600 lines
26 KiB
C
600 lines
26 KiB
C
/*
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
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* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
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* Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <stdlib.h> // for abs()
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#include "stm32f1xx_hal.h"
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#include "defines.h"
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#include "setup.h"
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#include "config.h"
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#include "util.h"
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#include "BLDC_controller.h" /* BLDC's header file */
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#include "rtwtypes.h"
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#include "comms.h"
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#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
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#include "hd44780.h"
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#endif
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void SystemClock_Config(void);
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//------------------------------------------------------------------------
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// Global variables set externally
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//------------------------------------------------------------------------
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extern TIM_HandleTypeDef htim_left;
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extern TIM_HandleTypeDef htim_right;
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extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc2;
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extern volatile adc_buf_t adc_buffer;
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#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
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extern LCD_PCF8574_HandleTypeDef lcd;
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extern uint8_t LCDerrorFlag;
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#endif
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extern UART_HandleTypeDef huart2;
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extern UART_HandleTypeDef huart3;
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volatile uint8_t uart_buf[200];
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// Matlab defines - from auto-code generation
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//---------------
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extern P rtP_Left; /* Block parameters (auto storage) */
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extern P rtP_Right; /* Block parameters (auto storage) */
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extern ExtY rtY_Left; /* External outputs */
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extern ExtY rtY_Right; /* External outputs */
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//---------------
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extern uint8_t inIdx; // input index used for dual-inputs
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extern uint8_t inIdx_prev;
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extern InputStruct input1[]; // input structure
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extern InputStruct input2[]; // input structure
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extern int16_t speedAvg; // Average measured speed
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extern int16_t speedAvgAbs; // Average measured speed in absolute
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extern volatile uint32_t timeoutCntGen; // Timeout counter for the General timeout (PPM, PWM, Nunchuk)
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extern volatile uint8_t timeoutFlgGen; // Timeout Flag for the General timeout (PPM, PWM, Nunchuk)
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extern uint8_t timeoutFlgADC; // Timeout Flag for for ADC Protection: 0 = OK, 1 = Problem detected (line disconnected or wrong ADC data)
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extern uint8_t timeoutFlgSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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extern volatile int pwml; // global variable for pwm left. -1000 to 1000
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extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
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extern uint8_t enable; // global variable for motor enable
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extern int16_t batVoltage; // global variable for battery voltage
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extern int16_t curL_DC; // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
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extern int16_t curR_DC; // global variable for right motor current
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extern int16_t curL_phaA;
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extern int16_t curL_phaB;
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extern int16_t curR_phaA;
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extern int16_t curR_phaB;
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#if defined(SIDEBOARD_SERIAL_USART2)
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extern SerialSideboard Sideboard_L;
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#endif
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#if defined(SIDEBOARD_SERIAL_USART3)
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extern SerialSideboard Sideboard_R;
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#endif
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#if (defined(CONTROL_PPM_LEFT) && defined(DEBUG_SERIAL_USART3)) || (defined(CONTROL_PPM_RIGHT) && defined(DEBUG_SERIAL_USART2))
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extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
