dual test
This commit is contained in:
Rene Hopf
parent
b95d11bd57
commit
cd72ac6ded
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@ -1,3 +1,23 @@
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/*
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* This file is part of the stmbl project.
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*
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* Copyright (C) 2013-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2013-2018 Nico Stute <crinq@crinq.de>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
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||||
*
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* This program is distributed in the hope that it will be useful,
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||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "stm32f1xx_hal.h"
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124
Src/gpio.c
124
Src/gpio.c
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@ -1,43 +1,23 @@
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/**
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******************************************************************************
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* File Name : gpio.c
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* Description : This file provides code for the configuration
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* of all used GPIO pins.
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******************************************************************************
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** This notice applies to any and all portions of this file
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* that are not between comment pairs USER CODE BEGIN and
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* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
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* are owned by their respective copyright owners.
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*
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* COPYRIGHT(c) 2017 STMicroelectronics
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*
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* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/*
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* This file is part of the stmbl project.
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*
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* Copyright (C) 2013-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2013-2018 Nico Stute <crinq@crinq.de>
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*
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* This program is free software: you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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||||
*
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* This program is distributed in the hope that it will be useful,
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||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "defines.h"
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void MX_GPIO_Init(void)
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@ -132,23 +112,23 @@ void MX_GPIO_Init(void)
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GPIO_InitStruct.Pin = LEFT_TIM_WL_PIN;
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HAL_GPIO_Init(LEFT_TIM_WL_PORT, &GPIO_InitStruct);
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// GPIO_InitStruct.Pin = RIGHT_TIM_UH_PIN;
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// HAL_GPIO_Init(RIGHT_TIM_UH_PORT, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = RIGHT_TIM_UH_PIN;
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HAL_GPIO_Init(RIGHT_TIM_UH_PORT, &GPIO_InitStruct);
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// GPIO_InitStruct.Pin = RIGHT_TIM_VH_PIN;
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// HAL_GPIO_Init(RIGHT_TIM_VH_PORT, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = RIGHT_TIM_VH_PIN;
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HAL_GPIO_Init(RIGHT_TIM_VH_PORT, &GPIO_InitStruct);
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// GPIO_InitStruct.Pin = RIGHT_TIM_WH_PIN;
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// HAL_GPIO_Init(RIGHT_TIM_WH_PORT, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = RIGHT_TIM_WH_PIN;
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HAL_GPIO_Init(RIGHT_TIM_WH_PORT, &GPIO_InitStruct);
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// GPIO_InitStruct.Pin = RIGHT_TIM_UL_PIN;
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// HAL_GPIO_Init(RIGHT_TIM_UL_PORT, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = RIGHT_TIM_UL_PIN;
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HAL_GPIO_Init(RIGHT_TIM_UL_PORT, &GPIO_InitStruct);
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// GPIO_InitStruct.Pin = RIGHT_TIM_VL_PIN;
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// HAL_GPIO_Init(RIGHT_TIM_VL_PORT, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = RIGHT_TIM_VL_PIN;
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HAL_GPIO_Init(RIGHT_TIM_VL_PORT, &GPIO_InitStruct);
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// GPIO_InitStruct.Pin = RIGHT_TIM_WL_PIN;
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// HAL_GPIO_Init(RIGHT_TIM_WL_PORT, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = RIGHT_TIM_WL_PIN;
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HAL_GPIO_Init(RIGHT_TIM_WL_PORT, &GPIO_InitStruct);
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}
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TIM_HandleTypeDef htim_right;
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@ -216,10 +196,6 @@ void MX_TIM_Init(void){
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_Error_Handler(__FILE__, __LINE__);
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}
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htim_left.Instance = LEFT_TIM;
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htim_left.Init.Prescaler = 0;
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htim_left.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
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@ -284,30 +260,28 @@ void MX_TIM_Init(void){
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HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_2);
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HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_3);
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// HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_1);
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// HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_2);
