EFeru/hoverboard-firmware-hack-SIN
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► Warning fixes

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- Changed all float constants to use f suffix to prevent double conversions
- Removed compile warnings due to HAL_GPIO_* related calls
- Added comms.h with prototypes for functions which were used in main()
- Casts and externs to fix compile warnings in various files.
- Made a bunch of file-local variables static.
- Fixed buzzerFreq/buzzerPattern extern declarations with correct type (uint8_t)
- Since this is C, void func() { } needs to be void func(void) { }, so fixed that in all instances.
These updates follows from @trollcop
This commit is contained in:
EmanuelFeru
2019-06-10 20:18:37 +02:00
parent 9fdbba1c37
commit 43b4f4aa20
8 changed files with 120 additions and 91 deletions
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38
Src/bldc.c
View File

@@ -52,28 +52,28 @@ extern volatile adc_buf_t adc_buffer;
extern volatile uint32_t timeout;
uint32_t buzzerFreq = 0;
uint32_t buzzerPattern = 0;
uint32_t buzzerTimer = 0;
uint8_t buzzerFreq = 0;
uint8_t buzzerPattern = 0;
static uint32_t buzzerTimer = 0;
uint8_t enable = 0;
const int pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
static const uint16_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
int offsetcount = 0;
int offsetrl1 = 2000;
int offsetrl2 = 2000;
int offsetrr1 = 2000;
int offsetrr2 = 2000;
int offsetdcl = 2000;
int offsetdcr = 2000;
static int offsetcount = 0;
static int offsetrl1 = 2000;
static int offsetrl2 = 2000;
static int offsetrr1 = 2000;
static int offsetrr2 = 2000;
static int offsetdcl = 2000;
static int offsetdcr = 2000;
float batteryVoltage = BAT_NUMBER_OF_CELLS * 4.0;
//scan 8 channels with 2ADCs @ 20 clk cycles per sample
//meaning ~80 ADC clock cycles @ 8MHz until new DMA interrupt =~ 100KHz
//=640 cpu cycles
void DMA1_Channel1_IRQHandler() {
void DMA1_Channel1_IRQHandler(void) {
DMA1->IFCR = DMA_IFCR_CTCIF1;
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
@@ -91,7 +91,7 @@ void DMA1_Channel1_IRQHandler() {
}
if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time
batteryVoltage = batteryVoltage * 0.99 + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.01;
batteryVoltage = batteryVoltage * 0.99f + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.01f;
}
//disable PWM when current limit is reached (current chopping)
@@ -153,9 +153,9 @@ void DMA1_Channel1_IRQHandler() {
// motAngleLeft = rtY_Left.a_elecAngle;
/* Apply commands */
LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_U = (uint16_t)CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = (uint16_t)CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_W = (uint16_t)CLAMP(wl + pwm_res / 2, 10, pwm_res-10);
// =================================================================
@@ -182,9 +182,9 @@ void DMA1_Channel1_IRQHandler() {
// motAngleRight = rtY_Right.a_elecAngle;
/* Apply commands */
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_U = (uint16_t)CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_V = (uint16_t)CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_W = (uint16_t)CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
// =================================================================
/* Indicate task complete */

19
Src/comms.c
View File

@@ -1,9 +1,10 @@
#include <stdio.h>
#include <string.h>
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
#include "stdio.h"
#include "string.h"
#include "comms.h"
UART_HandleTypeDef huart2;
@@ -16,15 +17,15 @@ UART_HandleTypeDef huart2;
#endif
volatile uint8_t uart_buf[100];
volatile int16_t ch_buf[8];
static volatile uint8_t uart_buf[100];
static volatile int16_t ch_buf[8];
//volatile char char_buf[300];
void setScopeChannel(uint8_t ch, int16_t val) {
ch_buf[ch] = val;
}
void consoleScope() {
void consoleScope(void) {
#if defined DEBUG_SERIAL_SERVOTERM && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
uart_buf[0] = 0xff;
uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
@@ -46,12 +47,12 @@ void consoleScope() {
#endif
#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
memset(uart_buf, 0, sizeof(uart_buf));
sprintf(uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
memset((void *)(uintptr_t)uart_buf, 0, sizeof(uart_buf));
sprintf((char *)(uintptr_t)uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
if(UART_DMA_CHANNEL->CNDTR == 0) {
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = strlen(uart_buf);
UART_DMA_CHANNEL->CNDTR = strlen((char *)(uintptr_t)uart_buf);
UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
}
@@ -60,5 +61,5 @@ void consoleScope() {
void consoleLog(char *message)
{
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, strlen(message));
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, (uint16_t)strlen(message));
}