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#endif
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#if (defined(CONTROL_PWM_LEFT) && defined(DEBUG_SERIAL_USART3)) || (defined(CONTROL_PWM_RIGHT) && defined(DEBUG_SERIAL_USART2))
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extern volatile uint16_t pwm_captured_ch1_value;
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extern volatile uint16_t pwm_captured_ch2_value;
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#endif
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//------------------------------------------------------------------------
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// Global variables set here in main.c
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//------------------------------------------------------------------------
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uint8_t backwardDrive;
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volatile uint32_t main_loop_counter;
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//------------------------------------------------------------------------
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// Local variables
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//------------------------------------------------------------------------
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#if defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
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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 speedL_meas;
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int16_t speedR_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC;
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int16_t curR_DC;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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static SerialFeedback Feedback;
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#endif
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#if defined(FEEDBACK_SERIAL_USART2)
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static uint8_t sideboard_leds_L;
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#endif
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#if defined(FEEDBACK_SERIAL_USART3)
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static uint8_t sideboard_leds_R;
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#endif
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#ifdef VARIANT_TRANSPOTTER
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extern uint8_t nunchuk_connected;
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extern float setDistance;
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static uint8_t checkRemote = 0;
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static uint16_t distance;
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static float steering;
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static int distanceErr;
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static int lastDistance = 0;
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static uint16_t transpotter_counter = 0;
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#endif
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static int16_t speed; // local variable for speed. -1000 to 1000
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#ifndef VARIANT_TRANSPOTTER
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//static int16_t steer; // local variable for steering. -1000 to 1000
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//static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
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//static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
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static int16_t speedLeftRateFixdt; // local fixed-point variable for steering rate limiter
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static int16_t speedRightRateFixdt; // local fixed-point variable for speed rate limiter
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//static int32_t steerFixdt; // local fixed-point variable for steering low-pass filter
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//static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter
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static int32_t speedLeftFixdt; // local fixed-point variable for speedLeft low-pass filter
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static int32_t speedRightFixdt; // local fixed-point variable for speedRight low-pass filter
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#endif
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static uint32_t inactivity_timeout_counter;
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static MultipleTap MultipleTapBrake; // define multiple tap functionality for the Brake pedal
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int main(void) {
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HAL_Init();
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__HAL_RCC_AFIO_CLK_ENABLE();
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HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
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/* System interrupt init*/
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/* MemoryManagement_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
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/* BusFault_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
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/* UsageFault_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
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/* SVCall_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
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/* DebugMonitor_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
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/* PendSV_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
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/* SysTick_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
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SystemClock_Config();
