Uart debug (#64)

* heater: export state and description

* pump_dac: save and export Ipump

* float interpolation helpers

* Show heater state, heater duty, temperature and fault over uart

* uart: more stack for thread

firmware/heater_control.cpp

@@ -15,14 +15,6 @@ using namespace wbo;
 // 400khz / 1024 = 390hz PWM
 static Pwm heaterPwm(HEATER_PWM_DEVICE, HEATER_PWM_CHANNEL, 400'000, 1024);
 
-enum class HeaterState
-{
-    Preheat,
-    WarmupRamp,
-    ClosedLoop,
-    Stopped,
-};
-
 static constexpr int preheatTimeCounter = HEATER_PREHEAT_TIME / HEATER_CONTROL_PERIOD;
 static constexpr int batteryStabTimeCounter = HEATER_BATTERY_STAB_TIME / HEATER_CONTROL_PERIOD;
 static int timeCounter = preheatTimeCounter;
@@ -217,3 +209,24 @@ float GetHeaterDuty()
 {
     return heaterPwm.GetLastDuty();
 }
+
+HeaterState GetHeaterState()
+{
+    return state;
+}
+
+const char* describeHeaterState(HeaterState state)
+{
+    switch (state) {
+        case HeaterState::Preheat:
+            return "Preheat";
+        case HeaterState::WarmupRamp:
+            return "WarmupRamp";
+        case HeaterState::ClosedLoop:
+            return "ClosedLoop";
+        case HeaterState::Stopped:
+            return "Stopped";
+    }
+
+    return "Unknown";
+}

firmware/heater_control.h

@@ -2,6 +2,16 @@
 
 #include <cstdint>
 
+enum class HeaterState
+{
+    Preheat,
+    WarmupRamp,
+    ClosedLoop,
+    Stopped,
+};
+
 void StartHeaterControl();
 bool IsRunningClosedLoop();
 float GetHeaterDuty();
+HeaterState GetHeaterState();
+const char* describeHeaterState(HeaterState state);

firmware/interpolation.cpp

@@ -1,37 +1,37 @@
 #include "interpolation.h"
 
-int interpolateInt(int x1, int y1, int x2, int y2, int x)
+float interpolateFloat(float x1, float y1, float x2, float y2, float x)
 {
-    if (x1 == x2)
-        return y1;
+	if (x1 == x2)
+		return y1;
 
-    return (y1 + (y2 - y1) * (x - x1) / (x2 - x1));
+	return (y1 + (y2 - y1) * (x - x1) / (x2 - x1));
 }
 
-int interpolateIntClamped(int x1, int y1, int x2, int y2, int x)
+float interpolateFloatClamped(float x1, float y1, float x2, float y2, float x)
 {
-    if (x <= x1)
-        return y1;
-    if (x >= x2)
-        return y2;
+	if (x <= x1)
+		return y1;
+	if (x >= x2)
+		return y2;
 
-    return interpolateInt(x1, y1, x2, y2, x);
+	return interpolateFloat(x1, y1, x2, y2, x);
 }
 
-int interpolate_1d_int(const struct inter_point *p, int size, int x)
+float interpolate_1d_float(const struct inter_point *p, int size, float x)
 {
-    int i;
+	int i;
 
-    /* no exterpolation */
-    if (x < p[0].x)
-        return p[0].y;
+	/* no exterpolation */
+	if (x < p[0].x)
+		return p[0].y;
 
-    for (i = 0; i < size - 1; i++) {
-        if ((x >= p[i].x) && (x < p[i + 1].x)) {
-            return interpolateInt(p[i].x, p[i].y, p[i + 1].x, p[i + 1].y, x);
-        }
-    }
+	for (i = 0; i < size - 1; i++) {
+		if ((x >= p[i].x) && (x < p[i + 1].x)) {
+			return interpolateFloat(p[i].x, p[i].y, p[i + 1].x, p[i + 1].y, x);
+		}
+	}
 
-    /* no exterpolation */
-    return p[size - 1].y;
+	/* no exterpolation */
+	return p[size - 1].y;
 }

firmware/interpolation.h

@@ -1,11 +1,10 @@
 #pragma once
 
-struct inter_point
-{
-    int x;
-    int y;
+struct inter_point {
+	float		x;
+	float		y;
 };
 