18
Src/control.c
View File

@@ -1,10 +1,10 @@
#include <stdbool.h>
#include <string.h>
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
#include <stdbool.h>
#include <string.h>
TIM_HandleTypeDef TimHandle;
uint8_t ppm_count = 0;
@@ -14,8 +14,8 @@ uint8_t nunchuck_data[6] = {0};
uint8_t i2cBuffer[2];
extern I2C_HandleTypeDef hi2c2;
DMA_HandleTypeDef hdma_i2c2_rx;
DMA_HandleTypeDef hdma_i2c2_tx;
extern DMA_HandleTypeDef hdma_i2c2_rx;
extern DMA_HandleTypeDef hdma_i2c2_tx;
#ifdef CONTROL_PPM
uint16_t ppm_captured_value[PPM_NUM_CHANNELS + 1] = {500, 500};
@@ -26,7 +26,7 @@ bool ppm_valid = true;
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
void PPM_ISR_Callback() {
void PPM_ISR_Callback(void) {
// Dummy loop with 16 bit count wrap around
uint16_t rc_delay = TIM2->CNT;
TIM2->CNT = 0;
@@ -48,7 +48,7 @@ void PPM_ISR_Callback() {
}
// SysTick executes once each ms
void PPM_SysTick_Callback() {
void PPM_SysTick_Callback(void) {
ppm_timeout++;
// Stop after 500 ms without PPM signal
if(ppm_timeout > 500) {
@@ -60,7 +60,7 @@ void PPM_SysTick_Callback() {
}
}
void PPM_Init() {
void PPM_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_3;
@@ -84,7 +84,7 @@ void PPM_Init() {
}
#endif
void Nunchuck_Init() {
void Nunchuck_Init(void) {
//-- START -- init WiiNunchuck
i2cBuffer[0] = 0xF0;
i2cBuffer[1] = 0x55;
@@ -99,7 +99,7 @@ void Nunchuck_Init() {
HAL_Delay(10);
}
void Nunchuck_Read() {
void Nunchuck_Read(void) {
i2cBuffer[0] = 0x00;
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
HAL_Delay(5);

