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Ascii Debug updates 

- added missing pointer to UART2 input user processing
- added comms.c to Makefile
- fixed #134 : uncomment #define AUTO_CALIBRATION_ENA to disable auto-calibration
- small styling adjustments
This commit is contained in:
EmanuelFeru 2021-01-29 19:47:03 +01:00
parent d5d85c20ec
commit a564f368e2
6 changed files with 41 additions and 35 deletions
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5
Inc/comms.h
View File

@ -23,6 +23,7 @@
#include "stm32f1xx_hal.h"
#if defined(DEBUG_SERIAL_PROTOCOL)
enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
#define typename(x) _Generic((x), \
@ -108,5 +109,5 @@ struct parameter_entry_struct {
const char *help;
};
#endif
#endif // DEBUG_SERIAL_PROTOCOL
#endif // COMMS_H

5
Inc/config.h
View File

@ -172,6 +172,7 @@
#define ADC_MARGIN 100 // ADC input margin applied on the raw ADC min and max to make sure the MIN and MAX values are reached even in the presence of noise
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
#define AUTO_CALIBRATION_ENA // Enable/Disable input auto-calibration by holding power button pressed. Un-comment this if auto-calibration is not needed.
/* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
* Value of COEFFICIENT is in fixdt(1,16,14)
@ -227,7 +228,7 @@
* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
*
*
* DEBUG_SERIAL_ASCII output is:
* DEBUG ASCII output is:
* // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
*
* in1: (int16_t)input1[inIdx].raw); raw input1: ADC1, UART, PWM, PPM, iBUS
@ -243,6 +244,7 @@
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// #define DEBUG_SERIAL_PROTOCOL // uncomment this to send user commands to the board, change parameters and print specific signals (see comms.c for the user commands)
// ########################### END OF DEBUG SERIAL ############################
@ -291,7 +293,6 @@
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#endif
#define DEBUG_SERIAL_PROTOCOL
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#endif

1
Makefile
View File

@ -38,6 +38,7 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
Src/system_stm32f1xx.c \
Src/setup.c \
Src/control.c \
Src/comms.c \
Src/util.c \
Src/main.c \
Src/bldc.c \

4
Src/comms.c
View File

@ -17,7 +17,6 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Includes
#include <stdio.h>
#include <stdlib.h>
@ -30,6 +29,7 @@
#include "util.h"
#include "comms.h"
#if defined(DEBUG_SERIAL_PROTOCOL)
#if defined(DEBUG_SERIAL_PROTOCOL) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3))
#ifdef CONTROL_ADC
@ -636,3 +636,5 @@ void process_debug()
}
#endif
#endif // DEBUG_SERIAL_PROTOCOL

8
Src/main.c
View File

@ -200,7 +200,7 @@ int main(void) {
int16_t board_temp_deg_c;
// Loop until button is released
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) HAL_Delay(10);
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
while(1) {
HAL_Delay(DELAY_IN_MAIN_LOOP); // delay in ms
@ -424,7 +424,9 @@ int main(void) {
// ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
#ifndef DEBUG_SERIAL_PROTOCOL
#if defined(DEBUG_SERIAL_PROTOCOL)
process_debug();
#else
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
input1[inIdx].raw, // 1: INPUT1
input2[inIdx].raw, // 2: INPUT2
@ -434,8 +436,6 @@ int main(void) {
batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
board_temp_adcFilt, // 7: for board temperature calibration
board_temp_deg_c); // 8: for verifying board temperature calibration
#else
process_debug();
#endif
}
#endif

31
Src/util.c
View File

@ -483,6 +483,7 @@ 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.
*/
void adcCalibLim(void) {
#ifdef AUTO_CALIBRATION_ENA
calcAvgSpeed();
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return;
@ -571,6 +572,7 @@ void adcCalibLim(void) {
#endif
#endif
#endif // AUTO_CALIBRATION_ENA
}
/*
* Update Maximum Motor Current Limit (via ADC1) and Maximum Speed Limit (via ADC2)
@ -1063,14 +1065,20 @@ void usart2_rx_check(void)
#endif
#if defined(DEBUG_SERIAL_USART2)
uint8_t *ptr;
if (pos != old_pos) { // Check change in received data
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
usart_process_debug(&rx_buffer_L[old_pos], pos - old_pos); // Process data
} else { // "Overflow" buffer mode
usart_process_debug(&rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First Process data from the end of buffer
ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_L_len - old_pos + pos));
memcpy(ptr, &rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First copy data from the end of buffer
if (pos > 0) { // Check and continue with beginning of buffer
usart_process_debug(&rx_buffer_L[0], pos); // Process remaining data
ptr += rx_buffer_L_len - old_pos;
memcpy(ptr, &rx_buffer_L[0], pos); // Copy remaining data
}
ptr -= rx_buffer_L_len - old_pos;
usart_process_debug(ptr, rx_buffer_L_len - old_pos + pos); // Process data
free(ptr);
}
}
#endif // DEBUG_SERIAL_USART2
@ -1134,19 +1142,18 @@ void usart3_rx_check(void)
#if defined(DEBUG_SERIAL_USART3)
uint8_t *ptr;
if (pos != old_pos) { // Check change in received data
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
usart_process_debug(&rx_buffer_R[old_pos], pos - old_pos); // Process data
} else { // "Overflow" buffer mode
ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_R_len - old_pos + pos));
memcpy(ptr,&rx_buffer_R[old_pos],rx_buffer_R_len - old_pos); // First Process data from the end of buffer
memcpy(ptr, &rx_buffer_R[old_pos], rx_buffer_R_len - old_pos); // First copy data from the end of buffer
if (pos > 0) { // Check and continue with beginning of buffer
ptr += rx_buffer_R_len - old_pos;
memcpy(ptr,&rx_buffer_R[0], pos); // Process remaining data
memcpy(ptr, &rx_buffer_R[0], pos); // Copy remaining data
}
ptr -= rx_buffer_R_len - old_pos;
usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos);
usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos); // Process data
free(ptr);
}
}
@ -1202,15 +1209,7 @@ void usart3_rx_check(void)
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
void usart_process_debug(uint8_t *userCommand, uint32_t len)
{
#ifndef DEBUG_SERIAL_PROTOCOL
for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
printf("Command = %c\r\n", *userCommand);
// handle_input(*userCommand); // -> Create this function to handle the user commands
}
}
#else
#ifdef DEBUG_SERIAL_PROTOCOL
handle_input(userCommand, len);
#endif
}
@ -1542,9 +1541,11 @@ void poweroffPressCheck(void) {
updateCurSpdLim();
beepShort(5);
} else { // Long press: Calibrate ADC Limits
#ifdef AUTO_CALIBRATION_ENA
beepLong(16);
adcCalibLim();
beepShort(5);
#endif
}
} else if (cnt_press > 8) { // Short press: power off (80 ms debounce)
poweroff();