lucysrausch/hoverboard-firmware-hack
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Added Motor-Test-Mode: Sweep motors slowly forward and backward without any input.

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Better config-validation.
Fixed board temperature calculation and serial output when speed > 50.
This commit is contained in:
larsm
2019-05-31 19:06:47 +02:00
parent 2c666c8cb4
commit ffda2219f1
3 changed files with 478 additions and 427 deletions
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19
Src/main.c
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@@ -67,6 +67,9 @@ extern volatile uint32_t timeout; // global variable for timeout
extern float batteryVoltage; // global variable for battery voltage
uint32_t inactivity_timeout_counter;
uint32_t main_loop_counter;
int32_t motor_test_direction = 1;
extern uint8_t nunchuck_data[6];
#ifdef CONTROL_PPM
@@ -77,7 +80,9 @@ int milli_vel_error_sum = 0;
void poweroff() {
#ifndef CONTROL_MOTOR_TEST
if (abs(speed) < 20) {
#endif
buzzerPattern = 0;
enable = 0;
for (int i = 0; i < 8; i++) {
@@ -86,7 +91,9 @@ void poweroff() {
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {}
#ifndef CONTROL_MOTOR_TEST
}
#endif
}
@@ -218,6 +225,14 @@ int main(void) {
timeout = 0;
#endif
#ifdef CONTROL_MOTOR_TEST
// if (main_loop_counter % 2 == 0) {
if (motor_test_direction == 1) cmd2 += 1;
else cmd2 -= 1;
if (abs(cmd2) > CONTROL_MOTOR_TEST_MAX_SPEED) motor_test_direction = -motor_test_direction;
// }
timeout = 0;
#endif
// ####### LOW-PASS FILTER #######
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
@@ -252,7 +267,7 @@ int main(void) {
lastSpeedR = speedR;
if (inactivity_timeout_counter % 25 == 0) {
if (main_loop_counter % 25 == 0) {
// ####### CALC BOARD TEMPERATURE #######
board_temp_adc_filtered = board_temp_adc_filtered * 0.99 + (float)adc_buffer.temp * 0.01;
board_temp_deg_c = ((float)TEMP_CAL_HIGH_DEG_C - (float)TEMP_CAL_LOW_DEG_C) / ((float)TEMP_CAL_HIGH_ADC - (float)TEMP_CAL_LOW_ADC) * (board_temp_adc_filtered - (float)TEMP_CAL_LOW_ADC) + (float)TEMP_CAL_LOW_DEG_C;
@@ -310,6 +325,8 @@ int main(void) {
if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms
poweroff();
}
main_loop_counter += 1;
}
}