Merge pull request #113 from larsmm/master
printf support and improvements
This commit is contained in:
EmanuelFeru
GitHub
commit
ae3f041ae6
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@ -23,15 +23,15 @@
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// *******************************************************************
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// ########################## DEFINES ##########################
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#define HOVER_SERIAL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
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#define HOVER_SERIAL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
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#define TIME_SEND 100 // [ms] Sending time interval
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#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
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//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
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// #define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
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#include <SoftwareSerial.h>
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SoftwareSerial HoverSerial(2,3); // RX, TX
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SoftwareSerial HoverSerial(2,3); // RX, TX
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// Global variables
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uint8_t idx = 0; // Index for new data pointer
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@ -41,7 +41,7 @@ byte incomingByte;
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byte incomingBytePrev;
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typedef struct{
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uint16_t start;
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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@ -50,12 +50,12 @@ SerialCommand Command;
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typedef struct{
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedR_meas;
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int16_t speedL_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedR_meas;
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int16_t speedL_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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@ -67,7 +67,7 @@ void setup()
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{
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Serial.begin(SERIAL_BAUD);
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Serial.println("Hoverboard Serial v1.0");
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HoverSerial.begin(HOVER_SERIAL_BAUD);
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pinMode(LED_BUILTIN, OUTPUT);
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}
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@ -88,59 +88,59 @@ void Send(int16_t uSteer, int16_t uSpeed)
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// ########################## RECEIVE ##########################
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void Receive()
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{
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// Check for new data availability in the Serial buffer
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if (HoverSerial.available()) {
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incomingByte = HoverSerial.read(); // Read the incoming byte
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bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
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}
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else {
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return;
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}
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// Check for new data availability in the Serial buffer
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if (HoverSerial.available()) {
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incomingByte = HoverSerial.read(); // Read the incoming byte
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bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
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}
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else {
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return;
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}
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// If DEBUG_RX is defined print all incoming bytes
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#ifdef DEBUG_RX
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Serial.print(incomingByte);
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return;
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#endif
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// Copy received data
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if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
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p = (byte *)&NewFeedback;
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*p++ = incomingBytePrev;
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*p++ = incomingByte;
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idx = 2;
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} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
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*p++ = incomingByte;
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idx++;
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}
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// Check if we reached the end of the package
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if (idx == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
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^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
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// Check validity of the new data
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if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
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// Copy the new data
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memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
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// Print data to built-in Serial
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Serial.print("1: "); Serial.print(Feedback.cmd1);
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Serial.print(" 2: "); Serial.print(Feedback.cmd2);
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Serial.print(" 3: "); Serial.print(Feedback.speedR_meas);
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Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
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Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
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Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
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Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
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} else {
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Serial.println("Non-valid data skipped");
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}
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idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
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}
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// Update previous states
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incomingBytePrev = incomingByte;
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Serial.print(incomingByte);
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return;
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#endif
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// Copy received data
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if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
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p = (byte *)&NewFeedback;
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*p++ = incomingBytePrev;
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*p++ = incomingByte;
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idx = 2;
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} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
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*p++ = incomingByte;
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idx++;
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}
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// Check if we reached the end of the package
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if (idx == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
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^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
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// Check validity of the new data
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if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
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// Copy the new data
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memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
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// Print data to built-in Serial
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Serial.print("1: "); Serial.print(Feedback.cmd1);
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Serial.print(" 2: "); Serial.print(Feedback.cmd2);
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Serial.print(" 3: "); Serial.print(Feedback.speedR_meas);
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Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
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Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
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Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
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Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
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} else {
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Serial.println("Non-valid data skipped");
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}
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idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
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}
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// Update previous states
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incomingBytePrev = incomingByte;
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}
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// ########################## LOOP ##########################
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74
Inc/config.h
74
Inc/config.h
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@ -34,6 +34,7 @@
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#endif
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#define TIMEOUT 20 // number of wrong / missing input commands before emergency off
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#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
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// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
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// ADC conversion time definitions
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#define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5)
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@ -123,7 +124,7 @@
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- button1 and button2: digital input values. 0 or 1
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- adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
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Outputs:
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- speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
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- cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX
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*/
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#define COM_CTRL 0 // [-] Commutation Control Type
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#define SIN_CTRL 1 // [-] Sinusoidal Control Type
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@ -204,38 +205,30 @@
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* Be careful not to use the red wire of the cable. 15v will destroy everything.
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* If you are using VARIANT_NUNCHUK, disable it temporarily.
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* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
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* and DEBUG_SERIAL_ASCII use asearial terminal.
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*
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*
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* DEBUG_SERIAL_ASCII output is:
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* // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
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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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* 1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
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* 2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
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* 3: (int16_t)speedR); output command: [-1000, 1000]
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* 4: (int16_t)speedL); output command: [-1000, 1000]
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* 5: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
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* 6: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
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* 7: (int16_t)board_temp_adcFilt); for board temperature calibration
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* 8: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
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* in1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
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* in2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
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* cmdL: (int16_t)speedL); output command: [-1000, 1000]
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* cmdR: (int16_t)speedR); output command: [-1000, 1000]
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* BatADC: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
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* BatV: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
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* TempADC: (int16_t)board_temp_adcFilt); for board temperature calibration
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* Temp: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
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*
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*/
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// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#if defined(VARIANT_ADC)
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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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#ifndef VARIANT_TRANSPOTTER
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//#define DEBUG_SERIAL_SERVOTERM
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#define DEBUG_SERIAL_ASCII
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#endif
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// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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// ########################### END OF DEBUG SERIAL ############################
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// ############################### DEBUG LCD ###############################
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//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
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// #define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
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// ########################### END OF DEBUG LCD ############################
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@ -243,27 +236,40 @@
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// ################################# VARIANT_ADC SETTINGS ############################
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#ifdef VARIANT_ADC
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/* CONTROL VIA TWO POTENTIOMETERS
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* ADC-calibration to cover the full poti-range:
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* Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>.
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* Turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN
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* Turn the potis to maximum position, write value 1 to ADC1_MAX and value 2 to ADC2_MAX
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* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
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* Make, flash and test it.
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* Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire!)
