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simple test firmware

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This commit is contained in:
Patrick Pichler
2020-10-17 23:04:22 +02:00
parent 884f1a0f60
commit 23612d410d
1 changed files with 39 additions and 19 deletions
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58
main.cpp
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@ -212,34 +212,54 @@ int main()
//#define UART_DMA_CHANNEL DMA1_Channel2
//UART3_Init();
HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command));
int pwm = 0;
int8_t dir = 1;
const int pwmMax = 1000;
for (;;) {
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
parseCommand();
HAL_Delay(DELAY_IN_MAIN_LOOP * 2); //delay in ms
timeout = 0;
left.state.enable = false;
left.state.ctrlMod = ControlMode::Voltage;
left.state.ctrlTyp = ControlType::Sinusoidal;
left.state.pwm = pwm;
left.state.iMotMax = 1;
right.state.enable = true;
right.state.ctrlMod = ControlMode::Voltage;
right.state.ctrlTyp = ControlType::Sinusoidal;
right.state.pwm = pwm;
right.state.iMotMax = 1;
pwm += dir;
if (pwm > pwmMax) {
pwm = pwmMax;
dir = -1;
} else if (pwm < -pwmMax) {
pwm = -pwmMax;
dir = 1;
}
// ####### CALC BOARD TEMPERATURE #######
filtLowPass32(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
board_temp_adcFilt = (int16_t)(board_temp_adcFixdt >> 20); // convert fixed-point to integer
board_temp_deg_c = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
sendFeedback();
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN))
{
left.state.enable = right.state.enable = 0; // disable motors
while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {} // wait until button is released
if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST)) { // do not power off after software reset (from a programmer/debugger)
__HAL_RCC_CLEAR_RESET_FLAGS(); // clear reset flags
} else {
poweroff(); // release power-latch
}
}
// if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN))
// {
// left.state.enable = right.state.enable = 0; // disable motors
//
// while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {} // wait until button is released
//
// if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST)) { // do not power off after software reset (from a programmer/debugger)
// __HAL_RCC_CLEAR_RESET_FLAGS(); // clear reset flags
// } else {
// poweroff(); // release power-latch
// }
// }
main_loop_counter++;
timeout++;
@ -323,7 +343,7 @@ void updateMotors()
constexpr int32_t pwm_margin = 100; /* This margin allows to always have a window in the PWM signal for proper Phase currents measurement */
/* Make sure to stop BOTH motors in case of an error */
const bool enableLFin = left.state.enable && left.rtY.z_errCode == 0 && right.rtY.z_errCode == 0;
const bool enableLFin = left.state.enable && left.rtY.z_errCode == 0 && left.rtY.z_errCode == 0;
const bool enableRFin = right.state.enable && left.rtY.z_errCode == 0 && right.rtY.z_errCode == 0;
// ========================= LEFT MOTOR ============================