52
Src/main.c
View File

@@ -19,10 +19,12 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdlib.h> // for abs()
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
#include "comms.h"
//#include "hd44780.h"
// Matlab includes and defines - from auto-code generation
@@ -47,6 +49,7 @@ ExtY rtY_Right; /* External outputs */
// ###############################################################################
void SystemClock_Config(void);
void poweroff(void);
extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
@@ -57,8 +60,8 @@ extern volatile adc_buf_t adc_buffer;
extern I2C_HandleTypeDef hi2c2;
extern UART_HandleTypeDef huart2;
int cmd1; // normalized input values. -1000 to 1000
int cmd2;
static int cmd1; // normalized input values. -1000 to 1000
static int cmd2;
typedef struct{
int16_t steer;
@@ -66,12 +69,12 @@ typedef struct{
//uint32_t crc;
} Serialcommand;
volatile Serialcommand command;
static volatile Serialcommand command;
uint8_t button1, button2;
static uint8_t button1, button2;
int steer; // global variable for steering. -1000 to 1000
int speed; // global variable for speed. -1000 to 1000
static int steer; // global variable for steering. -1000 to 1000
static int speed; // global variable for speed. -1000 to 1000
extern volatile int pwml; // global variable for pwm left. -1000 to 1000
extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
@@ -84,22 +87,20 @@ extern uint8_t enable; // global variable for motor enable
extern volatile uint32_t timeout; // global variable for timeout
extern float batteryVoltage; // global variable for battery voltage
uint32_t inactivity_timeout_counter;
static uint32_t inactivity_timeout_counter;
extern uint8_t nunchuck_data[6];
#ifdef CONTROL_PPM
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
#endif
int milli_vel_error_sum = 0;
void poweroff() {
void poweroff(void) {
// if (abs(speed) < 20) { // wait for the speed to drop, then shut down -> this is commented out for SAFETY reasons
buzzerPattern = 0;
enable = 0;
for (int i = 0; i < 8; i++) {
buzzerFreq = i;
buzzerFreq = (uint8_t)i;
HAL_Delay(100);
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
@@ -172,7 +173,7 @@ int main(void) {
// ###############################################################################
for (int i = 8; i >= 0; i--) {
buzzerFreq = i;
buzzerFreq = (uint8_t)i;
HAL_Delay(100);
}
buzzerFreq = 0;
@@ -267,12 +268,12 @@ int main(void) {
// cmd1 = 0;
// ####### LOW-PASS FILTER #######
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
steer = (int)(steer * (1.0f - FILTER) + cmd1 * FILTER);
speed = (int)(speed * (1.0f - FILTER) + cmd2 * FILTER);
// ####### MIXER #######
speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000);
speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
#ifdef ADDITIONAL_CODE
@@ -300,7 +301,7 @@ int main(void) {
if (inactivity_timeout_counter % 25 == 0) {
// ####### CALC BOARD TEMPERATURE #######
board_temp_adc_filtered = board_temp_adc_filtered * 0.99 + (float)adc_buffer.temp * 0.01;
board_temp_adc_filtered = board_temp_adc_filtered * 0.99f + (float)adc_buffer.temp * 0.01f;
board_temp_deg_c = ((float)TEMP_CAL_HIGH_DEG_C - (float)TEMP_CAL_LOW_DEG_C) / ((float)TEMP_CAL_HIGH_ADC - (float)TEMP_CAL_LOW_ADC) * (board_temp_adc_filtered - (float)TEMP_CAL_LOW_ADC) + (float)TEMP_CAL_LOW_DEG_C;
// ####### DEBUG SERIAL OUT #######
@@ -308,15 +309,14 @@ int main(void) {
// setScopeChannel(0, (int)adc_buffer.l_tx2); // 1: ADC1
// setScopeChannel(1, (int)adc_buffer.l_rx2); // 2: ADC2
#endif
setScopeChannel(0, (int)speedR); // 1: output command: [-1000, 1000]
setScopeChannel(1, (int)speedL); // 2: output command: [-1000, 1000]
setScopeChannel(2, (int)rtY_Right.n_mot); // 3: Real motor speed [rpm]
setScopeChannel(3, (int)rtY_Left.n_mot); // 4: Real motor speed [rpm]
setScopeChannel(4, (int)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int)(batteryVoltage * 100.0f)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int)board_temp_adc_filtered); // 7: for board temperature calibration
setScopeChannel(7, (int)board_temp_deg_c); // 8: for verifying board temperature calibration
setScopeChannel(0, (int16_t)speedR); // 1: output command: [-1000, 1000]
setScopeChannel(1, (int16_t)speedL); // 2: output command: [-1000, 1000]
setScopeChannel(2, (int16_t)rtY_Right.n_mot); // 3: Real motor speed [rpm]
setScopeChannel(3, (int16_t)rtY_Left.n_mot); // 4: Real motor speed [rpm]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int16_t)(batteryVoltage * 100.0f)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adc_filtered); // 7: for board temperature calibration
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
consoleScope();
}

10
Src/setup.c
View File

@@ -53,7 +53,7 @@ volatile adc_buf_t adc_buffer;
#ifdef CONTROL_SERIAL_USART2
void UART_Control_Init() {
void UART_Control_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_USART2_CLK_ENABLE();
/* DMA1_Channel6_IRQn interrupt configuration */
@@ -123,7 +123,7 @@ HAL_DMA_Init(&hdma_usart2_tx);
#endif
#ifdef DEBUG_SERIAL_USART3
void UART_Init() {
void UART_Init(void) {
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
@@ -156,7 +156,7 @@ void UART_Init() {
#endif
#ifdef DEBUG_SERIAL_USART2
void UART_Init() {
void UART_Init(void) {
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
@@ -189,7 +189,7 @@ void UART_Init() {
#endif
/*
void UART_Init() {
void UART_Init(void) {
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
@@ -224,7 +224,7 @@ void UART_Init() {
DMA_HandleTypeDef hdma_i2c2_rx;
DMA_HandleTypeDef hdma_i2c2_tx;
void I2C_Init()
void I2C_Init(void)
{
__HAL_RCC_I2C2_CLK_ENABLE();