power

ports/esp32/modules/power.py

@@ -0,0 +1,101 @@
+MULTIPLIER_V_PoE = 0.7
+MULTIPLIER_V_BAT = 0.8
+
+SECONDS = 30  # 30s
+
+try:
+    import config_power
+    MULTIPLIER_V_PoE = config_power.MULTIPLIER_V_PoE
+    MULTIPLIER_V_BAT = config_power.MULTIPLIER_V_BAT
+    SECONDS = config_power.SECONDS
+    del (config_power)
+except ImportError as e:
+    print("ImportError: import config_power: ", e)
+
+from micropython import kbd_intr
+from _thread import start_new_thread
+from utime import sleep_ms
+from machine import Pin, ADC, idle
+from esp32 import raw_temperature
+
+from esp32_ import LED, PWR_CTRL, ADC_PoE, ADC_BAT, STEP_1, STEP_2, DIR_1, DIR_2
+from temperature_conversion import Celsius_from_Fahrenheit
+
+power_off_s = 0  # секунд после отключения питания
+power_off_ready = False
+
+step1 = Pin(STEP_1, Pin.OUT, value=1)  # Pin.IN может создавать дребезг на входах драйверов ШД
+step2 = Pin(STEP_2, Pin.OUT, value=1)
+
+dir1 = Pin(DIR_1, Pin.OUT, value=1)
+dir2 = Pin(DIR_2, Pin.OUT, value=1)
+
+led = Pin(LED, Pin.OUT, value=1)
+
+pwr = Pin(PWR_CTRL, Pin.OUT, value=0)  # battery off
+sleep_ms(1000)  # Is PoE on?
+pwr.value(1)  # battery on
+
+adc_PoE = ADC(Pin(ADC_PoE))  # create ADC object on ADC pin
+adc_PoE.atten(ADC.ATTN_6DB)  # 6dB attenuation, gives a maximum input voltage of approximately 2.00v
+
+adc_BAT = ADC(Pin(ADC_BAT))
+adc_BAT.atten(ADC.ATTN_6DB)
+
+# напряжение на клеммах
+def V_PoE():
+    return round(2 * adc_PoE.read() * 30 / 4095 * MULTIPLIER_V_PoE, 1) # 30В т.к. бортовая сеть 24-28В
+
+def V_BAT():
+    return round(2 * adc_BAT.read() * 12 / 4095 * MULTIPLIER_V_BAT, 1) # 12В т.к. 11.2В максимум для батареи
+
+def esp32_Celsius():
+    return round(Celsius_from_Fahrenheit(raw_temperature()), 1)
+
+def check_PoE_thread():
+    global power_off_s
+
+    kbd_intr(-1)
+    while True:
+        try:
+            if adc_PoE.read() < 500:
+                print(f'\nPoE IN lost {power_off_s}s.')
+                if power_off_s >= SECONDS:
+                    if power_off_ready or power_off_s >= SECONDS:
+                        print('\nSelf battery off.')
+                        sleep_ms(1000)  # 1s
+                        pwr.value(0)  # self power off
+                        break
+                power_off_s += 1
+            else:
+                if power_off_s != 0:
+                    power_off_s = 0
+                    print('\nPoE IN is on again.')
+                idle()
+                sleep_ms(1000)
+
+            led.value(not led.value())
+
+#            1/0
+
+            idle()
+            sleep_ms(1000)
+        except KeyboardInterrupt:
+            print('check_PoE(): KeyboardInterrupt:')
+            sleep_ms(1000)
+            raise KeyboardInterrupt
+
+def start_check_PoE_thread():
+    try:
+        start_new_thread(check_PoE_thread, ())
+    except Exception as e:
+        print("Exception: start_new_thread(check_PoE, ()):", e)
+        pass
+
+def power_print():
+    print('V_PoE():', V_PoE(), '\tV_BAT():', V_BAT(), '\tesp32_Celsius():', esp32_Celsius())
+
+def power_test():
+    while True:
+        power_print()
+        sleep_ms(500)

ports/esp32/modules/rotator.py

@@ -3,6 +3,7 @@
 from time import ticks_ms, ticks_diff, sleep_ms
 from machine import Timer
 from _thread import start_new_thread
+import power
 
 BREAK_ANGLE = 10_000
 
@@ -98,6 +99,21 @@ def handle_motors(self):
 
             self.handle_sensors()
 
+            try:
+                if power.power_off_s > 0:
+                    try:
+                        if self.azim.parking_position is not None:
+                            self.azim.angle_target = self.azim.parking_position
+                    except:
+                        pass
+                    try:
+                        if self.elev.parking_position is not None:
+                            self.elev.angle_target = self.elev.parking_position
+                    except:
+                        pass
+            except:
+                pass
+
             if not self.manual:
                 if abs(self.azim.angle_counter - self.azim.angle_now) > BREAK_ANGLE:
                     print(f'self.azim: {self.azim.direction} {self.azim.angle_counter} - {self.azim.angle_now} > {BREAK_ANGLE}°', self.azim.info())