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*
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* Auto-calibration of the ADC Limit to finds the Minimum, Maximum, and Middle for the ADC input
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* Procedure:
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* - press the power button for more than 5 sec and release after the beep sound
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* - move the potentiometers freely to the min and max limits repeatedly
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* - release potentiometers to the resting postion
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* - press the power button to confirm or wait for the 20 sec timeout
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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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* After calibration you can optionally write the values to the following defines
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* Procedure:
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* - connect gnd, rx and tx of a usb-uart converter in 3.3V mode to the right sensor board cable (do NOT use the red 15V wire!)
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* - readout values using a serial terminal in 115200 baud rate
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* - turn the potis to minimum position, write value 1 to INPUT1_MIN and value 2 to INPUT2_MIN
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* - turn the potis to maximum position, write value 1 to INPUT1_MAX and value 2 to INPUT2_MAX
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* - for middle resting potis: Let the potis in the middle resting position, write value 1 to INPUT1_MID and value 2 to INPUT2_MID
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*/
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#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
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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 INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define INPUT1_MID 0 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
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#define INPUT1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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#define INPUT1_MIN 0 // min ADC1-value while poti at min-position (0 - 4095)
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#define INPUT1_MID 0 // mid ADC1-value while poti at mid-position (INPUT1_MIN - INPUT1_MAX)
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#define INPUT1_MAX 4095 // max ADC1-value while poti at max-position (0 - 4095)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define INPUT2_MID 0 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
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#define INPUT2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
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#define INPUT2_MIN 0 // min ADC2-value while poti at min-position (0 - 4095)
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#define INPUT2_MID 0 // mid ADC2-value while poti at mid-position (INPUT2_MIN - INPUT2_MAX)
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#define INPUT2_MAX 4095 // max ADC2-value while poti at max-position (0 - 4095)
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#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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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 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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@ -281,13 +287,13 @@
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#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
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#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1000 // (-1000 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MAX 1000 // (0 - 1000)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -1000 // (-1000 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 1000 // (0 - 1000)
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@ -183,6 +183,10 @@
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#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
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#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
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#if defined(PRINTF_FLOAT_SUPPORT) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)) && defined(__GNUC__)
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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#endif
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typedef struct {
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uint16_t dcr;
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@ -75,7 +75,7 @@
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<OPTFL>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<IsCurrentTarget>1</IsCurrentTarget>
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<IsCurrentTarget>0</IsCurrentTarget>
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</OPTFL>
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<CpuCode>18</CpuCode>
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<DebugOpt>
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@ -1398,6 +1398,159 @@
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</TargetOption>
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</Target>
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<Target>
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<TargetName>VARIANT_SKATEBOARD</TargetName>
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<TargetOption>
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<CLKADS>8000000</CLKADS>
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<OPTTT>
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<gFlags>1</gFlags>
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<BeepAtEnd>0</BeepAtEnd>
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<RunSim>0</RunSim>
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<RunTarget>1</RunTarget>
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<RunAbUc>0</RunAbUc>
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</OPTTT>
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<OPTHX>
