feedc0de/bobbycar-controller-firmware
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Added flos hall #10

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CommanderRedYT wants to merge 1 commits from sehr_gschissenes_hall into master
pull from: sehr_gschissenes_hall
merge into: feedc0de:master
Conversation 4 Commits 1 Files Changed 3 +81 -27
3 changed files with 81 additions and 27 deletions
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28
CMakeLists.txt
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@ -97,6 +97,34 @@ add_custom_command(OUTPUT motortest.bin COMMAND arm-none-eabi-objcopy -O binary
add_custom_target(motortest ALL SOURCES motortest.hex motortest.bin) add_custom_target(motortest ALL SOURCES motortest.hex motortest.bin)
add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin 0x8000000 SOURCES motortest.bin DEPENDS motortest.bin) add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin 0x8000000 SOURCES motortest.bin DEPENDS motortest.bin)
#
# motor test peter
#
add_executable(motortest_peter.elf config.h defines.h main.cpp)
target_link_libraries(motortest_peter.elf stm32_hal emanuel_foc_model bobbycar-protocol)
target_compile_options(motortest_peter.elf PRIVATE
-DMOTOR_TEST
-DFEATURE_IGNORE_OTHER_MOTOR
# -DGSCHISSENES_HALL
-DSEHR_GSCHISSENES_HALL
# -DGSCHISSENE_PWM_FREQ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DHUARN2
# -DHUARN3
# -DFEATURE_SERIAL_CONTROL
# -DFEATURE_SERIAL_FEEDBACK
# -DLOG_TO_SERIAL
# -DFEATURE_CAN
# -DCAN_LOG_UNKNOWN_ADDR
# -DIS_BACK
)
add_custom_command(OUTPUT motortest_peter.hex COMMAND arm-none-eabi-objcopy -O ihex motortest_peter.elf motortest_peter.hex DEPENDS motortest_peter.elf)
add_custom_command(OUTPUT motortest_peter.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest_peter.elf motortest_peter.bin DEPENDS motortest_peter.elf)
add_custom_target(motortest_peter ALL SOURCES motortest_peter.hex motortest_peter.bin)
add_custom_target(flash-motortest_peter COMMAND st-flash --reset write motortest_peter.bin 0x8000000 SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)
# #
# feedc0de front # feedc0de front
# #

50
defines.h
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@ -23,29 +23,37 @@
#include "stm32f1xx_hal.h" #include "stm32f1xx_hal.h"
#ifdef PETERS_PLATINE #ifdef PETERS_PLATINE
#ifdef GSCHISSENES_HALL #ifdef GSCHISSENES_HALL
#define LEFT_HALL_U_PIN GPIO_PIN_10 #define LEFT_HALL_U_PIN GPIO_PIN_10
#define LEFT_HALL_V_PIN GPIO_PIN_11 #define LEFT_HALL_V_PIN GPIO_PIN_11
#define LEFT_HALL_W_PIN GPIO_PIN_12 #define LEFT_HALL_W_PIN GPIO_PIN_12
#else #elif SEHR_GSCHISSENES_HALL
#define LEFT_HALL_U_PIN GPIO_PIN_12 #define LEFT_HALL_U_PIN GPIO_PIN_12
#define LEFT_HALL_V_PIN GPIO_PIN_11 #define LEFT_HALL_V_PIN GPIO_PIN_10
#define LEFT_HALL_W_PIN GPIO_PIN_10 #define LEFT_HALL_W_PIN GPIO_PIN_11
#endif #else
#define LEFT_HALL_U_PIN GPIO_PIN_12
#define LEFT_HALL_V_PIN GPIO_PIN_11
#define LEFT_HALL_W_PIN GPIO_PIN_10
#endif
#define LEFT_HALL_U_PORT GPIOC #define LEFT_HALL_U_PORT GPIOC
#define LEFT_HALL_V_PORT GPIOC #define LEFT_HALL_V_PORT GPIOC
#define LEFT_HALL_W_PORT GPIOC #define LEFT_HALL_W_PORT GPIOC
#ifdef GSCHISSENES_HALL #ifdef GSCHISSENES_HALL
#define RIGHT_HALL_U_PIN GPIO_PIN_7 #define RIGHT_HALL_U_PIN GPIO_PIN_7
#define RIGHT_HALL_V_PIN GPIO_PIN_6 #define RIGHT_HALL_V_PIN GPIO_PIN_6
#define RIGHT_HALL_W_PIN GPIO_PIN_5 #define RIGHT_HALL_W_PIN GPIO_PIN_5
#else #elif SEHR_GSCHISSENES_HALL
#define RIGHT_HALL_U_PIN GPIO_PIN_5 #define RIGHT_HALL_U_PIN GPIO_PIN_5
#define RIGHT_HALL_V_PIN GPIO_PIN_6 #define RIGHT_HALL_V_PIN GPIO_PIN_7
#define RIGHT_HALL_W_PIN GPIO_PIN_7 #define RIGHT_HALL_W_PIN GPIO_PIN_6
#endif #else
#define RIGHT_HALL_U_PIN GPIO_PIN_5
#define RIGHT_HALL_V_PIN GPIO_PIN_6
#define RIGHT_HALL_W_PIN GPIO_PIN_7
#endif
#define RIGHT_HALL_U_PORT GPIOB #define RIGHT_HALL_U_PORT GPIOB
#define RIGHT_HALL_V_PORT GPIOB #define RIGHT_HALL_V_PORT GPIOB