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// HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_3);
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// HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_1);
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// HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_2);
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// HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_3);
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HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_3);
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HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_1);
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HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_2);
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HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_3);
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htim_left.Instance->RCR = 1;
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__HAL_TIM_ENABLE(&htim_right);
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}
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ADC_HandleTypeDef hadc1;
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ADC_HandleTypeDef hadc2;
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volatile adc_buf_t adc_buffer[1];
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volatile adc_buf_t adc_buffer[3];
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void MX_ADC1_Init(void)
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{
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ADC_MultiModeTypeDef multimode;
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ADC_ChannelConfTypeDef sConfig;
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__HAL_RCC_ADC1_CLK_ENABLE();
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// HAL_ADC_DeInit(&hadc1);
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@ -315,12 +289,12 @@ void MX_ADC1_Init(void)
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/**Common config
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*/
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hadc1.Instance = ADC1;
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hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;//ADC_SCAN_ENABLE;
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hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
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hadc1.Init.ContinuousConvMode = DISABLE;
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hadc1.Init.DiscontinuousConvMode = DISABLE;
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hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
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hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc1.Init.NbrOfConversion = 1;
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hadc1.Init.NbrOfConversion = 3;
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if (HAL_ADC_Init(&hadc1) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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@ -333,11 +307,11 @@ void MX_ADC1_Init(void)
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/**Configure the ADC multi-mode
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*/
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// multimode.Mode = ADC_DUALMODE_REGSIMULT;
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// if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
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// {
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// _Error_Handler(__FILE__, __LINE__);
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// }
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multimode.Mode = ADC_DUALMODE_REGSIMULT;
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if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configure Regular Channel
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*/
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@ -381,7 +355,7 @@ void MX_ADC1_Init(void)
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__HAL_RCC_DMA1_CLK_ENABLE();
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DMA1_Channel1->CCR = 0;
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DMA1_Channel1->CNDTR = 1;
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DMA1_Channel1->CNDTR = 3;
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DMA1_Channel1->CPAR = (uint32_t)&(ADC1->DR);
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DMA1_Channel1->CMAR = (uint32_t)adc_buffer;
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DMA1_Channel1->CCR = DMA_CCR_MSIZE_1 | DMA_CCR_PSIZE_1 | DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_TCIE;
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@ -408,7 +382,7 @@ void MX_ADC2_Init(void)
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hadc2.Init.DiscontinuousConvMode = DISABLE;
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hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc2.Init.NbrOfConversion = 1;
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hadc2.Init.NbrOfConversion = 3;
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if (HAL_ADC_Init(&hadc2) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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294
Src/main.c
294
Src/main.c
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@ -1,82 +1,44 @@
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/**
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******************************************************************************
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* File Name : main.c
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* Description : Main program body
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******************************************************************************
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** This notice applies to any and all portions of this file
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||||
* that are not between comment pairs USER CODE BEGIN and
|
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* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
|
||||
* are owned by their respective copyright owners.
|
||||
*
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* COPYRIGHT(c) 2017 STMicroelectronics
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||||
*
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||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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******************************************************************************
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||||
*/
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/*
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||||
* This file is part of the stmbl project.