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__HAL_RCC_DMA1_CLK_DISABLE();
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MX_GPIO_Init();
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MX_TIM_Init();
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MX_ADC1_Init();
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MX_ADC2_Init();
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BLDC_Init(); // BLDC Controller Init
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_SET); // Activate Latch
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Input_Lim_Init(); // Input Limitations Init
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Input_Init(); // Input Init
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HAL_ADC_Start(&hadc1);
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HAL_ADC_Start(&hadc2);
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poweronMelody();
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HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
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int16_t cmdL = 0, cmdR = 0;
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int16_t cmdL_prev = 0, cmdR_prev = 0;
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int16_t speedL = 0, speedR = 0;
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int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point
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int16_t board_temp_adcFilt = adc_buffer.temp;
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int16_t board_temp_deg_c;
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// Loop until button is released
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while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
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while(1) {
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HAL_Delay(DELAY_IN_MAIN_LOOP); // delay in ms
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readCommand(); // Read Command: input1[inIdx].cmd, input2[inIdx].cmd
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calcAvgSpeed(); // Calculate average measured speed: speedAvg, speedAvgAbs
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#ifndef VARIANT_TRANSPOTTER
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// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
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if (enable == 0 && (!rtY_Left.z_errCode && !rtY_Right.z_errCode) && (input1[inIdx].cmd > -50 && input1[inIdx].cmd < 50) && (input2[inIdx].cmd > -50 && input2[inIdx].cmd < 50)){
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beepShort(6); // make 2 beeps indicating the motor enable
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beepShort(4); HAL_Delay(100);
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//steerFixdt = speedFixdt = 0; // reset filters
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speedLeftFixdt = speedRightFixdt = 0; //reset filters
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enable = 1; // enable motors
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#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
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printf("-- Motors enabled --\r\n");
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#endif
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}
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// ####### VARIANT_HOVERCAR #######
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#if defined(VARIANT_HOVERCAR) || defined(VARIANT_SKATEBOARD) || defined(ELECTRIC_BRAKE_ENABLE)
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uint16_t speedBlend; // Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
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speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,10,60) - 10) << 15) / 50); // speedBlend [0,1] is within [10 rpm, 60rpm]
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#endif
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#ifdef STANDSTILL_HOLD_ENABLE
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standstillHold(); // Apply Standstill Hold functionality. Only available and makes sense for VOLTAGE or TORQUE Mode
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#endif
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#ifdef VARIANT_HOVERCAR
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if (inIdx == CONTROL_ADC) { // Only use use implementation below if pedals are in use (ADC input)
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if (speedAvgAbs < 60) { // Check if Hovercar is physically close to standstill to enable Double tap detection on Brake pedal for Reverse functionality
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multipleTapDet(input1[inIdx].cmd, HAL_GetTick(), &MultipleTapBrake); // Brake pedal in this case is "input1" variable
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}
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if (input1[inIdx].cmd > 30) { // If Brake pedal (input1) is pressed, bring to 0 also the Throttle pedal (input2) to avoid "Double pedal" driving
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input2[inIdx].cmd = (int16_t)((input2[inIdx].cmd * speedBlend) >> 15);
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cruiseControl((uint8_t)rtP_Left.b_cruiseCtrlEna); // Cruise control deactivated by Brake pedal if it was active
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}
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}
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#endif
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#ifdef ELECTRIC_BRAKE_ENABLE
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electricBrake(speedBlend, MultipleTapBrake.b_multipleTap); // Apply Electric Brake. Only available and makes sense for TORQUE Mode
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#endif
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#ifdef VARIANT_HOVERCAR
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if (inIdx == CONTROL_ADC) { // Only use use implementation below if pedals are in use (ADC input)
