Merge pull request #113 from larsmm/master

printf support and improvements
This commit is contained in:
EmanuelFeru 2020-12-10 20:05:55 +01:00 committed by GitHub
commit ae3f041ae6
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11 changed files with 958 additions and 269 deletions

View File

@ -23,15 +23,15 @@
// *******************************************************************
// ########################## DEFINES ##########################
#define HOVER_SERIAL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define HOVER_SERIAL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
#define TIME_SEND 100 // [ms] Sending time interval
#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
// #define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
#include <SoftwareSerial.h>
SoftwareSerial HoverSerial(2,3); // RX, TX
SoftwareSerial HoverSerial(2,3); // RX, TX
// Global variables
uint8_t idx = 0; // Index for new data pointer
@ -41,7 +41,7 @@ byte incomingByte;
byte incomingBytePrev;
typedef struct{
uint16_t start;
uint16_t start;
int16_t steer;
int16_t speed;
uint16_t checksum;
@ -50,12 +50,12 @@ SerialCommand Command;
typedef struct{
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedR_meas;
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
int16_t cmd1;
int16_t cmd2;
int16_t speedR_meas;
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback;
@ -88,59 +88,59 @@ void Send(int16_t uSteer, int16_t uSpeed)
// ########################## RECEIVE ##########################
void Receive()
{
// Check for new data availability in the Serial buffer
if (HoverSerial.available()) {
incomingByte = HoverSerial.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
}
else {
return;
}
// Check for new data availability in the Serial buffer
if (HoverSerial.available()) {
incomingByte = HoverSerial.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
}
else {
return;
}
// If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX
Serial.print(incomingByte);
return;
#endif
Serial.print(incomingByte);
return;
#endif
// Copy received data
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
p = (byte *)&NewFeedback;
*p++ = incomingBytePrev;
*p++ = incomingByte;
idx = 2;
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
*p++ = incomingByte;
idx++;
}
// Copy received data
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
p = (byte *)&NewFeedback;
*p++ = incomingBytePrev;
*p++ = incomingByte;
idx = 2;
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
*p++ = incomingByte;
idx++;
}
// Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) {
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
// Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) {
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
// Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Print data to built-in Serial
Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2);
Serial.print(" 3: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
} else {
Serial.println("Non-valid data skipped");
}
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
// Print data to built-in Serial
Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2);
Serial.print(" 3: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
} else {
Serial.println("Non-valid data skipped");
}
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
// Update previous states
incomingBytePrev = incomingByte;
// Update previous states
incomingBytePrev = incomingByte;
}
// ########################## LOOP ##########################

