forked from EFeru/hoverboard-firmware-hack-FOC
Added Keil project
Project can now be built and flashed with Keil uVision as well.
This commit is contained in:
EmanuelFeru
46
Src/main.c
46
Src/main.c
@@ -26,14 +26,12 @@
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#include "setup.h"
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#include "config.h"
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#include "comms.h"
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#include "eeprom.h"
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#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
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#include "hd44780.h"
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#endif
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#ifdef VARIANT_TRANSPOTTER
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#include "eeprom.h"
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#endif
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// Matlab includes and defines - from auto-code generation
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// ###############################################################################
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@@ -45,7 +43,7 @@ RT_MODEL rtM_Right_; /* Real-time model */
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RT_MODEL *const rtM_Left = &rtM_Left_;
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RT_MODEL *const rtM_Right = &rtM_Right_;
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P rtP_Left; /* Block parameters (auto storage) */
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extern P rtP_Left; /* Block parameters (auto storage) */
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DW rtDW_Left; /* Observable states */
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ExtU rtU_Left; /* External inputs */
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ExtY rtY_Left; /* External outputs */
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@@ -98,6 +96,7 @@ extern I2C_HandleTypeDef hi2c2;
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uint16_t counter = 0;
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#else
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uint8_t nunchuk_connected = 1;
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uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy address to avoid warnings
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#endif
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#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
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@@ -146,25 +145,24 @@ typedef struct{
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static SerialFeedback Feedback;
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#endif
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#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
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#ifdef SUPPORT_BUTTONS
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static uint8_t button1, button2;
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#endif
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uint8_t ctrlModReqRaw = CTRL_MOD_REQ;
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uint8_t ctrlModReq = CTRL_MOD_REQ; // Final control mode request
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static int cmd1; // normalized input value. -1000 to 1000
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static int cmd2; // normalized input value. -1000 to 1000
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static int16_t speed; // local variable for speed. -1000 to 1000
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#ifndef VARIANT_TRANSPOTTER
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static int cmd1; // normalized input value. -1000 to 1000
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static int cmd2; // normalized input value. -1000 to 1000
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static int16_t steer; // local variable for steering. -1000 to 1000
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static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
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static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
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static int32_t steerFixdt; // local fixed-point variable for steering low-pass filter
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static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter
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#endif
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#ifdef VARIANT_HOVERCAR
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static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal
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#endif
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static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal
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static int16_t speedAvg; // average measured speed
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static int16_t speedAvgAbs; // average measured speed in absolute
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@@ -197,7 +195,7 @@ void poweroff(void) {
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buzzerFreq = (uint8_t)i;
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HAL_Delay(100);
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}
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
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while(1) {}
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// }
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}
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@@ -232,7 +230,7 @@ int main(void) {
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MX_ADC1_Init();
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MX_ADC2_Init();
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_SET);
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HAL_ADC_Start(&hadc1);
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HAL_ADC_Start(&hadc2);
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@@ -279,7 +277,7 @@ int main(void) {
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}
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buzzerFreq = 0;
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HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
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HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
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#ifdef VARIANT_TRANSPOTTER
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int lastDistance = 0;
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@@ -458,17 +456,21 @@ int main(void) {
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Nunchuk_Read();
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cmd1 = CLAMP((nunchuk_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuk joystick readings range 30 - 230
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cmd2 = CLAMP((nunchuk_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
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button1 = (uint8_t)nunchuk_data[5] & 1;
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button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
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#ifdef SUPPORT_BUTTONS
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button1 = (uint8_t)nunchuk_data[5] & 1;
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button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
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#endif
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}
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#endif
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#ifdef CONTROL_PPM
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cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
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cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
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button1 = ppm_captured_value[5] > INPUT_MID;
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button2 = 0;
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#ifdef SUPPORT_BUTTONS
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button1 = ppm_captured_value[5] > INPUT_MID;
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button2 = 0;
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#endif
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// float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed
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#endif
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@@ -514,8 +516,10 @@ int main(void) {
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#endif
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// use ADCs as button inputs:
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button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1
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button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2
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#ifdef SUPPORT_BUTTONS
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button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1
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button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2
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#endif
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timeout = 0;
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#endif
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@@ -833,7 +837,7 @@ int main(void) {
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} else if (timeoutFlagADC || timeoutFlagSerial) { // beep in case of ADC or Serial timeout - fast beep
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buzzerFreq = 24;
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buzzerPattern = 1;
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} else if (BEEPS_BACKWARD && speed < -50 && speedAvg < 0) { // backward beep
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} else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBreak.b_multipleTap)) { // backward beep
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buzzerFreq = 5;
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buzzerPattern = 1;
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} else { // do not beep
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