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UART with sideboards works + major refactoring

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► the mainboard can now send and receive Serial data from the sideboards
► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created
► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general:
- ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off
- Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off
- added one sideboard functionality:
         - LEDs are used to display battery level,  Motor Enable, Errors, Reverse driving, Braking.
         - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
This commit is contained in:
EmanuelFeru
2020-03-01 10:00:26 +01:00
parent 52e920c5ee
commit 72e6b30033
23 changed files with 1722 additions and 1223 deletions
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39
Src/bldc.c
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@@ -26,6 +26,7 @@
#include "defines.h"
#include "setup.h"
#include "config.h"
#include "util.h"
// Matlab includes and defines - from auto-code generation
// ###############################################################################
@@ -35,11 +36,11 @@
extern RT_MODEL *const rtM_Left;
extern RT_MODEL *const rtM_Right;
extern DW rtDW_Left; /* Observable states */
extern DW rtDW_Left; /* Observable states */
extern ExtU rtU_Left; /* External inputs */
extern ExtY rtY_Left; /* External outputs */
extern DW rtDW_Right; /* Observable states */
extern DW rtDW_Right; /* Observable states */
extern ExtU rtU_Right; /* External inputs */
extern ExtY rtY_Right; /* External outputs */
// ###############################################################################
@@ -50,8 +51,6 @@ extern uint8_t ctrlModReq;
static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV);
int16_t curL_phaA = 0, curL_phaB = 0, curL_DC = 0;
int16_t curR_phaB = 0, curR_phaC = 0, curR_DC = 0;
uint8_t errCode_Left = 0;
uint8_t errCode_Right = 0;
volatile int pwml = 0;
volatile int pwmr = 0;
@@ -70,10 +69,10 @@ static uint8_t enableFin = 0;
static const uint16_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
static uint16_t offsetcount = 0;
static int16_t offsetrl1 = 2000;
static int16_t offsetrl2 = 2000;
static int16_t offsetrr1 = 2000;
static int16_t offsetrr2 = 2000;
static int16_t offsetrlA = 2000;
static int16_t offsetrlB = 2000;
static int16_t offsetrrB = 2000;
static int16_t offsetrrC = 2000;
static int16_t offsetdcl = 2000;
static int16_t offsetdcr = 2000;
@@ -91,10 +90,10 @@ void DMA1_Channel1_IRQHandler(void) {
if(offsetcount < 2000) { // calibrate ADC offsets
offsetcount++;
offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
offsetrr2 = (adc_buffer.rr2 + offsetrr2) / 2;
offsetrlA = (adc_buffer.rlA + offsetrlA) / 2;
offsetrlB = (adc_buffer.rlB + offsetrlB) / 2;
offsetrrB = (adc_buffer.rrB + offsetrrB) / 2;
offsetrrC = (adc_buffer.rrC + offsetrrC) / 2;
offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
return;
@@ -102,17 +101,17 @@ void DMA1_Channel1_IRQHandler(void) {
if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time -> not any more, everything converted to fixed-point
filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
batVoltage = (int16_t)(batVoltageFixdt >> 20); // convert fixed-point to integer
batVoltage = (int16_t)(batVoltageFixdt >> 16); // convert fixed-point to integer
}
// Get Left motor currents
curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1);
curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2);
curL_phaA = (int16_t)(offsetrlA - adc_buffer.rlA);
curL_phaB = (int16_t)(offsetrlB - adc_buffer.rlB);
curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl);
// Get Right motor currents
curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1);
curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2);
curR_phaB = (int16_t)(offsetrrB - adc_buffer.rrB);
curR_phaC = (int16_t)(offsetrrC - adc_buffer.rrC);
curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
// Disable PWM when current limit is reached (current chopping)
@@ -152,7 +151,7 @@ void DMA1_Channel1_IRQHandler(void) {
OverrunFlag = true;
/* Make sure to stop BOTH motors in case of an error */
enableFin = enable && !errCode_Left && !errCode_Right;
enableFin = enable && !rtY_Left.z_errCode && !rtY_Right.z_errCode;
// ========================= LEFT MOTOR ============================
// Get hall sensors values
@@ -178,7 +177,7 @@ void DMA1_Channel1_IRQHandler(void) {
ul = rtY_Left.DC_phaA;
vl = rtY_Left.DC_phaB;
wl = rtY_Left.DC_phaC;
errCode_Left = rtY_Left.z_errCode;
// errCodeLeft = rtY_Left.z_errCode;
// motSpeedLeft = rtY_Left.n_mot;
// motAngleLeft = rtY_Left.a_elecAngle;
@@ -213,7 +212,7 @@ void DMA1_Channel1_IRQHandler(void) {
ur = rtY_Right.DC_phaA;
vr = rtY_Right.DC_phaB;
wr = rtY_Right.DC_phaC;
errCode_Right = rtY_Right.z_errCode;
// errCodeRight = rtY_Right.z_errCode;
// motSpeedRight = rtY_Right.n_mot;
// motAngleRight = rtY_Right.a_elecAngle;