View File

@ -34,6 +34,7 @@
#endif
#define TIMEOUT 20 // number of wrong / missing input commands before emergency off
#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
// ADC conversion time definitions
#define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5)
@ -123,7 +124,7 @@
- button1 and button2: digital input values. 0 or 1
- adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
Outputs:
- speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
- cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX
*/
#define COM_CTRL 0 // [-] Commutation Control Type
#define SIN_CTRL 1 // [-] Sinusoidal Control Type
@ -204,38 +205,30 @@
* Be careful not to use the red wire of the cable. 15v will destroy everything.
* If you are using VARIANT_NUNCHUK, disable it temporarily.
* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
* and DEBUG_SERIAL_ASCII use asearial terminal.
*
*
* DEBUG_SERIAL_ASCII output is:
* // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
* // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
*
* 1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
* 2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
* 3: (int16_t)speedR); output command: [-1000, 1000]
* 4: (int16_t)speedL); output command: [-1000, 1000]
* 5: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
* 6: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
* 7: (int16_t)board_temp_adcFilt); for board temperature calibration
* 8: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
* in1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
* in2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
* cmdL: (int16_t)speedL); output command: [-1000, 1000]
* cmdR: (int16_t)speedR); output command: [-1000, 1000]
* BatADC: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
* BatV: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
* TempADC: (int16_t)board_temp_adcFilt); for board temperature calibration
* Temp: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
*
*/
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#if defined(VARIANT_ADC)
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#endif
#ifndef VARIANT_TRANSPOTTER
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII
#endif
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// ########################### END OF DEBUG SERIAL ############################
// ############################### DEBUG LCD ###############################
//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
// #define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
// ########################### END OF DEBUG LCD ############################
@ -243,27 +236,40 @@
// ################################# VARIANT_ADC SETTINGS ############################
#ifdef VARIANT_ADC
/* CONTROL VIA TWO POTENTIOMETERS
* ADC-calibration to cover the full poti-range:
* Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>.
* Turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN
* Turn the potis to maximum position, write value 1 to ADC1_MAX and value 2 to ADC2_MAX
* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
* Make, flash and test it.
* Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire!)
*
* Auto-calibration of the ADC Limit to finds the Minimum, Maximum, and Middle for the ADC input
* Procedure:
* - press the power button for more than 5 sec and release after the beep sound
* - move the potentiometers freely to the min and max limits repeatedly
* - release potentiometers to the resting postion
* - press the power button to confirm or wait for the 20 sec timeout
* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
*
* After calibration you can optionally write the values to the following defines
* Procedure:
* - connect gnd, rx and tx of a usb-uart converter in 3.3V mode to the right sensor board cable (do NOT use the red 15V wire!)
* - readout values using a serial terminal in 115200 baud rate
* - turn the potis to minimum position, write value 1 to INPUT1_MIN and value 2 to INPUT2_MIN
* - turn the potis to maximum position, write value 1 to INPUT1_MAX and value 2 to INPUT2_MAX
* - for middle resting potis: Let the potis in the middle resting position, write value 1 to INPUT1_MID and value 2 to INPUT2_MID
*/
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
#define INPUT1_MID 0 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
#define INPUT1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
#define INPUT1_MIN 0 // min ADC1-value while poti at min-position (0 - 4095)
#define INPUT1_MID 0 // mid ADC1-value while poti at mid-position (INPUT1_MIN - INPUT1_MAX)
#define INPUT1_MAX 4095 // max ADC1-value while poti at max-position (0 - 4095)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
#define INPUT2_MID 0 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
#define INPUT2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
#define INPUT2_MIN 0 // min ADC2-value while poti at min-position (0 - 4095)
#define INPUT2_MID 0 // mid ADC2-value while poti at mid-position (INPUT2_MIN - INPUT2_MAX)
#define INPUT2_MAX 4095 // max ADC2-value while poti at max-position (0 - 4095)
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// #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
@ -281,13 +287,13 @@
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)

View File

@ -183,6 +183,10 @@
#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
#if defined(PRINTF_FLOAT_SUPPORT) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)) && defined(__GNUC__)
asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
#endif
typedef struct {
uint16_t dcr;

