.12 // [FIXME] VERIFY!
#define SEN0098_OFFSET 0.12 // [FIXME] VERIFY!
#define GEAR_RATIO 0.1 // Gear ratio between motor and wings
/*******************************************************************************
Globals
Globals (for things that I can change manually)
*******************************************************************************/
const uint8_t gCSN_PINS[] = { 3, 4, 5, 6 }; // Encoder Chip Select pins
// Constant values that can be tweaked here or in the ESC before run
const int gMAX_SIG = 2000; // Max signal to the ESC [ms]
const int gMIN_SIG = 1000; // Min signal to the ESC [ms]
const int gMAX_RPM = 3000; // Motor maximum RPM (set in ESC)
const int gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
const float gGEAR_RATIO = 0.1; // Gear ratio between motor and wings
const int gMAX_ESC_VAL = 160; // Value at which motor is at max RPM
const int gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-error)
const int gMAX_RPM = 3000; // Motor maximum RPM (set in ESC)
const int gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
const int gMAX_ESC_VAL = 160; // Value at which motor is at max RPM
const int gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-error)
const uint8_t gCSN_PINS[] = CSN_PINS; // Encoder Chip Select pins
const float gCUR_FACT = SEN0098_SENSI / 1000.0; // Factor for current measurement
const float gCUR_QOV = SEN0098_VIOUT * SEN0098_VCC;
// Other
Servo gEsc1; // ESC for front motor
Servo gEsc2; // ESC for aft motor
......@@ -59,23 +83,24 @@ void setup() {
//Serial.begin(9600); //[DEBUG]: For debugging only
Serial.begin(115200); // Need for good precision
// Init ESCs
Serial.print("[INFO]: Attaching ESCs ... ");
delay(5000); // Prevents motor from starting automatically with serial
gEsc1.attach(ESC1_PIN, gMIN_SIG, gMAX_SIG);
gEsc2.attach(ESC2_PIN, gMIN_SIG, gMAX_SIG);
Serial.println("done!");
// Init switch
pinMode(SWITCH_PIN, INPUT);
// [DEBUG] Comment all that as long as PCB not properly soldered
//for (int i = 0; i < sizeof(gCSN_PINS); i++) {
// pinMode(gCSN_PINS[i], OUTPUT);
// digitalWrite(gCSN_PINS[i], HIGH);
//}
//pinMode(CLK_PIN, OUTPUT);
//pinMode(DO_PIN, INPUT);
//digitalWrite(CLK_PIN, HIGH);
// Init angle sensors
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
pinMode(gCSN_PINS[i], OUTPUT);
digitalWrite(gCSN_PINS[i], HIGH);
}
pinMode(CLK_PIN, OUTPUT);
pinMode(DO_PIN, INPUT);
digitalWrite(CLK_PIN, HIGH);
// Initialize modes
int switch_state = digitalRead(SWITCH_PIN);
......@@ -107,8 +132,8 @@ void setup() {
*******************************************************************************/
void loop() {
int potent = analogRead(A0); // Potentiometer value
unsigned int wing_angles[4]; // Wing angles (1L, 1R, 2L, 2R)
int potent = analogRead(POT_PIN); // Potentiometer value
unsigned int wing_angles[sizeof(gCSN_PINS)]; // Wing angles (1L, 1R, 2L, 2R)
if (gMode == "SERIAL" and Serial.available()) {
......@@ -132,7 +157,12 @@ void loop() {
wing_angles[i] = ReadSensor(gCSN_PINS[i]);
}
SerialPrint(gMode, potent, gEsc_val, wing_angles);
// Read current and power
float psu_cur[2], psu_vol[2];
GetPsu(TENS1_PIN,CUR1_PIN, psu_vol[0], psu_cur[0]);
GetPsu(TENS2_PIN,CUR2_PIN, psu_vol[1], psu_cur[1]);
SerialPrint(gMode, potent, gEsc_val, wing_angles, psu_vol, psu_cur);
}
......@@ -193,7 +223,7 @@ int FreqToEsc(float freq) {
// Converts RPM to Flapping frequency
float RpmToFreq(int rpm) {
return rpm * gGEAR_RATIO / 60.0;
return rpm * GEAR_RATIO / 60.0;
}
......@@ -241,7 +271,7 @@ unsigned int ReadSensor(uint8_t csn) {
// Output data to use with serial-studio
void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[]) {
void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[], float psu_vol[], float psu_cur[]) {
float freq = map(esc_val, 0, 180, 0, RpmToFreq(gMAX_RPM) * 100.0) / 100.0;
Serial.print("/*");
......@@ -258,5 +288,33 @@ void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[
Serial.print(",");
Serial.print(wing_angles[i]);
}
for (int i = 0; i < sizeof(psu_vol); i++) {
Serial.print(",");
Serial.print(psu_vol[i]);
Serial.print(",");
Serial.print(psu_cur[i]);
}
Serial.println("*/");
}
// Measure current consumed by module
float GetCurrent(byte cur_pin) {
float cur_raw = (5.0 / 1023.0) * analogRead(cur_pin);
float cur = cur_raw * -gCUR_QOV + 0.007; //Trimming vale to make current equal to 0 when no current
return cur / gCUR_FACT; // get actual current
}
// Measure the tension provided by the PSU
float GetTension(byte vol_pin) {
int vol_raw = analogRead(vol_pin) * (5.0 / 1023.0);
return vol_raw * (DIV_RES1 + DIV_RES2) / (DIV_RES2);
}
// 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);
}
controller/mechaRaptor.json
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......@@ -62,7 +62,7 @@
"max": 180,
"min": 0,
"title": "ESC val",
"units": "",
"units": "°",
"value": "%4",
"widget": "gauge"
},
......@@ -84,6 +84,68 @@
"title": "Inputs",
"widget": ""
},
{
"datasets": [
{
"alarm": 0,
"fft": false,
"fftSamples": 1024,
"graph": false,
"led": false,
"log": false,
"max": 0,
"min": 0,
"title": "1 - Tension",
"units": "V",
"value": "%10",
"widget": ""
},
{
"alarm": 0,
"fft": false,
"fftSamples": 1024,
"graph": false,
"led": false,
"log": false,
"max": 0,
"min": 0,
"title": "1 - Current",
"units": "A",
"value": "%11",
"widget": ""
},
{
"alarm": 0,
"fft": false,
"fftSamples": 1024,
"graph": false,
"led": false,
"log": false,
"max": 0,
"min": 0,
"title": "2 - Tension",
"units": "V",
"value": "%12",
"widget": ""
},
{
"alarm": 40,
"fft": false,
"fftSamples": 1024,
"graph": false,
"led": false,
"log": false,
"max": 360,
"min": 0,
"title": "2 - Current",
"units": "A",
"value": "%13",
"widget": ""
}
],
"title": "Power Supplies",
"widget": ""
},
{
"datasets": [
{
......@@ -96,7 +158,7 @@
"max": 0,
"min": 0,
"title": "Left",
"units": "deg",
"units": "°",
"value": "%6",
"widget": ""
},
......@@ -110,7 +172,7 @@
"max": 0,
"min": 0,
"title": "Right",
"units": "deg",
"units": "°",
"value": "%7",
"widget": ""
}
......@@ -130,7 +192,7 @@
"max": 0,
"min": 0,
"title": "Left",
"units": "deg",
"units": "°",
"value": "%8",
"widget": ""
},
......@@ -144,7 +206,7 @@
"max": 0,
"min": 0,
"title": "Right",
"units": "deg",
"units": "°",
"value": "%9",
"widget": ""
}
......
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