EFeru/hoverboard-firmware-hack-SIN
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cleanup

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This commit is contained in:
Rene Hopf
2018-01-06 22:59:15 +01:00
parent cd72ac6ded
commit 7670cda730
11 changed files with 156 additions and 1212 deletions
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46
Src/main.c
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@@ -29,7 +29,7 @@ extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer[3];
extern volatile adc_buf_t adc_buffer;
volatile int posl = 0;
volatile int posr = 0;
@@ -93,9 +93,44 @@ int timer = 0;
int max_time = PWM_FREQ / 10;
volatile int vel = 0;
volatile uint8_t uart_buf[10];
void DMA1_Channel1_IRQHandler(){
DMA1->IFCR = DMA_IFCR_CTCIF1;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
/*
uart_buf[0] = 0xff;
uart_buf[1] = adc_buffer.r_dc1 - 1850 + 127;
uart_buf[2] = adc_buffer.l_dc2 - 1850 + 127;
uart_buf[3] = 127;//adc_buffer.rr1 - 2000 + 127;
uart_buf[4] = 127;//adc_buffer.rr2 - 2000 + 127;
uart_buf[5] = 127;//adc_buffer.rl1 - 2000 + 127;
uart_buf[6] = 127;//adc_buffer.rl2 - 2000 + 127;
uart_buf[7] = adc_buffer.batt1 - 1550 + 127;
uart_buf[8] = adc_buffer.bat1 - 1550 + 127;
uart_buf[9] = '\n';
if(DMA1_Channel2->CNDTR == 0){
DMA1_Channel2->CCR &= ~DMA_CCR_EN;
DMA1_Channel2->CNDTR = 10;
DMA1_Channel2->CMAR = (uint32_t)uart_buf;
DMA1_Channel2->CCR |= DMA_CCR_EN;
}
*/
if(adc_buffer.l_dc2 > 1950){
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
}else{
LEFT_TIM->BDTR |= TIM_BDTR_MOE;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
if(adc_buffer.r_dc1 > 1950){
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
}else{
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
}
int ul = 0;
int vl = 0;
@@ -152,8 +187,6 @@ void DMA1_Channel1_IRQHandler(){
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 0, pwm_res);
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 0, pwm_res);
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 0, pwm_res);
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
int milli_vel_error_sum = 0;
@@ -171,6 +204,7 @@ int main(void)
MX_TIM_Init();
MX_ADC1_Init();
MX_ADC2_Init();
UART_Init();
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
@@ -190,8 +224,8 @@ int main(void)
// milli_vel_error_sum += milli_vel_error;
// milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
// pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
pwml = 100;
pwmr = 100;
pwml = 150;
pwmr = 150;
// if(vel > milli_vel_cmd){
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);