View File

@ -75,7 +75,7 @@
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
<IsCurrentTarget>0</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<DebugOpt>
@ -1398,6 +1398,159 @@
</TargetOption>
</Target>
<Target>
<TargetName>VARIANT_SKATEBOARD</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>8000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>0</BeepAtEnd>
<RunSim>0</RunSim>
<RunTarget>1</RunTarget>
<RunAbUc>0</RunAbUc>
</OPTTT>
<OPTHX>
<HexSelection>1</HexSelection>
<FlashByte>65535</FlashByte>
<HexRangeLowAddress>0</HexRangeLowAddress>
<HexRangeHighAddress>0</HexRangeHighAddress>
<HexOffset>0</HexOffset>
</OPTHX>
<OPTLEX>
<PageWidth>79</PageWidth>
<PageLength>66</PageLength>
<TabStop>8</TabStop>
<ListingPath>.\Listing\</ListingPath>
</OPTLEX>
<ListingPage>
<CreateCListing>1</CreateCListing>
<CreateAListing>1</CreateAListing>
<CreateLListing>1</CreateLListing>
<CreateIListing>0</CreateIListing>
<AsmCond>1</AsmCond>
<AsmSymb>1</AsmSymb>
<AsmXref>0</AsmXref>
<CCond>1</CCond>
<CCode>0</CCode>
<CListInc>0</CListInc>
<CSymb>0</CSymb>
<LinkerCodeListing>0</LinkerCodeListing>
</ListingPage>
<OPTXL>
<LMap>1</LMap>
<LComments>1</LComments>
<LGenerateSymbols>1</LGenerateSymbols>
<LLibSym>1</LLibSym>
<LLines>1</LLines>
<LLocSym>1</LLocSym>
<LPubSym>1</LPubSym>
<LXref>0</LXref>
<LExpSel>0</LExpSel>
</OPTXL>
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
<sLdApp>1</sLdApp>
<sGomain>1</sGomain>
<sRbreak>1</sRbreak>
<sRwatch>1</sRwatch>
<sRmem>1</sRmem>
<sRfunc>1</sRfunc>
<sRbox>1</sRbox>
<tLdApp>1</tLdApp>
<tGomain>1</tGomain>
<tRbreak>1</tRbreak>
<tRwatch>1</tRwatch>
<tRmem>1</tRmem>
<tRfunc>0</tRfunc>
<tRbox>1</tRbox>
<tRtrace>1</tRtrace>
<sRSysVw>1</sRSysVw>
<tRSysVw>1</tRSysVw>
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<nTsel>5</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
<sDlgPa></sDlgPa>
<sIfile></sIfile>
<tDll></tDll>
<tDllPa></tDllPa>
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U -O206 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM))</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
<DebugFlag>
<trace>0</trace>
<periodic>0</periodic>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
<aPa>0</aPa>
<viewmode>0</viewmode>
<vrSel>0</vrSel>
<aSym>0</aSym>
<aTbox>0</aTbox>
<AscS1>0</AscS1>
<AscS2>0</AscS2>
<AscS3>0</AscS3>
<aSer3>0</aSer3>
<eProf>0</eProf>
<aLa>0</aLa>
<aPa1>0</aPa1>
<AscS4>0</AscS4>
<aSer4>0</aSer4>
<StkLoc>0</StkLoc>
<TrcWin>0</TrcWin>
<newCpu>0</newCpu>
<uProt>0</uProt>
</DebugFlag>
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
<bLintAuto>0</bLintAuto>
<bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags>
<pMisraName></pMisraName>
<pszMrule></pszMrule>
<pSingCmds></pSingCmds>
<pMultCmds></pMultCmds>
<DebugDescription>
<Enable>1</Enable>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>
</DebugDescription>
</TargetOption>
</Target>
<Group>
<GroupName>Startup</GroupName>
<tvExp>1</tvExp>
@ -1467,18 +1620,6 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\comms.c</PathWithFileName>
<FilenameWithoutPath>comms.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>6</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\control.c</PathWithFileName>
<FilenameWithoutPath>control.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@ -1486,7 +1627,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>7</FileNumber>
<FileNumber>6</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1498,7 +1639,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>8</FileNumber>
<FileNumber>7</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1510,7 +1651,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>9</FileNumber>
<FileNumber>8</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1522,7 +1663,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>10</FileNumber>
<FileNumber>9</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1534,7 +1675,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>11</FileNumber>
<FileNumber>10</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1546,7 +1687,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>12</FileNumber>
<FileNumber>11</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1558,7 +1699,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>13</FileNumber>
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1570,7 +1711,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>14</FileNumber>
<FileNumber>13</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1590,7 +1731,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>15</FileNumber>
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1602,7 +1743,7 @@
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<FileNumber>16</FileNumber>
<FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1614,7 +1755,7 @@
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<FileNumber>17</FileNumber>
<FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1626,7 +1767,7 @@
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<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1638,7 +1779,7 @@
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<FileNumber>18</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1650,7 +1791,7 @@
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<FileNumber>19</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1662,7 +1803,7 @@
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<FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1674,7 +1815,7 @@
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<FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1686,7 +1827,7 @@
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<FileNumber>22</FileNumber>
<FileType>1</FileType>
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<tvExpOptDlg>0</tvExpOptDlg>
@ -1698,7 +1839,7 @@
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<FileNumber>23</FileNumber>
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<FileType>1</FileType>
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<tvExpOptDlg>0</tvExpOptDlg>
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<tvExpOptDlg>0</tvExpOptDlg>

