From 55389e656bc2b53da2acb9a5269478449b3cfdeb Mon Sep 17 00:00:00 2001 From: MiyashitaT Date: Sat, 7 Aug 2021 14:43:11 +0900 Subject: [PATCH 1/7] =?UTF-8?q?ina=E3=82=92260=E3=81=AB=E5=A4=89=E6=9B=B4?= =?UTF-8?q?=E3=80=81ina=E3=81=AE=E5=80=A4=E3=81=AB=E5=BF=9C=E3=81=98?= =?UTF-8?q?=E3=81=A6=E3=82=B9=E3=83=A9=E3=82=B9=E3=82=BF=E3=83=BC=E3=81=AE?= =?UTF-8?q?=E5=80=A4=E3=82=92=E5=A4=89=E5=8B=95=E3=81=95=E3=81=9B=E3=82=8B?= =?UTF-8?q?=E3=82=88=E3=81=86=E3=81=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Driver.py | 65 +++++++++++++++++++++++++----------------------- README.md | 32 +++++++++++------------- ina260.py | 32 ++++++++++++++++++++++++ requirements.txt | 4 +++ 4 files changed, 85 insertions(+), 48 deletions(-) create mode 100644 ina260.py create mode 100644 requirements.txt diff --git a/Driver.py b/Driver.py index 9b4af51..71b161b 100644 --- a/Driver.py +++ b/Driver.py @@ -12,9 +12,10 @@ import sys import time +import adafruit_ina260 +import board import yaml -from ina226 import ina226 from Logger import Logger from Pid import PositionalPID from PwmOut import PwmOut @@ -22,19 +23,6 @@ from Status import Status from TimeManager import TimeManager -INA226_ADDRESS = 0x40 - -ina226_averages_t = dict( - INA226_AVERAGES_1=0b000, - INA226_AVERAGES_4=0b001, - INA226_AVERAGES_16=0b010, - INA226_AVERAGES_64=0b011, - INA226_AVERAGES_128=0b100, - INA226_AVERAGES_256=0b101, - INA226_AVERAGES_512=0b110, - INA226_AVERAGES_1024=0b111, -) - class Driver: def __init__(self, filename): @@ -78,17 +66,13 @@ def __init__(self, filename): params["gpio"]["servo"]["out"], params["gpio"]["thruster"]["out"] ) - # Whether experienced OR mode or not - self._or_experienced = False + self.run_ina = False # setup for ina226 print("Configuring INA226..") try: - self.i_sensor = ina226(INA226_ADDRESS, 1) - self.i_sensor.configure(avg=ina226_averages_t["INA226_AVERAGES_4"]) - self.i_sensor.calibrate(rShuntValue=0.002, iMaxExcepted=1) - self.i_sensor.print_status() - print("Mode is " + str(hex(self.i_sensor.getMode()))) + i2c = board.I2C() + self.i_sensor = adafruit_ina260.INA260(i2c, 0x40) except: print("Error when configuring INA226") @@ -192,9 +176,23 @@ def _auto_navigation(self): target_bearing_relative, target_distance ) self._pwm_out.servo_pulse_width = servo_pulse_width - self._pwm_out.thruster_pulse_width = 1900 + if self.run_ina: + self._optimize_thruster() + else: + self._pwm_out.thruster_pulse_width = 1900 return + def _optimize_thruster(self): + if self.voltage < 12.15: + self._pwm_out.thruster_pulse_width -= 150*(12.15 - self.voltage) + elif self.current < 0.005: + self._pwm_out.thruster_pulse_width = 1100 + elif self._pwm_out.thruster_pulse_width <= 1900: + self._pwm_out.thruster_pulse_width += 100 + self._pwm_out.thruster_pulse_width = min( + max(self._pwm_out.thruster_pulse_width, 1100), 1900 + ) + def _print_log(self): timestamp = self._status.timestamp_string mode = self._status.mode @@ -213,16 +211,21 @@ def _print_log(self): t_idx = self._status.waypoint._index err = self._pid.err_back if hasattr(self, "i_sensor"): - current = str(round(self.i_sensor.readShuntCurrent(), 3)) - voltage = str(round(self.i_sensor.readBusVoltage(), 3)) - power = str(round(self.i_sensor.readBusPower(), 3)) + self.current = self.i_sensor.current + self.voltage = self.i_sensor.voltage + self.power = self.i_sensor.power + self.run_ina = True else: - current = 0 - voltage = 0 - power = 0 + self.current = 0 + self.voltage = 0 + self.power = 0 # To print logdata print(timestamp) + + print( + f"Current: {self.current:.3f}A, Voltage: {self.voltage:.3f}V, Power: {self.power:.3f}W" + ) print( f"[{mode} MODE] LAT={latitude:.7f}, LON={longitude:.7f}, SPEED={speed:.2f} [km/h], HEADING={heading:.2f}" ) @@ -252,9 +255,9 @@ def _print_log(self): servo_pw, thruster_pw, err, - current, - voltage, - power, + self.current, + self.voltage, + self.power, ] self._logger.write(log_list) return diff --git a/README.md b/README.md index 6730381..1b45fe8 100644 --- a/README.md +++ b/README.md @@ -2,22 +2,20 @@ This is an algorithm by which the solar boat can aim the goal automatically. This codes was made for private educational project. # Overview - + todo: システムの概要 2019年のレポート参照 - + # Requirement - - + + * python 3.8.1 * formatter: black -*micropyGPS - *https://github.com/inmcm/micropyGPS -*serial - `pip install serial` - + +`pip3 install -r requirements.txt` + # Installation - + mac OSの場合 ## pythonのinstall @@ -60,20 +58,20 @@ if which pyenv > /dev/null; then eval "$(pyenv init -)"; fi' >` これでターミナルから python を実行すれば 3.8.1が使えるようになる。 - + # Usage ```bash python3 main.py parameter_sample.txt ``` - + # Note - - + + # Author - - + + * YukiSaegusa, Amusac * University of Tokyo - + [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black) diff --git a/ina260.py b/ina260.py new file mode 100644 index 0000000..cf03b4c --- /dev/null +++ b/ina260.py @@ -0,0 +1,32 @@ +# -*- coding: utf-8 -*- +import signal +import time +from datetime import datetime + +import adafruit_ina260 +import board + +REC_START_HOUR = 8 +REC_END_HOUR = 18 + + +def task(arg1, arg2): + # 電流・電圧・電力の取得 + cur = ina260.current + vol = ina260.voltage + po = ina260.power + # 日時の取得 + _now = datetime.now() + today = _now.strftime("%Y-%m-%d") + nowtime = _now.strftime("%H:%M:%S") + print( + "日付 %s 時刻 %s 電流 %.2f mA 電圧 %.2f V 電力 %.2f mW" % (today, nowtime, cur, vol, po) + ) + + +i2c = board.I2C() +ina260 = adafruit_ina260.INA260(i2c) +signal.signal(signal.SIGALRM, task) +signal.setitimer(signal.ITIMER_REAL, 0.1, 1) # コマンドラインでCtrl+Cで止められるように +while True: + time.sleep(1) diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..7c8730c --- /dev/null +++ b/requirements.txt @@ -0,0 +1,4 @@ +adafruit-circuitpython-ina260 +board +serial +-e git+https://github.com/inmcm/micropyGPS.git \ No newline at end of file From 5f62ea4f6f160471a2e73b84c7d76f8dfa20fc5c Mon Sep 17 00:00:00 2001 From: autoformat Date: Sat, 7 Aug 2021 05:43:41 +0000 Subject: [PATCH 2/7] fixup: Format Python code with black and isort --- Driver.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Driver.py b/Driver.py index 71b161b..9c81369 100644 --- a/Driver.py +++ b/Driver.py @@ -184,7 +184,7 @@ def _auto_navigation(self): def _optimize_thruster(self): if self.voltage < 12.15: - self._pwm_out.thruster_pulse_width -= 150*(12.15 - self.voltage) + self._pwm_out.thruster_pulse_width -= 150 * (12.15 - self.voltage) elif self.current < 0.005: self._pwm_out.thruster_pulse_width = 1100 elif self._pwm_out.thruster_pulse_width <= 1900: From f8095d0f79eeba1596c774eaf68e2838b8bdba86 Mon Sep 17 00:00:00 2001 From: Kosuke Sando Date: Sat, 7 Aug 2021 07:43:40 +0100 Subject: [PATCH 3/7] =?UTF-8?q?INA260=E3=81=A7=E3=81=AE=E5=87=BA=E5=8A=9B?= =?UTF-8?q?=E5=88=B6=E5=BE=A1=E3=80=80=E4=BF=82=E6=95=B0=E3=81=AA=E3=81=A9?= =?UTF-8?q?fix?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 2021-08-07-06-44-43_gpslog.csv | 1 + 2021-08-07-06-44-52_gpslog.csv | 2 + 2021-08-07-06-47-36_gpslog.csv | 2 + 2021-08-07-06-48-25_gpslog.csv | 15 +++ 2021-08-07-06-49-06_gpslog.csv | 58 +++++++++ 2021-08-07-06-50-36_gpslog.csv | 16 +++ 2021-08-07-06-51-48_gpslog.csv | 54 +++++++++ 2021-08-07-06-53-08_gpslog.csv | 2 + 2021-08-07-06-54-29_gpslog.csv | 72 +++++++++++ 2021-08-07-06-57-52_gpslog.csv | 168 ++++++++++++++++++++++++++ 2021-08-07-07-04-18_gpslog.csv | 38 ++++++ 2021-08-07-07-05-18_gpslog.csv | 5 + 2021-08-07-07-05-31_gpslog.csv | 96 +++++++++++++++ 2021-08-07-07-09-31_gpslog.csv | 168 ++++++++++++++++++++++++++ 2021-08-07-07-13-24_gpslog.csv | 25 ++++ 2021-08-07-07-14-23_gpslog.csv | 2 + 2021-08-07-07-14-33_gpslog.csv | 211 +++++++++++++++++++++++++++++++++ 2021-08-07-07-18-17_gpslog.csv | 53 +++++++++ 2021-08-07-07-20-04_gpslog.csv | 2 + 2021-08-07-07-21-08_gpslog.csv | 21 ++++ 2021-08-07-07-21-35_gpslog.csv | 19 +++ 2021-08-07-07-22-47_gpslog.csv | 28 +++++ 2021-08-07-07-24-50_gpslog.csv | 53 +++++++++ 2021-08-07-07-25-52_gpslog.csv | 29 +++++ 2021-08-07-07-26-30_gpslog.csv | 13 ++ 2021-08-07-07-26-53_gpslog.csv | 90 ++++++++++++++ Driver.py | 41 ++++--- config/example/example.yml | 4 +- 28 files changed, 1270 insertions(+), 18 deletions(-) create mode 100644 2021-08-07-06-44-43_gpslog.csv create mode 100644 2021-08-07-06-44-52_gpslog.csv create mode 100644 2021-08-07-06-47-36_gpslog.csv create mode 100644 2021-08-07-06-48-25_gpslog.csv create mode 100644 2021-08-07-06-49-06_gpslog.csv create mode 100644 2021-08-07-06-50-36_gpslog.csv create mode 100644 2021-08-07-06-51-48_gpslog.csv create mode 100644 2021-08-07-06-53-08_gpslog.csv create mode 100644 2021-08-07-06-54-29_gpslog.csv create mode 100644 2021-08-07-06-57-52_gpslog.csv create mode 100644 2021-08-07-07-04-18_gpslog.csv create mode 100644 2021-08-07-07-05-18_gpslog.csv create mode 100644 2021-08-07-07-05-31_gpslog.csv create mode 100644 2021-08-07-07-09-31_gpslog.csv create mode 100644 2021-08-07-07-13-24_gpslog.csv create mode 100644 2021-08-07-07-14-23_gpslog.csv create mode 100644 2021-08-07-07-14-33_gpslog.csv create mode 100644 2021-08-07-07-18-17_gpslog.csv create mode 100644 2021-08-07-07-20-04_gpslog.csv create mode 100644 2021-08-07-07-21-08_gpslog.csv create mode 100644 2021-08-07-07-21-35_gpslog.csv create mode 100644 2021-08-07-07-22-47_gpslog.csv create mode 100644 2021-08-07-07-24-50_gpslog.csv create mode 100644 2021-08-07-07-25-52_gpslog.csv create mode 100644 2021-08-07-07-26-30_gpslog.csv create mode 100644 2021-08-07-07-26-53_gpslog.csv diff --git a/2021-08-07-06-44-43_gpslog.csv b/2021-08-07-06-44-43_gpslog.csv new file mode 100644 index 0000000..1029e86 --- /dev/null +++ b/2021-08-07-06-44-43_gpslog.csv @@ -0,0 +1 @@ +TIME_STAMP,MODE,LATITUDE,LONGITUDE,HEADING,SPEED,T_INDEX,T_LATITUDE,T_LONGITUDE,T_BEARING,T_DISTANCE,SERVO_PW,THR_PW,ERR_BACK,CURRENT,VOLTAGE,POWER diff --git a/2021-08-07-06-44-52_gpslog.csv b/2021-08-07-06-44-52_gpslog.csv new file mode 100644 index 0000000..cde0655 --- /dev/null +++ b/2021-08-07-06-44-52_gpslog.csv @@ -0,0 +1,2 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self._print_log() time.sleep(self._sleep_time) return @@ -164,6 +170,15 @@ def _rc_operation(self): return def _auto_navigation(self): + if hasattr(self, "i_sensor"): + self.current = self.i_sensor.current + self.voltage = self.i_sensor.voltage + self.power = self.i_sensor.power + self.run_ina = True + else: + self.current = 0 + self.voltage = 0 + self.power = 0 # update status status = self._status status.calc_target_bearing() @@ -183,12 +198,15 @@ def _auto_navigation(self): return def _optimize_thruster(self): - if self.voltage < 12.15: - self._pwm_out.thruster_pulse_width -= 150 * (12.15 - self.voltage) - elif self.current < 0.005: + if self.voltage < 10.15: + self._pwm_out.thruster_pulse_width -= 5 * (12.15 - self.voltage) + elif self.current < 50 and not self.initial: self._pwm_out.thruster_pulse_width = 1100 + self.initial= True elif self._pwm_out.thruster_pulse_width <= 1900: - self._pwm_out.thruster_pulse_width += 100 + self._pwm_out.thruster_pulse_width += 50 + print(self._pwm_out.thruster_pulse_width) + self.initial= False self._pwm_out.thruster_pulse_width = min( max(self._pwm_out.thruster_pulse_width, 1100), 1900 ) @@ -210,21 +228,12 @@ def _print_log(self): t_longitude = target[1] t_idx = self._status.waypoint._index err = self._pid.err_back - if hasattr(self, "i_sensor"): - self.current = self.i_sensor.current - self.voltage = self.i_sensor.voltage - self.power = self.i_sensor.power - self.run_ina = True - else: - self.current = 0 - self.voltage = 0 - self.power = 0 # To print logdata print(timestamp) print( - f"Current: {self.current:.3f}A, Voltage: {self.voltage:.3f}V, Power: {self.power:.3f}W" + f"Current: {self.current:.3f}mA, Voltage: {self.voltage:.3f}V, Power: {self.power:.3f}mW" ) print( f"[{mode} MODE] LAT={latitude:.7f}, LON={longitude:.7f}, SPEED={speed:.2f} [km/h], HEADING={heading:.2f}" diff --git a/config/example/example.yml b/config/example/example.yml index 7f1dfcd..9ccc007 100644 --- a/config/example/example.yml +++ b/config/example/example.yml @@ -1,6 +1,6 @@ time_limit: 12600 -sleep_time: 0.2 +sleep_time: 1.0 wp_radius: 10 pwm_range: 400 #1500 +/- pwm_range <- MAX 400 P: 0.1 @@ -15,7 +15,7 @@ gpio: out: 23 thruster: in: 27 - out: 25 + out: 24 or: in: 16 out: null From 861e9bcbd7d5e0ce9ab1629537eb40ce5be20c72 Mon Sep 17 00:00:00 2001 From: autoformat Date: Sat, 7 Aug 2021 06:44:08 +0000 Subject: [PATCH 4/7] fixup: Format Python code with black and isort --- Driver.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/Driver.py b/Driver.py index 760726b..35b16bd 100644 --- a/Driver.py +++ b/Driver.py @@ -67,9 +67,8 @@ def __init__(self, filename): ) self.run_ina = False - self.initial= False + self.initial = False - self.current = 0 self.voltage = 0 self.power = 0 @@ -202,11 +201,11 @@ def _optimize_thruster(self): self._pwm_out.thruster_pulse_width -= 5 * (12.15 - self.voltage) elif self.current < 50 and not self.initial: self._pwm_out.thruster_pulse_width = 1100 - self.initial= True + self.initial = True elif self._pwm_out.thruster_pulse_width <= 1900: self._pwm_out.thruster_pulse_width += 50 print(self._pwm_out.thruster_pulse_width) - self.initial= False + self.initial = False self._pwm_out.thruster_pulse_width = min( max(self._pwm_out.thruster_pulse_width, 1100), 1900 ) From fa9ef45e97ae54059fcbc4bb3f95075618d15025 Mon Sep 17 00:00:00 2001 From: MiyashitaT Date: Sat, 7 Aug 2021 18:38:54 +0900 Subject: [PATCH 5/7] =?UTF-8?q?=E5=AE=9F=E9=A8=93=E3=83=87=E3=83=BC?= =?UTF-8?q?=E3=82=BF=E3=81=AE=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 2021-08-07-06-44-43_gpslog.csv | 1 - 2021-08-07-06-44-52_gpslog.csv | 2 - 2021-08-07-06-47-36_gpslog.csv | 2 - 2021-08-07-06-48-25_gpslog.csv | 15 --- 2021-08-07-06-49-06_gpslog.csv | 58 --------- 2021-08-07-06-50-36_gpslog.csv | 16 --- 2021-08-07-06-51-48_gpslog.csv | 54 --------- 2021-08-07-06-53-08_gpslog.csv | 2 - 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2021-08-07-07-24-50_gpslog.csv delete mode 100644 2021-08-07-07-25-52_gpslog.csv delete mode 100644 2021-08-07-07-26-30_gpslog.csv delete mode 100644 2021-08-07-07-26-53_gpslog.csv diff --git a/2021-08-07-06-44-43_gpslog.csv b/2021-08-07-06-44-43_gpslog.csv deleted file mode 100644 index 1029e86..0000000 --- a/2021-08-07-06-44-43_gpslog.csv +++ /dev/null @@ -1 +0,0 @@ -TIME_STAMP,MODE,LATITUDE,LONGITUDE,HEADING,SPEED,T_INDEX,T_LATITUDE,T_LONGITUDE,T_BEARING,T_DISTANCE,SERVO_PW,THR_PW,ERR_BACK,CURRENT,VOLTAGE,POWER diff --git a/2021-08-07-06-44-52_gpslog.csv b/2021-08-07-06-44-52_gpslog.csv deleted file mode 100644 index cde0655..0000000 --- a/2021-08-07-06-44-52_gpslog.csv +++ /dev/null @@ -1,2 +0,0 @@ -TIME_STAMP,MODE,LATITUDE,LONGITUDE,HEADING,SPEED,T_INDEX,T_LATITUDE,T_LONGITUDE,T_BEARING,T_DISTANCE,SERVO_PW,THR_PW,ERR_BACK,CURRENT,VOLTAGE,POWER -END diff --git a/2021-08-07-06-47-36_gpslog.csv b/2021-08-07-06-47-36_gpslog.csv deleted file mode 100644 index cde0655..0000000 --- a/2021-08-07-06-47-36_gpslog.csv +++ /dev/null @@ -1,2 +0,0 @@ -TIME_STAMP,MODE,LATITUDE,LONGITUDE,HEADING,SPEED,T_INDEX,T_LATITUDE,T_LONGITUDE,T_BEARING,T_DISTANCE,SERVO_PW,THR_PW,ERR_BACK,CURRENT,VOLTAGE,POWER -END diff --git a/2021-08-07-06-48-25_gpslog.csv b/2021-08-07-06-48-25_gpslog.csv