From 10da0983c6b8646053781e24cf543392c868b6f0 Mon Sep 17 00:00:00 2001 From: Niklas Fauth Date: Fri, 9 Feb 2018 10:11:46 +0100 Subject: [PATCH] modified the scope function --- Src/bldc.c | 4 +- Src/comms.c | 25 ++-- Src/main.c | 2 + build/hover.hex | 361 +++++++++++++++++++++++++----------------------- 4 files changed, 207 insertions(+), 185 deletions(-) diff --git a/Src/bldc.c b/Src/bldc.c index 5c3b40b..9b05de8 100644 --- a/Src/bldc.c +++ b/Src/bldc.c @@ -180,7 +180,9 @@ void DMA1_Channel1_IRQHandler() { blockPhaseCurrent(posl, adc_buffer.rl1 - offsetrl1, adc_buffer.rl2 - offsetrl2, &curl); - consoleScope(0, 0, (adc_buffer.rl1 - offsetrl1) / 8, (adc_buffer.rl2 - offsetrl1) / 8, 0, 0, 0, 0); + setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8); + setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8); + consoleScope(); timer++; diff --git a/Src/comms.c b/Src/comms.c index ac0742d..b542e42 100644 --- a/Src/comms.c +++ b/Src/comms.c @@ -8,19 +8,24 @@ UART_HandleTypeDef huart2; volatile uint8_t uart_buf[300]; +volatile int16_t ch_buf[8]; //volatile char char_buf[300]; -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) { +void setScopeChannel(uint8_t ch, int16_t val) { + ch_buf[ch] = val; +} + +void consoleScope() { #ifdef DEBUG_SERIAL_SERVOTERM uart_buf[0] = 0xff; - uart_buf[1] = CLAMP(ch0+127, 0, 255); - uart_buf[2] = CLAMP(ch1+127, 0, 255); - uart_buf[3] = CLAMP(ch2+127, 0, 255); - uart_buf[4] = CLAMP(ch3+127, 0, 255); - uart_buf[5] = CLAMP(ch4+127, 0, 255); - uart_buf[6] = CLAMP(ch5+127, 0, 255); - uart_buf[7] = CLAMP(ch6+127, 0, 255); - uart_buf[8] = CLAMP(ch7+127, 0, 255); + uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255); + uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255); + uart_buf[3] = CLAMP(ch_buf[2]+127, 0, 255); + uart_buf[4] = CLAMP(ch_buf[3]+127, 0, 255); + uart_buf[5] = CLAMP(ch_buf[4]+127, 0, 255); + uart_buf[6] = CLAMP(ch_buf[5]+127, 0, 255); + uart_buf[7] = CLAMP(ch_buf[6]+127, 0, 255); + uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255); uart_buf[9] = '\n'; if(DMA1_Channel2->CNDTR == 0) { @@ -33,7 +38,7 @@ void consoleScope(int16_t ch0, int16_t ch1, int16_t ch2, int16_t ch3, int16_t ch #ifdef DEBUG_SERIAL_ASCII memset(&uart_buf, 0, sizeof(uart_buf)); - sprintf(uart_buf, "%i;%i;%i;%i;%i;%i;%i;%i\n\r", ch0, ch1, ch2, ch3, ch4, ch5, ch6, ch7); + 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]); if(DMA1_Channel2->CNDTR == 0) { DMA1_Channel2->CCR &= ~DMA_CCR_EN; diff --git a/Src/main.c b/Src/main.c index d30dd08..ff62c09 100644 --- a/Src/main.c +++ b/Src/main.c @@ -103,6 +103,8 @@ int main(void) { } lastSpeedL = speedL; lastSpeedR = speedR; + setScopeChannel(0, speedR); + setScopeChannel(1, speedL); // if(vel > milli_vel_cmd){ // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); diff --git a/build/hover.hex b/build/hover.hex index 83c70a6..94be949 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ 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