View File

@ -404,11 +404,6 @@
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@ -3426,11 +3401,6 @@
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@ -4044,11 +4014,6 @@
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@ -4662,11 +4627,6 @@
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@ -5213,9 +5173,549 @@
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<RvctStartVector></RvctStartVector>
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>4</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
<Strict>0</Strict>
<EnumInt>0</EnumInt>
<PlainCh>0</PlainCh>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<wLevel>2</wLevel>
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<useXO>0</useXO>
<v6Lang>1</v6Lang>
<v6LangP>1</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xE,VARIANT_SKATEBOARD</Define>
<Undefine></Undefine>
<IncludePath>..\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include</IncludePath>
</VariousControls>
</Cads>
<Aads>
<interw>1</interw>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<thumb>0</thumb>
<SplitLS>0</SplitLS>
<SwStkChk>0</SwStkChk>
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Aads>
<LDads>
<umfTarg>1</umfTarg>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange>0x08000000</TextAddressRange>
<DataAddressRange>0x20000000</DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc></Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
</LDads>
</TargetArmAds>
</TargetOption>
<Groups>
<Group>
<GroupName>Startup</GroupName>
<Files>
<File>
<FileName>startup_stm32f103xe.s</FileName>
<FileType>2</FileType>
<FilePath>.\startup_stm32f103xe.s</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Src</GroupName>
<Files>
<File>
<FileName>bldc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\bldc.c</FilePath>
</File>
<File>
<FileName>BLDC_controller.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller.c</FilePath>
</File>
<File>
<FileName>BLDC_controller_data.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
@ -5379,6 +5879,7 @@
<targetInfo name="VARIANT_NUNCHUK"/>
<targetInfo name="VARIANT_PPM"/>
<targetInfo name="VARIANT_PWM"/>
<targetInfo name="VARIANT_SKATEBOARD"/>
<targetInfo name="VARIANT_TRANSPOTTER"/>
<targetInfo name="VARIANT_USART"/>
</targetInfos>

View File

@ -44,7 +44,6 @@ Src/bldc.c \
Src/eeprom.c \
Src/hd44780.c \
Src/pcf8574.c \
Src/comms.c \
Src/stm32f1xx_it.c \
Src/BLDC_controller_data.c \
Src/BLDC_controller.c

View File

@ -20,13 +20,13 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <stdlib.h> // for abs()
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
#include "util.h"
#include "comms.h"
#include "BLDC_controller.h" /* BLDC's header file */
#include "rtwtypes.h"
@ -52,6 +52,8 @@ extern volatile adc_buf_t adc_buffer;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
volatile uint8_t uart_buf[200];
// Matlab defines - from auto-code generation
//---------------
extern P rtP_Left; /* Block parameters (auto storage) */
@ -188,8 +190,8 @@ int main(void) {
poweronMelody();
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
int16_t speedL = 0, speedR = 0;
int16_t lastSpeedL = 0, lastSpeedR = 0;
int16_t cmdL = 0, cmdR = 0;
int16_t lastCmdL = 0, lastCmdR = 0;
int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point
int16_t board_temp_adcFilt = adc_buffer.temp;
@ -209,7 +211,9 @@ int main(void) {
beepShort(4); HAL_Delay(100);
steerFixdt = speedFixdt = 0; // reset filters
enable = 1; // enable motors
consoleLog("-- Motors enabled --\r\n");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("-- Motors enabled --\r\n");
#endif
}
// ####### VARIANT_HOVERCAR #######
@ -273,21 +277,21 @@ int main(void) {
#endif
// ####### MIXER #######
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
mixerFcn(speed << 4, steer << 4, &speedR, &speedL); // This function implements the equations above
// cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
// cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above
// ####### SET OUTPUTS (if the target change is less than +/- 100) #######
if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100)) {
if ((cmdL > lastCmdL-100 && cmdL < lastCmdL+100) && (cmdR > lastCmdR-100 && cmdR < lastCmdR+100)) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
pwmr = cmdR;
#else
pwmr = -speedR;
pwmr = -cmdR;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
pwml = -cmdL;
#else
pwml = speedL;
pwml = cmdL;
#endif
}
#endif
@ -298,22 +302,22 @@ int main(void) {
distanceErr = distance - (int)(setDistance * 1345);
if (nunchuk_connected == 0) {
speedL = speedL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
speedR = speedR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
cmdL = cmdL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
cmdR = cmdR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
if ((cmdL < lastCmdL + 50 && cmdL > lastCmdL - 50) && (cmdR < lastCmdR + 50 && cmdR > lastCmdR - 50)) {
if (distanceErr > 0) {
enable = 1;
}
if (distanceErr > -300) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
pwmr = cmdR;
#else
pwmr = -speedR;
pwmr = -cmdR;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
pwml = -cmdL;
#else
pwml = speedL;
pwml = cmdL;
#endif
if (checkRemote) {
@ -407,15 +411,15 @@ int main(void) {
// ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
setScopeChannel(0, (int16_t)input1); // 1: INPUT1
setScopeChannel(1, (int16_t)input2); // 2: INPUT2
setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
consoleScope();
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
input1, // 1: INPUT1
input2, // 2: INPUT2
cmdL, // 3: output command: [-1000, 1000]
cmdR, // 4: output command: [-1000, 1000]
adc_buffer.batt1, // 5: for battery voltage calibration
batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
board_temp_adcFilt, // 7: for board temperature calibration
board_temp_deg_c); // 8: for verifying board temperature calibration
}
#endif
@ -482,7 +486,7 @@ int main(void) {
// ####### INACTIVITY TIMEOUT #######
if (abs(speedL) > 50 || abs(speedR) > 50) {
if (abs(cmdL) > 50 || abs(cmdR) > 50) {
inactivity_timeout_counter = 0;
} else {
inactivity_timeout_counter++;
@ -493,8 +497,8 @@ 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 main loop states
lastSpeedL = speedL;
lastSpeedR = speedR;
lastCmdL = cmdL;
lastCmdR = cmdR;
main_loop_counter++;
timeoutCnt++;
}