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<HexSelection>1</HexSelection>
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<FlashByte>65535</FlashByte>
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<HexRangeLowAddress>0</HexRangeLowAddress>
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<HexRangeHighAddress>0</HexRangeHighAddress>
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<HexOffset>0</HexOffset>
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</OPTHX>
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<OPTLEX>
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<PageWidth>79</PageWidth>
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<PageLength>66</PageLength>
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<TabStop>8</TabStop>
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<ListingPath>.\Listing\</ListingPath>
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</OPTLEX>
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<ListingPage>
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<CreateCListing>1</CreateCListing>
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<CreateAListing>1</CreateAListing>
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<CreateLListing>1</CreateLListing>
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<CreateIListing>0</CreateIListing>
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<AsmCond>1</AsmCond>
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<AsmSymb>1</AsmSymb>
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<AsmXref>0</AsmXref>
|
||||
<CCond>1</CCond>
|
||||
<CCode>0</CCode>
|
||||
<CListInc>0</CListInc>
|
||||
<CSymb>0</CSymb>
|
||||
<LinkerCodeListing>0</LinkerCodeListing>
|
||||
</ListingPage>
|
||||
<OPTXL>
|
||||
<LMap>1</LMap>
|
||||
<LComments>1</LComments>
|
||||
<LGenerateSymbols>1</LGenerateSymbols>
|
||||
<LLibSym>1</LLibSym>
|
||||
<LLines>1</LLines>
|
||||
<LLocSym>1</LLocSym>
|
||||
<LPubSym>1</LPubSym>
|
||||
<LXref>0</LXref>
|
||||
<LExpSel>0</LExpSel>
|
||||
</OPTXL>
|
||||
<OPTFL>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<IsCurrentTarget>1</IsCurrentTarget>
|
||||
</OPTFL>
|
||||
<CpuCode>18</CpuCode>
|
||||
<DebugOpt>
|
||||
<uSim>0</uSim>
|
||||
<uTrg>1</uTrg>
|
||||
<sLdApp>1</sLdApp>
|
||||
<sGomain>1</sGomain>
|
||||
<sRbreak>1</sRbreak>
|
||||
<sRwatch>1</sRwatch>
|
||||
<sRmem>1</sRmem>
|
||||
<sRfunc>1</sRfunc>
|
||||
<sRbox>1</sRbox>
|
||||
<tLdApp>1</tLdApp>
|
||||
<tGomain>1</tGomain>
|
||||
<tRbreak>1</tRbreak>
|
||||
<tRwatch>1</tRwatch>
|
||||
<tRmem>1</tRmem>
|
||||
<tRfunc>0</tRfunc>
|
||||
<tRbox>1</tRbox>
|
||||
<tRtrace>1</tRtrace>
|
||||
<sRSysVw>1</sRSysVw>
|
||||
<tRSysVw>1</tRSysVw>
|
||||
<sRunDeb>0</sRunDeb>
|
||||
<sLrtime>0</sLrtime>
|
||||
<bEvRecOn>1</bEvRecOn>
|
||||
<nTsel>5</nTsel>
|
||||
<sDll></sDll>
|
||||
<sDllPa></sDllPa>
|
||||
<sDlgDll></sDlgDll>
|
||||
<sDlgPa></sDlgPa>
|
||||
<sIfile></sIfile>
|
||||
<tDll></tDll>
|
||||
<tDllPa></tDllPa>
|
||||
<tDlgDll></tDlgDll>
|
||||
<tDlgPa></tDlgPa>
|
||||
<tIfile></tIfile>
|
||||
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
|
||||
</DebugOpt>
|
||||
<TargetDriverDllRegistry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ST-LINKIII-KEIL_SWO</Key>
|
||||
<Name>-U -O206 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>UL2CM3</Key>
|
||||
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM))</Name>
|
||||
</SetRegEntry>
|
||||
</TargetDriverDllRegistry>
|
||||
<Breakpoint/>
|
||||
<Tracepoint>
|
||||
<THDelay>0</THDelay>
|
||||
</Tracepoint>
|
||||
<DebugFlag>
|
||||
<trace>0</trace>
|
||||
<periodic>0</periodic>
|
||||
<aLwin>0</aLwin>
|
||||
<aCover>0</aCover>
|
||||
<aSer1>0</aSer1>
|
||||
<aSer2>0</aSer2>
|
||||
<aPa>0</aPa>
|
||||
<viewmode>0</viewmode>
|
||||
<vrSel>0</vrSel>
|
||||
<aSym>0</aSym>
|
||||
<aTbox>0</aTbox>
|
||||
<AscS1>0</AscS1>
|
||||
<AscS2>0</AscS2>
|
||||
<AscS3>0</AscS3>
|
||||
<aSer3>0</aSer3>
|
||||
<eProf>0</eProf>
|
||||
<aLa>0</aLa>
|
||||
<aPa1>0</aPa1>
|
||||
<AscS4>0</AscS4>
|
||||
<aSer4>0</aSer4>
|
||||
<StkLoc>0</StkLoc>
|
||||
<TrcWin>0</TrcWin>
|
||||
<newCpu>0</newCpu>
|
||||
<uProt>0</uProt>
|
||||
</DebugFlag>
|
||||
<LintExecutable></LintExecutable>
|
||||
<LintConfigFile></LintConfigFile>
|
||||
<bLintAuto>0</bLintAuto>
|
||||
<bAutoGenD>0</bAutoGenD>
|
||||
<LntExFlags>0</LntExFlags>
|
||||
<pMisraName></pMisraName>
|
||||
<pszMrule></pszMrule>
|
||||
<pSingCmds></pSingCmds>
|
||||
<pMultCmds></pMultCmds>
|
||||
<DebugDescription>
|
||||
<Enable>1</Enable>
|
||||
<EnableLog>0</EnableLog>
|
||||
<Protocol>2</Protocol>
|
||||
<DbgClock>10000000</DbgClock>
|
||||
</DebugDescription>
|
||||
</TargetOption>
|
||||
</Target>
|
||||
|
||||
<Group>
|
||||
<GroupName>Startup</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
|
|
@ -1467,18 +1620,6 @@
|
|||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Src\comms.c</PathWithFileName>
|
||||
<FilenameWithoutPath>comms.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>6</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Src\control.c</PathWithFileName>
|
||||
<FilenameWithoutPath>control.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
|
|
@ -1486,7 +1627,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>7</FileNumber>
|
||||
<FileNumber>6</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1498,7 +1639,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>8</FileNumber>
|
||||
<FileNumber>7</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1510,7 +1651,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>9</FileNumber>
|
||||
<FileNumber>8</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1522,7 +1663,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>10</FileNumber>
|
||||
<FileNumber>9</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1534,7 +1675,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>11</FileNumber>
|
||||
<FileNumber>10</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1546,7 +1687,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>12</FileNumber>
|
||||
<FileNumber>11</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1558,7 +1699,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>13</FileNumber>
|
||||
<FileNumber>12</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1570,7 +1711,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>14</FileNumber>
|
||||
<FileNumber>13</FileNumber>
|
||||
<FileType>5</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1590,7 +1731,7 @@
|
