interfisch
/
hoverboard-firmware-hack-foc-serial-esc
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Activated SW2 on RC

This commit is contained in:
EmanuelFeru 2020-12-23 12:45:29 +01:00
parent 4646fb4a94
commit ce03d4c816
3 changed files with 21 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
Src/util.c
View File

@ -1358,25 +1358,31 @@ void sideboardLeds(uint8_t *leds) {
void sideboardSensors(uint8_t sensors) {
#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
static uint8_t sensor1_prev, sensor2_prev;
static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
uint8_t sensor1_trig, sensor2_trig;
sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection
sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection
sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection
sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection
sensor1_prev = sensors & SENSOR1_SET;
sensor2_prev = sensors & SENSOR2_SET;
// Override in case the Sideboard control is Active
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
if (inIdx == SIDEBOARD_SERIAL_USART2) {
sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge detection
sensor1_index = 3 + ((Sideboard_L.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
if (sensor1_index == 3) { // FOC control Type
sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
}
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
sensor1_prev = sensor1_index;
}
#endif
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
if (inIdx == SIDEBOARD_SERIAL_USART3) {
sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
sensor1_index = 3 + ((Sideboard_R.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
if (sensor1_index == 3) { // FOC control Type
sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
}
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
sensor1_prev = sensor1_index;
}
#endif
@ -1385,23 +1391,22 @@ void sideboardSensors(uint8_t sensors) {
if (sensor1_trig) {
switch (sensor1_index) {
case 0: // FOC VOLTAGE
rtP_Left.z_ctrlTypSel = FOC_CTRL;
rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = VLT_MODE;
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = VLT_MODE;
break;
case 1: // FOC SPEED
ctrlModReqRaw = SPD_MODE;
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = SPD_MODE;
break;
case 2: // FOC TORQUE
ctrlModReqRaw = TRQ_MODE;
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = TRQ_MODE;
break;
case 3: // SINUSOIDAL
rtP_Left.z_ctrlTypSel = SIN_CTRL;
rtP_Right.z_ctrlTypSel = SIN_CTRL;
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = SIN_CTRL;
break;
case 4: // COMMUTATION
rtP_Left.z_ctrlTypSel = COM_CTRL;
rtP_Right.z_ctrlTypSel = COM_CTRL;
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = COM_CTRL;
break;
}
beepShortMany(sensor1_index + 1, 1);

BIN
docs/pictures/mainboard_pics.pptx
View File

Binary file not shown.

BIN
docs/pictures/wiki_hovercar/hovercar_rc.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 233 KiB

After

Width:  |  Height:  |  Size: 236 KiB