View File

@ -18,13 +18,13 @@
*/
// Includes
#include <stdio.h>
#include <stdlib.h> // for abs()
#include <string.h>
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
#include "comms.h"
#include "eeprom.h"
#include "util.h"
#include "BLDC_controller.h"
@ -133,13 +133,13 @@ static int16_t INPUT_MIN; // [-] Input target minimum limitation
static uint8_t cur_spd_valid = 0;
static uint8_t inp_cal_valid = 0;
static uint16_t INPUT1_TYP_CAL = INPUT1_TYPE;
static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
static uint16_t INPUT1_MID_CAL = INPUT1_MID;
static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
static int16_t INPUT1_MIN_CAL = INPUT1_MIN;
static int16_t INPUT1_MID_CAL = INPUT1_MID;
static int16_t INPUT1_MAX_CAL = INPUT1_MAX;
static uint16_t INPUT2_TYP_CAL = INPUT2_TYPE;
static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
static uint16_t INPUT2_MID_CAL = INPUT2_MID;
static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
static int16_t INPUT2_MIN_CAL = INPUT2_MIN;
static int16_t INPUT2_MID_CAL = INPUT2_MID;
static int16_t INPUT2_MAX_CAL = INPUT2_MAX;
#endif
#if defined(CONTROL_ADC)
@ -198,6 +198,34 @@ static uint8_t cruiseCtrlAcv = 0;
static uint8_t standstillAcv = 0;
#endif
/* =========================== Retargeting printf =========================== */
/* retarget the C library printf function to the USART */
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE {
#if defined(DEBUG_SERIAL_USART2)
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
#elif defined(DEBUG_SERIAL_USART3)
HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, 1000);
#endif
return ch;
}
#ifdef __GNUC__
int _write(int file, char *data, int len) {
int i;
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
return len;
}
#endif
#endif
/* =========================== Initialization Functions =========================== */
void BLDC_Init(void) {
@ -280,13 +308,13 @@ void Input_Init(void) {
EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
if (writeCheck == FLASH_WRITE_KEY) {
EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL);
EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[2] , (uint16_t *)(intptr_t)INPUT1_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[3] , (uint16_t *)(intptr_t)INPUT1_MID_CAL);
EE_ReadVariable(VirtAddVarTab[4] , (uint16_t *)(intptr_t)INPUT1_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL);
EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MID_CAL);
EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[6] , (uint16_t *)(intptr_t)INPUT2_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[7] , (uint16_t *)(intptr_t)INPUT2_MID_CAL);
EE_ReadVariable(VirtAddVarTab[8] , (uint16_t *)(intptr_t)INPUT2_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[9] , &i_max);
EE_ReadVariable(VirtAddVarTab[10], &n_max);
rtP_Left.i_max = i_max;
@ -465,31 +493,34 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
int16_t threshold = 200;
#endif
HAL_Delay(10);
if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) {
type = 0;
consoleLog("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
#endif
} else {
if ((min / threshold) == (mid / threshold)){
type = 1;
consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("a normal pot"); // MIN and MID are close, it's a normal pot
#endif
} else {
type = 2;
consoleLog("Input is a mid-resting pot"); // it's a mid resting pot
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("a mid-resting pot"); // it's a mid resting pot
#endif
}
HAL_Delay(10);
#ifdef CONTROL_ADC
if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
consoleLog(" and protected");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf(" AND protected");
#endif
beepLong(2); // Indicate protection by a beep
}
#endif
}
HAL_Delay(10);
consoleLog("\r\n");
HAL_Delay(10);
return type;
}
@ -501,6 +532,7 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
* - move the potentiometers freely to the min and max limits repeatedly