30
main.cpp
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@ -516,7 +516,7 @@ void updateMotors()
/* Make sure to stop BOTH motors in case of an error */ /* Make sure to stop BOTH motors in case of an error */
constexpr bool ignoreOtherMotor = constexpr bool ignoreOtherMotor =
#ifdef FEATURE_IGNORE_OTHER_MOTOR #ifndef FEATURE_IGNORE_OTHER_MOTOR
false false
#else #else
true true
@ -1390,8 +1390,8 @@ void doMotorTest()
left.enable = true; left.enable = true;
left.rtU.r_inpTgt = pwm; left.rtU.r_inpTgt = pwm;
left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl); left.rtP.z_ctrlTypSel = uint8_t(ControlType::Sinusoidal);
left.rtU.z_ctrlModReq = uint8_t(ControlMode::Speed); left.rtU.z_ctrlModReq = uint8_t(ControlMode::Voltage);
left.rtP.i_max = (2 * A2BIT_CONV) << 4; left.rtP.i_max = (2 * A2BIT_CONV) << 4;
left.iDcMax = 4; left.iDcMax = 4;
left.rtP.n_max = 1000 << 4; left.rtP.n_max = 1000 << 4;
@ -1399,9 +1399,9 @@ void doMotorTest()
left.rtP.a_phaAdvMax = 40 << 4; left.rtP.a_phaAdvMax = 40 << 4;
right.enable = true; right.enable = true;
right.rtU.r_inpTgt = pwm; right.rtU.r_inpTgt = -pwm;
right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl); right.rtP.z_ctrlTypSel = uint8_t(ControlType::Sinusoidal);
right.rtU.z_ctrlModReq = uint8_t(ControlMode::Speed); right.rtU.z_ctrlModReq = uint8_t(ControlMode::Voltage);
right.rtP.i_max = (2 * A2BIT_CONV) << 4; right.rtP.i_max = (2 * A2BIT_CONV) << 4;
right.iDcMax = 4; right.iDcMax = 4;
right.rtP.n_max = 1000 << 4; right.rtP.n_max = 1000 << 4;
@ -1418,6 +1418,24 @@ void doMotorTest()
pwm = -pwmMax; pwm = -pwmMax;
dir = 1; dir = 1;
} }
if(left.rtY.z_errCode != 0 || right.rtY.z_errCode != 0) {
if(left.rtY.z_errCode == 0 && right.rtY.z_errCode != 0) { //rechts
buzzer.freq = 1;
buzzer.pattern = 1;
}
if(right.rtY.z_errCode == 0 && left.rtY.z_errCode != 0) { //links
buzzer.freq = 3;
buzzer.pattern = 3;
}
if(right.rtY.z_errCode != 0 && left.rtY.z_errCode != 0) { //beide
buzzer.freq = 5;
buzzer.pattern = 5;
}
} else {
buzzer.freq = 0;
buzzer.pattern = 0;
}
} }
#endif #endif