Merge pull request #21 from bobbycar-graz/wno-volatile

Ignore -Wvolatile warnings from STM32 HAL

.github/workflows/workflow.yml

@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash]
+        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash, pcbv2_front, pcbv2_back, pcbv2_test, commander_v2_front, commander_v2_back]
     steps:
       - uses: actions/checkout@v2
         with:

CMakeLists.txt

@@ -11,7 +11,7 @@ SET(CMAKE_SYSTEM_NAME Generic)
 set(COMMON_FLAGS "-mcpu=cortex-m3 -mthumb -Wall -fdata-sections -ffunction-sections")
 set(CMAKE_ASM_FLAGS "${COMMON_FLAGS} -x assembler-with-cpp")
 set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
-set(CMAKE_CXX_FLAGS "${COMMON_FLAGS}")
+set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -Wno-volatile")
 
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 20)
@@ -80,7 +80,6 @@ target_compile_options(motortest.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
 #    -DPETERS_PLATINE
-#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -107,7 +106,6 @@ target_compile_options(motortest_peter.elf PRIVATE
     #    -DPWM_FREQ_12KHZ
     #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
-#    -DSHUNT_4_MILLIOHM
     #     -DFEATURE_INVERT_HALL
     #    -DHUART2
     #    -DHUART3
@@ -136,7 +134,6 @@ target_compile_options(feedcode-front.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
-#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -163,7 +160,6 @@ target_compile_options(feedcode-back.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
-#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -178,6 +174,61 @@ add_custom_command(OUTPUT feedcode-back.bin COMMAND arm-none-eabi-objcopy -O bin
 add_custom_target(feedcode-back ALL SOURCES feedcode-back.hex feedcode-back.bin)
 add_custom_target(flash-feedcode-back COMMAND st-flash --reset write feedcode-back.bin 0x8000000 SOURCES feedcode-back.bin DEPENDS feedcode-back.bin)
 
+
+#
+# feedc0de 2 front
+#
+add_executable(feedcode2-front.elf config.h defines.h main.cpp)
+target_link_libraries(feedcode2-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(feedcode2-front.elf PRIVATE
+#    -DMOTOR_TEST
+    -DFEATURE_IGNORE_OTHER_MOTOR
+    -DLEFT_HALL_ABC
+    -DRIGHT_HALL_ABC
+#    -DPWM_FREQ_12KHZ
+#    -DFEATURE_BUTTON
+    -DPETERS_PLATINE
+#    -DHUART2
+#    -DHUART3
+#    -DFEATURE_SERIAL_CONTROL
+#    -DFEATURE_SERIAL_FEEDBACK
+#    -DLOG_TO_SERIAL
+    -DFEATURE_CAN
+#    -DCAN_LOG_UNKNOWN_ADDR
+#    -DIS_BACK
+)
+add_custom_command(OUTPUT feedcode2-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-front.elf feedcode2-front.hex DEPENDS feedcode2-front.elf)
+add_custom_command(OUTPUT feedcode2-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-front.elf feedcode2-front.bin DEPENDS feedcode2-front.elf)
+add_custom_target(feedcode2-front ALL SOURCES feedcode2-front.hex feedcode2-front.bin)
+add_custom_target(flash-feedcode2-front COMMAND st-flash --reset write feedcode2-front.bin 0x8000000 SOURCES feedcode2-front.bin DEPENDS feedcode2-front.bin)
+
+#
+# feedc0de 2 back
+#
+add_executable(feedcode2-back.elf config.h defines.h main.cpp)
+target_link_libraries(feedcode2-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(feedcode2-back.elf PRIVATE
+#    -DMOTOR_TEST
+    -DFEATURE_IGNORE_OTHER_MOTOR
+    -DLEFT_HALL_ACB
+    -DRIGHT_HALL_ACB
+#    -DPWM_FREQ_12KHZ
+#    -DFEATURE_BUTTON
+    -DPETERS_PLATINE
+#    -DHUART2
+#    -DHUART3
+#    -DFEATURE_SERIAL_CONTROL
+#    -DFEATURE_SERIAL_FEEDBACK
+#    -DLOG_TO_SERIAL
+    -DFEATURE_CAN
+#    -DCAN_LOG_UNKNOWN_ADDR
+    -DIS_BACK
+)
+add_custom_command(OUTPUT feedcode2-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-back.elf feedcode2-back.hex DEPENDS feedcode2-back.elf)
+add_custom_command(OUTPUT feedcode2-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-back.elf feedcode2-back.bin DEPENDS feedcode2-back.elf)
+add_custom_target(feedcode2-back ALL SOURCES feedcode2-back.hex feedcode2-back.bin)
+add_custom_target(flash-feedcode2-back COMMAND st-flash --reset write feedcode2-back.bin 0x8000000 SOURCES feedcode2-back.bin DEPENDS feedcode2-back.bin)
+
 #
 # greyhash
 #
@@ -190,7 +241,6 @@ target_compile_options(greyhash.elf PRIVATE
     -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
-#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
     -DHUART3
     -DFEATURE_SERIAL_CONTROL
@@ -217,7 +267,6 @@ target_compile_options(pcbv2_front.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
-        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -245,7 +294,6 @@ target_compile_options(pcbv2_back.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
-        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -273,7 +321,6 @@ target_compile_options(pcbv2_test.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
-        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -324,7 +371,6 @@ target_compile_options(commander_v2_front.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
-        -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -375,7 +421,6 @@ target_compile_options(commander_v2_back.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
-        -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL

main.cpp

@@ -464,15 +464,15 @@ void updateMotors()
     static int16_t offsetdcl{2000};
     static int16_t offsetdcr{2000};
 
-    if (offsetcount < 20000) // calibrate ADC offsets
+    if (offsetcount < 2000) // calibrate ADC offsets
     {
         offsetcount++;
-        offsetrl1 = (adc_buffer.rl1 + offsetrl1 * 9) / 10;
-        offsetrl2 = (adc_buffer.rl2 + offsetrl2 * 9) / 10;
-        offsetrr1 = (adc_buffer.rr1 + offsetrr1 * 9) / 10;
-        offsetrr2 = (adc_buffer.rr2 + offsetrr2 * 9) / 10;
-        offsetdcl = (adc_buffer.dcl + offsetdcl * 9) / 10;
-        offsetdcr = (adc_buffer.dcr + offsetdcr * 9) / 10;
+        offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
+        offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
+        offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
+        offsetrr2 = (adc_buffer.rr2 + offsetrr2) / 2;
+        offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
+        offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
         return;
     }
 
@@ -496,12 +496,6 @@ void updateMotors()
 #endif
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
-
-#ifdef SHUNT_4_MILLIOHM
-    curL_DC *= 2.276;
-    curR_DC *= 2.276;
-#endif
-
     const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
     if (chopL)
         left.chops++;