From e73f0535d50ca4aa853e71049d8e1c8e9b016d62 Mon Sep 17 00:00:00 2001
From: EmanuelFeru <aerdronix@gmail.com>
Date: Fri, 12 Mar 2021 17:54:03 +0100
Subject: [PATCH] UPD: Delay in main loop #138

- improvement on HAL_Delay() in main loop, see #138
- minor adjustments for namings
---
 Inc/config.h | 7 ++++---
 Src/bldc.c   | 2 +-
 Src/main.c   | 6 +++++-
 Src/util.c   | 8 ++++----
 4 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index 42f7aac..65bb8f8 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -63,7 +63,8 @@
  * 0 - Default board type
  * 1 - Alternate board type with different pin mapping for DCLINK, Buzzer and ON/OFF, Button and Charger
 */
-#define BOARD_VARIANT 0 // change if board with alternate pin mapping
+#define BOARD_VARIANT           0         // change if board with alternate pin mapping
+// ######################## END OF BOARD VARIANT ###############################
 
 // ############################### BATTERY ###############################
 /* Battery voltage calibration: connect power source.
@@ -298,7 +299,7 @@
     #define DEBUG_SERIAL_USART3           // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
   #endif
 
-  // #define ADC_CONNECTION_ALTERNATE        // use to swap ADC inputs
+  // #define ADC_ALTERNATE_CONNECT           // use to swap ADC inputs
   // #define SUPPORT_BUTTONS_LEFT            // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT           // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif
@@ -505,7 +506,7 @@
 
   #define SPEED_COEFFICIENT       16384     // 1.0f
   #define STEER_COEFFICIENT       8192      // 0.5f Only active in Sideboard input
-  // #define ADC_CONNECTION_ALTERNATE          // use to swap ADC inputs
+  // #define ADC_ALTERNATE_CONNECT             // use to swap ADC inputs
   // #define INVERT_R_DIRECTION                // Invert rotation of right motor
   // #define INVERT_L_DIRECTION                // Invert rotation of left motor
   // #define DEBUG_SERIAL_USART3               // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
diff --git a/Src/bldc.c b/Src/bldc.c
index cb22ade..23b9afe 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -60,7 +60,7 @@ extern volatile adc_buf_t adc_buffer;
 uint8_t buzzerFreq          = 0;
 uint8_t buzzerPattern       = 0;
 uint8_t buzzerCount         = 0;
-static uint32_t buzzerTimer = 0;
+volatile uint32_t buzzerTimer = 0;
 static uint8_t  buzzerPrev  = 0;
 static uint8_t  buzzerIdx   = 0;
 
diff --git a/Src/main.c b/Src/main.c
index 488ab21..eda4056 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -103,6 +103,7 @@ extern volatile uint16_t pwm_captured_ch2_value;
 // Global variables set here in main.c
 //------------------------------------------------------------------------
 uint8_t backwardDrive;
+extern volatile uint32_t buzzerTimer;
 volatile uint32_t main_loop_counter;
 int16_t batVoltageCalib;         // global variable for calibrated battery voltage
 int16_t board_temp_deg_c;        // global variable for calibrated temperature in degrees Celsius
@@ -157,6 +158,7 @@ static int16_t    speed;                // local variable for speed. -1000 to 10
   static int32_t  speedFixdt;           // local fixed-point variable for speed low-pass filter
 #endif
 
+static uint32_t    buzzerTimer_prev = 0;
 static uint32_t    inactivity_timeout_counter;
 static MultipleTap MultipleTapBrake;    // define multiple tap functionality for the Brake pedal
 
@@ -207,7 +209,7 @@ int main(void) {
   while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
 
   while(1) {
-    HAL_Delay(DELAY_IN_MAIN_LOOP);        // delay in ms
+    if (buzzerTimer - buzzerTimer_prev > 16*DELAY_IN_MAIN_LOOP) {   // 1 ms = 16 ticks buzzerTimer
 
     readCommand();                        // Read Command: input1[inIdx].cmd, input2[inIdx].cmd
     calcAvgSpeed();                       // Calculate average measured speed: speedAvg, speedAvgAbs
@@ -524,7 +526,9 @@ int main(void) {
     // HAL_GPIO_TogglePin(LED_PORT, LED_PIN);                 // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
     // Update states
     inIdx_prev = inIdx;
+    buzzerTimer_prev = buzzerTimer;
     main_loop_counter++;
+    }
   }
 }
 
diff --git a/Src/util.c b/Src/util.c
index ed5dd96..733ab02 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -802,12 +802,12 @@ void calcInputCmd(InputStruct *in, int16_t out_min, int16_t out_max) {
 void readInputRaw(void) {
     #ifdef CONTROL_ADC
     if (inIdx == CONTROL_ADC) {
-      #ifndef ADC_CONNECTION_ALTERNATE
+      #ifdef ADC_ALTERNATE_CONNECT
+        input1[inIdx].raw = adc_buffer.l_rx2;
+        input2[inIdx].raw = adc_buffer.l_tx2;
+      #else
         input1[inIdx].raw = adc_buffer.l_tx2;
         input2[inIdx].raw = adc_buffer.l_rx2;
-      #else
-	      input1[inIdx].raw = adc_buffer.l_rx2;
-        input2[inIdx].raw = adc_buffer.l_tx2;
       #endif
     }
     #endif