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if (speedAvg > 0) { // Make sure the Brake pedal is opposite to the direction of motion AND it goes to 0 as we reach standstill (to avoid Reverse driving by Brake pedal)
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input1[inIdx].cmd = (int16_t)((-input1[inIdx].cmd * speedBlend) >> 15);
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} else {
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input1[inIdx].cmd = (int16_t)(( input1[inIdx].cmd * speedBlend) >> 15);
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}
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}
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#endif
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#ifdef VARIANT_SKATEBOARD
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if (input2[inIdx].cmd < 0) { // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
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if (speedAvg > 0) { // Make sure the braking is opposite to the direction of motion
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input2[inIdx].cmd = (int16_t)(( input2[inIdx].cmd * speedBlend) >> 15);
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} else {
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input2[inIdx].cmd = (int16_t)((-input2[inIdx].cmd * speedBlend) >> 15);
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}
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}
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#endif
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// ####### LOW-PASS FILTER #######
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/*
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rateLimiter16(input1[inIdx].cmd , RATE, &steerRateFixdt);
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rateLimiter16(input2[inIdx].cmd , RATE, &speedRateFixdt);
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filtLowPass32(steerRateFixdt >> 4, FILTER, &steerFixdt);
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filtLowPass32(speedRateFixdt >> 4, FILTER, &speedFixdt);
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steer = (int16_t)(steerFixdt >> 16); // convert fixed-point to integer
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speed = (int16_t)(speedFixdt >> 16); // convert fixed-point to integer
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*/
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rateLimiter16(input1[inIdx].cmd , RATE, &speedLeftRateFixdt);
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rateLimiter16(input2[inIdx].cmd , RATE, &speedRightRateFixdt);
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filtLowPass32(speedLeftRateFixdt >> 4, FILTER, &speedLeftFixdt);
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filtLowPass32(speedRightRateFixdt >> 4, FILTER, &speedRightFixdt);
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speedL = (int16_t)(speedLeftFixdt >> 16); // convert fixed-point to integer
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speedR = (int16_t)(speedRightFixdt >> 16); // convert fixed-point to integer
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// ####### VARIANT_HOVERCAR #######
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#ifdef VARIANT_HOVERCAR
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if (inIdx == CONTROL_ADC) { // Only use use implementation below if pedals are in use (ADC input)
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if (!MultipleTapBrake.b_multipleTap) { // Check driving direction
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speed = steer + speed; // Forward driving: in this case steer = Brake, speed = Throttle
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} else {
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speed = steer - speed; // Reverse driving: in this case steer = Brake, speed = Throttle
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}
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steer = 0; // Do not apply steering to avoid side effects if STEER_COEFFICIENT is NOT 0
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}
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#endif
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// ####### MIXER #######
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// cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
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// cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
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//mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above
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int16_t _temp;
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mixerFcn(speedL << 4, ((int16_t)0) << 4, &cmdL, &_temp); // This function implements the equations above
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mixerFcn(speedR << 4, ((int16_t)0) << 4, &cmdR, &_temp); // This function implements the equations above
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// ####### SET OUTPUTS (if the target change is less than +/- 100) #######
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if ((cmdL > cmdL_prev-100 && cmdL < cmdL_prev+100) && (cmdR > cmdR_prev-100 && cmdR < cmdR_prev+100)) {
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#ifdef INVERT_R_DIRECTION
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pwmr = cmdR;
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#else
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pwmr = -cmdR;
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#endif
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#ifdef INVERT_L_DIRECTION
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pwml = -cmdL;
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#else
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pwml = cmdL;
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#endif
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}
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#endif
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#ifdef VARIANT_TRANSPOTTER
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distance = CLAMP(input1[inIdx].cmd - 180, 0, 4095);
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steering = (input2[inIdx].cmd - 2048) / 2048.0;
