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558759b2c5
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@ -298,7 +298,7 @@
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#define PWM_CH2_MIN -1000 // (-1000 - 0)
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#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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#define STEER_COEFFICIENT 0 // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
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#define STEER_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
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// #define SUPPORT_BUTTONS // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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// #define INVERT_R_DIRECTION
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// #define INVERT_L_DIRECTION
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@ -88,22 +88,20 @@ void PPM_Init(void) {
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#ifdef CONTROL_PWM
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uint16_t pwm_captured_ch1_value = 500;
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uint16_t pwm_captured_ch2_value = 500;
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uint32_t pwm_timeout_ch1 = 0;
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uint32_t pwm_timeout_ch2 = 0;
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uint32_t pwm_timeout = 0;
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void PWM_ISR_CH1_Callback(void) {
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// Dummy loop with 16 bit count wrap around
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uint16_t rc_signal = TIM3->CNT;
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TIM3->CNT = 0;
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uint16_t rc_signal = TIM2->CNT;
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TIM2->CNT = 0;
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if (IN_RANGE(rc_signal, 900, 2100)){
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timeout = 0;
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pwm_timeout_ch1 = 0;
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pwm_timeout = 0;
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pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
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}
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}
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void PWM_ISR_CH2_Callback(void) {
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// Dummy loop with 16 bit count wrap around
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uint16_t rc_signal = TIM2->CNT;
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@ -111,27 +109,33 @@ void PWM_ISR_CH2_Callback(void) {
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if (IN_RANGE(rc_signal, 900, 2100)){
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timeout = 0;
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pwm_timeout_ch2 = 0;
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pwm_timeout = 0;
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pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
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}
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}
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// SysTick executes once each ms
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void PWM_SysTick_Callback(void) {
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pwm_timeout_ch1++;
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pwm_timeout_ch2++;
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// Stop after 500 ms without PWM signal
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if(pwm_timeout_ch1 > 500) {
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pwm_timeout++;
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// Stop after 500 ms without PPM signal
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if(pwm_timeout > 500) {
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pwm_captured_ch1_value = 500;
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pwm_timeout_ch1 = 500; // limit the timeout to max timeout value of 500 ms
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}
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if(pwm_timeout_ch2 > 500) {
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pwm_captured_ch2_value = 500;
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pwm_timeout_ch2 = 500; // limit the timeout to max timeout value of 500 ms
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pwm_timeout = 0;
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}
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}
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void PWM_Init(void) {
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// PWM Timer (TIM2)
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__HAL_RCC_TIM2_CLK_ENABLE();
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TimHandle.Instance = TIM2;
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TimHandle.Init.Period = UINT16_MAX;
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TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
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TimHandle.Init.ClockDivision = 0;
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TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
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HAL_TIM_Base_Init(&TimHandle);
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// Channel 1 (steering)
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GPIO_InitTypeDef GPIO_InitStruct2;
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// Configure GPIO pin : PA2
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@ -141,18 +145,10 @@ void PWM_Init(void) {
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GPIO_InitStruct2.Pull = GPIO_PULLDOWN;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct2);
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__HAL_RCC_TIM3_CLK_ENABLE();
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TimHandle2.Instance = TIM3;
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TimHandle2.Init.Period = UINT16_MAX;
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TimHandle2.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
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TimHandle2.Init.ClockDivision = 0;
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TimHandle2.Init.CounterMode = TIM_COUNTERMODE_UP;
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HAL_TIM_Base_Init(&TimHandle2);
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// EXTI interrupt init
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HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(EXTI2_IRQn);
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HAL_TIM_Base_Start(&TimHandle2);
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// Channel 2 (speed)
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GPIO_InitTypeDef GPIO_InitStruct;
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@ -163,34 +159,12 @@ void PWM_Init(void) {
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GPIO_InitStruct.Pull = GPIO_PULLDOWN;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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__HAL_RCC_TIM2_CLK_ENABLE();
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TimHandle.Instance = TIM2;
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TimHandle.Init.Period = UINT16_MAX;
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TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
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TimHandle.Init.ClockDivision = 0;
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TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
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HAL_TIM_Base_Init(&TimHandle);
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/* EXTI interrupt init*/
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HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(EXTI3_IRQn);
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// Start timer
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HAL_TIM_Base_Start(&TimHandle);
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#ifdef SUPPORT_BUTTONS
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/*Configure GPIO pin : PB10 */
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GPIO_InitStruct.Pin = BUTTON1_RIGHT_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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HAL_GPIO_Init(BUTTON1_RIGHT_PORT, &GPIO_InitStruct);
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/*Configure GPIO pin : PB11 */
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GPIO_InitStruct2.Pin = BUTTON2_RIGHT_PIN;
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GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
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GPIO_InitStruct2.Pull = GPIO_PULLUP;
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HAL_GPIO_Init(BUTTON2_RIGHT_PORT, &GPIO_InitStruct2);
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#endif
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}
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#endif
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