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Activated SW2 on RC

This commit is contained in:
EmanuelFeru 2020-12-23 12:45:29 +01:00
parent 4646fb4a94
commit ce03d4c816
3 changed files with 21 additions and 16 deletions
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19
Src/util.c
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@ -1368,14 +1368,20 @@ void sideboardSensors(uint8_t sensors) {
// Override in case the Sideboard control is Active // Override in case the Sideboard control is Active
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2) #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
if (inIdx == SIDEBOARD_SERIAL_USART2) { if (inIdx == SIDEBOARD_SERIAL_USART2) {
sensor1_index = 3 + ((Sideboard_L.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
if (sensor1_index == 3) { // FOC control Type
sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge detection }
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
sensor1_prev = sensor1_index; sensor1_prev = sensor1_index;
} }
#endif #endif
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3) #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
if (inIdx == SIDEBOARD_SERIAL_USART3) { if (inIdx == SIDEBOARD_SERIAL_USART3) {
sensor1_index = 3 + ((Sideboard_R.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
if (sensor1_index == 3) { // FOC control Type
sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
}
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
sensor1_prev = sensor1_index; sensor1_prev = sensor1_index;
} }
@ -1385,23 +1391,22 @@ void sideboardSensors(uint8_t sensors) {
if (sensor1_trig) { if (sensor1_trig) {
switch (sensor1_index) { switch (sensor1_index) {
case 0: // FOC VOLTAGE case 0: // FOC VOLTAGE
rtP_Left.z_ctrlTypSel = FOC_CTRL; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = VLT_MODE; ctrlModReqRaw = VLT_MODE;
break; break;
case 1: // FOC SPEED case 1: // FOC SPEED
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = SPD_MODE; ctrlModReqRaw = SPD_MODE;
break; break;
case 2: // FOC TORQUE case 2: // FOC TORQUE
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
ctrlModReqRaw = TRQ_MODE; ctrlModReqRaw = TRQ_MODE;
break; break;
case 3: // SINUSOIDAL case 3: // SINUSOIDAL
rtP_Left.z_ctrlTypSel = SIN_CTRL; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = SIN_CTRL;
rtP_Right.z_ctrlTypSel = SIN_CTRL;
break; break;
case 4: // COMMUTATION case 4: // COMMUTATION
rtP_Left.z_ctrlTypSel = COM_CTRL; rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = COM_CTRL;
rtP_Right.z_ctrlTypSel = COM_CTRL;
break; break;
} }
beepShortMany(sensor1_index + 1, 1); beepShortMany(sensor1_index + 1, 1);

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docs/pictures/mainboard_pics.pptx
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