|||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>15</FileNumber>
|
||||
<FileNumber>14</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1602,7 +1743,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>16</FileNumber>
|
||||
<FileNumber>15</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1614,7 +1755,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>17</FileNumber>
|
||||
<FileNumber>16</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1626,7 +1767,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>18</FileNumber>
|
||||
<FileNumber>17</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1638,7 +1779,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>19</FileNumber>
|
||||
<FileNumber>18</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1650,7 +1791,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>20</FileNumber>
|
||||
<FileNumber>19</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1662,7 +1803,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>21</FileNumber>
|
||||
<FileNumber>20</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1674,7 +1815,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>22</FileNumber>
|
||||
<FileNumber>21</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1686,7 +1827,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>23</FileNumber>
|
||||
<FileNumber>22</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1698,7 +1839,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>24</FileNumber>
|
||||
<FileNumber>23</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1710,7 +1851,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>25</FileNumber>
|
||||
<FileNumber>24</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1722,7 +1863,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>26</FileNumber>
|
||||
<FileNumber>25</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1734,7 +1875,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>27</FileNumber>
|
||||
<FileNumber>26</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1746,7 +1887,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>28</FileNumber>
|
||||
<FileNumber>27</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1758,7 +1899,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>29</FileNumber>
|
||||
<FileNumber>28</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1770,7 +1911,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>30</FileNumber>
|
||||
<FileNumber>29</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -1790,7 +1931,7 @@
|
|||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>31</FileNumber>
|
||||
<FileNumber>30</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
|
|||
|
|
@ -404,11 +404,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -954,11 +949,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -1572,11 +1562,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -2190,11 +2175,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -2808,11 +2788,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -3426,11 +3401,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -4044,11 +4014,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -4662,11 +4627,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -5213,9 +5173,549 @@
|
|||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
<FilePath>..\Src\control.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>eeprom.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\eeprom.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>hd44780.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\hd44780.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>pcf8574.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\pcf8574.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>setup.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\setup.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_it.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\stm32f1xx_it.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>util.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\util.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>config.h</FileName>
|
||||
<FileType>5</FileType>
|
||||
<FilePath>..\Inc\config.h</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>HAL_Driver</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_adc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_adc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_cortex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_flash.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_flash_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_pwr.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_uart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>CMSIS</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>system_stm32f1xx.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/system_stm32f1xx.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>::CMSIS</GroupName>
|
||||
</Group>
|
||||
</Groups>
|
||||
</Target>
|
||||
<Target>
|
||||
<TargetName>VARIANT_SKATEBOARD</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
<ToolsetName>ARM-ADS</ToolsetName>
|
||||
<pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
|
||||
<TargetOption>
|
||||
<TargetCommonOption>
|
||||
<Device>STM32F103RC</Device>
|
||||
<Vendor>STMicroelectronics</Vendor>
|
||||
<PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
|
||||
<PackURL>http://www.keil.com/pack/</PackURL>
|
||||
<Cpu>IRAM(0x20000000-0x2000BFFF) IROM(0x8000000-0x803FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
|
||||
<FlashUtilSpec></FlashUtilSpec>
|
||||
<StartupFile></StartupFile>
|
||||
<FlashDriverDll></FlashDriverDll>
|
||||
<DeviceId></DeviceId>
|
||||
<RegisterFile></RegisterFile>
|
||||
<MemoryEnv></MemoryEnv>
|
||||
<Cmp></Cmp>
|
||||
<Asm></Asm>
|
||||
<Linker></Linker>
|
||||
<OHString></OHString>
|
||||
<InfinionOptionDll></InfinionOptionDll>
|
||||
<SLE66CMisc></SLE66CMisc>
|
||||
<SLE66AMisc></SLE66AMisc>
|
||||
<SLE66LinkerMisc></SLE66LinkerMisc>
|
||||
<SFDFile>$$Device:STM32F103RC$SVD\STM32F103xx.svd</SFDFile>
|
||||
<bCustSvd>0</bCustSvd>
|
||||
<UseEnv>0</UseEnv>
|
||||
<BinPath></BinPath>
|
||||
<IncludePath></IncludePath>
|
||||
<LibPath></LibPath>
|
||||
<RegisterFilePath></RegisterFilePath>
|
||||
<DBRegisterFilePath></DBRegisterFilePath>
|
||||
<TargetStatus>
|
||||
<Error>0</Error>
|
||||
<ExitCodeStop>0</ExitCodeStop>
|
||||
<ButtonStop>0</ButtonStop>
|
||||
<NotGenerated>0</NotGenerated>
|
||||
