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ADD: Wii Nunchuck control

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This commit is contained in:
Niklas Fauth
2018-04-08 00:03:35 +02:00
parent 30f8d97694
commit fd49c006f7
10 changed files with 1681 additions and 1179 deletions
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64
Src/bldc.c
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@@ -9,7 +9,10 @@ volatile int posl = 0;
volatile int posr = 0;
volatile int pwml = 0;
volatile int pwmr = 0;
int16_t pwmrl = 0;
volatile int weakl = 0;
volatile int weakr = 0;
extern volatile int pwmrl;
extern volatile adc_buf_t adc_buffer;
@@ -128,7 +131,7 @@ int offsetrr2 = 2000;
int offsetdcl = 2000;
int offsetdcr = 2000;
float batteryVoltage;
float batteryVoltage = 40.0;
float adccmd1;
float adccmd2;
@@ -157,32 +160,20 @@ void DMA1_Channel1_IRQHandler() {
return;
}
batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
adccmd1 = adccmd1 * 0.999 + (float)adc_buffer.l_rx2 * 0.001;
adccmd2 = adccmd2 * 0.999 + (float)adc_buffer.l_tx2 * 0.001;
//0-4096
//+-2000
pwmrl = 0;
if(adccmd1 - 700 > 0){
pwmrl -= adccmd1 - 700;
}
if(adccmd2 - 700 > 0){
pwmrl += adccmd2 - 700;
if (buzzerTimer % 100 == 0) {
batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
}
if (pwmrl < -100 && enable == 1) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (enable == 1) {
buzzerFreq = 0;
buzzerPattern = 1;
}
pwmrl = powf((pwmrl/4), 3) / 255885;
pwml = -pwmrl;
pwmr = pwmrl;
#ifdef BEEPS_BACKWARD
if (pwmrl < -50 && enable == 1) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (enable == 1) {
buzzerFreq = 0;
buzzerPattern = 1;
}
#endif
@@ -258,9 +249,32 @@ void DMA1_Channel1_IRQHandler() {
// errorl = cmdl - curl;
// pwml = kp * errorl;
blockPWM(pwml, posl, &ul, &vl, &wl);
blockPWM(pwmr, posr, &ur, &vr, &wr);
int weakul, weakvl, weakwl;
if (pwml > 0) {
blockPWM(weakl, (posl+5) % 6, &weakul, &weakvl, &weakwl);
} else {
blockPWM(-weakl, (posl+1) % 6, &weakul, &weakvl, &weakwl);
}
ul += weakul;
vl += weakvl;
wl += weakwl;
int weakur, weakvr, weakwr;
if (pwmr > 0) {
blockPWM(weakr, (posr+5) % 6, &weakur, &weakvr, &weakwr);
} else {
blockPWM(-weakr, (posr+1) % 6, &weakur, &weakvr, &weakwr);
}
ur += weakur;
vr += weakvr;
wr += weakwr;
// blockPWM(pwmr, posr, &ur, &vr, &wr);
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);