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hoverboard-firmware-hack-foc-serial-esc
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Update control.c 

- removed the `PWM_signal_Correct(..)` function, because it is already existing here 34c6e4d610/Src/util.c (L844-L862)
- added (void) to the functions
- limited `pwm_timeout` to 500 instead of 0, ottherwise the timeout won't work properly, because it will will reset every time.
This commit is contained in:
EmanuelFeru 2020-06-02 13:04:10 +02:00
parent 21a8f757d0
commit b95307f260
1 changed files with 18 additions and 30 deletions
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48
Src/control.c
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@ -90,19 +90,7 @@ uint16_t pwm_captured_ch1_value = 500;
uint16_t pwm_captured_ch2_value = 500; uint16_t pwm_captured_ch2_value = 500;
uint32_t pwm_timeout = 0; uint32_t pwm_timeout = 0;
int PWM_Signal_Correct(int x, int max, int min) { void PWM_ISR_CH1_Callback(void) {
int outVal = 0;
if(x > -PWM_DEADBAND && x < PWM_DEADBAND) {
outVal = 0;
} else if(x > 0) {
outVal = (float)CLAMP(x-PWM_DEADBAND, 0, max - PWM_DEADBAND) / (max - PWM_DEADBAND) * 1000;
} else {
outVal = 0 - ((float)CLAMP(x+PWM_DEADBAND, min + PWM_DEADBAND, 0) / (min + PWM_DEADBAND) * 1000);
}
return outVal;
}
void PWM_ISR_CH1_Callback() {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT; uint16_t rc_signal = TIM2->CNT;
TIM2->CNT = 0; TIM2->CNT = 0;
@ -114,7 +102,7 @@ void PWM_ISR_CH1_Callback() {
} }
} }
void PWM_ISR_CH2_Callback() { void PWM_ISR_CH2_Callback(void) {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT; uint16_t rc_signal = TIM2->CNT;
TIM2->CNT = 0; TIM2->CNT = 0;
@ -127,34 +115,34 @@ void PWM_ISR_CH2_Callback() {
} }
// SysTick executes once each ms // SysTick executes once each ms
void PWM_SysTick_Callback() { void PWM_SysTick_Callback(void) {
pwm_timeout++; pwm_timeout++;
// Stop after 500 ms without PPM signal // Stop after 500 ms without PPM signal
if(pwm_timeout > 500) { if(pwm_timeout > 500) {
//pwm_captured_ch1_value = 500; //pwm_captured_ch1_value = 500;
pwm_captured_ch2_value = 500; pwm_captured_ch2_value = 500;
pwm_timeout = 0; pwm_timeout = 500;
} }
} }
void PWM_Init() { void PWM_Init(void) {
// PWM Timer (TIM2) // PWM Timer (TIM2)
__HAL_RCC_TIM2_CLK_ENABLE(); __HAL_RCC_TIM2_CLK_ENABLE();
TimHandle.Instance = TIM2; TimHandle.Instance = TIM2;
TimHandle.Init.Period = UINT16_MAX; TimHandle.Init.Period = UINT16_MAX;
TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;; TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
TimHandle.Init.ClockDivision = 0; TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TimHandle); HAL_TIM_Base_Init(&TimHandle);
// Channel 1 (steering) // Channel 1 (steering)
GPIO_InitTypeDef GPIO_InitStruct2; GPIO_InitTypeDef GPIO_InitStruct2;
// Configure GPIO pin : PA2 // Configure GPIO pin : PA2
GPIO_InitStruct2.Pin = GPIO_PIN_2; GPIO_InitStruct2.Pin = GPIO_PIN_2;
GPIO_InitStruct2.Mode = GPIO_MODE_IT_RISING_FALLING; GPIO_InitStruct2.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct2.Pull = GPIO_PULLDOWN; GPIO_InitStruct2.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct2); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct2);
// EXTI interrupt init // EXTI interrupt init
@ -165,10 +153,10 @@ void PWM_Init() {
// Channel 2 (speed) // Channel 2 (speed)
GPIO_InitTypeDef GPIO_InitStruct; GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PA3 */ /*Configure GPIO pin : PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_3; GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING; GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* EXTI interrupt init*/ /* EXTI interrupt init*/