|
||||
*
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||||
* Copyright (C) 2013-2018 Rene Hopf <renehopf@mac.com>
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||||
* Copyright (C) 2013-2018 Nico Stute <crinq@crinq.de>
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||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32f1xx_hal.h"
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#include "defines.h"
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#include "gpio.h"
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE END PFP */
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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extern TIM_HandleTypeDef htim_left;
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extern TIM_HandleTypeDef htim_right;
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extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc2;
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extern volatile adc_buf_t adc_buffer[1];
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extern volatile adc_buf_t adc_buffer[3];
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volatile int posl = 0;
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volatile int posr = 0;
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volatile int pwml = 0;
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volatile int pwmr = 0;
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volatile int pos = 0;
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const int pwm_res = 64000000 / 2 / PWM_FREQ;
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volatile int pwm = 0;
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uint8_t hall_to_pos[8] = {
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const uint8_t hall_to_pos[8] = {
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0,
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0,
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2,
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@ -87,6 +49,45 @@ uint8_t hall_to_pos[8] = {
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0,
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};
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inline void block(int pwm, int pos, int* u, int* v, int* w){
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switch(pos){
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case 0:
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*u = 0;
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*v = pwm;
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*w = -pwm;
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break;
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case 1:
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*u = -pwm;
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*v = pwm;
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*w = 0;
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break;
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case 2:
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*u = -pwm;
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*v = 0;
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*w = pwm;
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break;
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case 3:
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*u = 0;
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*v = -pwm;
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*w = pwm;
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break;
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case 4:
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*u = pwm;
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*v = -pwm;
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*w = 0;
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break;
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case 5:
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*u = pwm;
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*v = 0;
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*w = -pwm;
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break;
|
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default:
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*u = 0;
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*v = 0;
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*w = 0;
|
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}
|
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}
|
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|
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int last_pos = 0;
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int timer = 0;
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int max_time = PWM_FREQ / 10;
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@ -94,85 +95,65 @@ volatile int vel = 0;
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|
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void DMA1_Channel1_IRQHandler(){
|
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DMA1->IFCR = DMA_IFCR_CTCIF1;
|
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int u = 0;
|
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int v = 0;
|
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int w = 0;
|
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HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
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|
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uint8_t hall_u = HAL_GPIO_ReadPin(LEFT_HALL_U_PORT, LEFT_HALL_U_PIN);
|
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uint8_t hall_v = HAL_GPIO_ReadPin(LEFT_HALL_V_PORT, LEFT_HALL_V_PIN);
|
||||
uint8_t hall_w = HAL_GPIO_ReadPin(LEFT_HALL_W_PORT, LEFT_HALL_W_PIN);
|
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int ul = 0;
|
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int vl = 0;
|
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int wl = 0;
