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Implemented MOTOR_TEST mode

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This commit is contained in:
0xFEEDC0DE64
2020-10-19 18:08:49 +02:00
parent 7a30b2af6d
commit c7c0b768ac
3 changed files with 50 additions and 5 deletions
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4
CMakeLists.txt
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@ -33,6 +33,10 @@ include_directories(
bobbycar-protocol
)
#add_definitions(-DMOTOR_TEST)
#add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
add_definitions(-DFEATURE_BUTTON)
add_executable(firmware.elf
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c

6
config.h
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@ -2,10 +2,10 @@
#define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 48 // PWM deadtime
#ifdef VARIANT_TRANSPOTTER
#define DELAY_IN_MAIN_LOOP 2
#ifdef MOTOR_TEST
#define DELAY_IN_MAIN_LOOP 10
#else
#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
#define DELAY_IN_MAIN_LOOP 5
#endif
#define TIMEOUT 5 // number of wrong / missing input commands before emergency off
#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc

45
main.cpp
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@ -212,15 +212,47 @@ int main()
//#define UART_DMA_CHANNEL DMA1_Channel2
//UART3_Init();
#ifdef MOTOR_TEST
int pwm = 0;
int8_t dir = 1;
#else
HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command));
#endif
for (;;) {
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
#ifndef MOTOR_TEST
parseCommand();
#endif
timeout = 0;
#ifdef MOTOR_TEST
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;
constexpr auto pwmMax = 500;
pwm += dir;
if (pwm > pwmMax) {
pwm = pwmMax;
dir = -1;
} else if (pwm < -pwmMax) {
pwm = -pwmMax;
dir = 1;
}
#endif
// ####### 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
@ -228,6 +260,7 @@ int main()
sendFeedback();
#ifdef FEATURE_BUTTON
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN))
{
left.state.enable = right.state.enable = 0; // disable motors
@ -240,6 +273,7 @@ int main()
poweroff(); // release power-latch
}
}
#endif
main_loop_counter++;
timeout++;
@ -323,8 +357,15 @@ 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 enableRFin = right.state.enable && left.rtY.z_errCode == 0 && right.rtY.z_errCode == 0;
#ifdef FEATURE_IGNORE_OTHER_MOTOR
constexpr bool ignoreOtherMotor = false;
#else
constexpr bool ignoreOtherMotor = true;
#endif
const bool enableLFin = left.state.enable && left.rtY.z_errCode == 0 && (right.rtY.z_errCode == 0 || ignoreOtherMotor);
const bool enableRFin = right.state.enable && (left.rtY.z_errCode == 0 || ignoreOtherMotor) && right.rtY.z_errCode == 0;
// ========================= LEFT MOTOR ============================
// Get hall sensors values