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Setup encoder
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‎include/INA260.hpp‎

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#pragma once
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#include "LoadConfig.hpp"
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#include <Adafruit_INA260.h>
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#include <atomic>
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#include <etl/format_spec.h>
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#include <etl/string.h>
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#include <etl/to_string.h>
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namespace INA260 {
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constexpr uint_fast16_t m_TO_BASE = 1000;
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static constexpr int_fast8_t MIN_VOLTAGE_V = -32;
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static constexpr int_fast16_t MIN_VOLTAGE_mV = MIN_VOLTAGE_V * m_TO_BASE;
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static constexpr int_fast8_t MAX_VOLTAGE_V = 32;
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static constexpr int_fast16_t MAX_VOLTAGE_mV = MAX_VOLTAGE_V * m_TO_BASE;
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static constexpr int_fast8_t MIN_CURRENT_A = -15;
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static constexpr int_fast16_t MIN_CURRENT_mA = MIN_CURRENT_A * m_TO_BASE;
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static constexpr int_fast8_t MAX_CURRENT_A = 15;
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static constexpr int_fast16_t MAX_CURRENT_mA = MAX_CURRENT_A * m_TO_BASE;
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static constexpr int_fast16_t MIN_POWER_W =
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MIN_VOLTAGE_V * MIN_CURRENT_A * -1;
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static constexpr int_fast16_t MIN_POWER_mW = MIN_POWER_W * m_TO_BASE;
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static constexpr int_fast16_t MAX_POWER_W = MAX_VOLTAGE_V * MAX_CURRENT_A;
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static constexpr int_fast16_t MAX_POWER_mW = MAX_POWER_W * m_TO_BASE;
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static constexpr const char *TAG = "PS";
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Adafruit_INA260 powerSensor;
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std::atomic<int_fast16_t> voltage_mV = 0;
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std::atomic<int_fast16_t> current_mA = 0;
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std::atomic<int_fast32_t> power_mW = 0;
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bool begin(uint8_t i2c_addr, INA260_AveragingCount avgCount,
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INA260_ConversionTime convTime) {
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if (!powerSensor.begin(i2c_addr)) {
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ESP_LOGE("TAG", "Failed to initialize INA260 at 0x%02X", i2c_addr);
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return false;
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}
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powerSensor.setAveragingCount(avgCount);
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powerSensor.setVoltageConversionTime(convTime);
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return true;
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}
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/**
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* @brief Update the sensor readings and check if they are within the
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* defined bounds.
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* @return Whether the readings are valid (within bounds)
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*/
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bool updateReadings() {
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bool result = true;
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auto vTemp_mV = (uint_fast32_t)powerSensor.readBusVoltage();
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if ((vTemp_mV > MAX_VOLTAGE_mV) ||
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(vTemp_mV < PSENSOR::MIN_VOLTAGE_mV)) {
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ESP_LOGE("TAG", "V reading out of bounds: %u mV", vTemp_mV);
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result &= false;
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} // Else: Valid reading
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voltage_mV = vTemp_mV;
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auto iTemp = (uint_fast32_t)powerSensor.readCurrent();
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if ((iTemp > MAX_CURRENT_mA) || (iTemp < MIN_CURRENT_mA)) {
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ESP_LOGE("TAG", "C reading out of bounds: %d mA", iTemp);
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result &= false;
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} // Else: Valid reading
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current_mA = iTemp;
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auto pTemp = (uint_fast32_t)powerSensor.readPower();
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if ((pTemp > (MAX_VOLTAGE_mV * MAX_CURRENT_A)) ||
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(pTemp < (PSENSOR::MIN_VOLTAGE_mV * MIN_CURRENT_A))) {
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ESP_LOGE("TAG", "P out of bounds: %d mW", pTemp);
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result &= false;
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} // Else: Valid reading
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power_mW = pTemp;
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return result;
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}
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// TODO - improve this and null terminator may not be needed
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static constexpr uint_fast8_t LOG_STRING_SIZE =
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3 + 6 + 5 + 6 + 5 + 5 + 5 + 1;
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/**
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* @brief Get at string that describes the current state of the PID instance
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* @returns the current state of the PID instance as a string
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*/
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etl::string<LOG_STRING_SIZE> getLogString() {
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etl::string<LOG_STRING_SIZE> logString(TAG); // 3 chars
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logString.append(": mV: "); // 6 chars
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etl::format_spec decFormatA;
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decFormatA.width(5).fill('0'); // [5 chars]
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/**
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* @details I don't think we need strong guarantees on logging data
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* @see
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* https://stackoverflow.com/questions/12346487/what-do-each-memory-order-mean
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* @see https://en.cppreference.com/cpp/atomic/memory_order
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*/
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etl::to_string(voltage_mV.load(std::memory_order::relaxed), logString,
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decFormatA, true); // 5 chars
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logString.append(", mA: "); // 6 chars
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etl::to_string(current_mA.load(std::memory_order::relaxed), logString,
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decFormatA, true); // 5 chars
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logString.append(", W: "); // 5 chars
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etl::to_string(power_mW.load(std::memory_order::relaxed) / m_TO_BASE,
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logString, decFormatA, true); // 5 chars
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return logString;
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}
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} // namespace INA260

