feedc0de/bobbycar-controller-firmware
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This commit is contained in:
0xFEEDC0DE64
2021-05-23 17:30:14 +02:00
parent 0e014ad6c2
commit facbbcf798
1 changed files with 21 additions and 21 deletions
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42
main.cpp
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@@ -68,6 +68,19 @@ DMA_HandleTypeDef hdma_usart3_rx;
DMA_HandleTypeDef hdma_usart3_tx; DMA_HandleTypeDef hdma_usart3_tx;
#endif #endif
volatile struct {
uint16_t dcr;
uint16_t dcl;
uint16_t rl1;
uint16_t rl2;
uint16_t rr1;
uint16_t rr2;
uint16_t batt1;
uint16_t l_tx2;
uint16_t temp;
uint16_t l_rx2;
} adc_buffer;
#ifdef FEATURE_CAN #ifdef FEATURE_CAN
CAN_HandleTypeDef CanHandle; CAN_HandleTypeDef CanHandle;
@@ -138,19 +151,6 @@ void myPrintf(const char (&format)[formatLength], Targs ... args)
#endif #endif
} }
volatile struct {
uint16_t dcr;
uint16_t dcl;
uint16_t rl1;
uint16_t rl2;
uint16_t rr1;
uint16_t rr2;
uint16_t batt1;
uint16_t l_tx2;
uint16_t temp;
uint16_t l_rx2;
} adc_buffer;
// ############################################################################### // ###############################################################################
std::atomic<uint32_t> timeout; std::atomic<uint32_t> timeout;
@@ -173,14 +173,6 @@ std::atomic<int16_t> timeoutCntRight = 0;
uint32_t main_loop_counter; uint32_t main_loop_counter;
uint16_t offsetcount = 0;
int16_t offsetrl1 = 2000;
int16_t offsetrl2 = 2000;
int16_t offsetrr1 = 2000;
int16_t offsetrr2 = 2000;
int16_t offsetdcl = 2000;
int16_t offsetdcr = 2000;
int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE; int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
int16_t board_temp_deg_c; int16_t board_temp_deg_c;
@@ -433,6 +425,14 @@ void updateMotors()
{ {
DMA1->IFCR = DMA_IFCR_CTCIF1; DMA1->IFCR = DMA_IFCR_CTCIF1;
static uint16_t offsetcount{};
static int16_t offsetrl1{2000};
static int16_t offsetrl2{2000};
static int16_t offsetrr1{2000};
static int16_t offsetrr2{2000};
static int16_t offsetdcl{2000};
static int16_t offsetdcr{2000};
if (offsetcount < 2000) // calibrate ADC offsets if (offsetcount < 2000) // calibrate ADC offsets
{ {
offsetcount++; offsetcount++;