deleted file mode 100644 index f004083..0000000 --- a/2021-08-07-06-48-25_gpslog.csv +++ /dev/null @@ -1,15 +0,0 @@ -TIME_STAMP,MODE,LATITUDE,LONGITUDE,HEADING,SPEED,T_INDEX,T_LATITUDE,T_LONGITUDE,T_BEARING,T_DISTANCE,SERVO_PW,THR_PW,ERR_BACK,CURRENT,VOLTAGE,POWER -,RC,0.0,0.0,0.0,0.0,0,35.710887,139.761674,0.0,0.0,1660,1060,0.0,0.0,0.21375,0 -,RC,0.0,0.0,0.0,0.0,0,35.710887,139.761674,0.0,0.0,1660,1060,0.0,0.0,0.20125,0 -,RC,0.0,0.0,0.0,0.0,0,35.710887,139.761674,0.0,0.0,1660,1060,0.0,0.0,0.19,0 -,RC,0.0,0.0,0.0,0.0,0,35.710887,139.761674,0.0,0.0,1660,1055,0.0,-1.25,0.17625,0 -,RC,0.0,0.0,0.0,0.0,0,35.710887,139.761674,0.0,0.0,1659,1059,0.0,-1.25,0.165,0 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/dev/null @@ -1,399 +0,0 @@ -#!/usr/bin/env python2 -# -*- coding: utf-8 -*- -""" -Created on Wed May 17 23:45:12 2017 -Decription: INA226 I2C based Bi-directional Current/Power Sensor Driver for Python -@author: Srinivas Nistala -@https://github.com/neutronstriker -Ported from Arduino-INA226 -https://github.com/jarzebski/Arduino-INA226 -Original Author:Korneliusz Jarzebski -Contributor: Srinivas Nistala (aka neutronstriker) -This program is free software: you can redistribute it and/or modify -it under the terms of the version 3 GNU General Public License as -published by the Free Software Foundation. -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. -You should have received a copy of the GNU General Public License -along with this program. If not, see . -""" - - -import ctypes -import math -import sys -import time - -PYTHON_SMBUS_LIB_PRESENT = True - -try: - import smbus -except ImportError as e: - PYTHON_SMBUS_LIB_PRESENT = False - - -INA226_ADDRESS = 0x40 - -INA226_REG_CONFIG = 0x00 -INA226_REG_SHUNTVOLTAGE = 0x01 -INA226_REG_BUSVOLTAGE = 0x02 -INA226_REG_POWER = 0x03 -INA226_REG_CURRENT = 0x04 -INA226_REG_CALIBRATION = 0x05 -INA226_REG_MASKENABLE = 0x06 -INA226_REG_ALERTLIMIT = 0x07 - -INA226_BIT_SOL = 0x8000 -INA226_BIT_SUL = 0x4000 -INA226_BIT_BOL = 0x2000 -INA226_BIT_BUL = 0x1000 -INA226_BIT_POL = 0x0800 -INA226_BIT_CNVR = 0x0400 -INA226_BIT_AFF = 0x0010 -INA226_BIT_CVRF = 0x0008 -INA226_BIT_OVF = 0x0004 -INA226_BIT_APOL = 0x0002 -INA226_BIT_LEN = 0x0001 - -# enum replacement, but not truly -# now replaced class by dict because it can give me back keys -ina226_averages_t = dict( - INA226_AVERAGES_1=0b000, - INA226_AVERAGES_4=0b001, - INA226_AVERAGES_16=0b010, - INA226_AVERAGES_64=0b011, - INA226_AVERAGES_128=0b100, - INA226_AVERAGES_256=0b101, - INA226_AVERAGES_512=0b110, - INA226_AVERAGES_1024=0b111, -) - -ina226_busConvTime_t = dict( - INA226_BUS_CONV_TIME_140US=0b000, - INA226_BUS_CONV_TIME_204US=0b001, - INA226_BUS_CONV_TIME_332US=0b010, - INA226_BUS_CONV_TIME_588US=0b011, - INA226_BUS_CONV_TIME_1100US=0b100, - INA226_BUS_CONV_TIME_2116US=0b101, - INA226_BUS_CONV_TIME_4156US=0b110, - INA226_BUS_CONV_TIME_8244US=0b111, -) - -ina226_shuntConvTime_t = dict( - INA226_SHUNT_CONV_TIME_140US=0b000, - INA226_SHUNT_CONV_TIME_204US=0b001, - INA226_SHUNT_CONV_TIME_332US=0b010, - INA226_SHUNT_CONV_TIME_588US=0b011, - INA226_SHUNT_CONV_TIME_1100US=0b100, - INA226_SHUNT_CONV_TIME_2116US=0b101, - INA226_SHUNT_CONV_TIME_4156US=0b110, - INA226_SHUNT_CONV_TIME_8244US=0b111, -) - -ina226_mode_t = dict( - INA226_MODE_POWER_DOWN=0b000, - INA226_MODE_SHUNT_TRIG=0b001, - INA226_MODE_BUS_TRIG=0b010, - INA226_MODE_SHUNT_BUS_TRIG=0b011, - INA226_MODE_ADC_OFF=0b100, - INA226_MODE_SHUNT_CONT=0b101, - INA226_MODE_BUS_CONT=0b110, - INA226_MODE_SHUNT_BUS_CONT=0b111, -) - -I2C_DRIVER = "SBC_LINUX_SMBUS" -# other I2C options -I2C_DEFAULT_CLK_KHZ = 100 -I2C_DEFAULT_BUS_NUMBER = 1 - - -class ina226: - def __init__( - self, - ina226_addr=INA226_ADDRESS, - i2c_bus_number=I2C_DEFAULT_BUS_NUMBER, - i2c_clk_Khz=I2C_DEFAULT_CLK_KHZ, - i2c_driver_type=I2C_DRIVER, - ): - - if