feedc0de/bobbycar-controller-firmware
1
0
Fork 0
Code Issues 8 Pull Requests 5 Actions Packages Projects Releases Wiki Activity

New protocol with more sorts of currents

Browse Source
This commit is contained in:
0xFEEDC0DE64
2021-06-28 10:34:57 +02:00
parent da24c84835
commit abe066df79
2 changed files with 39 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
bobbycar-protocol

Submodule bobbycar-protocol updated: b6f0d6a185...964acb82f0

47
main.cpp
View File

@ -44,6 +44,8 @@ extern "C" {
extern const P rtP_Left; // default settings defined in BLDC_controller_data.c
}
namespace bobbycar {
namespace controller {
namespace {
const P &defaultP{rtP_Left};
@ -163,8 +165,8 @@ int8_t dir = 1;
#ifdef FEATURE_SERIAL_CONTROL
int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
Command command;
Feedback feedback;
protocol::serial::Command command;
protocol::serial::Feedback feedback;
#endif
#ifdef FEATURE_CAN
@ -253,10 +255,14 @@ void updateSensors();
void applyDefaultSettings();
} // anonymous namespace
} // namespace
} // namespace controller
} // namespace bobbycar
int main()
{
using namespace bobbycar::controller;
HAL_Init();
__HAL_RCC_AFIO_CLK_ENABLE();
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
@ -402,6 +408,8 @@ int main()
}
}
namespace bobbycar {
namespace controller {
namespace {
void updateBuzzer()
{
@ -1369,8 +1377,9 @@ void communicationTimeout()
#ifdef MOTOR_TEST
void doMotorTest()
{
timeout = 0; // proove, that the controlling code is still running
using namespace protocol;
timeout = 0; // proove, that the controlling code is still running
left.enable = true;
left.rtU.r_inpTgt = pwm;
@ -1408,6 +1417,8 @@ void doMotorTest()
#ifdef FEATURE_SERIAL_CONTROL
void parseCommand()
{
using namespace protocol::serial;
timeout = 0; // proove, that the controlling code is still running
for (int i = 0; i < 1; i++)
@ -1480,6 +1491,8 @@ void parseCommand()
#ifdef FEATURE_SERIAL_FEEDBACK
void sendFeedback()
{
using namespace protocol::serial;
#ifdef HUARN2
#define UART_DMA_CHANNEL DMA1_Channel7
#endif
@ -1501,8 +1514,14 @@ void sendFeedback()
feedback.left.error = left.rtY.z_errCode;
feedback.right.error = right.rtY.z_errCode;
feedback.left.current = left.rtU.i_DCLink;
feedback.right.current = right.rtU.i_DCLink;
feedback.left.dcLink = left.rtU.i_DCLink;
feedback.right.dcLink = right.rtU.i_DCLink;
feedback.left.dcPhaA = left.rtY.DC_phaA;
feedback.right.dcPhaA = right.rtY.DC_phaA;
feedback.left.dcPhaB = left.rtY.DC_phaB;
feedback.right.dcPhaB = right.rtY.DC_phaB;
feedback.left.dcPhaC = left.rtY.DC_phaC;
feedback.right.dcPhaC = right.rtY.DC_phaC;
feedback.left.chops = left.chops.exchange(0);
feedback.right.chops = right.chops.exchange(0);
@ -1558,7 +1577,7 @@ void applyIncomingCanMessage()
switch (header.StdId)
{
using namespace bobbycar::can;
using namespace protocol::can;
case MotorController<isBackBoard, false>::Command::Enable: left .enable = *((bool *)buf); break;
case MotorController<isBackBoard, true> ::Command::Enable: right.enable = *((bool *)buf); break;
case MotorController<isBackBoard, false>::Command::InpTgt: left. rtU.r_inpTgt = *((int16_t*)buf); timeoutCntLeft = 0; break;
@ -1662,7 +1681,7 @@ void sendCanFeedback()
switch (whichToSend++)
{
using namespace bobbycar::can;
using namespace protocol::can;
case 0: send(MotorController<isBackBoard, false>::Feedback::DcLink, left. rtU.i_DCLink); break;
case 1: send(MotorController<isBackBoard, true>:: Feedback::DcLink, right.rtU.i_DCLink); break;
case 2: send(MotorController<isBackBoard, false>::Feedback::Speed, left. rtY.n_mot); break;
@ -1746,6 +1765,7 @@ void updateSensors()
void applyDefaultSettings()
{
using namespace protocol;
constexpr auto doIt = [](auto &motor){
motor.enable = true;
motor.rtU.r_inpTgt = 0;
@ -1764,7 +1784,9 @@ void applyDefaultSettings()
doIt(right);
}
} // anonymous namespace
} // namespace
} // namespace controller
} // namespace bobbycar
/******************************************************************************/
/* Cortex-M3 Processor Interruption and Exception Handlers */
@ -1898,6 +1920,7 @@ extern "C" void DMA1_Channel1_IRQHandler()
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
using namespace bobbycar::controller;
updateMotors();
updateBuzzer();
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
@ -1911,6 +1934,7 @@ extern "C" void DMA1_Channel6_IRQHandler()
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
/* USER CODE END DMA1_Channel4_IRQn 0 */
using namespace bobbycar::controller;
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
@ -1925,6 +1949,7 @@ extern "C" void DMA1_Channel7_IRQHandler()
/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
/* USER CODE END DMA1_Channel5_IRQn 0 */
using namespace bobbycar::controller;
HAL_DMA_IRQHandler(&hdma_usart2_tx);
/* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
@ -1941,6 +1966,7 @@ extern "C" void DMA1_Channel2_IRQHandler()
/* USER CODE BEGIN DMA1_Channel2_IRQn 0 */
/* USER CODE END DMA1_Channel2_IRQn 0 */
using namespace bobbycar::controller;
HAL_DMA_IRQHandler(&hdma_usart3_tx);
/* USER CODE BEGIN DMA1_Channel2_IRQn 1 */
@ -1955,6 +1981,7 @@ extern "C" void DMA1_Channel3_IRQHandler()
/* USER CODE BEGIN DMA1_Channel3_IRQn 0 */
/* USER CODE END DMA1_Channel3_IRQn 0 */
using namespace bobbycar::controller;
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Channel3_IRQn 1 */
@ -1965,11 +1992,13 @@ extern "C" void DMA1_Channel3_IRQHandler()
#ifdef FEATURE_CAN
extern "C" void CANx_RX_IRQHandler(void)
{
using namespace bobbycar::controller;
HAL_CAN_IRQHandler(&CanHandle);
}
extern "C" void CANx_TX_IRQHandler(void)
{
using namespace bobbycar::controller;
HAL_CAN_IRQHandler(&CanHandle);
}
#endif