diff --git a/Inc/config.h b/Inc/config.h index 6740b30..9bfb6eb 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -30,6 +30,8 @@ #define DEBUG_SERIAL_ASCII //#define DEBUG_I2C_LCD +#define TIMEOUT 5 //wrong commands before emergency off + // ################################################################################ // ###### CONTROL VIA RC REMOTE ###### diff --git a/Src/bldc.c b/Src/bldc.c index 8bbca0f..42067b8 100644 --- a/Src/bldc.c +++ b/Src/bldc.c @@ -175,7 +175,7 @@ void DMA1_Channel1_IRQHandler() { - if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) { + if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) { LEFT_TIM->BDTR &= ~TIM_BDTR_MOE; //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); } else { @@ -183,7 +183,7 @@ void DMA1_Channel1_IRQHandler() { //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0); } - if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) { + if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) { RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE; } else { RIGHT_TIM->BDTR |= TIM_BDTR_MOE; diff --git a/Src/control.c b/Src/control.c index 41e6493..64379f7 100644 --- a/Src/control.c +++ b/Src/control.c @@ -9,7 +9,7 @@ uint8_t ppm_count = 0; uint32_t timeout = 100; uint8_t nunchuck_data[6] = {0}; -uint8_t ai2cBuffer[6]; +uint8_t i2cBuffer[2]; extern I2C_HandleTypeDef hi2c2; DMA_HandleTypeDef hdma_i2c2_rx; @@ -60,27 +60,29 @@ void PPM_Init() { void Nunchuck_Init() { //-- START -- init WiiNunchuck - ai2cBuffer[0] = 0xF0; - ai2cBuffer[1] = 0x55; - //Originale - ai2cBuffer[0] = 0x40; - ai2cBuffer[1] = 0x00; - //HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2); - //while(wii_JOYdati.I2CTxDone ==0); - //wii_JOYdati.I2CTxDone = 0; - HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 2, 100); + i2cBuffer[0] = 0xF0; + i2cBuffer[1] = 0x55; + + HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100); + HAL_Delay(10); + + i2cBuffer[0] = 0xFB; + i2cBuffer[1] = 0x00; + + HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100); HAL_Delay(10); - //wii_JOYdati.done = 0; } void Nunchuck_Read() { - ai2cBuffer[0] = 0x00; - HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 1, 100); + i2cBuffer[0] = 0x00; + HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100); HAL_Delay(2); - HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 6, 100); - for (int i = 0; i < 6; i++) { - nunchuck_data[i] = (ai2cBuffer[i] ^ 0x17) + 0x17; + if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) { + timeout = 0; + } else { + timeout++; } + //setScopeChannel(0, (int)nunchuck_data[0]); //setScopeChannel(1, (int)nunchuck_data[1]); //setScopeChannel(2, (int)nunchuck_data[5] & 1); diff --git a/Src/main.c b/Src/main.c index 052e5d2..7fad0cc 100644 --- a/Src/main.c +++ b/Src/main.c @@ -123,13 +123,11 @@ int main(void) { #ifdef CONTROL_NUNCHUCK Nunchuck_Read(); - cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000); // y - axis. Nunchuck joystick readings range 30 - 230 - cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000); // x - axis + cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230 + cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis //uint8_t button1 = (uint8_t)nunchuck_data[5] & 1; //uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1; - - timeout = 0; #endif #ifdef CONTROL_PPM @@ -145,8 +143,8 @@ int main(void) { #endif // ####### LOW-PASS FILTER ####### - speed = speed * (1.0 - FILTER) + cmd1 * FILTER; - steer = steer * (1.0 - FILTER) + cmd2 * FILTER; + steer = steer * (1.0 - FILTER) + cmd1 * FILTER; + speed = speed * (1.0 - FILTER) + cmd2 * FILTER; setScopeChannel(0, (int)speed); setScopeChannel(1, (int)steer); @@ -156,7 +154,7 @@ int main(void) { speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000); setScopeChannel(2, (int)speedR); - setScopeChannel(3, (int)speedL); + setScopeChannel(3, (int)timeout); // ####### ADDITIONAL CODE ####### #ifdef ADDITIONAL_CODE @@ -164,7 +162,7 @@ int main(void) { #endif // ####### SET OUTPUTS ####### - if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) { + if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) { pwmr = speedR; pwml = -speedL; } @@ -175,8 +173,6 @@ int main(void) { // ####### LOG TO CONSOLE ####### consoleScope(); - timeout=0; - if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { enable = 0; while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {} diff --git a/build/hover.hex b/build/hover.hex index 825959f..89faf4e 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C00020BD450008914500089545000846 -:10001000994500089D450008A14500080000000022 -:10002000000000000000000000000000A5450008DE -:10003000A945000800000000AD450008B1450008D2 -:100040000546000805460008054600080546000864 -:100050000546000805460008054600080546000854 -:10006000054600080546000805460008013E000850 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