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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
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37
Src/util.c
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@ -1358,25 +1358,31 @@ void sideboardLeds(uint8_t *leds) {
void sideboardSensors(uint8_t sensors) { void sideboardSensors(uint8_t sensors) {
#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)) #if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
static uint8_t sensor1_prev, sensor2_prev; 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; uint8_t sensor1_trig, sensor2_trig;
sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection
sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection
sensor1_prev = sensors & SENSOR1_SET; sensor1_prev = sensors & SENSOR1_SET;
sensor2_prev = sensors & SENSOR2_SET; sensor2_prev = sensors & SENSOR2_SET;
// Override in case the Sideboard control is Active // Override in case the Sideboard control is Active
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2) #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
if (inIdx == 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_index = 3 + ((Sideboard_L.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge detection 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; sensor1_prev = sensor1_index;
} }
#endif #endif
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3) #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
if (inIdx == 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_index = 3 + ((Sideboard_R.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection 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; sensor1_prev = sensor1_index;
} }
#endif #endif
@ -1385,23 +1391,22 @@ void sideboardSensors(uint8_t sensors) {
if (sensor1_trig) { if (sensor1_trig) {
switch (sensor1_index) { switch (sensor1_index) {
case 0: // FOC VOLTAGE case 0: // FOC VOLTAGE
rtP_Left.z_ctrlTypSel = FOC_CTRL; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
rtP_Right.z_ctrlTypSel = FOC_CTRL; ctrlModReqRaw = VLT_MODE;
ctrlModReqRaw = VLT_MODE;
break; break;
case 1: // FOC SPEED case 1: // FOC SPEED
ctrlModReqRaw = SPD_MODE; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = SPD_MODE;
break; break;
case 2: // FOC TORQUE case 2: // FOC TORQUE
ctrlModReqRaw = TRQ_MODE; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = TRQ_MODE;
break; break;
case 3: // SINUSOIDAL case 3: // SINUSOIDAL
rtP_Left.z_ctrlTypSel = SIN_CTRL; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = SIN_CTRL;
rtP_Right.z_ctrlTypSel = SIN_CTRL;
break; break;
case 4: // COMMUTATION case 4: // COMMUTATION
rtP_Left.z_ctrlTypSel = COM_CTRL; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = COM_CTRL;
rtP_Right.z_ctrlTypSel = COM_CTRL;
break; break;
} }
beepShortMany(sensor1_index + 1, 1); beepShortMany(sensor1_index + 1, 1);

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docs/pictures/mainboard_pics.pptx
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