<InvalidFlash>1</InvalidFlash>
|
||||
</TargetStatus>
|
||||
<OutputDirectory>.\Objects\</OutputDirectory>
|
||||
<OutputName>firmware</OutputName>
|
||||
<CreateExecutable>1</CreateExecutable>
|
||||
<CreateLib>0</CreateLib>
|
||||
<CreateHexFile>1</CreateHexFile>
|
||||
<DebugInformation>1</DebugInformation>
|
||||
<BrowseInformation>1</BrowseInformation>
|
||||
<ListingPath>.\Listing\</ListingPath>
|
||||
<HexFormatSelection>1</HexFormatSelection>
|
||||
<Merge32K>0</Merge32K>
|
||||
<CreateBatchFile>0</CreateBatchFile>
|
||||
<BeforeCompile>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopU1X>0</nStopU1X>
|
||||
<nStopU2X>0</nStopU2X>
|
||||
</BeforeCompile>
|
||||
<BeforeMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopB1X>0</nStopB1X>
|
||||
<nStopB2X>0</nStopB2X>
|
||||
</BeforeMake>
|
||||
<AfterMake>
|
||||
<RunUserProg1>1</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name>$K\ARM\ARMCC\bin\fromelf.exe --bin --output=.\Objects\@L.bin !L</UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopA1X>0</nStopA1X>
|
||||
<nStopA2X>0</nStopA2X>
|
||||
</AfterMake>
|
||||
<SelectedForBatchBuild>0</SelectedForBatchBuild>
|
||||
<SVCSIdString></SVCSIdString>
|
||||
</TargetCommonOption>
|
||||
<CommonProperty>
|
||||
<UseCPPCompiler>0</UseCPPCompiler>
|
||||
<RVCTCodeConst>0</RVCTCodeConst>
|
||||
<RVCTZI>0</RVCTZI>
|
||||
<RVCTOtherData>0</RVCTOtherData>
|
||||
<ModuleSelection>0</ModuleSelection>
|
||||
<IncludeInBuild>1</IncludeInBuild>
|
||||
<AlwaysBuild>0</AlwaysBuild>
|
||||
<GenerateAssemblyFile>0</GenerateAssemblyFile>
|
||||
<AssembleAssemblyFile>0</AssembleAssemblyFile>
|
||||
<PublicsOnly>0</PublicsOnly>
|
||||
<StopOnExitCode>3</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>0</ComprImg>
|
||||
</CommonProperty>
|
||||
<DllOption>
|
||||
<SimDllName>SARMCM3.DLL</SimDllName>
|
||||
<SimDllArguments>-REMAP</SimDllArguments>
|
||||
<SimDlgDll>DCM.DLL</SimDlgDll>
|
||||
<SimDlgDllArguments>-pCM3</SimDlgDllArguments>
|
||||
<TargetDllName>SARMCM3.DLL</TargetDllName>
|
||||
<TargetDllArguments></TargetDllArguments>
|
||||
<TargetDlgDll>TCM.DLL</TargetDlgDll>
|
||||
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
|
||||
</DllOption>
|
||||
<DebugOption>
|
||||
<OPTHX>
|
||||
<HexSelection>1</HexSelection>
|
||||
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||
<HexOffset>0</HexOffset>
|
||||
<Oh166RecLen>16</Oh166RecLen>
|
||||
</OPTHX>
|
||||
</DebugOption>
|
||||
<Utilities>
|
||||
<Flash1>
|
||||
<UseTargetDll>1</UseTargetDll>
|
||||
<UseExternalTool>0</UseExternalTool>
|
||||
<RunIndependent>0</RunIndependent>
|
||||
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
|
||||
<Capability>1</Capability>
|
||||
<DriverSelection>4096</DriverSelection>
|
||||
</Flash1>
|
||||
<bUseTDR>1</bUseTDR>
|
||||
<Flash2>BIN\UL2CM3.DLL</Flash2>
|
||||
<Flash3>"" ()</Flash3>
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<pFcArmRoot></pFcArmRoot>
|
||||
<FcArmLst>0</FcArmLst>
|
||||
</Utilities>
|
||||
<TargetArmAds>
|
||||
<ArmAdsMisc>
|
||||
<GenerateListings>0</GenerateListings>
|
||||
<asHll>1</asHll>
|
||||
<asAsm>1</asAsm>
|
||||
<asMacX>1</asMacX>
|
||||
<asSyms>1</asSyms>
|
||||
<asFals>1</asFals>
|
||||
<asDbgD>1</asDbgD>
|
||||
<asForm>1</asForm>
|
||||
<ldLst>0</ldLst>
|
||||
<ldmm>1</ldmm>
|
||||
<ldXref>1</ldXref>
|
||||
<BigEnd>0</BigEnd>
|
||||
<AdsALst>1</AdsALst>
|
||||
<AdsACrf>1</AdsACrf>
|
||||
<AdsANop>0</AdsANop>
|
||||
<AdsANot>0</AdsANot>
|
||||
<AdsLLst>1</AdsLLst>
|
||||
<AdsLmap>1</AdsLmap>
|
||||
<AdsLcgr>1</AdsLcgr>
|
||||
<AdsLsym>1</AdsLsym>
|
||||
<AdsLszi>1</AdsLszi>
|
||||
<AdsLtoi>1</AdsLtoi>
|
||||
<AdsLsun>1</AdsLsun>
|
||||
<AdsLven>1</AdsLven>
|
||||
<AdsLsxf>1</AdsLsxf>
|
||||
<RvctClst>0</RvctClst>
|
||||
<GenPPlst>0</GenPPlst>
|
||||
<AdsCpuType>"Cortex-M3"</AdsCpuType>
|
||||
<RvctDeviceName></RvctDeviceName>
|
||||
<mOS>0</mOS>
|
||||
<uocRom>0</uocRom>
|
||||
<uocRam>0</uocRam>
|
||||
<hadIROM>1</hadIROM>
|
||||
<hadIRAM>1</hadIRAM>
|
||||
<hadXRAM>0</hadXRAM>
|
||||
<uocXRam>0</uocXRam>
|
||||
<RvdsVP>0</RvdsVP>
|
||||
<hadIRAM2>0</hadIRAM2>
|
||||
<hadIROM2>0</hadIROM2>
|
||||
<StupSel>8</StupSel>
|
||||
<useUlib>1</useUlib>
|
||||
<EndSel>0</EndSel>
|
||||
<uLtcg>0</uLtcg>
|
||||
<nSecure>0</nSecure>
|
||||
<RoSelD>3</RoSelD>
|
||||
<RwSelD>3</RwSelD>
|
||||
<CodeSel>0</CodeSel>
|
||||
<OptFeed>0</OptFeed>
|
||||
<NoZi1>0</NoZi1>
|
||||
<NoZi2>0</NoZi2>
|
||||
<NoZi3>0</NoZi3>
|
||||
<NoZi4>0</NoZi4>
|
||||
<NoZi5>0</NoZi5>
|
||||
<Ro1Chk>0</Ro1Chk>
|
||||
<Ro2Chk>0</Ro2Chk>
|
||||
<Ro3Chk>0</Ro3Chk>
|
||||
<Ir1Chk>1</Ir1Chk>
|
||||
<Ir2Chk>0</Ir2Chk>
|
||||
<Ra1Chk>0</Ra1Chk>
|
||||
<Ra2Chk>0</Ra2Chk>
|
||||
<Ra3Chk>0</Ra3Chk>
|
||||
<Im1Chk>1</Im1Chk>
|
||||
<Im2Chk>0</Im2Chk>
|
||||
<OnChipMemories>
|
||||
<Ocm1>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm1>
|
||||
<Ocm2>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm2>
|
||||
<Ocm3>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm3>
|
||||
<Ocm4>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm4>
|
||||
<Ocm5>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm5>
|
||||
<Ocm6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm6>
|
||||
<IRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0xc000</Size>
|
||||
</IRAM>
|
||||
<IROM>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x40000</Size>
|
||||
</IROM>
|
||||
<XRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</XRAM>
|
||||
<OCR_RVCT1>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT1>
|
||||
<OCR_RVCT2>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT2>
|
||||
<OCR_RVCT3>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT3>
|
||||
<OCR_RVCT4>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x40000</Size>
|
||||
</OCR_RVCT4>
|
||||
<OCR_RVCT5>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT5>
|
||||
<OCR_RVCT6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT6>
|
||||
<OCR_RVCT7>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT7>
|
||||
<OCR_RVCT8>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT8>
|
||||
<OCR_RVCT9>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0xc000</Size>
|
||||
</OCR_RVCT9>
|
||||
<OCR_RVCT10>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT10>
|
||||
</OnChipMemories>
|
||||
<RvctStartVector></RvctStartVector>
|
||||
</ArmAdsMisc>
|
||||
<Cads>
|
||||
<interw>1</interw>
|
||||
<Optim>4</Optim>
|
||||
<oTime>0</oTime>
|
||||
<SplitLS>0</SplitLS>
|
||||
<OneElfS>1</OneElfS>
|
||||
<Strict>0</Strict>
|
||||