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distanceErr = distance - (int)(setDistance * 1345);
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if (nunchuk_connected == 0) {
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cmdL = cmdL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
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cmdR = cmdR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
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if ((cmdL < cmdL_prev + 50 && cmdL > cmdL_prev - 50) && (cmdR < cmdR_prev + 50 && cmdR > cmdR_prev - 50)) {
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if (distanceErr > 0) {
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enable = 1;
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}
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if (distanceErr > -300) {
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#ifdef INVERT_R_DIRECTION
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pwmr = cmdR;
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#else
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pwmr = -cmdR;
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#endif
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#ifdef INVERT_L_DIRECTION
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pwml = -cmdL;
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#else
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pwml = cmdL;
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#endif
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if (checkRemote) {
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if (!HAL_GPIO_ReadPin(LED_PORT, LED_PIN)) {
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//enable = 1;
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} else {
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enable = 0;
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}
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}
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} else {
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enable = 0;
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}
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}
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timeoutCntGen = 0;
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timeoutFlgGen = 0;
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}
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if (timeoutFlgGen) {
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pwml = 0;
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pwmr = 0;
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enable = 0;
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#ifdef SUPPORT_LCD
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LCD_SetLocation(&lcd, 0, 0); LCD_WriteString(&lcd, "Len:");
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LCD_SetLocation(&lcd, 8, 0); LCD_WriteString(&lcd, "m(");
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LCD_SetLocation(&lcd, 14, 0); LCD_WriteString(&lcd, "m)");
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#endif
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HAL_Delay(1000);
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nunchuk_connected = 0;
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}
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if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
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enable = 0;
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beepLong(5);
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#ifdef SUPPORT_LCD
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LCD_ClearDisplay(&lcd);
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HAL_Delay(5);
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LCD_SetLocation(&lcd, 0, 0); LCD_WriteString(&lcd, "Emergency Off!");
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LCD_SetLocation(&lcd, 0, 1); LCD_WriteString(&lcd, "Keeper too fast.");
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#endif
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poweroff();
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}
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#ifdef SUPPORT_NUNCHUK
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if (transpotter_counter % 500 == 0) {
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if (nunchuk_connected == 0 && enable == 0) {
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if (Nunchuk_Ping()) {
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HAL_Delay(500);
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Nunchuk_Init();
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#ifdef SUPPORT_LCD
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LCD_SetLocation(&lcd, 0, 0); LCD_WriteString(&lcd, "Nunchuk Control");
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#endif
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timeoutCntGen = 0;
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timeoutFlgGen = 0;
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HAL_Delay(1000);
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nunchuk_connected = 1;
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}
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}
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}
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#endif
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#ifdef SUPPORT_LCD
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if (transpotter_counter % 100 == 0) {
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if (LCDerrorFlag == 1 && enable == 0) {
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} else {
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if (nunchuk_connected == 0) {
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LCD_SetLocation(&lcd, 4, 0); LCD_WriteFloat(&lcd,distance/1345.0,2);
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LCD_SetLocation(&lcd, 10, 0); LCD_WriteFloat(&lcd,setDistance,2);
|
|
}
|
|
LCD_SetLocation(&lcd, 4, 1); LCD_WriteFloat(&lcd,batVoltage, 1);
|
|
// LCD_SetLocation(&lcd, 11, 1); LCD_WriteFloat(&lcd,MAX(ABS(currentR), ABS(currentL)),2);
