modified the scope function
This commit is contained in:
Niklas Fauth
parent
a86574bcea
commit
10da0983c6
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@ -180,7 +180,9 @@ void DMA1_Channel1_IRQHandler() {
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blockPhaseCurrent(posl, adc_buffer.rl1 - offsetrl1, adc_buffer.rl2 - offsetrl2, &curl);
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consoleScope(0, 0, (adc_buffer.rl1 - offsetrl1) / 8, (adc_buffer.rl2 - offsetrl1) / 8, 0, 0, 0, 0);
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setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8);
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setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8);
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consoleScope();
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timer++;
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25
Src/comms.c
25
Src/comms.c
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@ -8,19 +8,24 @@
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UART_HandleTypeDef huart2;
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volatile uint8_t uart_buf[300];
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volatile int16_t ch_buf[8];
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//volatile char char_buf[300];
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void consoleScope(int16_t ch0, int16_t ch1, int16_t ch2, int16_t ch3, int16_t ch4, int16_t ch5, int16_t ch6, int16_t ch7) {
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void setScopeChannel(uint8_t ch, int16_t val) {
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ch_buf[ch] = val;
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}
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void consoleScope() {
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#ifdef DEBUG_SERIAL_SERVOTERM
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uart_buf[0] = 0xff;
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uart_buf[1] = CLAMP(ch0+127, 0, 255);
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uart_buf[2] = CLAMP(ch1+127, 0, 255);
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uart_buf[3] = CLAMP(ch2+127, 0, 255);
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uart_buf[4] = CLAMP(ch3+127, 0, 255);
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uart_buf[5] = CLAMP(ch4+127, 0, 255);
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uart_buf[6] = CLAMP(ch5+127, 0, 255);
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uart_buf[7] = CLAMP(ch6+127, 0, 255);
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uart_buf[8] = CLAMP(ch7+127, 0, 255);
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uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
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uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255);
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uart_buf[3] = CLAMP(ch_buf[2]+127, 0, 255);
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uart_buf[4] = CLAMP(ch_buf[3]+127, 0, 255);
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uart_buf[5] = CLAMP(ch_buf[4]+127, 0, 255);
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uart_buf[6] = CLAMP(ch_buf[5]+127, 0, 255);
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uart_buf[7] = CLAMP(ch_buf[6]+127, 0, 255);
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uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
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uart_buf[9] = '\n';
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if(DMA1_Channel2->CNDTR == 0) {
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@ -33,7 +38,7 @@ void consoleScope(int16_t ch0, int16_t ch1, int16_t ch2, int16_t ch3, int16_t ch
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#ifdef DEBUG_SERIAL_ASCII
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memset(&uart_buf, 0, sizeof(uart_buf));
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sprintf(uart_buf, "%i;%i;%i;%i;%i;%i;%i;%i\n\r", ch0, ch1, ch2, ch3, ch4, ch5, ch6, ch7);
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sprintf(uart_buf, "%i;%i;%i;%i;%i;%i;%i;%i\n\r", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
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if(DMA1_Channel2->CNDTR == 0) {
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DMA1_Channel2->CCR &= ~DMA_CCR_EN;
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@ -103,6 +103,8 @@ int main(void) {
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}
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lastSpeedL = speedL;
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lastSpeedR = speedR;
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setScopeChannel(0, speedR);
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setScopeChannel(1, speedL);
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// if(vel > milli_vel_cmd){
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// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
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361
build/hover.hex
361
build/hover.hex
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@ -1,23 +1,23 @@
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:020000040800F2
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:1000000000C0002025340008E5330008E93300086B
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:10002000000000000000000000000000F93300089C
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:10003000FD3300080000000001340008053400080A
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:100040006D3400086D3400086D3400086D3400080C
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@ -36,10 +36,10 @@
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@ -256,7 +256,7 @@
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@ -281,12 +281,12 @@
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@ -697,7 +697,7 @@
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@ -706,152 +706,165 @@
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
|
|
|||
Loading…
Reference in New Issue