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
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@@ -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 */