EFeru/hoverboard-firmware-hack-SIN
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adc in

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Rene Hopf
2018-02-18 13:37:50 +01:00
parent b988e09e3e
commit ff224a2509
4 changed files with 39 additions and 14 deletions
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38
Src/bldc.c
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@@ -9,6 +9,7 @@ volatile int posl = 0;
volatile int posr = 0;
volatile int pwml = 0;
volatile int pwmr = 0;
float pwmrl = 0;
extern volatile adc_buf_t adc_buffer;
@@ -117,11 +118,7 @@ inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
}
}
int last_pos = 0;
int timer = 0;
uint16_t buzzerTimer = 0;
int max_time = PWM_FREQ / 10;
volatile int vel = 0;
int offsetcount = 0;
int offsetrl1 = 2000;
@@ -132,12 +129,19 @@ int offsetdcl = 2000;
int offsetdcr = 2000;
float batteryVoltage;
float adccmd1;
float adccmd2;
int curl = 0;
// int errorl = 0;
// int kp = 5;
// volatile int cmdl = 0;
int last_pos = 0;
int timer = 0;
const int max_time = PWM_FREQ / 10;
volatile int vel = 0;
void DMA1_Channel1_IRQHandler() {
DMA1->IFCR = DMA_IFCR_CTCIF1;
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
@@ -154,6 +158,21 @@ void DMA1_Channel1_IRQHandler() {
}
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;
}
pwml = -pwmrl/4;
pwmr = pwmrl/4;
if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
@@ -195,10 +214,8 @@ void DMA1_Channel1_IRQHandler() {
setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8);
setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8);
timer++;
buzzerTimer++;
if (buzzerFreq != 0 && (buzzerTimer / 1500) % (buzzerPattern + 1) == 0) {
if (buzzerTimer % buzzerFreq == 0) {
HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
@@ -207,22 +224,23 @@ void DMA1_Channel1_IRQHandler() {
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0);
}
// //measure vel
// timer++;
// if(timer > max_time){
// timer = max_time;
// vel = 0;
// }
// if(pos != last_pos){
// if(posl != last_pos){
// vel = 1000 * PWM_FREQ / timer / P / 6 * 2;
// if((pos - last_pos + 6) % 6 > 2){
// if((posl - last_pos + 6) % 6 > 2){
// vel = -vel;
// }
// timer = 0;
// }
// last_pos = pos;
// last_pos = posl;
//YOLOTEST
// errorl = cmdl - curl;