* - release potentiometers to the resting postion
* - press the power button to confirm or wait for the 20 sec timeout
* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
*/
void adcCalibLim(void) {
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
@ -508,7 +540,10 @@ void adcCalibLim(void) {
}
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Input calibration started...\r\n");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Input calibration started...\r\n");
#endif
readInput();
// Inititalization: MIN = a high value, MAX = a low value
@ -537,39 +572,47 @@ void adcCalibLim(void) {
HAL_Delay(5);
}
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Input1 is ");
#endif
INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
consoleLog("Input1 OK\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..OK\r\n");
#endif
} else {
INPUT1_TYP_CAL = 0; // Disable input
consoleLog("Input1 Fail\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..NOK\r\n");
#endif
}
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Input2 is ");
#endif
INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
consoleLog("Input2 OK\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..OK\r\n");
#endif
} else {
INPUT2_TYP_CAL = 0; // Disable input
consoleLog("Input2 Fail\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..NOK\r\n");
#endif
}
inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
consoleLog("Limits: "); HAL_Delay(10);
setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
consoleScope();
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Limits Input1: TYP:%i MIN:%i MID:%i MAX:%i\r\nLimits Input2: TYP:%i MIN:%i MID:%i MAX:%i\r\n",
INPUT1_TYP_CAL, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL,
INPUT2_TYP_CAL, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
#endif
#endif
}
/*
@ -585,7 +628,10 @@ void updateCurSpdLim(void) {
}
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Torque and Speed limits update started...\r\n");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Torque and Speed limits update started...\r\n");
#endif
int32_t input1_fixdt = input1 << 16;
int32_t input2_fixdt = input2 << 16;
@ -617,17 +663,11 @@ void updateCurSpdLim(void) {
cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown
}
consoleLog("Limits: "); HAL_Delay(10);
setScopeChannel(0, (int16_t)cur_spd_valid); // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
setScopeChannel(1, (int16_t)input1_fixdt);
setScopeChannel(2, (int16_t)cur_factor);
setScopeChannel(3, (int16_t)rtP_Left.i_max);
setScopeChannel(4, (int16_t)0);
setScopeChannel(5, (int16_t)input2_fixdt);
setScopeChannel(6, (int16_t)spd_factor);
setScopeChannel(7, (int16_t)rtP_Left.n_max);
consoleScope();
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
// cur_spd_valid: 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
printf("Limits (%i)\r\nCurrent: fixdt:%li factor%i i_max:%i \r\nSpeed: fixdt:%li factor:%i n_max:%i\r\n",
cur_spd_valid, input1_fixdt, cur_factor, rtP_Left.i_max, input2_fixdt, spd_factor, rtP_Left.n_max);
#endif
#endif
}
@ -760,7 +800,9 @@ void cruiseControl(uint8_t button) {
void poweroff(void) {
enable = 0;
consoleLog("-- Motors disabled --\r\n");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("-- Motors disabled --\r\n");
#endif
buzzerCount = 0; // prevent interraction with beep counter
buzzerPattern = 0;
for (int i = 0; i < 8; i++) {
@ -1117,7 +1159,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
{
for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
consoleLog("-- Command received --\r\n");
printf("Command = %c\r\n", *userCommand);
// handle_input(*userCommand); // -> Create this function to handle the user commands
}
}

View File

@ -54,7 +54,7 @@ upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
monitor_speed = 115200
build_flags =
-DUSE_HAL_DRIVER
@ -146,10 +146,6 @@ board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
@ -168,10 +164,6 @@ board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE