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Esc shutdown #1

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Esc shutdown #1

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254c824
Simplify status bit handling of ESC_POWER and add roll-, pitch- & til…
Apehaenger Aug 18, 2024
90adad4
Switch from pitch- to tilt_angle and change shutdown logic
Apehaenger Aug 18, 2024
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3 changes: 2 additions & 1 deletion Firmware/LowLevel/src/datatypes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,8 @@ enum HighLevelMode {
#define LL_EMERGENCY_BIT_STOP2 LL_EMERGENCY_BIT_HALL4
#define LL_EMERGENCY_BITS_STOP (LL_EMERGENCY_BIT_STOP1 | LL_EMERGENCY_BIT_STOP2)

#define LL_STATUS_BIT_UI_AVAIL 0b10000000
#define LL_STATUS_BIT_ESC_POWER 0b1 << 3
#define LL_STATUS_BIT_UI_AVAIL 0b1 << 7

#pragma pack(push, 1)
struct ll_status {
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20 changes: 13 additions & 7 deletions Firmware/LowLevel/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
#define LIFT_EMERGENCY_MILLIS 100 // Time for both wheels to be lifted in order to count as emergency (0 disable). This is to filter uneven ground.
#define BUTTON_EMERGENCY_MILLIS 20 // Time for button emergency to activate. This is to debounce the button.

#define SHUTDOWN_ESC_MAX_PITCH 15.0 // Do not shutdown ESCs if absolute pitch angle is greater than this
#define SHUTDOWN_ESC_MAX_TILT 15.0f // Shutdown ESCs if tilt angle is greater than this
// Define to stream debugging messages via USB
// #define USB_DEBUG

Expand Down Expand Up @@ -699,17 +699,17 @@ void loop() {
#endif

#ifdef SHUTDOWN_ESC_WHEN_IDLE
// ESC power saving when mower is IDLE
if(!ROS_running || last_high_level_state.current_mode != HighLevelMode::MODE_IDLE || fabs(pitch_angle) > SHUTDOWN_ESC_MAX_PITCH) {
// Enable escs if not idle, or if ROS is not running, or on a slope
// ESC power saving and safety shutdown
if ((!ROS_running || last_high_level_state.current_mode != HighLevelMode::MODE_IDLE) && tilt_angle <= SHUTDOWN_ESC_MAX_TILT) {
// Enable ESCs if ROS is not running, or not idle, but in any case only if not tilted
digitalWrite(PIN_ESC_SHUTDOWN, LOW);
status_message.status_bitmask |= 0b1000;
status_message.status_bitmask |= LL_STATUS_BIT_ESC_POWER;
} else {
digitalWrite(PIN_ESC_SHUTDOWN, HIGH);
status_message.status_bitmask &= 0b11110111;
status_message.status_bitmask &= ~LL_STATUS_BIT_ESC_POWER;
}
#else
status_message.status_bitmask |= 0b1000;
status_message.status_bitmask |= LL_STATUS_BIT_ESC_POWER;
#endif

status_message.status_bitmask = (status_message.status_bitmask & 0b11111011) | ((charging_allowed & 0b1) << 2);
Expand Down Expand Up @@ -743,6 +743,12 @@ void loop() {
DEBUG_SERIAL.print(" A\t");
DEBUG_SERIAL.print("emergency: 0b");
DEBUG_SERIAL.print(status_message.emergency_bitmask, BIN);
DEBUG_SERIAL.print("\troll: ");
DEBUG_SERIAL.print(roll_angle, 3);
DEBUG_SERIAL.print("\tpitch: ");
DEBUG_SERIAL.print(pitch_angle, 3);
DEBUG_SERIAL.print("\ttilt: ");
DEBUG_SERIAL.print(tilt_angle, 3);
DEBUG_SERIAL.println();
#endif
}
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