ADD: make unlock and make flash to Makefile
This commit is contained in:
Niklas Fauth
parent
4ac8b72fb0
commit
0172976057
15
Inc/config.h
15
Inc/config.h
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@ -15,7 +15,7 @@
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define DEAD_TIME 32 // PWM deadtime
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#define DEAD_TIME 32 // PWM deadtime
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#define DC_CUR_LIMIT 35 // Motor DC current limit in amps
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#define DC_CUR_LIMIT 25 // Motor DC current limit in amps
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#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
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#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
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#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
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#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
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@ -54,6 +54,19 @@
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// #define SPEED_COEFFICIENT -1
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// #define SPEED_COEFFICIENT -1
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// #define STEER_COEFFICIENT 0
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// #define STEER_COEFFICIENT 0
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// #define ADDITIONAL_CODE \
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if (button1 && speedR < 300) { \
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speedR = speedR * -0.2f; \
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speedL = speedL * -0.2f; } \
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else { \
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direction = 1; } \
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if (button1 && speedR > 700) { /* field weakening at high speeds */ \
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weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = speedR - 600; } \
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else { \
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weakl = 0; \
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weakr = 0; }
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// ###### ARMCHAIR ######
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// ###### ARMCHAIR ######
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// #define FILTER 0.05
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// #define FILTER 0.05
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// #define SPEED_COEFFICIENT 0.5
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// #define SPEED_COEFFICIENT 0.5
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6
Makefile
6
Makefile
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@ -162,6 +162,12 @@ format:
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clean:
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clean:
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-rm -fR .dep $(BUILD_DIR)
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-rm -fR .dep $(BUILD_DIR)
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flash:
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st-flash --reset write $(BUILD_DIR)/$(TARGET).bin 0x8000000
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unlock:
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openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0"
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#######################################
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#######################################
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# dependencies
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# dependencies
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#######################################
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#######################################
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@ -139,7 +139,7 @@ int main(void) {
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#ifdef CONTROL_ADC
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#ifdef CONTROL_ADC
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cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
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cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
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//uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
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uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
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timeout = 0;
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timeout = 0;
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#endif
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#endif
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@ -158,10 +158,15 @@ int main(void) {
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setScopeChannel(2, (int)speedR);
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setScopeChannel(2, (int)speedR);
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setScopeChannel(3, (int)speedL);
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setScopeChannel(3, (int)speedL);
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// ####### ADDITIONAL CODE #######
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#ifdef ADDITIONAL_CODE
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ADDITIONAL_CODE;
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#endif
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// ####### SET OUTPUTS #######
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// ####### SET OUTPUTS #######
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
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pwmr = speedR;
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pwmr = speedR;
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pwml = speedL;
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pwml = -speedL;
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}
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}
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lastSpeedL = speedL;
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lastSpeedL = speedL;
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733
build/hover.hex
733
build/hover.hex
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@ -1,23 +1,23 @@
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:020000040800F2
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:020000040800F2
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:00000001FF
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Loading…
Reference in New Issue