64 lines
2.2 KiB
C++
64 lines
2.2 KiB
C++
#include "IndSensorMap.hpp"
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#include <Arduino.h>
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#include <math.h>
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#include "ADC.hpp"
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// Sensor calibration data with pre-computed constants
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IndSensorMap ind0Map = {
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-8.976076325826309, 913.5463710698101, 0.29767471011439534, 5.6686184386250025, 0.3627635461289861,
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1.0f/0.29767471011439534f, 913.5463710698101f - (-8.976076325826309f)
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};
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IndSensorMap ind1Map = {
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-4.831976283950702, 885.9877001844566, 0.2793284618109283, 3.8852507844119217, 0.2389935455347361,
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1.0f/0.2793284618109283f, 885.9877001844566f - (-4.831976283950702f)
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};
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IndSensorMap ind2Map = {
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-9.824360913609562, 871.4744633266955, 0.2909366235093304, 4.3307594408159495, 0.2822807132259202,
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1.0f/0.2909366235093304f, 871.4744633266955f - (-9.824360913609562f)
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};
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IndSensorMap ind3Map = {
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-13.8907146886418, 990.6824637304771, 0.16376005385006073, -0.07513804021312243, 0.1772655198934789,
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1.0f/0.16376005385006073f, 990.6824637304771f - (-13.8907146886418f)
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};
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// IndSensor class implementation
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IndSensor::IndSensor(IndSensorMap calibration, uint8_t analogPin, float emaAlpha)
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: consts(calibration), pin(analogPin), alpha(emaAlpha), oor(false), filteredRaw(0) {
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// Initialize filtered value with first reading
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filteredRaw = analogRead(pin);
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}
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// Convert raw analog reading to millimeters using sensor calibration
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float IndSensor::toMM(uint16_t raw) {
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// Optimized version using pre-computed constants and faster math functions
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float raw_minus_A = (float)raw - consts.A;
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float ratio = consts.K_minus_A / raw_minus_A;
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float powered = powf(ratio, consts.v);
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float inside_log = powered - 1.0f;
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return consts.C - consts.invB * logf(inside_log);
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}
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// Read sensor directly from pin and convert to millimeters
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float IndSensor::readMM() {
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uint8_t index = pin - A0;
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index = (index > 3) ? index - 2 : index;
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uint16_t raw;
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ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
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raw = constrain(adc_results[index], 0, 900);
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}
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// Exponential moving average filter
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filteredRaw = alpha * raw + (1.0f - alpha) * filteredRaw;
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analog = (uint16_t)filteredRaw;
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oor = (analog < 10 || analog > 870);
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mmVal = toMM(analog);
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return mmVal;
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}
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// Predefined sensor instances
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IndSensor indL(ind1Map, A0);
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IndSensor indR(ind0Map, A1);
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IndSensor indF(ind3Map, A5);
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IndSensor indB(ind2Map, A4); |