diff --git a/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino b/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino index 772b295..b1b4d13 100644 --- a/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino +++ b/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino @@ -36,6 +36,8 @@ #define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor) #define START_FRAME 0xAAAA // [-] Start frme definition for reliable serial communication +#define A2BIT_CONV 50 + //#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable) #define MAXADCVALUE 4095 @@ -76,7 +78,7 @@ typedef struct{ int16_t boardTemp; int16_t curL_DC; int16_t curR_DC; - int16_t checksum; + uint16_t checksum; } SerialFeedback; SerialFeedback Feedback; SerialFeedback NewFeedback; @@ -87,10 +89,9 @@ void setup() Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level) - Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3) - Serial1.begin(19200); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2) + Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3) + Serial1.begin(SERIAL_CONTROL_BAUD); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2) - Serial1.begin(SERIAL_CONTROL_BAUD); pinMode(LED_BUILTIN, OUTPUT); Serial.println("Initialized"); @@ -141,8 +142,8 @@ void ReceiveSerial1() // 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 ^ NewFeedback.speedL - ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC); + checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedL ^ NewFeedback.speedR + ^ NewFeedback.speedL_meas^ NewFeedback.speedR_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC); // Check validity of the new data if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) { @@ -152,16 +153,22 @@ void ReceiveSerial1() Serial.print(millis()-last_validReceive); Serial.print("ms "); // 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(" 3: "); Serial.print(Feedback.speedR); - Serial.print(" 4: "); Serial.print(Feedback.speedL); - Serial.print(" 5: "); Serial.print(Feedback.speedR_meas); - Serial.print(" 6: "); Serial.print(Feedback.speedL_meas); + Serial.print(" 3: "); Serial.print(Feedback.speedL); + Serial.print(" 4: "); Serial.print(Feedback.speedR); + Serial.print(" 5: "); Serial.print(Feedback.speedL_meas); + Serial.print(" 6: "); Serial.print(Feedback.speedR_meas); Serial.print(" 7: "); Serial.print(Feedback.batVoltage); Serial.print(" 8: "); Serial.print(Feedback.boardTemp); Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in mA (100mA resolution), in hoverbrett negative sign for forward Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in mA (100mA resolution), in hoverbrett negative sign for forward + */ + + Serial.print(" LS: "); Serial.print(Feedback.speedL_meas); + Serial.print(" RS: "); Serial.print(Feedback.speedR_meas); + Serial.print(" LC: "); Serial.print(Feedback.curL_DC*1.0/A2BIT_CONV); //in A, in hoverbrett negative sign for forward + Serial.print(" RC: "); Serial.println(Feedback.curR_DC*1.0/A2BIT_CONV); //in A, in hoverbrett negative sign for forward last_validReceive=millis(); } else { @@ -188,7 +195,7 @@ void loop() { int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1000, 0, 1000); SendSerial1(speedvalue,speedvalue); - Serial.print("Send "); Serial.print(millis()); Serial.print("ms, steer=0"); Serial.print(", speed="); Serial.println(speedvalue); + //Serial.print("Send "); Serial.print(millis()); Serial.print("ms, steer=0"); Serial.print(", speed="); Serial.println(speedvalue); last_send = millis(); diff --git a/Inc/config.h b/Inc/config.h index 57197b5..9656972 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -2,13 +2,13 @@ #include "stm32f1xx_hal.h" //Select the calibration values for the different pcbs -#define BOBBYCAR_PCB_FRONT //Green PCB. black programming cable. outer power button +//#define BOBBYCAR_PCB_FRONT //Green PCB. black programming cable. outer power button //#define BOBBYCAR_PCB_REAR //Blue PCB. with XT60-U, beige programming cable. inner power button -//#define HOVERBRETT //Green PCB in Hoverbrett +#define HOVERBRETT //Green PCB in Hoverbrett // ############################### DO-NOT-TOUCH SETTINGS ############################### -#define N_POLEPAIRS 15 //for wheel angle calculation +//#define N_POLEPAIRS 15 //for wheel angle calculation #define PWM_FREQ 16000 // PWM frequency in Hz #define DEAD_TIME 32 // PWM deadtime diff --git a/Src/main.c b/Src/main.c index 35e64b5..cd58642 100644 --- a/Src/main.c +++ b/Src/main.c @@ -89,6 +89,8 @@ typedef struct{ int16_t speedR; int16_t speedL_meas; int16_t speedR_meas; + //int16_t angleL_meas; + //int16_t angleR_meas; int16_t batVoltage; int16_t boardTemp; int16_t curL_DC; @@ -488,13 +490,13 @@ int main(void) { Feedback.speedL_meas = (int16_t)rtY_Left.n_mot; Feedback.speedR_meas = (int16_t)rtY_Right.n_mot; //Feedback.angleL_meas = (int16_t)rtY_Left.a_elecAngle/N_POLEPAIRS; - //Feedback.angleR_meas = (int16_t)rtY_Right.a_elecAngle/N_POLEPAIRS; + //Feedback.angleR_meas = (int16_t)rtY_Right.a_elecAngle/N_POLEPAIRS; //rtY_Right.a_elecAngle/N_POLEPAIRS goes from 0 to ca. 24 Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); 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.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.curL_DC ^Feedback.curR_DC); + Feedback.curL_DC = (int16_t)curL_DC; //divide by A2BIT_CONV to get current in amperes + Feedback.curR_DC = (int16_t)curR_DC; + Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedL ^ Feedback.speedR + ^ Feedback.speedL_meas ^ Feedback.speedR_meas ^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.curL_DC ^Feedback.curR_DC); UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN; UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);