-int interpolateInt(int x1, int y1, int x2, int y2, int x);
-int interpolateIntClamped(int x1, int y1, int x2, int y2, int x);
-int interpolate_1d_int(const struct inter_point *p, int size, int x);
+float interpolateFloat(float x1, float y1, float x2, float y2, float x);
+float interpolateFloatClamped(float x1, float y1, float x2, float y2, float x);
+float interpolate_1d_float(const struct inter_point *p, int size, float x);

firmware/pump_dac.cpp

@@ -9,6 +9,8 @@
 // 48MHz / 1024 = 46.8khz PWM
 static Pwm pumpDac(PUMP_DAC_PWM_DEVICE, PUMP_DAC_PWM_CHANNEL, 48'000'000, 1024);
 
+static int32_t curIpump;
+
 void InitPumpDac()
 {
     pumpDac.Start();
@@ -26,6 +28,8 @@ void SetPumpCurrentTarget(int32_t microampere)
         microampere = 0;
     }
 
+    curIpump = microampere;
+
     // 47 ohm resistor
     // 0.147 gain
     // effective resistance of 317 ohms
@@ -41,3 +45,8 @@ float GetPumpOutputDuty()
 {
     return pumpDac.GetLastDuty();
 }
+
+int32_t GetPumpCurrent()
+{
+    return curIpump;
+}

firmware/pump_dac.h

@@ -5,3 +5,4 @@
 void InitPumpDac();
 void SetPumpCurrentTarget(int32_t microamperes);
 float GetPumpOutputDuty();
+int32_t GetPumpCurrent();

firmware/sampling.cpp

@@ -110,7 +110,7 @@ float GetSensorInternalResistance()
 
 float GetSensorTemperature()
 {
-    return interpolate_1d_int(lsu49_r_to_temp, ARRAY_SIZE(lsu49_r_to_temp), GetSensorInternalResistance());
+    return interpolate_1d_float(lsu49_r_to_temp, ARRAY_SIZE(lsu49_r_to_temp), GetSensorInternalResistance());
 }
 
 float GetNernstDc()

firmware/uart.cpp

@@ -4,6 +4,8 @@
 
 #include "lambda_conversion.h"
 #include "sampling.h"
+#include "heater_control.h"
+#include "fault.h"
 #include "uart.h"
 
 static const UARTConfig uartCfg =
@@ -27,7 +29,7 @@ static const UARTConfig uartCfg =
 
 static char printBuffer[200];
 
-static THD_WORKING_AREA(waUartThread, 256);
+static THD_WORKING_AREA(waUartThread, 512);
 static void UartThread(void*)
 {
     while(true)
@@ -35,11 +37,22 @@ static void UartThread(void*)
         float lambda = GetLambda();
         int lambdaIntPart = lambda;
         int lambdaThousandths = (lambda - lambdaIntPart) * 1000;
+        int batteryVoltageMv = GetInternalBatteryVoltage() * 1000;
+        int duty = GetHeaterDuty() * 100;
 
-        size_t writeCount = chsnprintf(printBuffer, 200, "%d.%03d\t%d\t%d\r\n", lambdaIntPart, lambdaThousandths, (int)GetSensorInternalResistance(), (int)(GetPumpNominalCurrent() * 1000));
+        size_t writeCount = chsnprintf(printBuffer, 200,
+            "%d.%03d\tAC %d mV\tR: %d\tT: %d\tIpump: %d\tVbat: %d\theater: %s (%d)\tfault: %s\r\n",
+            lambdaIntPart, lambdaThousandths,
+            (int)(GetNernstAc() * 1000.0),
+            (int)GetSensorInternalResistance(),
+            (int)GetSensorTemperature(),
+            (int)(GetPumpNominalCurrent() * 1000),
+            batteryVoltageMv,
+            describeHeaterState(GetHeaterState()), duty,
+            describeFault(GetCurrentFault()));
         uartStartSend(&UARTD1, writeCount, printBuffer);
 
-        chThdSleepMilliseconds(20);
+        chThdSleepMilliseconds(50);
     }
 }