EFeru/hoverboard-firmware-hack-SIN
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► Improved controller: faster and better overall

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- the controller is faster and more light in memory footprint
- motor control is now done intependenly using Reusable code generation setting in Simulink
- fixed bug when chaging direction fast
This commit is contained in:
EmanuelFeru
2019-06-05 22:39:30 +02:00
parent 19e4115d06
commit fe4bd76d7e
339 changed files with 30978 additions and 148177 deletions
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56
Src/main.c
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@@ -26,10 +26,27 @@
#include <stdlib.h>
//#include "hd44780.h"
// Matlab includes - from auto-code generation
#include "BLDC_controller.h" /* Model's header file */
// Matlab includes and defines - from auto-code generation
// ###############################################################################
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
static RT_MODEL rtM_Left_; /* Real-time model */
static RT_MODEL rtM_Right_; /* Real-time model */
RT_MODEL *const rtM_Left = &rtM_Left_;
RT_MODEL *const rtM_Right = &rtM_Right_;
P rtP; /* Block parameters (auto storage) */
DW rtDW_Left; /* Observable states */
ExtU rtU_Left; /* External inputs */
ExtY rtY_Left; /* External outputs */
DW rtDW_Right; /* Observable states */
ExtU rtU_Right; /* External inputs */
ExtY rtY_Right; /* External outputs */
// ###############################################################################
void SystemClock_Config(void);
extern TIM_HandleTypeDef htim_left;
@@ -130,18 +147,30 @@ int main(void) {
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
//////////////////////////////////////
// Matlab Init
// ###############################################################################
/* Set BLDC controller parameters */
/* Set BLDC controller parameters */
rtP.z_ctrlTypSel = CTRL_TYP_SEL;
rtP.b_phaAdvEna = PHASE_ADV_ENA;
rtP.n_commDeacvHi = COMM_DEACV_HI;
rtP.n_commAcvLo = COMM_ACV_LO;
rtP.b_phaAdvEna = PHASE_ADV_ENA;
/* Pack LEFT motor data into RTM */
rtM_Left->defaultParam = &rtP;
rtM_Left->dwork = &rtDW_Left;
rtM_Left->inputs = &rtU_Left;
rtM_Left->outputs = &rtY_Left;
/* Initialize BLDC controller */
BLDC_controller_initialize();
/* Pack RIGHT motor data into RTM */
rtM_Right->defaultParam = &rtP;
rtM_Right->dwork = &rtDW_Right;
rtM_Right->inputs = &rtU_Right;
rtM_Right->outputs = &rtY_Right;
/////////////////////////////////////
/* Initialize BLDC controllers */
BLDC_controller_initialize(rtM_Left);
BLDC_controller_initialize(rtM_Right);
// ###############################################################################
for (int i = 8; i >= 0; i--) {
buzzerFreq = i;
@@ -235,10 +264,11 @@ int main(void) {
#endif
// ####### LOW-PASS FILTER #######
cmd2 = cmd2-500;
cmd1 = 0;
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
// ####### MIXER #######
speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000);
speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
@@ -279,8 +309,8 @@ int main(void) {
#endif
setScopeChannel(0, (int)speedR); // 1: output command: [-1000, 1000]
setScopeChannel(1, (int)speedL); // 2: output command: [-1000, 1000]
setScopeChannel(2, (int)rtY.n_motRight); // 3: Real motor speed [rpm]
setScopeChannel(3, (int)rtY.n_motLeft); // 4: Real motor speed [rpm]
setScopeChannel(2, (int)rtY_Right.n_mot); // 3: Real motor speed [rpm]
setScopeChannel(3, (int)rtY_Left.n_mot); // 4: Real motor speed [rpm]
setScopeChannel(4, (int)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int)(batteryVoltage * 100.0f)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int)board_temp_adc_filtered); // 7: for board temperature calibration