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Fixed timeoutCnt init values

This commit is contained in:
EmanuelFeru 2020-12-20 22:21:01 +01:00
parent 5100371ecc
commit 38d8dc6177
2 changed files with 27 additions and 39 deletions
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2
Src/control.c
View File

@ -10,7 +10,7 @@ TIM_HandleTypeDef TimHandle;
TIM_HandleTypeDef TimHandle2; TIM_HandleTypeDef TimHandle2;
uint8_t ppm_count = 0; uint8_t ppm_count = 0;
uint8_t pwm_count = 0; uint8_t pwm_count = 0;
uint32_t timeoutCntGen = 0; uint32_t timeoutCntGen = TIMEOUT;
uint8_t timeoutFlgGen = 0; uint8_t timeoutFlgGen = 0;
uint8_t nunchuk_data[6] = {0}; uint8_t nunchuk_data[6] = {0};

64
Src/util.c
View File

@ -88,7 +88,7 @@ ExtU rtU_Right; /* External inputs */
ExtY rtY_Right; /* External outputs */ ExtY rtY_Right; /* External outputs */
//--------------- //---------------
uint8_t inIdx; uint8_t inIdx = 0;
#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2) #if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
InputStruct input1[INPUTS_NR] = { {0, 0, 0, PRI_INPUT1}, {0, 0, 0, AUX_INPUT1} }; InputStruct input1[INPUTS_NR] = { {0, 0, 0, PRI_INPUT1}, {0, 0, 0, AUX_INPUT1} };
InputStruct input2[INPUTS_NR] = { {0, 0, 0, PRI_INPUT2}, {0, 0, 0, AUX_INPUT2} }; InputStruct input2[INPUTS_NR] = { {0, 0, 0, PRI_INPUT2}, {0, 0, 0, AUX_INPUT2} };
@ -141,16 +141,16 @@ static int16_t INPUT_MIN; // [-] Input target minimum limitation
#endif #endif
#if defined(CONTROL_ADC) #if defined(CONTROL_ADC)
static uint16_t timeoutCntADC = 0; // Timeout counter for ADC Protection static uint16_t timeoutCntADC = ADC_PROTECT_TIMEOUT; // Timeout counter for ADC Protection
#endif #endif
#if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) #if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
static uint8_t rx_buffer_L[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer static uint8_t rx_buffer_L[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
static uint32_t rx_buffer_L_len = ARRAY_LEN(rx_buffer_L); static uint32_t rx_buffer_L_len = ARRAY_LEN(rx_buffer_L);
#endif #endif
#if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) #if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
static uint16_t timeoutCntSerial_L = 0; // Timeout counter for Rx Serial command static uint16_t timeoutCntSerial_L = SERIAL_TIMEOUT; // Timeout counter for Rx Serial command
static uint8_t timeoutFlgSerial_L = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data) static uint8_t timeoutFlgSerial_L = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif #endif
#if defined(SIDEBOARD_SERIAL_USART2) #if defined(SIDEBOARD_SERIAL_USART2)
SerialSideboard Sideboard_L; SerialSideboard Sideboard_L;
@ -159,12 +159,12 @@ static uint32_t Sideboard_L_len = sizeof(Sideboard_L);
#endif #endif
#if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) #if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
static uint8_t rx_buffer_R[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer static uint8_t rx_buffer_R[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
static uint32_t rx_buffer_R_len = ARRAY_LEN(rx_buffer_R); static uint32_t rx_buffer_R_len = ARRAY_LEN(rx_buffer_R);
#endif #endif
#if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) #if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
static uint16_t timeoutCntSerial_R = 0; // Timeout counter for Rx Serial command static uint16_t timeoutCntSerial_R = SERIAL_TIMEOUT; // Timeout counter for Rx Serial command
static uint8_t timeoutFlgSerial_R = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data) static uint8_t timeoutFlgSerial_R = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif #endif