|
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|
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uint8_t hall = hall_u * 1 + hall_v * 2 + hall_w * 4;
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pos = hall_to_pos[hall];
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pos += 2;
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pos %= 6;
|
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int ur = 0;
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int vr = 0;
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int wr = 0;
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|
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uint8_t hall_ul = HAL_GPIO_ReadPin(LEFT_HALL_U_PORT, LEFT_HALL_U_PIN);
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uint8_t hall_vl = HAL_GPIO_ReadPin(LEFT_HALL_V_PORT, LEFT_HALL_V_PIN);
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uint8_t hall_wl = HAL_GPIO_ReadPin(LEFT_HALL_W_PORT, LEFT_HALL_W_PIN);
|
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|
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uint8_t hall_ur = HAL_GPIO_ReadPin(RIGHT_HALL_U_PORT, RIGHT_HALL_U_PIN);
|
||||
uint8_t hall_vr = HAL_GPIO_ReadPin(RIGHT_HALL_V_PORT, RIGHT_HALL_V_PIN);
|
||||
uint8_t hall_wr = HAL_GPIO_ReadPin(RIGHT_HALL_W_PORT, RIGHT_HALL_W_PIN);
|
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|
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uint8_t halll = hall_ul * 1 + hall_vl * 2 + hall_wl * 4;
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posl = hall_to_pos[halll];
|
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posl += 2;
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posl %= 6;
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|
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uint8_t hallr = hall_ur * 1 + hall_vr * 2 + hall_wr * 4;
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posr = hall_to_pos[hallr];
|
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posr += 2;
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posr %= 6;
|
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|
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timer++;
|
||||
|
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if(timer > max_time){
|
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timer = max_time;
|
||||
vel = 0;
|
||||
}
|
||||
|
||||
if(pos != last_pos){
|
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vel = 1000 * PWM_FREQ / timer / P / 6 * 2;
|
||||
|
||||
if((pos - last_pos + 6) % 6 > 2){
|
||||
vel = -vel;
|
||||
}
|
||||
|
||||
timer = 0;
|
||||
}
|
||||
last_pos = pos;
|
||||
|
||||
switch(pos){
|
||||
case 0:
|
||||
u = 0;
|
||||
v = pwm;
|
||||
w = -pwm;
|
||||
break;
|
||||
case 1:
|
||||
u = -pwm;
|
||||
v = pwm;
|
||||
w = 0;
|
||||
break;
|
||||
case 2:
|
||||
u = -pwm;
|
||||
v = 0;
|
||||
w = pwm;
|
||||
break;
|
||||
case 3:
|
||||
u = 0;
|
||||
v = -pwm;
|
||||
w = pwm;
|
||||
break;
|
||||
case 4:
|
||||
u = pwm;
|
||||
v = -pwm;
|
||||
w = 0;
|
||||
break;
|
||||
case 5:
|
||||
u = pwm;
|
||||
v = 0;
|
||||
w = -pwm;
|
||||
break;
|
||||
default:
|
||||
u = 0;
|
||||
v = 0;
|
||||
w = 0;
|
||||
}
|
||||
|
||||
LEFT_TIM->LEFT_TIM_U = CLAMP(u + pwm_res / 2, 0, pwm_res);
|
||||
LEFT_TIM->LEFT_TIM_V = CLAMP(v + pwm_res / 2, 0, pwm_res);
|
||||
LEFT_TIM->LEFT_TIM_W = CLAMP(w + pwm_res / 2, 0, pwm_res);
|
||||
// while(!(ADC1->SR & 2)){
|
||||
|
||||
// if(timer > max_time){
|
||||
// timer = max_time;
|
||||
// vel = 0;
|
||||
// }
|
||||
// while(!(DMA1->ISR & 2)){}
|
||||
// DMA1->IFCR = 1;
|
||||
|
||||
// }
|
||||
|
||||
// if(pos != last_pos){
|
||||
// vel = 1000 * PWM_FREQ / timer / P / 6 * 2;
|
||||
|
||||
// if((pos - last_pos + 6) % 6 > 2){
|
||||
// vel = -vel;
|
||||
// }
|
||||
|
||||
// timer = 0;
|
||||
// }
|
||||
// last_pos = pos;
|
||||
|
||||
block(pwml, posl, &ul, &vl, &wl);
|
||||
block(pwmr, posr, &ur, &vr, &wr);
|
||||
|
||||
|
||||
LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 0, pwm_res);
|
||||
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 0, pwm_res);
|
||||
LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 0, pwm_res);
|
||||
|
||||
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 0, pwm_res);
|
||||
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 0, pwm_res);
|
||||
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 0, pwm_res);
|
||||
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
|
||||
}
|
||||
|
||||
int milli_vel_error_sum = 0;
|
||||
|
|
@ -200,23 +181,24 @@ int main(void)
|
|||
while (1)
|
||||
{
|
||||
HAL_Delay(0);
|
||||
int milli_cur = 3000;
|
||||
int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
|
||||
// pwm = milli_volt * pwm_res / MILLI_V;
|
||||
// int milli_cur = 3000;
|
||||
// int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
|
||||
// // pwm = milli_volt * pwm_res / MILLI_V;
|
||||
|
||||
int milli_vel_cmd = 200;
|
||||
int milli_vel_error = milli_vel_cmd - vel;
|
||||
milli_vel_error_sum += milli_vel_error;
|
||||
milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
|
||||
pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
|
||||
// int milli_vel_cmd = 200;
|
||||
// int milli_vel_error = milli_vel_cmd - vel;
|
||||
// milli_vel_error_sum += milli_vel_error;
|
||||
// milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
|
||||
// pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
|
||||
pwml = 100;
|
||||
pwmr = 100;
|
||||
|
||||
|
||||
if(vel > milli_vel_cmd){
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
|
||||
}
|
||||
else{
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
|
||||
}
|
||||
// if(vel > milli_vel_cmd){
|
||||
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
|
||||
// }
|
||||
// else{
|
||||
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -313,13 +295,3 @@ void assert_failed(uint8_t* file, uint32_t line)
|
|||
}
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
|
|
|
|||
Loading…
Reference in New Issue