‎include/LoadConfig.hpp‎

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static_assert(__cplusplus >= 202302L, "C++23 standard or later required.");
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// Imports
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#include <Adafruit_INA260.h>
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#include <cstddef>
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#include <cstdint>
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#include <etl/array.h>
@@ -104,6 +105,31 @@ namespace RUN {
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// SLEEP_TIME_SECS * CONSTS::MILLIS_PER_SEC;
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} // namespace RUN
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// MARK: PSENSOR
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namespace PSENSOR {
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constexpr uint8_t I2C_ADDRESS = 0x41; // 7-bit address for Adafruit INA260
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// CONFIG - Averaging count for sensor readings
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constexpr INA260_AveragingCount AVG_COUNT = INA260_COUNT_1; // CONFIG
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constexpr INA260_ConversionTime CONV_TIME = INA260_TIME_588_us; // CONFIG
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constexpr uint_fast16_t m_TO_BASE = 1000;
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constexpr int16_t MIN_VOLTAGE_V = -1; // CONFIG
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// CONFIG
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constexpr int_fast16_t MIN_VOLTAGE_mV = MIN_VOLTAGE_V * m_TO_BASE;
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constexpr int_fast16_t MAX_VOLTAGE_V = 48; // CONFIG
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// CONFIG
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constexpr uint_fast16_t MAX_VOLTAGE_mV = MAX_VOLTAGE_V * m_TO_BASE;
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constexpr int_fast16_t MIN_CURRENT_A = -20; // CONFIG
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constexpr int_fast16_t MIN_CURRENT_mA = MIN_CURRENT_A * m_TO_BASE; // CONFIG
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constexpr int_fast16_t MAX_CURRENT_A = 20; // CONFIG
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constexpr int_fast16_t MAX_CURRENT_mA = MAX_CURRENT_A * m_TO_BASE; // CONFIG
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// CONFIG
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constexpr int_fast32_t MIN_POWER_mW = MIN_VOLTAGE_mV * MIN_CURRENT_mA;
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// CONFIG
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constexpr int_fast32_t MAX_POWER_mW = MAX_VOLTAGE_mV * MAX_CURRENT_mA;
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} // namespace PSENSOR
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// MARK: Load
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namespace LOAD {
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constexpr uint8_t I2C_ADDRESS = 0x4E; // A0-A2 all high

‎include/LoadContainer.hpp‎

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@@ -2,9 +2,11 @@
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#include <cstdint>
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#include "INA260.hpp"
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#include "LoadConfig.hpp"
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#include "LoadTasks.hpp"
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#include "MCP23008T.hpp"
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#include <Adafruit_INA260.h>
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/**
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* @brief Class to manage the container for load data
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~LoadContainer() = default;
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inline bool getSafetyFlag() const { return safetyFlag; }
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inline bool isPowerPositive() const { return powerPositive; } // todo
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inline bool isSteadyRPM() const { return false; } // todo
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inline bool isTargetRPMExceeded() const { return false; } // todo
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inline bool isPowerPositive() const { return (INA260::current_mA > 0); }
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inline bool isSteadyRPM() const { return false; } // todo
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inline bool isTargetRPMExceeded() const { return false; } // todo
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inline void updateSafetyFlag(bool safetyFlag) {
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this->safetyFlag = (digitalRead(UM_PROS3::ESTOP_PIN) ==
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LOW) /*|| getPPCCurrent() < threhold*/; // todo
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}
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inline void updatePowerPositive(bool powerPositive) {
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this->powerPositive = powerPositive;
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LOW) /*|| getPPCCurrent() < threshold*/; // todo
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}
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// inline void updatePowerPositive(bool powerPositive) {
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// this->powerPositive = powerPositive;
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// }
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inline void setLoadGPIO(uint_fast8_t value) {
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loadDevice.setGPIO((uint32_t)value);
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}
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private:
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// INA260&
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MCP23008T &loadDevice;
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bool safetyFlag = false; // todo
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bool powerPositive = false;
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// bool powerPositive = false;
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int_fast16_t currentRPM = 0; // todo
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};

‎src/main.cpp‎

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@@ -8,6 +8,7 @@
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#include <temperature_sensor.h>
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// Library Includes
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#include <Adafruit_NeoPixel.h>
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#include <Arduino.h>
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// Project Includes
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// #include "2026Core/Net/Net-Application/OTA.hpp"
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#include "2026Core/Net/Net-Link/AdapterESPNow.hpp"
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#include "2026Core/Net/Net-Phy/AdapterWLAN.hpp"
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#include "INA260.hpp"
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#include "LoadContainer.hpp"
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#include "LoadFSM.hpp"
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#include "LoadTasks.hpp"
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#include "MCP23008T.hpp"
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#include <Adafruit_NeoPixel.h>
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/* Config */
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static constexpr const char *TAG = "LoMa";
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// todo: move
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bool configureLoad() {
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if (!INA260::begin(PSENSOR::I2C_ADDRESS, PSENSOR::AVG_COUNT,
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PSENSOR::CONV_TIME)) {
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ESP_LOGE(TAG, "Failed to initialize INA260 power sensor at 0x%02X",
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PSENSOR::I2C_ADDRESS);
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return false;
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}
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if (!loadDevice.begin()) {
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ESP_LOGE(TAG, "Failed to initialize MCP23008T device at 0x%02X",
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loadDevice.getAddress());
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[[noreturn]] void
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vTaskPollSensors([[maybe_unused]] void *pvParameters) { // NOSONAR
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while (true) {
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INA260::updateReadings();
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delay(RUN::TASK_INTERVALS::TI_POLL_SENSORS_mS);
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}
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}
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}
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// Disable the temperature sensor if it is not needed and save the power
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ESP_ERROR_CHECK(temperature_sensor_disable(tempSensHandle));
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// delay(LOG_ITEM_INTERVAL_MS);
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ESP_LOGI(TAG, "%s", INA260::getLogString().c_str());
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delay(LOG_ITEM_INTERVAL_MS);
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// esp_wifi_get_bandwidth

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