From aff32b2bb4ac96aa37f1b1d1798250a51e3224a1 Mon Sep 17 00:00:00 2001
From: Niklas Fauth <niklasfauth@gmx.de>
Date: Tue, 8 May 2018 12:51:01 +0200
Subject: [PATCH] ADD: comments from TomTinkering

---
 Src/bldc.c | 35 +++++++----------------------------
 Src/main.c | 48 +++++++++++++++++++++++-------------------------
 2 files changed, 30 insertions(+), 53 deletions(-)

diff --git a/Src/bldc.c b/Src/bldc.c
index 42067b8..fb5d1af 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -143,6 +143,9 @@ int timer = 0;
 const int max_time = PWM_FREQ / 10;
 volatile int vel = 0;
 
+//scan 8 channels with 2ADCs @ 20 clk cycles per sample
+//meaning ~80 ADC clock cycles @ 8MHz until new DMA interrupt =~ 100KHz
+//=640 cpu cycles
 void DMA1_Channel1_IRQHandler() {
   DMA1->IFCR = DMA_IFCR_CTCIF1;
   // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
@@ -174,7 +177,7 @@ void DMA1_Channel1_IRQHandler() {
   #endif
 
 
-
+  //disable PWM when current limit is reached (current chopping)
   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);
@@ -192,6 +195,7 @@ void DMA1_Channel1_IRQHandler() {
   int ul, vl, wl;
   int ur, vr, wr;
 
+  //determine next position based on hall sensors
   uint8_t hall_ul = !(LEFT_HALL_U_PORT->IDR & LEFT_HALL_U_PIN);
   uint8_t hall_vl = !(LEFT_HALL_V_PORT->IDR & LEFT_HALL_V_PIN);
   uint8_t hall_wl = !(LEFT_HALL_W_PORT->IDR & LEFT_HALL_W_PIN);
@@ -215,8 +219,8 @@ void DMA1_Channel1_IRQHandler() {
   //setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8);
   //setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8);
 
+  //create square wave for buzzer
   buzzerTimer++;
-
   if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) {
     if (buzzerTimer % buzzerFreq == 0) {
       HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
@@ -225,33 +229,10 @@ void DMA1_Channel1_IRQHandler() {
       HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0);
   }
 
-  // //measure vel
-  // timer++;
-  // if(timer > max_time){
-  //   timer = max_time;
-  //   vel = 0;
-  // }
-
-  // if(posl != last_pos){
-  //   vel = 1000 * PWM_FREQ / timer / P / 6 * 2;
-
-  //   if((posl - last_pos + 6) % 6 > 2){
-  //     vel = -vel;
-  //   }
-
-  //   timer = 0;
-  // }
-  // last_pos = posl;
-
-  //YOLOTEST
-  // errorl = cmdl - curl;
-  // pwml = kp * errorl;
-
-
+  //update PWM channels based on position
   blockPWM(pwml, posl, &ul, &vl, &wl);
   blockPWM(pwmr, posr, &ur, &vr, &wr);
 
-
   int weakul, weakvl, weakwl;
   if (pwml > 0) {
     blockPWM(weakl, (posl+5) % 6, &weakul, &weakvl, &weakwl);
@@ -271,7 +252,6 @@ void DMA1_Channel1_IRQHandler() {
   ur += weakur;
   vr += weakvr;
   wr += weakwr;
-//  blockPWM(pwmr, posr, &ur, &vr, &wr);
 
   LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
   LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
@@ -280,5 +260,4 @@ void DMA1_Channel1_IRQHandler() {
   RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
   RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
   RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
-  // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);blockPhaseCurrent
 }
diff --git a/Src/main.c b/Src/main.c
index 5a2a393..ba99bed 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -25,40 +25,38 @@
 
 void SystemClock_Config(void);
 
-int cmd1;
-int cmd2;
-int cmd3;
-
-int steer;
-int speed;
-
 extern TIM_HandleTypeDef htim_left;
 extern TIM_HandleTypeDef htim_right;
 extern ADC_HandleTypeDef hadc1;
 extern ADC_HandleTypeDef hadc2;
 extern volatile adc_buf_t adc_buffer;
+extern volatile adc_buf_t adc_buffer;
+
+int cmd1;
+int cmd2;
+int cmd3;
+
+int steer; // global variable for steering. -1000 to 1000
+int speed; // global variable for speed. -1000 to 1000
+
+extern volatile int pwml;  // global variable for pwm left. -1000 to 1000
+extern volatile int pwmr;  // global variable for pwm right. -1000 to 1000
+extern volatile int weakl; // global variable for field weakening left. -1000 to 1000
+extern volatile int weakr; // global variable for field weakening right. -1000 to 1000
+
+extern uint8_t buzzerFreq;    // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
+extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
+
+extern uint8_t enable; // global variable for motor enable
+
+extern volatile uint32_t timeout; // global variable for timeout
+extern float batteryVoltage; // global variable for battery voltage
+
+extern uint8_t nunchuck_data[6];
 #ifdef CONTROL_PPM
 extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
 #endif
 
-extern volatile int pwml;
-extern volatile int pwmr;
-extern volatile int weakl;
-extern volatile int weakr;
-
-volatile int pwmrl = 0;
-
-extern uint8_t buzzerFreq;
-extern uint8_t buzzerPattern;
-
-extern uint8_t enable;
-
-extern volatile uint32_t timeout;
-
-extern float batteryVoltage;
-extern uint8_t nunchuck_data[6];
-
-
 int milli_vel_error_sum = 0;
 
 int main(void) {