EFeru/hoverboard-firmware-hack-SIN
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ADD: ppm input

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Niklas Fauth
2018-02-09 09:39:47 +01:00
parent 94907b91cf
commit a86574bcea
7 changed files with 787 additions and 629 deletions
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22
Src/main.c
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@@ -30,6 +30,7 @@ extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
extern volatile int pwml;
extern volatile int pwmr;
@@ -66,11 +67,18 @@ 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);
int lastSpeedL = 0, lastSpeedR = 0;
int speedL = 0, speedR = 0;
while(1) {
HAL_Delay(0);
// int milli_cur = 3000;
@@ -83,8 +91,18 @@ int main(void) {
// milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
// pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
// cmdl = 70;
pwml = 150;
pwmr = 150;
#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));
#endif
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
pwmr = speedR;
pwml = speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
// if(vel > milli_vel_cmd){
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);