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hoverboard-firmware-hack-foc-serial-esc
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This commit is contained in:
interfisch 2019-12-20 22:21:21 +01:00
parent bc6097f89b
commit b30e350cd1
2 changed files with 21 additions and 4 deletions
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16
02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino
View File

@ -46,6 +46,8 @@
long last_send = 0; long last_send = 0;
long last_validReceive=0;
// Global variables // Global variables
uint8_t idx = 0; // Index for new data pointer uint8_t idx = 0; // Index for new data pointer
@ -72,6 +74,8 @@ typedef struct{
int16_t speedL_meas; int16_t speedL_meas;
int16_t batVoltage; int16_t batVoltage;
int16_t boardTemp; int16_t boardTemp;
int16_t curL_DC;
int16_t curR_DC;
int16_t checksum; int16_t checksum;
} SerialFeedback; } SerialFeedback;
SerialFeedback Feedback; SerialFeedback Feedback;
@ -138,13 +142,15 @@ void ReceiveSerial1()
if (idx == sizeof(SerialFeedback)) { if (idx == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp); ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC);
// Check validity of the new data // Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) { if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data // Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
Serial.print(millis()-last_validReceive); Serial.print("ms ");
// Print data to built-in Serial // Print data to built-in Serial
Serial.print("1: "); Serial.print(Feedback.cmd1); Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2); Serial.print(" 2: "); Serial.print(Feedback.cmd2);
@ -153,7 +159,11 @@ void ReceiveSerial1()
Serial.print(" 5: "); Serial.print(Feedback.speedR_meas); Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 6: "); Serial.print(Feedback.speedL_meas); Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 7: "); Serial.print(Feedback.batVoltage); Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
Serial.print(" 8: "); Serial.println(Feedback.boardTemp); Serial.print(" 8: "); Serial.print(Feedback.boardTemp);
Serial.print(" 9: "); Serial.print(Feedback.curL_DC);
Serial.print(" 10: "); Serial.println(Feedback.curR_DC);
last_validReceive=millis();
} else { } else {
Serial.println("Non-valid data skipped"); Serial.println("Non-valid data skipped");
} }
@ -175,7 +185,7 @@ void loop() {
if (millis() - last_send > SENDPERIOD) { if (millis() - last_send > SENDPERIOD) {
int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1500, 0, 1500); int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1000, 0, 1000);
SendSerial1(speedvalue,speedvalue); SendSerial1(speedvalue,speedvalue);
Serial.print("millis="); Serial.print(millis()); Serial.print(", steer=0"); Serial.print(", speed="); Serial.println(speedvalue); Serial.print("millis="); Serial.print(millis()); Serial.print(", steer=0"); Serial.print(", speed="); Serial.println(speedvalue);

9
Src/main.c
View File

@ -91,6 +91,8 @@ typedef struct{
int16_t speedL_meas; int16_t speedL_meas;
int16_t batVoltage; int16_t batVoltage;
int16_t boardTemp; int16_t boardTemp;
int16_t curL_DC;
int16_t curR_DC;
uint16_t checksum; uint16_t checksum;
} SerialFeedback; } SerialFeedback;
static SerialFeedback Feedback; static SerialFeedback Feedback;
@ -129,6 +131,9 @@ extern uint8_t enable; // global variable for motor enable
extern volatile uint32_t timeout; // global variable for timeout extern volatile uint32_t timeout; // global variable for timeout
extern int16_t batVoltage; // global variable for battery voltage extern int16_t batVoltage; // global variable for battery voltage
extern int16_t curL_DC; // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
extern int16_t curR_DC; // global variable for right motor current
static uint32_t inactivity_timeout_counter; static uint32_t inactivity_timeout_counter;
extern uint8_t nunchuck_data[6]; extern uint8_t nunchuck_data[6];
@ -463,8 +468,10 @@ int main(void) {
Feedback.speedL_meas = (int16_t)rtY_Right.n_mot; Feedback.speedL_meas = (int16_t)rtY_Right.n_mot;
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
Feedback.boardTemp = (int16_t)board_temp_deg_c; Feedback.boardTemp = (int16_t)board_temp_deg_c;
Feedback.curL_DC = (int16_t)curL_DC*10/A2BIT_CONV*100; //in milli Amperes, 100mA resolution
Feedback.curR_DC = (int16_t)curR_DC*10/A2BIT_CONV*100;
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL
^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp); ^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.curL_DC ^Feedback.curR_DC);
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN; UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = sizeof(Feedback); UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);