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Merge branch '36-move-init_loadcells-to-teensy-h' into 'main'

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Resolve "Move init_loadCells() to teensy.h"

Closes #36

See merge request lander-team/lander-cpp!26
This commit is contained in:
Brendan McGeeney 2021-11-15 03:39:27 +00:00
commit 8054e26857
2 changed files with 57 additions and 51 deletions
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50
include/teensy.h
View File

@ -1,11 +1,12 @@
#include "Vehicle.h"
#include <Arduino.h>
#include <HX711.h>
#include <PWMServo.h>
#include <SD.h>
#include <SPI.h>
void testGimbal(class PWMServo &, class PWMServo &);
double loadCellCalibrate();
void init_loadCells(class HX711 &, class HX711 &, class HX711 &, class HX711 &);
void initFile();
void thrustInfo(struct Vehicle &);
void processTVC(struct Vehicle &, class PWMServo &, class PWMServo &);
@ -13,6 +14,18 @@ void write2CSV(struct Vehicle &);
void printSimResults(struct Vehicle &);
void teensyAbort();
void read_lc0();
void read_lc1();
void read_lc2();
void read_lc3();
const int lc_clock = 23;
const int pin_lc0 = 14;
const int pin_lc1 = 15;
const int pin_lc2 = 19;
const int pin_lc3 = 20;
const int chipSelect = BUILTIN_SDCARD;
File dataFile;
@ -63,6 +76,41 @@ void testGimbal(PWMServo &servo1, PWMServo &servo2) {
servo2.write(0);
}
void init_loadCells(HX711 &lc0, HX711 &lc1, HX711 &lc2, HX711 &lc3) {
// Configure clock pin with high impedance to protect
// pin (if this doesn't work, change to OUTPUT)
pinMode(lc_clock, INPUT);
// Configure load cell data pins as inputs
pinMode(pin_lc0, INPUT);
pinMode(pin_lc1, INPUT);
pinMode(pin_lc2, INPUT);
pinMode(pin_lc3, INPUT);
lc0.begin(pin_lc0, lc_clock);
lc1.begin(pin_lc1, lc_clock);
lc2.begin(pin_lc2, lc_clock);
lc3.begin(pin_lc3, lc_clock);
// Attach ISRs to load cell data pins to read data when available
attachInterrupt(digitalPinToInterrupt(pin_lc0), read_lc0, LOW);
attachInterrupt(digitalPinToInterrupt(pin_lc1), read_lc1, LOW);
attachInterrupt(digitalPinToInterrupt(pin_lc2), read_lc2, LOW);
attachInterrupt(digitalPinToInterrupt(pin_lc3), read_lc3, LOW);
Serial.println("Load Cells Initialized");
Serial.print("Calibrating");
lc0.tare();
Serial.print(".");
lc1.tare();
Serial.print(".");
lc2.tare();
Serial.print(".");
lc3.tare();
Serial.println(".");
Serial.println("Load Cells Calibrated");
}
void initFile() {
Serial.print("Initializing SD card...");

58
src/main.cpp
View File

@ -27,24 +27,16 @@ unsigned long last, initTime;
#include <HX711.h>
#include <PWMServo.h>
const int lc_clock = 23;
const int pin_lc0 = 14;
const int pin_lc1 = 15;
const int pin_lc2 = 19;
const int pin_lc3 = 20;
void init_loadCells();
void read_lc0();
void read_lc1();
void read_lc2();
void read_lc3();
HX711 lc0;
HX711 lc1;
HX711 lc2;
HX711 lc3;
void read_lc0();
void read_lc1();
void read_lc2();
void read_lc3();
PWMServo servo1;
PWMServo servo2;
@ -63,7 +55,7 @@ void setup() {
delay(1000);
}
init_loadCells();
init_loadCells(lc0, lc1, lc2, lc3);
init_Vehicle(State);
State.lc0 = lc0.get_value();
State.lc1 = lc1.get_value();
@ -119,46 +111,12 @@ void loop() {
delay(State.stepSize - ((micros() - last) / 1000.0));
}
void init_loadCells() {
// Configure clock pin with high impedance to protect
// pin (if this doesn't work, change to OUTPUT)
pinMode(lc_clock, INPUT);
// Configure load cell data pins as inputs
pinMode(pin_lc0, INPUT);
pinMode(pin_lc1, INPUT);
pinMode(pin_lc2, INPUT);
pinMode(pin_lc3, INPUT);
lc0.begin(pin_lc0, lc_clock);
lc1.begin(pin_lc1, lc_clock);
lc2.begin(pin_lc2, lc_clock);
lc3.begin(pin_lc3, lc_clock);
// Attach ISRs to load cell data pins to read data when available
attachInterrupt(digitalPinToInterrupt(pin_lc0), read_lc0, LOW);
attachInterrupt(digitalPinToInterrupt(pin_lc1), read_lc1, LOW);
attachInterrupt(digitalPinToInterrupt(pin_lc2), read_lc2, LOW);
attachInterrupt(digitalPinToInterrupt(pin_lc3), read_lc3, LOW);
Serial.println("Load Cells Initialized");
Serial.print("Calibrating");
lc0.tare();
Serial.print(".");
lc1.tare();
Serial.print(".");
lc2.tare();
Serial.print(".");
lc3.tare();
Serial.println(".");
Serial.println("Load Cells Calibrated");
}
// ISRs to print data to serial monitor
// ISRs to print data to serial monitor - These unfortunately can't move
void read_lc0() { State.lc0 = lc0.get_value(); }
void read_lc1() { State.lc1 = lc1.get_value(); }
void read_lc2() { State.lc2 = lc2.get_value(); }
void read_lc3() { State.lc3 = lc3.get_value(); }
#endif
#if defined(_WIN32) || defined(NATIVE)