diff --git a/Inc/config.h b/Inc/config.h index e23611c..312c965 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -13,10 +13,10 @@ #define PWM_FREQ 16000 // PWM frequency in Hz #define DEAD_TIME 32 // PWM deadtime -#define DC_CUR_LIMIT 5 // Motor DC current limit in amps +#define DC_CUR_LIMIT 32 // Motor DC current limit in amps -#define DEBUG_SERIAL_SERVOTERM -//#define DEBUG_SERIAL_ASCII +//#define DEBUG_SERIAL_SERVOTERM +#define DEBUG_SERIAL_ASCII #define DEBUG_BAUD 115200 // UART baud rate //#define DEBUG_I2C_LCD diff --git a/Inc/defines.h b/Inc/defines.h index b3ef895..b2b94e5 100644 --- a/Inc/defines.h +++ b/Inc/defines.h @@ -114,6 +114,9 @@ #define OFF_PIN GPIO_PIN_5 #define OFF_PORT GPIOA +#define BUTTON_PIN GPIO_PIN_1 +#define BUTTON_PORT GPIOA + #define CHARGER_PIN GPIO_PIN_12 #define CHARGER_PORT GPIOA diff --git a/Makefile b/Makefile index 7ebae04..0f721c5 100644 --- a/Makefile +++ b/Makefile @@ -97,7 +97,7 @@ C_INCLUDES = \ # compile gcc flags ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections +CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -std=gnu11 ifeq ($(DEBUG), 1) CFLAGS += -g -gdwarf-2 diff --git a/Src/bldc.c b/Src/bldc.c index 9b05de8..c9496b2 100644 --- a/Src/bldc.c +++ b/Src/bldc.c @@ -12,6 +12,13 @@ volatile int pwmr = 0; extern volatile adc_buf_t adc_buffer; +extern volatile uint32_t timeout; + +uint8_t buzzerFreq = 0; +uint8_t buzzerPattern = 0; + +uint8_t enable = 0; + const int pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000 const uint8_t hall_to_pos[8] = { @@ -112,6 +119,7 @@ inline void blockPhaseCurrent(int pos, int u, int v, int *q) { int last_pos = 0; int timer = 0; +uint16_t buzzerTimer = 0; int max_time = PWM_FREQ / 10; volatile int vel = 0; @@ -123,6 +131,8 @@ int offsetrr2 = 2000; int offsetdcl = 2000; int offsetdcr = 2000; +float batteryVoltage; + int curl = 0; // int errorl = 0; // int kp = 5; @@ -143,7 +153,9 @@ void DMA1_Channel1_IRQHandler() { return; } - if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT) { + batteryVoltage = batteryVoltage * 0.99 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.01; + + if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT || timeout > 50 || enable == 0) { LEFT_TIM->BDTR &= ~TIM_BDTR_MOE; //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); } else { @@ -151,7 +163,7 @@ void DMA1_Channel1_IRQHandler() { //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0); } - if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT) { + if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT || timeout > 50 || enable == 0) { RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE; } else { RIGHT_TIM->BDTR |= TIM_BDTR_MOE; @@ -182,9 +194,19 @@ void DMA1_Channel1_IRQHandler() { setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8); setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8); - consoleScope(); timer++; + buzzerTimer++; + + + if (buzzerFreq != 0 && (buzzerTimer / 1500) % (buzzerPattern + 1) == 0) { + if (buzzerTimer % buzzerFreq == 0) { + HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN); + } + } else { + HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0); + } + // if(timer > max_time){ // timer = max_time; diff --git a/Src/comms.c b/Src/comms.c index b542e42..4b1897b 100644 --- a/Src/comms.c +++ b/Src/comms.c @@ -7,7 +7,7 @@ UART_HandleTypeDef huart2; -volatile uint8_t uart_buf[300]; +volatile uint8_t uart_buf[100]; volatile int16_t ch_buf[8]; //volatile char char_buf[300]; @@ -37,8 +37,8 @@ void consoleScope() { #endif #ifdef DEBUG_SERIAL_ASCII - memset(&uart_buf, 0, sizeof(uart_buf)); - 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]); + memset(uart_buf, 0, sizeof(uart_buf)); + sprintf(uart_buf, "%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/control.c b/Src/control.c index 0c15860..6690880 100644 --- a/Src/control.c +++ b/Src/control.c @@ -7,16 +7,13 @@ TIM_HandleTypeDef TimHandle; uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0}; uint8_t ppm_count = 0; -uint32_t timeout = 0; +uint32_t timeout = 100; void PPM_ISR_Callback() { // Dummy loop with 16 bit count wrap around uint16_t rc_delay = TIM2->CNT; TIM2->CNT = 0; - HAL_TIM_Base_Stop(&TimHandle); - __HAL_RCC_TIM2_CLK_DISABLE(); - if (rc_delay > 3000) { ppm_count = 0; } @@ -25,8 +22,7 @@ void PPM_ISR_Callback() { ppm_captured_value[ppm_count] = CLAMP(rc_delay, 1000, 2000) - 1000; ppm_count++; } - __HAL_RCC_TIM2_CLK_ENABLE(); - HAL_TIM_Base_Start(&TimHandle); + } void PPM_Init() { @@ -49,4 +45,5 @@ void PPM_Init() { /* EXTI interrupt init*/ HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0); HAL_NVIC_EnableIRQ(EXTI3_IRQn); + HAL_TIM_Base_Start(&TimHandle); } diff --git a/Src/main.c b/Src/main.c index ff62c09..5258b42 100644 --- a/Src/main.c +++ b/Src/main.c @@ -35,6 +35,15 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1]; extern volatile int pwml; extern volatile int pwmr; +extern uint8_t buzzerFreq; +extern uint8_t buzzerPattern; + +extern uint8_t enable; + +extern volatile uint32_t timeout; + +extern float batteryVoltage; + int milli_vel_error_sum = 0; @@ -67,20 +76,30 @@ int main(void) { MX_ADC2_Init(); UART_Init(); - #ifdef CONTROL_PPM - PPM_Init(); - #endif - HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1); HAL_ADC_Start(&hadc1); HAL_ADC_Start(&hadc2); + for (int i = 8; i >= 0; i--) { + buzzerFreq = i; + HAL_Delay(100); + } + buzzerFreq = 0; + + HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); + int lastSpeedL = 0, lastSpeedR = 0; int speedL = 0, speedR = 0; + #ifdef CONTROL_PPM + PPM_Init(); + #endif + + enable = 1; + while(1) { - HAL_Delay(0); + HAL_Delay(10); // int milli_cur = 3000; // int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141; // // pwm = milli_volt * pwm_res / MILLI_V; @@ -93,19 +112,55 @@ int main(void) { // cmdl = 70; #ifdef CONTROL_PPM - speedR = -(CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800)); speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800)); + speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800)); #endif - if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) { + if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) { pwmr = speedR; pwml = speedL; } + lastSpeedL = speedL; lastSpeedR = speedR; setScopeChannel(0, speedR); setScopeChannel(1, speedL); + consoleScope(); + + timeout++; + + if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { + enable = 0; + for (int i = 0; i < 8; i++) { + buzzerFreq = i; + HAL_Delay(100); + } + HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0); + while(1) {} + } + + if (batteryVoltage < 36.0 && batteryVoltage > 33.0) { + buzzerFreq = 5; + buzzerPattern = 8; + } else if (batteryVoltage < 33.0 && batteryVoltage > 30.0) { + buzzerFreq = 5; + buzzerPattern = 1; + } else if (batteryVoltage < 30.0) { + buzzerPattern = 0; + enable = 0; + for (int i = 0; i < 8; i++) { + buzzerFreq = i; + HAL_Delay(100); + } + HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0); + while(1) {} + } else { + buzzerFreq = 0; + buzzerPattern = 0; + } + + // if(vel > milli_vel_cmd){ // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); // } diff --git a/Src/setup.c b/Src/setup.c index c9a5d9f..f93d494 100644 --- a/Src/setup.c +++ b/Src/setup.c @@ -140,6 +140,9 @@ void MX_GPIO_Init(void) { GPIO_InitStruct.Pin = CHARGER_PIN; HAL_GPIO_Init(CHARGER_PORT, &GPIO_InitStruct); + GPIO_InitStruct.Pin = BUTTON_PIN; + HAL_GPIO_Init(BUTTON_PORT, &GPIO_InitStruct); + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; diff --git a/build/hover.hex b/build/hover.hex index 94be949..ce85813 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C00020F9340008B9340008BD340008ED -:10001000C1340008C5340008C934000800000000DD -:10002000000000000000000000000000CD340008C7 -:10003000D134000800000000D5340008D93400088D -:1000400041350008413500084135000841350008B8 -:1000500041350008413500084135000841350008A8 -:1000600041350008E534000841350008292F000813 -:100070004135000841350008413500084135000888 -:100080004135000841350008413500084135000878 -:100090004135000841350008413500084135000868 -:1000A0004135000841350008413500084135000858 -:1000B0004135000841350008413500084135000848 -:1000C0004135000841350008413500084135000838 -:1000D0004135000841350008413500084135000828 -:1000E0004135000841350008413500084135000818 -:1000F0004135000841350008413500084135000808 -:1001000041350008413500084135000841350008F7 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