<EnumInt>0</EnumInt>
|
||||
<PlainCh>0</PlainCh>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<wLevel>2</wLevel>
|
||||
<uThumb>0</uThumb>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<uC99>1</uC99>
|
||||
<useXO>0</useXO>
|
||||
<v6Lang>1</v6Lang>
|
||||
<v6LangP>1</v6LangP>
|
||||
<vShortEn>1</vShortEn>
|
||||
<vShortWch>1</vShortWch>
|
||||
<v6Lto>0</v6Lto>
|
||||
<v6WtE>0</v6WtE>
|
||||
<v6Rtti>0</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_HAL_DRIVER,STM32F103xE,VARIANT_SKATEBOARD</Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>..\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
<interw>1</interw>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<thumb>0</thumb>
|
||||
<SplitLS>0</SplitLS>
|
||||
<SwStkChk>0</SwStkChk>
|
||||
<NoWarn>0</NoWarn>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<useXO>0</useXO>
|
||||
<uClangAs>0</uClangAs>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
<umfTarg>1</umfTarg>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<noStLib>0</noStLib>
|
||||
<RepFail>1</RepFail>
|
||||
<useFile>0</useFile>
|
||||
<TextAddressRange>0x08000000</TextAddressRange>
|
||||
<DataAddressRange>0x20000000</DataAddressRange>
|
||||
<pXoBase></pXoBase>
|
||||
<ScatterFile></ScatterFile>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeLibsPath></IncludeLibsPath>
|
||||
<Misc></Misc>
|
||||
<LinkerInputFile></LinkerInputFile>
|
||||
<DisabledWarnings></DisabledWarnings>
|
||||
</LDads>
|
||||
</TargetArmAds>
|
||||
</TargetOption>
|
||||
<Groups>
|
||||
<Group>
|
||||
<GroupName>Startup</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>startup_stm32f103xe.s</FileName>
|
||||
<FileType>2</FileType>
|
||||
<FilePath>.\startup_stm32f103xe.s</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Src</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>bldc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\bldc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>BLDC_controller.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>BLDC_controller_data.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
|
|
@ -5379,6 +5879,7 @@
|
|||
<targetInfo name="VARIANT_NUNCHUK"/>
|
||||
<targetInfo name="VARIANT_PPM"/>
|
||||
<targetInfo name="VARIANT_PWM"/>
|
||||
<targetInfo name="VARIANT_SKATEBOARD"/>
|
||||
<targetInfo name="VARIANT_TRANSPOTTER"/>
|
||||
<targetInfo name="VARIANT_USART"/>
|
||||
</targetInfos>
|
||||
|
|
|
|||
1
Makefile
1
Makefile
|
|
@ -44,7 +44,6 @@ Src/bldc.c \
|
|||
Src/eeprom.c \
|
||||
Src/hd44780.c \
|
||||
Src/pcf8574.c \
|
||||
Src/comms.c \
|
||||
Src/stm32f1xx_it.c \
|
||||
Src/BLDC_controller_data.c \
|
||||
Src/BLDC_controller.c
|
||||
|
|
|
|||
66
Src/main.c
66
Src/main.c
|
|
@ -20,13 +20,13 @@
|
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h> // for abs()
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "defines.h"
|
||||
#include "setup.h"
|
||||
#include "config.h"
|
||||
#include "util.h"
|
||||
#include "comms.h"
|
||||
#include "BLDC_controller.h" /* BLDC's header file */
|
||||
#include "rtwtypes.h"
|
||||
|
||||
|
|
@ -52,6 +52,8 @@ extern volatile adc_buf_t adc_buffer;
|
|||
extern UART_HandleTypeDef huart2;
|
||||
extern UART_HandleTypeDef huart3;
|
||||
|
||||
volatile uint8_t uart_buf[200];
|
||||
|
||||
// Matlab defines - from auto-code generation
|
||||
//---------------
|
||||
extern P rtP_Left; /* Block parameters (auto storage) */
|
||||
|
|
@ -188,8 +190,8 @@ int main(void) {
|
|||
poweronMelody();
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
|
||||
|
||||
int16_t speedL = 0, speedR = 0;
|
||||
int16_t lastSpeedL = 0, lastSpeedR = 0;
|
||||
int16_t cmdL = 0, cmdR = 0;
|
||||
int16_t lastCmdL = 0, lastCmdR = 0;
|
||||
|
||||
int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point
|
||||
int16_t board_temp_adcFilt = adc_buffer.temp;
|
||||
|
|
@ -209,7 +211,9 @@ int main(void) {
|
|||
beepShort(4); HAL_Delay(100);
|
||||
steerFixdt = speedFixdt = 0; // reset filters
|
||||
enable = 1; // enable motors
|
||||
consoleLog("-- Motors enabled --\r\n");
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("-- Motors enabled --\r\n");
|
||||
#endif
|
||||
}
|
||||
|
||||
// ####### VARIANT_HOVERCAR #######
|
||||
|
|
@ -273,21 +277,21 @@ int main(void) {
|
|||
#endif
|
||||
|
||||
// ####### MIXER #######
|
||||
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
|
||||
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
|
||||
mixerFcn(speed << 4, steer << 4, &speedR, &speedL); // This function implements the equations above
|
||||
// cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
|
||||
// cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
|
||||
mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above
|
||||
|
||||
// ####### SET OUTPUTS (if the target change is less than +/- 100) #######
|
||||
if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100)) {
|
||||
if ((cmdL > lastCmdL-100 && cmdL < lastCmdL+100) && (cmdR > lastCmdR-100 && cmdR < lastCmdR+100)) {
|
||||
#ifdef INVERT_R_DIRECTION
|
||||
pwmr = speedR;
|
||||
pwmr = cmdR;
|
||||
#else
|
||||
pwmr = -speedR;
|
||||
pwmr = -cmdR;
|
||||
#endif
|
||||
#ifdef INVERT_L_DIRECTION
|
||||
pwml = -speedL;
|
||||
pwml = -cmdL;
|
||||
#else
|
||||
pwml = speedL;
|
||||
pwml = cmdL;
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
|
@ -298,22 +302,22 @@ int main(void) {
|
|||
distanceErr = distance - (int)(setDistance * 1345);
|
||||
|
||||
if (nunchuk_connected == 0) {
|
||||
speedL = speedL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
|
||||
speedR = speedR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
|
||||
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
|
||||
cmdL = cmdL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
|
||||
cmdR = cmdR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
|
||||
if ((cmdL < lastCmdL + 50 && cmdL > lastCmdL - 50) && (cmdR < lastCmdR + 50 && cmdR > lastCmdR - 50)) {
|
||||
if (distanceErr > 0) {
|
||||
enable = 1;
|
||||
}
|
||||
if (distanceErr > -300) {
|
||||
#ifdef INVERT_R_DIRECTION
|
||||
pwmr = speedR;
|
||||
pwmr = cmdR;
|
||||
#else
|
||||
pwmr = -speedR;
|
||||
pwmr = -cmdR;
|
||||
#endif
|
||||
#ifdef INVERT_L_DIRECTION
|
||||
pwml = -speedL;
|
||||
pwml = -cmdL;
|
||||
#else
|
||||
pwml = speedL;
|
||||
pwml = cmdL;
|
||||
#endif
|
||||
|
||||
if (checkRemote) {
|
||||
|
|
@ -407,15 +411,15 @@ 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
|
||||
setScopeChannel(0, (int16_t)input1); // 1: INPUT1
|
