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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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16
Src/setup.c
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@@ -549,7 +549,15 @@ void MX_ADC1_Init(void) {
multimode.Mode = ADC_DUALMODE_REGSIMULT;
HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode);
// sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_41CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_55CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
sConfig.Channel = ADC_CHANNEL_14; // pc4 left b
sConfig.Rank = 1;
@@ -612,7 +620,15 @@ void MX_ADC2_Init(void) {
hadc2.Init.NbrOfConversion = 5;
HAL_ADC_Init(&hadc2);
// sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_41CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_55CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
// sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
sConfig.Channel = ADC_CHANNEL_15; // pc5 left c
sConfig.Rank = 1;