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
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@ -23,6 +23,7 @@
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#include "stm32f1xx_hal.h"
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#if defined(DEBUG_SERIAL_PROTOCOL)
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enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
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#define typename(x) _Generic((x), \
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@ -108,5 +109,5 @@ struct parameter_entry_struct {
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const char *help;
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};
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#endif
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#endif // DEBUG_SERIAL_PROTOCOL
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#endif // COMMS_H
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@ -172,6 +172,7 @@
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#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
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#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
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#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
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#define AUTO_CALIBRATION_ENA // Enable/Disable input auto-calibration by holding power button pressed. Un-comment this if auto-calibration is not needed.
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/* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
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* Value of COEFFICIENT is in fixdt(1,16,14)
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@ -227,7 +228,7 @@
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* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
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*
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*
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* DEBUG_SERIAL_ASCII output is:
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* DEBUG ASCII output is:
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* // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
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*
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* in1: (int16_t)input1[inIdx].raw); raw input1: ADC1, UART, PWM, PPM, iBUS
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@ -243,6 +244,7 @@
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// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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// #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)
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// ########################### END OF DEBUG SERIAL ############################
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@ -291,7 +293,6 @@
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#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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#endif
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#define DEBUG_SERIAL_PROTOCOL
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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#endif
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1
Makefile
1
Makefile
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@ -38,6 +38,7 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
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Src/system_stm32f1xx.c \
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Src/setup.c \
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Src/control.c \
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Src/comms.c \
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Src/util.c \
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Src/main.c \
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Src/bldc.c \
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@ -17,7 +17,6 @@
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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 <stdio.h>
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#include <stdlib.h>
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@ -30,6 +29,7 @@
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#include "util.h"
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#include "comms.h"
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#if defined(DEBUG_SERIAL_PROTOCOL)
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#if defined(DEBUG_SERIAL_PROTOCOL) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3))
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#ifdef CONTROL_ADC
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@ -636,3 +636,5 @@ void process_debug()
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}
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#endif
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#endif // DEBUG_SERIAL_PROTOCOL
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@ -200,7 +200,7 @@ int main(void) {
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int16_t board_temp_deg_c;
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// Loop until button is released
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while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) HAL_Delay(10);
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while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
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while(1) {
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HAL_Delay(DELAY_IN_MAIN_LOOP); // delay in ms
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@ -424,7 +424,9 @@ int main(void) {
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// ####### DEBUG SERIAL OUT #######
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#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
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if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
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#ifndef DEBUG_SERIAL_PROTOCOL
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#if defined(DEBUG_SERIAL_PROTOCOL)
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process_debug();
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#else
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printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
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input1[inIdx].raw, // 1: INPUT1
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input2[inIdx].raw, // 2: INPUT2
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@ -434,8 +436,6 @@ int main(void) {
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batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
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board_temp_adcFilt, // 7: for board temperature calibration
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board_temp_deg_c); // 8: for verifying board temperature calibration
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#else
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process_debug();
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#endif
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}
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#endif
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37
Src/util.c
37
Src/util.c
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@ -483,6 +483,7 @@ void calcAvgSpeed(void) {
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* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
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*/
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void adcCalibLim(void) {
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#ifdef AUTO_CALIBRATION_ENA
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calcAvgSpeed();
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if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
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return;
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@ -571,6 +572,7 @@ void adcCalibLim(void) {
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#endif
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#endif
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#endif // AUTO_CALIBRATION_ENA
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}
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/*
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* Update Maximum Motor Current Limit (via ADC1) and Maximum Speed Limit (via ADC2)
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@ -1063,14 +1065,20 @@ void usart2_rx_check(void)
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#endif
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#if defined(DEBUG_SERIAL_USART2)
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uint8_t *ptr;
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if (pos != old_pos) { // Check change in received data
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if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
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usart_process_debug(&rx_buffer_L[old_pos], pos - old_pos); // Process data
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} else { // "Overflow" buffer mode
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usart_process_debug(&rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First Process data from the end of buffer
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ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_L_len - old_pos + pos));
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memcpy(ptr, &rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First copy data from the end of buffer
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if (pos > 0) { // Check and continue with beginning of buffer
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usart_process_debug(&rx_buffer_L[0], pos); // Process remaining data
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ptr += rx_buffer_L_len - old_pos;
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memcpy(ptr, &rx_buffer_L[0], pos); // Copy remaining data
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}
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ptr -= rx_buffer_L_len - old_pos;
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usart_process_debug(ptr, rx_buffer_L_len - old_pos + pos); // Process data
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free(ptr);
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}
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}
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#endif // DEBUG_SERIAL_USART2
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@ -1134,20 +1142,19 @@ void usart3_rx_check(void)
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#if defined(DEBUG_SERIAL_USART3)
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uint8_t *ptr;
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if (pos != old_pos) { // Check change in received data
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if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
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usart_process_debug(&rx_buffer_R[old_pos], pos - old_pos); // Process data
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} else { // "Overflow" buffer mode
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ptr = (uint8_t *) malloc( sizeof(uint8_t) * (rx_buffer_R_len - old_pos + pos) );
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memcpy(ptr,&rx_buffer_R[old_pos],rx_buffer_R_len - old_pos); // First Process data from the end of buffer
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ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_R_len - old_pos + pos));
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memcpy(ptr, &rx_buffer_R[old_pos], rx_buffer_R_len - old_pos); // First copy data from the end of buffer
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if (pos > 0) { // Check and continue with beginning of buffer
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ptr += rx_buffer_R_len - old_pos;
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memcpy(ptr,&rx_buffer_R[0], pos); // Process remaining data
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memcpy(ptr, &rx_buffer_R[0], pos); // Copy remaining data
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}
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ptr -= rx_buffer_R_len - old_pos;
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usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos);
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free( ptr );
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usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos); // Process data
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free(ptr);
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}
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}
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#endif // DEBUG_SERIAL_USART3
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@ -1202,16 +1209,8 @@ void usart3_rx_check(void)
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#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
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void usart_process_debug(uint8_t *userCommand, uint32_t len)
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{
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#ifndef DEBUG_SERIAL_PROTOCOL
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for (; len > 0; len--, userCommand++) {
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if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
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printf("Command = %c\r\n", *userCommand);
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// handle_input(*userCommand); // -> Create this function to handle the user commands
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}
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}
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#else
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handle_input(userCommand,len);
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#ifdef DEBUG_SERIAL_PROTOCOL
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handle_input(userCommand, len);
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#endif
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}
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@ -1542,9 +1541,11 @@ void poweroffPressCheck(void) {
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updateCurSpdLim();
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beepShort(5);
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} else { // Long press: Calibrate ADC Limits
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#ifdef AUTO_CALIBRATION_ENA
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beepLong(16);
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adcCalibLim();
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beepShort(5);
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#endif
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}
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} else if (cnt_press > 8) { // Short press: power off (80 ms debounce)
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poweroff();
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