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Improve ADC accuracy #75

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Improve ADC accuracy #75

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93c3efc
Improve ADC accuracy
olliewalsh Apr 14, 2023
6d6980d
Limit adc_offset to 3%
olliewalsh Apr 23, 2024
1c470ab
Do not adjust adc_offset if ROS is not running
olliewalsh Apr 23, 2024
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Limit adc_offset to 3%
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@olliewalsh
olliewalsh committed Apr 23, 2024
commit 6d6980dc2b8f940f40094cf89d7baf23bba4dc65
10 changes: 9 additions & 1 deletion Firmware/LowLevel/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,8 @@ SerialPIO uiSerial(PIN_UI_TX, PIN_UI_RX, 250);
int next_adc_offset_sample = 0;
float adc_offset_samples[20] = {0};
float adc_offset = 0.0f;
// Limit adc_offset to 3%
#define MAX_ADC_OFFSET_PC 0.03f

#define BATT_ABS_MAX 28.7f
#define BATT_ABS_Min 21.7f
Expand Down Expand Up @@ -700,7 +702,13 @@ void loop() {
for(int i=0; i<20; i++) {
tmp += adc_offset_samples[i];
}
adc_offset = tmp / 20.0f;
float new_adc_offset = tmp / 20.0f;
// Limit maximum offset
if(new_adc_offset > 0.0f) {
adc_offset = min(new_adc_offset, (4096 * MAX_ADC_OFFSET_PC));
} else {
adc_offset = max(new_adc_offset, -(4096 * MAX_ADC_OFFSET_PC));
}
}

status_message.status_bitmask = (status_message.status_bitmask & 0b11111011) | ((charging_allowed & 0b1) << 2);
Expand Down