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modified the scope function

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Niklas Fauth
2018-02-09 10:11:46 +01:00
parent a86574bcea
commit 10da0983c6
4 changed files with 207 additions and 185 deletions
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4
Src/bldc.c
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@@ -180,7 +180,9 @@ void DMA1_Channel1_IRQHandler() {
blockPhaseCurrent(posl, adc_buffer.rl1 - offsetrl1, adc_buffer.rl2 - offsetrl2, &curl);
consoleScope(0, 0, (adc_buffer.rl1 - offsetrl1) / 8, (adc_buffer.rl2 - offsetrl1) / 8, 0, 0, 0, 0);
setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8);
setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8);
consoleScope();
timer++;

25
Src/comms.c
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@@ -8,19 +8,24 @@
UART_HandleTypeDef huart2;
volatile uint8_t uart_buf[300];
volatile int16_t ch_buf[8];
//volatile char char_buf[300];
void consoleScope(int16_t ch0, int16_t ch1, int16_t ch2, int16_t ch3, int16_t ch4, int16_t ch5, int16_t ch6, int16_t ch7) {
void setScopeChannel(uint8_t ch, int16_t val) {
ch_buf[ch] = val;
}
void consoleScope() {
#ifdef DEBUG_SERIAL_SERVOTERM
uart_buf[0] = 0xff;
uart_buf[1] = CLAMP(ch0+127, 0, 255);
uart_buf[2] = CLAMP(ch1+127, 0, 255);
uart_buf[3] = CLAMP(ch2+127, 0, 255);
uart_buf[4] = CLAMP(ch3+127, 0, 255);
uart_buf[5] = CLAMP(ch4+127, 0, 255);
uart_buf[6] = CLAMP(ch5+127, 0, 255);
uart_buf[7] = CLAMP(ch6+127, 0, 255);
uart_buf[8] = CLAMP(ch7+127, 0, 255);
uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255);
uart_buf[3] = CLAMP(ch_buf[2]+127, 0, 255);
uart_buf[4] = CLAMP(ch_buf[3]+127, 0, 255);
uart_buf[5] = CLAMP(ch_buf[4]+127, 0, 255);
uart_buf[6] = CLAMP(ch_buf[5]+127, 0, 255);
uart_buf[7] = CLAMP(ch_buf[6]+127, 0, 255);
uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
uart_buf[9] = '\n';
if(DMA1_Channel2->CNDTR == 0) {
@@ -33,7 +38,7 @@ void consoleScope(int16_t ch0, int16_t ch1, int16_t ch2, int16_t ch3, int16_t ch
#ifdef DEBUG_SERIAL_ASCII
memset(&uart_buf, 0, sizeof(uart_buf));
sprintf(uart_buf, "%i;%i;%i;%i;%i;%i;%i;%i\n\r", ch0, ch1, ch2, ch3, ch4, ch5, ch6, ch7);
sprintf(uart_buf, "%i;%i;%i;%i;%i;%i;%i;%i\n\r", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
if(DMA1_Channel2->CNDTR == 0) {
DMA1_Channel2->CCR &= ~DMA_CCR_EN;

2
Src/main.c
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@@ -103,6 +103,8 @@ int main(void) {
}
lastSpeedL = speedL;
lastSpeedR = speedR;
setScopeChannel(0, speedR);
setScopeChannel(1, speedL);
// if(vel > milli_vel_cmd){
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);