From 30f8d976946d5f4f56649be31d8b9fc00f3ff2f8 Mon Sep 17 00:00:00 2001 From: Niklas Fauth Date: Mon, 26 Feb 2018 22:00:09 +0100 Subject: [PATCH] ADD: analog commands via ADC --- Src/bldc.c | 18 +- Src/main.c | 2 + build/hover.hex | 1091 ++++++++++++++++++++++++----------------------- 3 files changed, 564 insertions(+), 547 deletions(-) diff --git a/Src/bldc.c b/Src/bldc.c index 521e915..4ff12e4 100644 --- a/Src/bldc.c +++ b/Src/bldc.c @@ -9,7 +9,7 @@ volatile int posl = 0; volatile int posr = 0; volatile int pwml = 0; volatile int pwmr = 0; -float pwmrl = 0; +int16_t pwmrl = 0; extern volatile adc_buf_t adc_buffer; @@ -166,13 +166,21 @@ void DMA1_Channel1_IRQHandler() { pwmrl = 0; if(adccmd1 - 700 > 0){ - pwmrl += adccmd1 - 700; + pwmrl -= adccmd1 - 700; } if(adccmd2 - 700 > 0){ - pwmrl -= adccmd2 - 700; + pwmrl += adccmd2 - 700; } - pwmrl = powf((pwmrl/4), 3) / 614125; + if (pwmrl < -100 && enable == 1) { + buzzerFreq = 5; + buzzerPattern = 1; + } else if (enable == 1) { + buzzerFreq = 0; + buzzerPattern = 1; + } + + pwmrl = powf((pwmrl/4), 3) / 255885; pwml = -pwmrl; pwmr = pwmrl; @@ -220,7 +228,7 @@ void DMA1_Channel1_IRQHandler() { buzzerTimer++; - if (buzzerFreq != 0 && (buzzerTimer / 1500) % (buzzerPattern + 1) == 0) { + if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) { if (buzzerTimer % buzzerFreq == 0) { HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN); } diff --git a/Src/main.c b/Src/main.c index f529aaa..2a4226a 100644 --- a/Src/main.c +++ b/Src/main.c @@ -133,6 +133,8 @@ int main(void) { if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { enable = 0; while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {} + buzzerFreq = 0; + buzzerPattern = 0; for (int i = 0; i < 8; i++) { buzzerFreq = i; HAL_Delay(100); diff --git a/build/hover.hex b/build/hover.hex index 4dbd504..33c3013 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C00020F9390008B9390008BD390008DE 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