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hoverboard-firmware-hack-foc-serial-esc
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feedback struct first left, seconds value right

This commit is contained in:
interfisch 2020-02-02 14:42:56 +01:00
parent 7bc84cf3e0
commit fc5f5a26ca
2 changed files with 9 additions and 5 deletions
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2
Inc/config.h
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@ -8,6 +8,8 @@
// ############################### DO-NOT-TOUCH SETTINGS ###############################
#define N_POLEPAIRS 15 //for wheel angle calculation
#define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime
#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.

12
Src/main.c
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@ -85,10 +85,10 @@ typedef struct{
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedR;
int16_t speedL;
int16_t speedR_meas;
int16_t speedR;
int16_t speedL_meas;
int16_t speedR_meas;
int16_t batVoltage;
int16_t boardTemp;
int16_t curL_DC;
@ -483,10 +483,12 @@ int main(void) {
Feedback.start = (uint16_t)START_FRAME;
Feedback.cmd1 = (int16_t)cmd1;
Feedback.cmd2 = (int16_t)cmd2;
Feedback.speedR = (int16_t)speedR;
Feedback.speedL = (int16_t)speedL;
Feedback.speedR_meas = (int16_t)rtY_Left.n_mot;
Feedback.speedL_meas = (int16_t)rtY_Right.n_mot;
Feedback.speedR = (int16_t)speedR;
Feedback.speedL_meas = (int16_t)rtY_Left.n_mot;
Feedback.speedR_meas = (int16_t)rtY_Right.n_mot;
//Feedback.angleL_meas = (int16_t)rtY_Left.a_elecAngle/N_POLEPAIRS;
//Feedback.angleR_meas = (int16_t)rtY_Right.a_elecAngle/N_POLEPAIRS;
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
Feedback.boardTemp = (int16_t)board_temp_deg_c;
Feedback.curL_DC = (int16_t)curL_DC*10/A2BIT_CONV*100; //in milli Amperes, 100mA resolution