||||
setScopeChannel(1, (int16_t)input2); // 2: INPUT2
|
||||
setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
|
||||
setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]
|
||||
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
|
||||
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
|
||||
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
|
||||
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
|
||||
consoleScope();
|
||||
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
|
||||
input1, // 1: INPUT1
|
||||
input2, // 2: INPUT2
|
||||
cmdL, // 3: output command: [-1000, 1000]
|
||||
cmdR, // 4: output command: [-1000, 1000]
|
||||
adc_buffer.batt1, // 5: for battery voltage calibration
|
||||
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
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -482,7 +486,7 @@ int main(void) {
|
|||
|
||||
|
||||
// ####### INACTIVITY TIMEOUT #######
|
||||
if (abs(speedL) > 50 || abs(speedR) > 50) {
|
||||
if (abs(cmdL) > 50 || abs(cmdR) > 50) {
|
||||
inactivity_timeout_counter = 0;
|
||||
} else {
|
||||
inactivity_timeout_counter++;
|
||||
|
|
@ -493,8 +497,8 @@ int main(void) {
|
|||
|
||||
// HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
|
||||
// Update main loop states
|
||||
lastSpeedL = speedL;
|
||||
lastSpeedR = speedR;
|
||||
lastCmdL = cmdL;
|
||||
lastCmdR = cmdR;
|
||||
main_loop_counter++;
|
||||
timeoutCnt++;
|
||||
}
|
||||
|
|
|
|||
148
Src/util.c
148
Src/util.c
|
|
@ -18,13 +18,13 @@
|
|||
*/
|
||||
|
||||
// Includes
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h> // for abs()
|
||||
#include <string.h>
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "defines.h"
|
||||
#include "setup.h"
|
||||
#include "config.h"
|
||||
#include "comms.h"
|
||||
#include "eeprom.h"
|
||||
#include "util.h"
|
||||
#include "BLDC_controller.h"
|
||||
|
|
@ -133,13 +133,13 @@ static int16_t INPUT_MIN; // [-] Input target minimum limitation
|
|||
static uint8_t cur_spd_valid = 0;
|
||||
static uint8_t inp_cal_valid = 0;
|
||||
static uint16_t INPUT1_TYP_CAL = INPUT1_TYPE;
|
||||
static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
|
||||
static uint16_t INPUT1_MID_CAL = INPUT1_MID;
|
||||
static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
|
||||
static int16_t INPUT1_MIN_CAL = INPUT1_MIN;
|
||||
static int16_t INPUT1_MID_CAL = INPUT1_MID;
|
||||
static int16_t INPUT1_MAX_CAL = INPUT1_MAX;
|
||||
static uint16_t INPUT2_TYP_CAL = INPUT2_TYPE;
|
||||
static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
|
||||
static uint16_t INPUT2_MID_CAL = INPUT2_MID;
|
||||
static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
|
||||
static int16_t INPUT2_MIN_CAL = INPUT2_MIN;
|
||||
static int16_t INPUT2_MID_CAL = INPUT2_MID;
|
||||
static int16_t INPUT2_MAX_CAL = INPUT2_MAX;
|
||||
#endif
|
||||
|
||||
#if defined(CONTROL_ADC)
|
||||
|
|
@ -198,6 +198,34 @@ static uint8_t cruiseCtrlAcv = 0;
|
|||
static uint8_t standstillAcv = 0;
|
||||
#endif
|
||||
|
||||
/* =========================== Retargeting printf =========================== */
|
||||
/* retarget the C library printf function to the USART */
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
#ifdef __GNUC__
|
||||
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
|
||||
#else
|
||||
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
|
||||
#endif
|
||||
PUTCHAR_PROTOTYPE {
|
||||
#if defined(DEBUG_SERIAL_USART2)
|
||||
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
|
||||
#elif defined(DEBUG_SERIAL_USART3)
|
||||
HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, 1000);
|
||||
#endif
|
||||
return ch;
|
||||
}
|
||||
|
||||
#ifdef __GNUC__
|
||||
int _write(int file, char *data, int len) {
|
||||
int i;
|
||||
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
|
||||
return len;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/* =========================== Initialization Functions =========================== */
|
||||
|
||||
void BLDC_Init(void) {
|
||||
|
|
@ -280,13 +308,13 @@ void Input_Init(void) {
|
|||
EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
|
||||
if (writeCheck == FLASH_WRITE_KEY) {
|
||||
EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MIN_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MAX_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[2] , (uint16_t *)(intptr_t)INPUT1_MIN_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[3] , (uint16_t *)(intptr_t)INPUT1_MID_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[4] , (uint16_t *)(intptr_t)INPUT1_MAX_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MIN_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MID_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MAX_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[6] , (uint16_t *)(intptr_t)INPUT2_MIN_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[7] , (uint16_t *)(intptr_t)INPUT2_MID_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[8] , (uint16_t *)(intptr_t)INPUT2_MAX_CAL);
|
||||
EE_ReadVariable(VirtAddVarTab[9] , &i_max);
|
||||
EE_ReadVariable(VirtAddVarTab[10], &n_max);
|
||||
rtP_Left.i_max = i_max;
|
||||
|
|
@ -465,31 +493,34 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
|
|||
int16_t threshold = 200;
|
||||
#endif
|
||||
|
||||
HAL_Delay(10);
|
||||
if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) {
|
||||
type = 0;
|
||||
consoleLog("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
|
||||
#endif
|
||||
} else {
|
||||
if ((min / threshold) == (mid / threshold)){
|
||||
type = 1;
|
||||
consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("a normal pot"); // MIN and MID are close, it's a normal pot
|
||||
#endif
|
||||
} else {
|
||||
type = 2;
|
||||
consoleLog("Input is a mid-resting pot"); // it's a mid resting pot
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("a mid-resting pot"); // it's a mid resting pot
|
||||
#endif
|
||||
}
|
||||
HAL_Delay(10);
|
||||
|
||||
#ifdef CONTROL_ADC
|
||||
if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
|
||||
consoleLog(" and protected");
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf(" AND protected");
|
||||
#endif
|
||||
beepLong(2); // Indicate protection by a beep
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
HAL_Delay(10);
|
||||
consoleLog("\r\n");
|
||||
HAL_Delay(10);
|
||||
|
||||
return type;
|
||||
}
|
||||
|
||||
|
|
@ -501,6 +532,7 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
|
|||
