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More cleanups and improvements

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0xFEEDC0DE64
2021-05-14 21:31:12 +02:00
parent 94ded84e82
commit 274466e017
3 changed files with 69 additions and 51 deletions
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2
CMakeLists.txt
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@ -40,6 +40,8 @@ add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
add_definitions(-DPETERS_PLATINE) add_definitions(-DPETERS_PLATINE)
add_definitions(-DHUARN2) add_definitions(-DHUARN2)
#add_definitions(-DHUARN3) #add_definitions(-DHUARN3)
add_definitions(-DFEATURE_SERIAL_CONTROL)
add_definitions(-DFEATURE_SERIAL_FEEDBACK)
add_executable(firmware.elf add_executable(firmware.elf
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c

2
bobbycar-foc-model

Submodule bobbycar-foc-model updated: 88f8d8b2ce...79db2855e9

116
main.cpp
View File

@ -22,6 +22,7 @@
*/ */
#include <algorithm> #include <algorithm>
#include <atomic>
#include "stm32f1xx_hal.h" #include "stm32f1xx_hal.h"
@ -71,7 +72,7 @@ volatile struct {
// ############################################################################### // ###############################################################################
volatile uint32_t timeout; std::atomic<uint32_t> timeout;
int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
uint32_t main_loop_counter; uint32_t main_loop_counter;
@ -136,9 +137,13 @@ void MX_ADC2_Init();
void poweroff(); void poweroff();
#ifdef FEATURE_SERIAL_CONTROL
void parseCommand(); void parseCommand();
#endif
#ifdef FEATURE_SERIAL_FEEDBACK
void sendFeedback(); void sendFeedback();
#endif
} // anonymous namespace } // anonymous namespace
@ -235,7 +240,9 @@ int main()
#ifdef MOTOR_TEST #ifdef MOTOR_TEST
int pwm = 0; int pwm = 0;
int8_t dir = 1; int8_t dir = 1;
#else #endif
#ifdef FEATURE_SERIAL_CONTROL
#ifdef HUARN2 #ifdef HUARN2
HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command)); HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command));
#endif #endif
@ -244,10 +251,11 @@ int main()
#endif #endif
#endif #endif
for (;;) { while (true)
{
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
#ifndef MOTOR_TEST #ifdef FEATURE_SERIAL_CONTROL
parseCommand(); parseCommand();
#endif #endif
@ -283,7 +291,10 @@ int main()
board_temp_adcFilt = (int16_t)(board_temp_adcFixdt >> 20); // convert fixed-point to integer 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; 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(); #ifdef FEATURE_SERIAL_FEEDBACK
if (main_loop_counter % 50 != 0) // Send data periodically
sendFeedback();
#endif
#ifdef FEATURE_BUTTON #ifdef FEATURE_BUTTON
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN))
@ -358,16 +369,23 @@ void updateMotors()
// Disable PWM when current limit is reached (current chopping) // Disable PWM when current limit is reached (current chopping)
// This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX // This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
if(chopL || timeout > TIMEOUT || left.state.enable == 0) { const auto timeoutVal = timeout.load();
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE; if (chopL || timeoutVal > TIMEOUT || left.state.enable == 0)
} else { {
LEFT_TIM->BDTR |= TIM_BDTR_MOE; LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
}
else
{
LEFT_TIM->BDTR |= TIM_BDTR_MOE;
} }
if(chopR || timeout > TIMEOUT || right.state.enable == 0) { if (chopR || timeoutVal > TIMEOUT || right.state.enable == 0)
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE; {
} else { RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
RIGHT_TIM->BDTR |= TIM_BDTR_MOE; }