PYTHON_SMBUS_LIB_PRESENT is False: - print( - "SMBUS lib is not installed, Please install an appropriate one and try again." - ) - sys.exit(0) - - elif i2c_driver_type == "SBC_LINUX_SMBUS": - if PYTHON_SMBUS_LIB_PRESENT is False: - print( - "PYTHON SMBUS Driver is not installed, Please install and Try again." - ) - sys.exit(0) - self.i2c_bus = smbus.SMBus(i2c_bus_number) - self.readRegister16 = self.readRegister16_SMBUS - self.writeRegister16 = self.writeRegister16_SMBUS - if i2c_clk_Khz != I2C_DEFAULT_CLK_KHZ: - print( - "Python SMBUS linux driver doesn't provide I2C CLK Freq Manipulation support yet," - ) - print("So Ignoring i2c_clk_khz param and using default.") - else: - print( - "Unknown I2C DRIVER Specified, available Options are : AARDVARK, SBC_LINUX_SMBUS" - ) - - self.ina226_address = ina226_addr - self.vBusMax = 36 - self.vShuntMax = 0.08192 - self.rShunt = 0.1 - self.currentLSB = 0 - self.powerLSB = 0 - self.iMaxPossible = 0 - - # not using with statement related code yet - - # this causes some issue may be because when exception occurs I am manually calling - # self.close() and even this function tries to call the same. Need to check. - # def __del__(self): - # self.close() - - def close(self): - self.i2c_bus.close() - - def readRegister16_SMBUS(self, register): - # higher_byte = self.i2c_bus.read_byte_data(self.ina226_address,register) - # lower_byte = self.i2c_bus.read_byte_data(self.ina226_address,register+1) - data = self.i2c_bus.read_i2c_block_data(self.ina226_address, register, 2) - higher_byte = data[0] - lower_byte = data[1] - # there is still some issue in read which we need to fix, we are not able to print negative current--done--fixed using ctypes int16 return - word_data = higher_byte << 8 | lower_byte - # return word_data - return ctypes.c_int16(word_data).value - - def writeRegister16_SMBUS(self, register, dataWord): - higher_byte = (dataWord >> 8) & 0xFF - lower_byte = dataWord & 0xFF # truncating the dataword to byte - self.i2c_bus.write_i2c_block_data( - self.ina226_address, register, [higher_byte, lower_byte] - ) - - def configure( - self, - avg=ina226_averages_t["INA226_AVERAGES_1"], - busConvTime=ina226_busConvTime_t["INA226_BUS_CONV_TIME_1100US"], - shuntConvTime=ina226_shuntConvTime_t["INA226_SHUNT_CONV_TIME_1100US"], - mode=ina226_mode_t["INA226_MODE_SHUNT_BUS_CONT"], - ): - config = 0 - config |= avg << 9 | busConvTime << 6 | shuntConvTime << 3 | mode - self.writeRegister16(INA226_REG_CONFIG, config) - return True - - def calibrate(self, rShuntValue=0.1, iMaxExcepted=2): - self.rShunt = rShuntValue - - self.iMaxPossible = self.vShuntMax / self.rShunt - - minimumLSB = float(iMaxExcepted) / 32767 - - print("minimumLSB:" + str(minimumLSB)) - - self.currentLSB = int((minimumLSB * 100000000)) - print("currentLSB:" + str(self.currentLSB)) - self.currentLSB /= 100000000.0 - self.currentLSB /= 0.0001 - self.currentLSB = math.ceil(self.currentLSB) - self.currentLSB *= 0.0001 - - self.powerLSB = self.currentLSB * 25 - - print("powerLSB:" + str(self.powerLSB)) - print("rshunt:" + str(self.rShunt)) - - calibrationValue = int( - ((0.00512) / (self.currentLSB * self.rShunt)) - ) # if we get error need to convert this to unsigned int 16 bit instead - - self.writeRegister16(INA226_REG_CALIBRATION, calibrationValue) - - return True - - def getAverages(self): - value = self.readRegister16(INA226_REG_CONFIG) - value &= 0b0000111000000000 - value >>= 9 - return value - - def getMaxPossibleCurrent(self): - return self.vShuntMax / self.rShunt - - def getMaxCurrent(self): - maxCurrent = self.currentLSB * 32767 - maxPossible = self.getMaxPossibleCurrent() - - if maxCurrent > maxPossible: - return maxPossible - else: - return maxCurrent - - def getMaxShuntVoltage(self): - maxVoltage = self.getMaxCurrent() * self.rShunt - if maxVoltage >= self.vShuntMax: - return self.vShuntMax - else: - return maxVoltage - - def getMaxPower(self): - return self.getMaxCurrent() * self.vBusMax - - def readBusPower(self): - return self.readRegister16(INA226_REG_POWER) * self.powerLSB - - def readShuntCurrent(self): - return self.readRegister16(INA226_REG_CURRENT) * self.currentLSB - - def readShuntVoltage(self): - voltage = self.readRegister16(INA226_REG_SHUNTVOLTAGE) - return voltage * 0.0000025 - - def readBusVoltage(self): - voltage = self.readRegister16(INA226_REG_BUSVOLTAGE) - return voltage * 0.00125 - - def getBusConversionTime(self): - value = self.readRegister16(INA226_REG_CONFIG) - value &= 0b0000000111000000 - value >>= 6 - return value - - def getShuntConversionTime(self): - value = self.readRegister16(INA226_REG_CONFIG) - value &= 0b0000000000111000 - value >>= 3 - return value - - def getMode(self): - value = self.readRegister16(INA226_REG_CONFIG) - value &= 0b0000000000000111 - return value - - def setMaskEnable(self, mask): - self.writeRegister16(INA226_REG_MASKENABLE, mask) - - def getMaskEnable(self): - return self.readRegister16(INA226_REG_MASKENABLE) - - def enableShuntOverLimitAlert(self): - self.writeRegister16(INA226_REG_MASKENABLE, INA226_BIT_SOL) - - def enableBusOverLimitAlert(self): - self.writeRegister16(INA226_REG_MASKENABLE, INA226_BIT_BOL) - - def enableBusUnderLimitAlert(self): - self.writeRegister16(INA226_REG_MASKENABLE, INA226_BIT_BUL) - - def enableOverPowerLimitAlert(self): - self.writeRegister16(INA226_REG_MASKENABLE, INA226_BIT_POL) - - def enableConversionReadyAlert(self): - self.writeRegister16(INA226_REG_MASKENABLE, INA226_BIT_CNVR) - - def setBusVoltageLimit(self, voltage): - value = voltage / 0.00125 - self.writeRegister16(INA226_REG_ALERTLIMIT, value) - - def setShuntVoltageLimit(self, voltage): - value = voltage * 25000 - self.writeRegister16(INA226_REG_ALERTLIMIT, value) - - def setPowerLimit(self, watts): - value = watts / self.powerLSB - self.writeRegister16(INA226_REG_ALERTLIMIT, value) - - def setAlertInvertedPolarity(self, inverted): - temp = self.getMaskEnable() - - if inverted: - temp |= INA226_BIT_APOL - else: - temp &= ~INA226_BIT_APOL - self.setMaskEnable(temp) - - def setAlertLatch(self, latch): - temp = self.getMaskEnable() - if latch: - temp |= INA226_BIT_LEN - else: - temp &= ~INA226_BIT_LEN - self.setMaskEnable(temp) - - def isMathOverflow(self): - return (self.getMaskEnable() & INA226_BIT_OVF) == INA226_BIT_OVF - - def isAlert(self): - return (self.getMaskEnable() & INA226_BIT_AFF) == INA226_BIT_AFF - - def print_status(self): - print( - "Current: " - + str(round(self.readShuntCurrent(), 3)) - + "A" - + ", Voltage: " - + str(round(self.readBusVoltage(), 3)) - + "V" - + ", Power:" - + str(round(self.readBusPower(), 3)) - + "W" - ) - return - - -# -----------------------Demo Program-------------------------------------- - - -def demo(): - print("Configuring INA226..") - iSensor = ina226(INA226_ADDRESS, 0) - try: - iSensor.configure(avg=ina226_averages_t["INA226_AVERAGES_4"]) - iSensor.calibrate(rShuntValue=0.002, iMaxExcepted=1) - - time.sleep(1) - - print("Configuration Done") - - current = iSensor.readShuntCurrent() - - print("Current Value is " + str(current) + "A") - - print("Mode is " + str(hex(iSensor.getMode()))) - - while True: - print( - "Current: " - + str(round(iSensor.readShuntCurrent(), 3)) - + "A" - + ", Voltage: " - + str(round(iSensor.readBusVoltage(), 3)) - + "V" - + ", Power:" - + str(round(iSensor.readBusPower(), 3)) - + "W" - ) - # print "ShuntBus_Voltage: "+str(iSensor.readShuntVoltage()) - time.sleep(0.2) - - except KeyboardInterrupt as e: - print("\nCTRL^C received, Terminating..") - iSensor.close() - - except Exception as e: - print("There has been an exception, Find details below:") - print(str(e)) - iSensor.close() - - -if __name__ == "__main__": - demo() From 5689c494e176142eacb8194ac453f1f98c3fe716 Mon Sep 17 00:00:00 2001 From: MiyashitaT Date: Sat, 7 Aug 2021 19:01:35 +0900 Subject: [PATCH 7/7] =?UTF-8?q?