#if defined(SIDEBOARD_SERIAL_USART3) #if defined(SIDEBOARD_SERIAL_USART3)
SerialSideboard Sideboard_R; SerialSideboard Sideboard_R;
@ -482,6 +482,7 @@ void calcAvgSpeed(void) {
* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase. * The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
*/ */
void adcCalibLim(void) { void adcCalibLim(void) {
calcAvgSpeed();
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return; return;
} }
@ -578,6 +579,7 @@ void adcCalibLim(void) {
* - press the power button to confirm or wait for the 10 sec timeout * - press the power button to confirm or wait for the 10 sec timeout
*/ */
void updateCurSpdLim(void) { void updateCurSpdLim(void) {
calcAvgSpeed();
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return; return;
} }
@ -924,10 +926,8 @@ void handleTimeout(void) {
if (timeoutCntSerial_L++ >= SERIAL_TIMEOUT) { // Timeout qualification if (timeoutCntSerial_L++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlgSerial_L = 1; // Timeout detected timeoutFlgSerial_L = 1; // Timeout detected
timeoutCntSerial_L = SERIAL_TIMEOUT; // Limit timout counter value timeoutCntSerial_L = SERIAL_TIMEOUT; // Limit timout counter value
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2) && (SIDEBOARD_SERIAL_USART2 == 1) // Switch to Primary input in case of Timeout on Auxiliary input #if defined(DUAL_INPUTS) && ((defined(CONTROL_SERIAL_USART2) && CONTROL_SERIAL_USART2 == 1) || (defined(SIDEBOARD_SERIAL_USART2) && SIDEBOARD_SERIAL_USART2 == 1))
inIdx = !SIDEBOARD_SERIAL_USART2; inIdx = 0; // Switch to Primary input in case of Timeout on Auxiliary input
#elif defined(DUAL_INPUTS) && (CONTROL_SERIAL_USART2 == 1)
inIdx = !CONTROL_SERIAL_USART2;
#endif #endif
} else { // No Timeout } else { // No Timeout
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2) #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
@ -936,8 +936,8 @@ void handleTimeout(void) {
} else { } else {
inIdx = !SIDEBOARD_SERIAL_USART2; inIdx = !SIDEBOARD_SERIAL_USART2;
} }
#elif defined(DUAL_INPUTS) && (CONTROL_SERIAL_USART2 == 1) #elif defined(DUAL_INPUTS) && (defined(CONTROL_SERIAL_USART2) && CONTROL_SERIAL_USART2 == 1)
inIdx = CONTROL_SERIAL_USART2; inIdx = 1; // Switch to Auxiliary input in case of NO Timeout on Auxiliary input
#endif #endif
} }
#if (defined(CONTROL_SERIAL_USART2) && CONTROL_SERIAL_USART2 == 0) || (defined(SIDEBOARD_SERIAL_USART2) && SIDEBOARD_SERIAL_USART2 == 0 && !defined(VARIANT_HOVERBOARD)) #if (defined(CONTROL_SERIAL_USART2) && CONTROL_SERIAL_USART2 == 0) || (defined(SIDEBOARD_SERIAL_USART2) && SIDEBOARD_SERIAL_USART2 == 0 && !defined(VARIANT_HOVERBOARD))
@ -949,10 +949,8 @@ void handleTimeout(void) {
if (timeoutCntSerial_R++ >= SERIAL_TIMEOUT) { // Timeout qualification if (timeoutCntSerial_R++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlgSerial_R = 1; // Timeout detected timeoutFlgSerial_R = 1; // Timeout detected
timeoutCntSerial_R = SERIAL_TIMEOUT; // Limit timout counter value timeoutCntSerial_R = SERIAL_TIMEOUT; // Limit timout counter value
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3) && (SIDEBOARD_SERIAL_USART3 == 1) // Switch to Primary input in case of Timeout on Auxiliary input #if defined(DUAL_INPUTS) && ((defined(CONTROL_SERIAL_USART3) && CONTROL_SERIAL_USART3 == 1) || (defined(SIDEBOARD_SERIAL_USART3) && SIDEBOARD_SERIAL_USART3 == 1))
inIdx = !SIDEBOARD_SERIAL_USART3; inIdx = 0; // Switch to Primary input in case of Timeout on Auxiliary input
#elif defined(DUAL_INPUTS) && (CONTROL_SERIAL_USART3 == 1)