else
{
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
} }
//create square wave for buzzer //create square wave for buzzer
@ -389,9 +407,8 @@ void updateMotors()
static boolean_T OverrunFlag = false; static boolean_T OverrunFlag = false;
/* Check for overrun */ /* Check for overrun */
if (OverrunFlag) { if (OverrunFlag)
return; return;
}
OverrunFlag = true; OverrunFlag = true;
constexpr int32_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000 constexpr int32_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
@ -1069,6 +1086,7 @@ void poweroff()
// } // }
} }
#ifdef FEATURE_SERIAL_CONTROL
void parseCommand() void parseCommand()
{ {
bool any_parsed{false}; bool any_parsed{false};
@ -1126,11 +1144,11 @@ void parseCommand()
} }
} }
} }
#endif
#ifdef FEATURE_SERIAL_FEEDBACK
void sendFeedback() void sendFeedback()
{ {
if (main_loop_counter % 50 == 0) // Send data periodically
{
#ifdef HUARN2 #ifdef HUARN2
#define UART_DMA_CHANNEL DMA1_Channel7 #define UART_DMA_CHANNEL DMA1_Channel7
#endif #endif
@ -1138,49 +1156,47 @@ void sendFeedback()
#define UART_DMA_CHANNEL DMA1_Channel2 #define UART_DMA_CHANNEL DMA1_Channel2
#endif #endif
if (UART_DMA_CHANNEL->CNDTR == 0) if (UART_DMA_CHANNEL->CNDTR != 0)
{ return;
feedback.start = Feedback::VALID_HEADER;
feedback.left.angle = left.rtY.a_elecAngle; feedback.start = Feedback::VALID_HEADER;
feedback.right.angle = right.rtY.a_elecAngle;
feedback.left.speed = left.rtY.n_mot; feedback.left.angle = left.rtY.a_elecAngle;
feedback.right.speed = right.rtY.n_mot; feedback.right.angle = right.rtY.a_elecAngle;
feedback.left.error = left.rtY.z_errCode; feedback.left.speed = left.rtY.n_mot;
feedback.right.error = right.rtY.z_errCode; feedback.right.speed = right.rtY.n_mot;
feedback.left.current = left.rtU.i_DCLink; feedback.left.error = left.rtY.z_errCode;
feedback.right.current = right.rtU.i_DCLink; feedback.right.error = right.rtY.z_errCode;
feedback.left.chops = left.chops; feedback.left.current = left.rtU.i_DCLink;
feedback.right.chops = right.chops; feedback.right.current = right.rtU.i_DCLink;
left.chops = 0;
right.chops = 0;
feedback.left.hallA = left.rtU.b_hallA; feedback.left.chops = left.chops;
feedback.left.hallB = left.rtU.b_hallB; feedback.right.chops = right.chops;
feedback.left.hallC = left.rtU.b_hallC; left.chops = 0;
feedback.right.hallA = right.rtU.b_hallA; right.chops = 0;
feedback.right.hallB = right.rtU.b_hallB;
feedback.right.hallC = right.rtU.b_hallC;
feedback.batVoltage = batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC; feedback.left.hallA = left.rtU.b_hallA;
feedback.boardTemp = board_temp_deg_c; feedback.left.hallB = left.rtU.b_hallB;
feedback.timeoutCntSerial = timeoutCntSerial; feedback.left.hallC = left.rtU.b_hallC;
feedback.right.hallA = right.rtU.b_hallA;
feedback.right.hallB = right.rtU.b_hallB;
feedback.right.hallC = right.rtU.b_hallC;
feedback.checksum = calculateChecksum(feedback); feedback.batVoltage = batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC;
feedback.boardTemp = board_temp_deg_c;
feedback.timeoutCntSerial = timeoutCntSerial;
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN; feedback.checksum = calculateChecksum(feedback);
//UART_DMA_CHANNEL->CNDTR = sizeof(feedback);
//UART_DMA_CHANNEL->CMAR = uint64_t(&feedback); UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = 21; UART_DMA_CHANNEL->CNDTR = sizeof(feedback);
UART_DMA_CHANNEL->CMAR = uint64_t((const char *)"Sending feedback...\r\n"); UART_DMA_CHANNEL->CMAR = uint64_t(&feedback);
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN; UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
}
}
} }
#endif
} // anonymous namespace } // anonymous namespace