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ADD: ppm input

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This commit is contained in:
Niklas Fauth
2018-02-09 09:39:47 +01:00
parent 94907b91cf
commit a86574bcea
7 changed files with 787 additions and 629 deletions
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52
Src/control.c Normal file
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@ -0,0 +1,52 @@
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
TIM_HandleTypeDef TimHandle;
uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0};
uint8_t ppm_count = 0;
uint32_t timeout = 0;
void PPM_ISR_Callback() {
// Dummy loop with 16 bit count wrap around
uint16_t rc_delay = TIM2->CNT;
TIM2->CNT = 0;
HAL_TIM_Base_Stop(&TimHandle);
__HAL_RCC_TIM2_CLK_DISABLE();
if (rc_delay > 3000) {
ppm_count = 0;
}
else if (ppm_count < PPM_NUM_CHANNELS){
timeout = 0;
ppm_captured_value[ppm_count] = CLAMP(rc_delay, 1000, 2000) - 1000;
ppm_count++;
}
__HAL_RCC_TIM2_CLK_ENABLE();
HAL_TIM_Base_Start(&TimHandle);
}
void PPM_Init() {
GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
__HAL_RCC_TIM2_CLK_ENABLE();
TimHandle.Instance = TIM2;
TimHandle.Init.Period = UINT16_MAX;
TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TimHandle);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
}

22
Src/main.c
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@ -30,6 +30,7 @@ extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
extern volatile int pwml;
extern volatile int pwmr;
@ -66,11 +67,18 @@ int main(void) {
MX_ADC2_Init();
UART_Init();
#ifdef CONTROL_PPM
PPM_Init();
#endif
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
int lastSpeedL = 0, lastSpeedR = 0;
int speedL = 0, speedR = 0;
while(1) {
HAL_Delay(0);
// int milli_cur = 3000;
@ -83,8 +91,18 @@ int main(void) {
// milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
// pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
// cmdl = 70;
pwml = 150;
pwmr = 150;
#ifdef CONTROL_PPM
speedR = -(CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
#endif
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
pwmr = speedR;
pwml = speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
// if(vel > milli_vel_cmd){
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);

7
Src/stm32f1xx_it.c
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@ -164,6 +164,13 @@ void SysTick_Handler(void) {
/* USER CODE END SysTick_IRQn 1 */
}
void EXTI3_IRQHandler(void)
{
PPM_ISR_Callback();
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3);
}
/******************************************************************************/
/* STM32F1xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */