From b50efdcab22b461e2fe5f194fdf59e82e31ef9af Mon Sep 17 00:00:00 2001 From: Candas1 Date: Thu, 29 Oct 2020 00:41:41 +0100 Subject: [PATCH] Fix typo --- Src/main.c | 2 ++ Src/util.c | 76 ++++++++++++++++++++++++++++++------------------------ 2 files changed, 44 insertions(+), 34 deletions(-) diff --git a/Src/main.c b/Src/main.c index 68e746c..17866ed 100644 --- a/Src/main.c +++ b/Src/main.c @@ -62,6 +62,8 @@ extern ExtY rtY_Right; /* External outputs */ extern int16_t cmd1; // normalized input value. -1000 to 1000 extern int16_t cmd2; // normalized input value. -1000 to 1000 +extern int16_t cmd1_in; // normalized input value. -1000 to 1000 +extern int16_t cmd2_in; // normalized input value. -1000 to 1000 extern int16_t speedAvg; // Average measured speed extern int16_t speedAvgAbs; // Average measured speed in absolute diff --git a/Src/util.c b/Src/util.c index 58267d3..d204dc5 100644 --- a/Src/util.c +++ b/Src/util.c @@ -128,23 +128,24 @@ static int16_t INPUT_MAX; // [-] Input target maximum limitation static int16_t INPUT_MIN; // [-] Input target minimum limitation -static uint8_t cur_spd_valid = 0; -static uint8_t adc_cal_valid = 0; -static uint16_t INPUT1_MIN_CAL = INPUT1_MIN; -static uint16_t INPUT1_MAX_CAL = INPUT1_MAX; -static uint16_t INPUT2_MIN_CAL = INPUT2_MIN; -static uint16_t INPUT2_MAX_CAL = INPUT2_MAX; -#ifdef INPUT1_MID_POT -static uint16_t INPUT1_MID_CAL = INPUT1_MID; -#else -static uint16_t INPUT1_MID_CAL = 0; +#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) + static uint8_t cur_spd_valid = 0; + static uint8_t input_cal_valid = 0; + static uint16_t INPUT1_MIN_CAL = INPUT1_MIN; + static uint16_t INPUT1_MAX_CAL = INPUT1_MAX; + static uint16_t INPUT2_MIN_CAL = INPUT2_MIN; + static uint16_t INPUT2_MAX_CAL = INPUT2_MAX; + #ifdef INPUT1_MID_POT + static uint16_t INPUT1_MID_CAL = INPUT1_MID; + #else + static uint16_t INPUT1_MID_CAL = 0; + #endif + #ifdef INPUT1_MID_POT + static uint16_t INPUT2_MID_CAL = INPUT2_MID; + #else + static uint16_t INPUT2_MID_CAL = 0; + #endif #endif -#ifdef INPUT1_MID_POT -static uint16_t INPUT2_MID_CAL = INPUT2_MID; -#else -static uint16_t INPUT2_MID_CAL = 0; -#endif - #if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA) static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection @@ -433,6 +434,8 @@ void adcCalibLim(void) { if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning return; } + + #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) consoleLog("Input calibration started... "); @@ -487,6 +490,7 @@ void adcCalibLim(void) { input_cal_valid = 0; consoleLog("FAIL (Pots travel too short)\n"); } + #endif } @@ -501,6 +505,8 @@ void updateCurSpdLim(void) { if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning return; } + + #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) consoleLog("Torque and Speed limits update started... "); @@ -529,7 +535,7 @@ void updateCurSpdLim(void) { cur_spd_valid = 1; consoleLog("OK\n"); - + #endif } /* @@ -545,7 +551,7 @@ void saveConfig() { } #endif #ifdef CONTROL_ADC - if (adc_cal_valid || cur_spd_valid) { + if (input_cal_valid || cur_spd_valid) { HAL_FLASH_Unlock(); EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY); EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL); @@ -749,8 +755,8 @@ void readInput(void) { cmd1_in = (ppm_captured_value[0] - 500) * 2; cmd2_in = (ppm_captured_value[1] - 500) * 2; #ifdef SUPPORT_BUTTONS - button1 = ppm_captured_value[5] > 500; - button2 = 0; + button1 = ppm_captured_value[5] > 500; + button2 = 0; #endif #endif @@ -761,8 +767,8 @@ void readInput(void) { #ifdef CONTROL_ADC // ADC values range: 0-4095, see ADC-calibration in config.h - cmd1_in = adc_buffer.l_tx2; - cmd2_in = adc_buffer.l_rx2; + cmd1_in = adc_buffer.l_tx2; + cmd2_in = adc_buffer.l_rx2; #endif #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3) @@ -827,20 +833,22 @@ void readCommand(void) { timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R; #endif - #ifdef INPUT1_MID_POT - cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX); - #else - cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1 - #endif - - #if !defined(VARIANT_SKATEBOARD) - #ifdef INPUT2_MID_POT - cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX); + #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) + #ifdef INPUT1_MID_POT + cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX); #else - cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2 + cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1 + #endif + + #if !defined(VARIANT_SKATEBOARD) + #ifdef INPUT2_MID_POT + cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX); + #else + cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2 + #endif + #else + cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT2_OUT_MIN, INPUT_MAX); #endif - #else - cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_OUT_MIN, INPUT_MAX); #endif