From 8d31eaf8af39eb02ab9d3c4300ad4d982f28e217 Mon Sep 17 00:00:00 2001
From: Niklas Fauth <niklasfauth@gmx.de>
Date: Sun, 18 Feb 2018 14:02:05 +0100
Subject: [PATCH] ADD: analog input for vehicle during hackerhotel

---
 Src/bldc.c      |   10 +-
 Src/main.c      |    1 +
 build/hover.hex | 2080 ++++++++++++++++++++++++++---------------------
 3 files changed, 1155 insertions(+), 936 deletions(-)

diff --git a/Src/bldc.c b/Src/bldc.c
index 613e3fd..521e915 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -163,7 +163,7 @@ void DMA1_Channel1_IRQHandler() {
 
   //0-4096
   //+-2000
-  
+
   pwmrl = 0;
   if(adccmd1 - 700 > 0){
     pwmrl += adccmd1 - 700;
@@ -171,8 +171,12 @@ void DMA1_Channel1_IRQHandler() {
   if(adccmd2 - 700 > 0){
     pwmrl -= adccmd2 - 700;
   }
-  pwml = -pwmrl/4;
-  pwmr = pwmrl/4;
+
+  pwmrl = powf((pwmrl/4), 3) / 614125;
+  pwml = -pwmrl;
+  pwmr = pwmrl;
+
+
 
   if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
     LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
diff --git a/Src/main.c b/Src/main.c
index a930219..f529aaa 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -132,6 +132,7 @@ int main(void) {
 
     if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
       enable = 0;
+      while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
       for (int i = 0; i < 8; i++) {
         buzzerFreq = i;
         HAL_Delay(100);
diff --git a/build/hover.hex b/build/hover.hex
index 4e106ce..4dbd504 100644
--- a/build/hover.hex
+++ b/build/hover.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:1000000000C00020A9390008693900086D390008CE
-:1000100071390008753900087939000800000000BE
-:100020000000000000000000000000007D39000812
-:10003000813900080000000085390008893900086E
-:10004000F1390008F1390008F1390008F1390008E8
-:10005000F1390008F1390008F1390008F1390008D8
-:10006000F139000895390008F1390008A933000872
-:10007000F1390008F1390008F1390008F1390008B8
-:10008000F1390008F1390008F1390008F1390008A8
-:10009000F1390008F1390008F1390008F139000898
-:1000A000F1390008F1390008F1390008F139000888
-:1000B000F1390008F1390008F1390008F139000878
-:1000C000F1390008F1390008F1390008F139000868
-:1000D000F1390008F1390008F1390008F139000858
-:1000E000F1390008F1390008F1390008F139000848
-:1000F000F1390008F1390008F1390008F139000838
-:10010000F1390008F1390008F1390008F139000827
-:10011000F1390008F1390008F1390008F139000817
-:10012000F1390008F1390008F1390008F139000807
+:1000000000C00020F9390008B9390008BD390008DE
+:10001000C1390008C5390008C939000800000000CE
+:10002000000000000000000000000000CD390008C2
+:10003000D139000800000000D5390008D93900087E
+:10004000413A0008413A0008413A0008413A0008A4
+:10005000413A0008413A0008413A0008413A000894
+:10006000413A0008E5390008413A0008D932000851
+:10007000413A0008413A0008413A0008413A000874
+:10008000413A0008413A0008413A0008413A000864
+:10009000413A0008413A0008413A0008413A000854
+:1000A000413A0008413A0008413A0008413A000844
+:1000B000413A0008413A0008413A0008413A000834
+:1000C000413A0008413A0008413A0008413A000824
+:1000D000413A0008413A0008413A0008413A000814
+:1000E000413A0008413A0008413A0008413A000804
+:1000F000413A0008413A0008413A0008413A0008F4
+:10010000413A0008413A0008413A0008413A0008E3
+:10011000413A0008413A0008413A0008413A0008D3
+:10012000413A0008413A0008413A0008413A0008C3
 :1001300000000000000000000000000000000000BF
 :1001400000000000000000000000000000000000AF
 :10015000000000000000000000000000000000009F
@@ -31,15 +31,15 @@
 :1001D000000000000000000000000000000000001F
 :0401E0005FF8E0F1F3
 :1001E800044B05481B1A062B02D9044B03B11847C8
-:1001F800704700BF87000020840000200000000036
+:1001F800704700BF8B00002088000020000000002E
 :1002080005490648091A891001EBD171491002D035
-:10021800034B03B118477047840000208400002076
+:10021800034B03B11847704788000020880000206E
 :100228000000000010B5064C237843B9FFF7D8FF4B
 :10023800044B13B10448AFF300800123237010BDB1
-:100248008400002000000000A442000808B5084B04
+:100248008800002000000000D84F000808B5084BBF
 :100258001BB108480849AFF300800848036813B980
 :10026800BDE80840CCE7064B002BF9D09847F7E7E4
-:1002780000000000A442000888000020840000203C
+:1002780000000000D84F00088C00002088000020F3
 :100288000000000081F0004102E000BF83F000435D
 :1002980030B54FEA41044FEA430594EA050F08BF19
 :1002A80090EA020F1FBF54EA000C55EA020C7FEADD
@@ -178,914 +178,1128 @@
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