|
|
}
|
|
}
|
|
#endif
|
|
transpotter_counter++;
|
|
#endif
|
|
|
|
// ####### SIDEBOARDS HANDLING #######
|
|
#if defined(SIDEBOARD_SERIAL_USART2) && defined(FEEDBACK_SERIAL_USART2)
|
|
sideboardLeds(&sideboard_leds_L);
|
|
sideboardSensors((uint8_t)Sideboard_L.sensors);
|
|
#endif
|
|
#if defined(SIDEBOARD_SERIAL_USART3) && defined(FEEDBACK_SERIAL_USART3)
|
|
sideboardLeds(&sideboard_leds_R);
|
|
sideboardSensors((uint8_t)Sideboard_R.sensors);
|
|
#endif
|
|
|
|
// ####### CALC BOARD TEMPERATURE #######
|
|
filtLowPass32(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
|
|
board_temp_adcFilt = (int16_t)(board_temp_adcFixdt >> 16); // convert fixed-point to integer
|
|
board_temp_deg_c = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
|
|
|
|
// ####### DEBUG SERIAL OUT #######
|
|
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
|
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
|
|
#if defined(DEBUG_SERIAL_PROTOCOL)
|
|
process_debug();
|
|
#else
|
|
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
|
|
input1[inIdx].raw, // 1: INPUT1
|
|
input2[inIdx].raw, // 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
|
|
}
|
|
#endif
|
|
|
|
// ####### FEEDBACK SERIAL OUT #######
|
|
#if defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
|
|
if (main_loop_counter % 2 == 0) { // Send data periodically every 10 ms
|
|
Feedback.start = (uint16_t)SERIAL_START_FRAME;
|
|
Feedback.cmd1 = (int16_t)input1[inIdx].cmd;
|
|
Feedback.cmd2 = (int16_t)input2[inIdx].cmd;
|
|
Feedback.speedR_meas = (int16_t)rtY_Right.n_mot;
|
|
Feedback.speedL_meas = (int16_t)rtY_Left.n_mot;
|
|
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; //divide by A2BIT_CONV to get current in amperes
|
|
Feedback.curR_DC = (int16_t)curR_DC;
|
|
//Feedback.curL_DC = (int16_t)curL_phaA;
|
|
//Feedback.curR_DC = (int16_t)curL_phaB;
|
|
|
|
#if defined(FEEDBACK_SERIAL_USART2)
|
|
if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
|
|
Feedback.cmdLed = (uint16_t)sideboard_leds_L;
|
|
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
|
|
^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.curL_DC ^ Feedback.curR_DC ^ Feedback.cmdLed);
|
|
|
|
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Feedback, sizeof(Feedback));
|
|
}
|
|
#endif
|
|
#if defined(FEEDBACK_SERIAL_USART3)
|
|
if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
|
|
Feedback.cmdLed = (uint16_t)sideboard_leds_R;
|
|
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
|
|
^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.curL_DC ^ Feedback.curR_DC ^ Feedback.cmdLed);
|
|
|
|
HAL_UART_Transmit_DMA(&huart3, (uint8_t *)&Feedback, sizeof(Feedback));
|
|
}
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
// ####### POWEROFF BY POWER-BUTTON #######
|
|
poweroffPressCheck();
|
|
|
|
// ####### BEEP AND EMERGENCY POWEROFF #######
|
|
if ((TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && speedAvgAbs < 20) || (batVoltage < BAT_DEAD && speedAvgAbs < 20)) { // poweroff before mainboard burns OR low bat 3
|
|
poweroff();
|
|
} else if (rtY_Left.z_errCode || rtY_Right.z_errCode) { // 1 beep (low pitch): Motor error, disable motors
|
|
enable = 0;
|
|
beepCount(1, 24, 1);
|
|
} else if (timeoutFlgADC) { // 2 beeps (low pitch): ADC timeout
|
|
beepCount(2, 24, 1);
|
|
} else if (timeoutFlgSerial) { // 3 beeps (low pitch): Serial timeout
|
|
beepCount(3, 24, 1);
|
|
} else if (timeoutFlgGen) { // 4 beeps (low pitch): General timeout (PPM, PWM, Nunchuk)
|
|
beepCount(4, 24, 1);
|
|
} else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // 5 beeps (low pitch): Mainboard temperature warning
|
|
beepCount(5, 24, 1);
|
|
} else if (BAT_LVL1_ENABLE && batVoltage < BAT_LVL1) { // 1 beep fast (medium pitch): Low bat 1
|
|
beepCount(0, 10, 6);
|
|
} else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) { // 1 beep slow (medium pitch): Low bat 2
|
|
beepCount(0, 10, 30);
|
|
} else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // 1 beep fast (high pitch): Backward spinning motors
|
|
beepCount(0, 5, 1);
|
|
backwardDrive = 1;
|
|
} else { // do not beep
|
|
beepCount(0, 0, 0);
|
|
backwardDrive = 0;
|
|
}
|
|
|
|
|
|
// ####### INACTIVITY TIMEOUT #######
|
|
if (abs(cmdL) > 50 || abs(cmdR) > 50) {
|
|
inactivity_timeout_counter = 0;
|
|
} else {
|
|
inactivity_timeout_counter++;
|
|
}
|
|
if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms
|
|
poweroff();
|
|
}
|
|
|
|
// HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
|
|
// Update states
|
|
inIdx_prev = inIdx;
|
|
cmdL_prev = cmdL;
|
|
cmdR_prev = cmdR;
|
|
main_loop_counter++;
|
|
}
|
|
}
|
|
|
|
|
|
// ===========================================================
|
|
/** System Clock Configuration
|
|
*/
|
|
void SystemClock_Config(void) {
|
|
RCC_OscInitTypeDef RCC_OscInitStruct;
|
|
RCC_ClkInitTypeDef RCC_ClkInitStruct;
|
|
RCC_PeriphCLKInitTypeDef PeriphClkInit;
|
|
|
|
/**Initializes the CPU, AHB and APB busses clocks
|
|
*/
|
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
|
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
|
RCC_OscInitStruct.HSICalibrationValue = 16;
|
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
|
|
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
|
|
HAL_RCC_OscConfig(&RCC_OscInitStruct);
|
|
|
|
/**Initializes the CPU, AHB and APB busses clocks
|
|
*/
|
|
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|
|
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
|
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
|
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
|
|
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
|
|
|
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
|
|
|
|
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
|
|
// PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8; // 8 MHz
|
|
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV4; // 16 MHz
|
|
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
|
|
|
|
/**Configure the Systick interrupt time
|
|
*/
|
|
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
|
|
|
|
/**Configure the Systick
|
|
*/
|
|
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
|
|
|
|
/* SysTick_IRQn interrupt configuration */
|
|
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
|
|
}
|