=E5=AE=9A=E6=95=B0=E3=82=92=E5=85=A5?= =?UTF-8?q?=E5=8A=9B=E3=81=A8=E3=81=97=E3=81=A6=E5=8F=97=E3=81=91=E5=8F=96?= =?UTF-8?q?=E3=82=8B=E3=82=88=E3=81=86=E3=81=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Driver.py | 43 +++++++++++++++++++------------------- config/example/example.yml | 7 ++++++- 2 files changed, 27 insertions(+), 23 deletions(-) diff --git a/Driver.py b/Driver.py index 35b16bd..7305f86 100644 --- a/Driver.py +++ b/Driver.py @@ -66,8 +66,12 @@ def __init__(self, filename): params["gpio"]["servo"]["out"], params["gpio"]["thruster"]["out"] ) - self.run_ina = False - self.initial = False + optimize_params = params["optimize_thruster"] + self.target_voltage = optimize_params["target_voltage"] + self.min_current = optimize_params["min_current"] + self.lower_coef = optimize_params["lower_coef"] + self.raise_val = optimize_params["raise_val"] + self.initialize = False self.current = 0 self.voltage = 0 @@ -114,6 +118,7 @@ def do_operation(self): while self._time_manager.in_time_limit(): self._pwm_read.measure_pulse_width() self._status.read_gps() + self._update_ina() self._update_output() if time.time() - self.log_time > 1: @@ -121,13 +126,16 @@ def do_operation(self): # for test self._pwm_read.print_pulse_width() - # ina226 - # if hasattr(self, "i_sensor"): - # self.i_sensor.print_status() self._print_log() time.sleep(self._sleep_time) return + def _update_ina(self): + if hasattr(self, "i_sensor"): + self.current = self.i_sensor.current + self.voltage = self.i_sensor.voltage + self.power = self.i_sensor.power + def _update_output(self): if self._status.has_finished: mode = "RC" @@ -169,15 +177,6 @@ def _rc_operation(self): return def _auto_navigation(self): - if hasattr(self, "i_sensor"): - self.current = self.i_sensor.current - self.voltage = self.i_sensor.voltage - self.power = self.i_sensor.power - self.run_ina = True - else: - self.current = 0 - self.voltage = 0 - self.power = 0 # update status status = self._status status.calc_target_bearing() @@ -190,22 +189,22 @@ def _auto_navigation(self): target_bearing_relative, target_distance ) self._pwm_out.servo_pulse_width = servo_pulse_width - if self.run_ina: + if hasattr(self, "i_sensor"): self._optimize_thruster() else: self._pwm_out.thruster_pulse_width = 1900 return def _optimize_thruster(self): - if self.voltage < 10.15: - self._pwm_out.thruster_pulse_width -= 5 * (12.15 - self.voltage) - elif self.current < 50 and not self.initial: + voltage_delta = self.target_voltage - self.voltage + if voltage_delta > 0: + self._pwm_out.thruster_pulse_width -= self.lower_coef * voltage_delta + elif self.current < self.min_current and not self.initialize: self._pwm_out.thruster_pulse_width = 1100 - self.initial = True + self.initialize = True elif self._pwm_out.thruster_pulse_width <= 1900: - self._pwm_out.thruster_pulse_width += 50 - print(self._pwm_out.thruster_pulse_width) - self.initial = False + self._pwm_out.thruster_pulse_width += self.raise_val + self.initialize = False self._pwm_out.thruster_pulse_width = min( max(self._pwm_out.thruster_pulse_width, 1100), 1900 ) diff --git a/config/example/example.yml b/config/example/example.yml index 9ccc007..3642d27 100644 --- a/config/example/example.yml +++ b/config/example/example.yml @@ -31,4 +31,9 @@ waypoints: - name: "wp3" lat: 35.910887 - lon: 139.761674 \ No newline at end of file + lon: 139.761674 +optimize_thruster: + target_voltage: 10 # [V] + min_current: 50 # [mA] + lower_coef: 10 # [pwm/V] + raise_val: 100 # [pwm] \ No newline at end of file