inIdx = !CONTROL_SERIAL_USART3;
#endif #endif
} else { // No Timeout } else { // No Timeout
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3) #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
@ -961,8 +959,8 @@ void handleTimeout(void) {
} else { } else {
inIdx = !SIDEBOARD_SERIAL_USART3; inIdx = !SIDEBOARD_SERIAL_USART3;
} }
#elif defined(DUAL_INPUTS) && (CONTROL_SERIAL_USART3 == 1) #elif defined(DUAL_INPUTS) && (defined(CONTROL_SERIAL_USART3) && CONTROL_SERIAL_USART3 == 1)
inIdx = CONTROL_SERIAL_USART3; inIdx = 1; // Switch to Auxiliary input in case of NO Timeout on Auxiliary input
#endif #endif
} }
#if (defined(CONTROL_SERIAL_USART3) && CONTROL_SERIAL_USART3 == 0) || (defined(SIDEBOARD_SERIAL_USART3) && SIDEBOARD_SERIAL_USART3 == 0 && !defined(VARIANT_HOVERBOARD)) #if (defined(CONTROL_SERIAL_USART3) && CONTROL_SERIAL_USART3 == 0) || (defined(SIDEBOARD_SERIAL_USART3) && SIDEBOARD_SERIAL_USART3 == 0 && !defined(VARIANT_HOVERBOARD))
@ -976,31 +974,21 @@ void handleTimeout(void) {
#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(VARIANT_TRANSPOTTER) || \ #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(VARIANT_TRANSPOTTER) || \
defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT) defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
if (timeoutCntGen++ >= TIMEOUT) { // Timeout qualification if (timeoutCntGen++ >= TIMEOUT) { // Timeout qualification
#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(VARIANT_TRANSPOTTER) || \ #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(VARIANT_TRANSPOTTER) || \
(defined(CONTROL_PPM_LEFT) && CONTROL_PPM_LEFT == 0) || (defined(CONTROL_PPM_RIGHT) && CONTROL_PPM_RIGHT == 0) || \ (defined(CONTROL_PPM_LEFT) && CONTROL_PPM_LEFT == 0) || (defined(CONTROL_PPM_RIGHT) && CONTROL_PPM_RIGHT == 0) || \
(defined(CONTROL_PWM_LEFT) && CONTROL_PWM_LEFT == 0) || (defined(CONTROL_PWM_RIGHT) && CONTROL_PWM_RIGHT == 0) (defined(CONTROL_PWM_LEFT) && CONTROL_PWM_LEFT == 0) || (defined(CONTROL_PWM_RIGHT) && CONTROL_PWM_RIGHT == 0)
timeoutFlgGen = 1; // Report Timeout only on the Primary Input timeoutFlgGen = 1; // Report Timeout only on the Primary Input
timeoutCntGen = TIMEOUT; timeoutCntGen = TIMEOUT;
#endif #endif
#if defined(DUAL_INPUTS) && defined(CONTROL_PPM_LEFT) #if defined(DUAL_INPUTS) && ((defined(CONTROL_PPM_LEFT) && CONTROL_PPM_LEFT == 1) || (defined(CONTROL_PPM_RIGHT) && CONTROL_PPM_RIGHT == 1) || \
inIdx = !CONTROL_PPM_LEFT; (defined(CONTROL_PWM_LEFT) && CONTROL_PWM_LEFT == 1) || (defined(CONTROL_PWM_RIGHT) && CONTROL_PWM_RIGHT == 1))
#elif defined(DUAL_INPUTS) && defined(CONTROL_PPM_RIGHT) inIdx = 0; // Switch to Primary input in case of Timeout on Auxiliary input
inIdx = !CONTROL_PPM_RIGHT;
#elif defined(DUAL_INPUTS) && defined(CONTROL_PWM_LEFT)
inIdx = !CONTROL_PWM_LEFT;
#elif defined(DUAL_INPUTS) && defined(CONTROL_PWM_RIGHT)
inIdx = !CONTROL_PWM_RIGHT;
#endif #endif
} else { } else {
#if defined(DUAL_INPUTS) && defined(CONTROL_PPM_LEFT) #if defined(DUAL_INPUTS) && ((defined(CONTROL_PPM_LEFT) && CONTROL_PPM_LEFT == 1) || (defined(CONTROL_PPM_RIGHT) && CONTROL_PPM_RIGHT == 1) || \
inIdx = CONTROL_PPM_LEFT; (defined(CONTROL_PWM_LEFT) && CONTROL_PWM_LEFT == 1) || (defined(CONTROL_PWM_RIGHT) && CONTROL_PWM_RIGHT == 1))
#elif defined(DUAL_INPUTS) && defined(CONTROL_PPM_RIGHT) inIdx = 1; // Switch to Auxiliary input in case of NO Timeout on Auxiliary input
inIdx = CONTROL_PPM_RIGHT;
#elif defined(DUAL_INPUTS) && defined(CONTROL_PWM_LEFT)
inIdx = CONTROL_PWM_LEFT;
#elif defined(DUAL_INPUTS) && defined(CONTROL_PWM_RIGHT)
inIdx = CONTROL_PWM_RIGHT;
#endif #endif
} }
#endif #endif