EFeru/hoverboard-firmware-hack-SIN
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ADD: buzzer, undervoltage lockout, safe poweroff, foo

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This commit is contained in:
Niklas Fauth
2018-02-10 01:37:36 +01:00
parent 10da0983c6
commit 6842f7b7fe
9 changed files with 1022 additions and 730 deletions
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69
Src/main.c
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@@ -35,6 +35,15 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
extern volatile int pwml;
extern volatile int pwmr;
extern uint8_t buzzerFreq;
extern uint8_t buzzerPattern;
extern uint8_t enable;
extern volatile uint32_t timeout;
extern float batteryVoltage;
int milli_vel_error_sum = 0;
@@ -67,20 +76,30 @@ int main(void) {
MX_ADC2_Init();
UART_Init();
#ifdef CONTROL_PPM
PPM_Init();
#endif
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
for (int i = 8; i >= 0; i--) {
buzzerFreq = i;
HAL_Delay(100);
}
buzzerFreq = 0;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
int lastSpeedL = 0, lastSpeedR = 0;
int speedL = 0, speedR = 0;
#ifdef CONTROL_PPM
PPM_Init();
#endif
enable = 1;
while(1) {
HAL_Delay(0);
HAL_Delay(10);
// int milli_cur = 3000;
// int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
// // pwm = milli_volt * pwm_res / MILLI_V;
@@ -93,19 +112,55 @@ int main(void) {
// cmdl = 70;
#ifdef CONTROL_PPM
speedR = -(CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
#endif
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
pwmr = speedR;
pwml = speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
setScopeChannel(0, speedR);
setScopeChannel(1, speedL);
consoleScope();
timeout++;
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
for (int i = 0; i < 8; i++) {
buzzerFreq = i;
HAL_Delay(100);
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {}
}
if (batteryVoltage < 36.0 && batteryVoltage > 33.0) {
buzzerFreq = 5;
buzzerPattern = 8;
} else if (batteryVoltage < 33.0 && batteryVoltage > 30.0) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (batteryVoltage < 30.0) {
buzzerPattern = 0;
enable = 0;
for (int i = 0; i < 8; i++) {
buzzerFreq = i;
HAL_Delay(100);
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {}
} else {
buzzerFreq = 0;
buzzerPattern = 0;
}
// if(vel > milli_vel_cmd){
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
// }