* - move the potentiometers freely to the min and max limits repeatedly
|
||||
* - release potentiometers to the resting postion
|
||||
* - press the power button to confirm or wait for the 20 sec timeout
|
||||
* 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) {
|
||||
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
|
||||
|
|
@ -508,7 +540,10 @@ void adcCalibLim(void) {
|
|||
}
|
||||
|
||||
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
|
||||
consoleLog("Input calibration started...\r\n");
|
||||
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("Input calibration started...\r\n");
|
||||
#endif
|
||||
|
||||
readInput();
|
||||
// Inititalization: MIN = a high value, MAX = a low value
|
||||
|
|
@ -537,39 +572,47 @@ void adcCalibLim(void) {
|
|||
HAL_Delay(5);
|
||||
}
|
||||
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("Input1 is ");
|
||||
#endif
|
||||
INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
|
||||
if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
|
||||
INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
|
||||
INPUT1_MID_CAL = INPUT1_MID_temp;
|
||||
INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
|
||||
consoleLog("Input1 OK\r\n"); HAL_Delay(10);
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("..OK\r\n");
|
||||
#endif
|
||||
} else {
|
||||
INPUT1_TYP_CAL = 0; // Disable input
|
||||
consoleLog("Input1 Fail\r\n"); HAL_Delay(10);
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("..NOK\r\n");
|
||||
#endif
|
||||
}
|
||||
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("Input2 is ");
|
||||
#endif
|
||||
INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
|
||||
if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
|
||||
INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
|
||||
INPUT2_MID_CAL = INPUT2_MID_temp;
|
||||
INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
|
||||
consoleLog("Input2 OK\r\n"); HAL_Delay(10);
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("..OK\r\n");
|
||||
#endif
|
||||
} else {
|
||||
INPUT2_TYP_CAL = 0; // Disable input
|
||||
consoleLog("Input2 Fail\r\n"); HAL_Delay(10);
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("..NOK\r\n");
|
||||
#endif
|
||||
}
|
||||
|
||||
inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
|
||||
consoleLog("Limits: "); HAL_Delay(10);
|
||||
setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
|
||||
setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
|
||||
setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
|
||||
setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
|
||||
setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
|
||||
setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
|
||||
setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
|
||||
setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
|
||||
consoleScope();
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("Limits Input1: TYP:%i MIN:%i MID:%i MAX:%i\r\nLimits Input2: TYP:%i MIN:%i MID:%i MAX:%i\r\n",
|
||||
INPUT1_TYP_CAL, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL,
|
||||
INPUT2_TYP_CAL, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
/*
|
||||
|
|
@ -585,7 +628,10 @@ void updateCurSpdLim(void) {
|
|||
}
|
||||
|
||||
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
|
||||
consoleLog("Torque and Speed limits update started...\r\n");
|
||||
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("Torque and Speed limits update started...\r\n");
|
||||
#endif
|
||||
|
||||
int32_t input1_fixdt = input1 << 16;
|
||||
int32_t input2_fixdt = input2 << 16;
|
||||
|
|
@ -616,18 +662,12 @@ void updateCurSpdLim(void) {
|
|||
rtP_Left.n_max = rtP_Right.n_max = (int16_t)((N_MOT_MAX * spd_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
|
||||
cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown
|
||||
}
|
||||
|
||||
consoleLog("Limits: "); HAL_Delay(10);
|
||||
setScopeChannel(0, (int16_t)cur_spd_valid); // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
|
||||
setScopeChannel(1, (int16_t)input1_fixdt);
|
||||
setScopeChannel(2, (int16_t)cur_factor);
|
||||
setScopeChannel(3, (int16_t)rtP_Left.i_max);
|
||||
setScopeChannel(4, (int16_t)0);
|
||||
setScopeChannel(5, (int16_t)input2_fixdt);
|
||||
setScopeChannel(6, (int16_t)spd_factor);
|
||||
setScopeChannel(7, (int16_t)rtP_Left.n_max);
|
||||
consoleScope();
|
||||
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
// cur_spd_valid: 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
|
||||
printf("Limits (%i)\r\nCurrent: fixdt:%li factor%i i_max:%i \r\nSpeed: fixdt:%li factor:%i n_max:%i\r\n",
|
||||
cur_spd_valid, input1_fixdt, cur_factor, rtP_Left.i_max, input2_fixdt, spd_factor, rtP_Left.n_max);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -760,7 +800,9 @@ void cruiseControl(uint8_t button) {
|
|||
|
||||
void poweroff(void) {
|
||||
enable = 0;
|
||||
consoleLog("-- Motors disabled --\r\n");
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
printf("-- Motors disabled --\r\n");
|
||||
#endif
|
||||
buzzerCount = 0; // prevent interraction with beep counter
|
||||
buzzerPattern = 0;
|
||||
for (int i = 0; i < 8; i++) {
|
||||
|
|
@ -1117,7 +1159,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
|
|||
{
|
||||
for (; len > 0; len--, userCommand++) {
|
||||
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
|
||||
consoleLog("-- Command received --\r\n");
|
||||
printf("Command = %c\r\n", *userCommand);
|
||||
// handle_input(*userCommand); // -> Create this function to handle the user commands
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ upload_protocol = stlink
|
|||
|
||||
; Serial Port settings (make sure the COM port is correct)
|
||||
monitor_port = COM5
|
||||
monitor_speed = 38400
|
||||
monitor_speed = 115200
|
||||
|
||||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
|
|
@ -146,10 +146,6 @@ board = genericSTM32F103RC
|
|||
debug_tool = stlink
|
||||
upload_protocol = stlink
|
||||
|
||||
; Serial Port settings (make sure the COM port is correct)
|
||||
monitor_port = COM5
|
||||
monitor_speed = 38400
|
||||
|
||||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
|
|
@ -168,10 +164,6 @@ board = genericSTM32F103RC
|
|||
debug_tool = stlink
|
||||
upload_protocol = stlink
|
||||
|
||||
; Serial Port settings (make sure the COM port is correct)
|
||||
monitor_port = COM5
|
||||
monitor_speed = 38400
|
||||
|
||||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
|
|
|
|||
Loading…
Reference in New Issue