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ADD: UVLO in config

This commit is contained in:
Niklas Fauth 2018-04-09 22:03:19 +02:00
parent 17f497f357
commit 5a3ed507b2
2 changed files with 15 additions and 11 deletions
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14
Inc/config.h
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@ -12,16 +12,20 @@
// ################################################################################ // ################################################################################
#define PWM_FREQ 16000 // PWM frequency in Hz #define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime #define DEAD_TIME 32 // PWM deadtime
#define DC_CUR_LIMIT 35 // Motor DC current limit in amps #define DC_CUR_LIMIT 35 // Motor DC current limit in amps
#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
#define BAT_LOW_DEAD 30.0 // undervoltage lockout
// ################################################################################ // ################################################################################
#define DEBUG_SERIAL_USART2 #define DEBUG_SERIAL_USART2
//#define DEBUG_SERIAL_USART3 //#define DEBUG_SERIAL_USART3
#define DEBUG_BAUD 115200 // UART baud rate #define DEBUG_BAUD 115200 // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM //#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII #define DEBUG_SERIAL_ASCII
//#define DEBUG_I2C_LCD //#define DEBUG_I2C_LCD
@ -47,12 +51,12 @@
// ###### BOBBYCAR ###### // ###### BOBBYCAR ######
// #define FILTER 0.1 // #define FILTER 0.1
// #define SPEED_COEFFICIENT 1 // #define SPEED_COEFFICIENT -1
// #define STEER_COEFFICIENT 0 // #define STEER_COEFFICIENT 0
// ###### ARMCHAIR ###### // ###### ARMCHAIR ######
// #define FILTER 0.05 // #define FILTER 0.05
// #define SPEED_COEFFICIENT 0.5 // #define SPEED_COEFFICIENT 0.5
// #define STEER_COEFFICIENT 0.2 // #define STEER_COEFFICIENT -0.2
// #define BEEPS_BACKWARD // #define BEEPS_BACKWARD

12
Src/main.c
View File

@ -123,8 +123,8 @@ int main(void) {
#ifdef CONTROL_NUNCHUCK #ifdef CONTROL_NUNCHUCK
Nunchuck_Read(); Nunchuck_Read();
cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000); cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000); // y - axis. Nunchuck joystick readings range 30 - 230
cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000); cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000); // x - axis
//uint8_t button1 = (uint8_t)nunchuck_data[5] & 1; //uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
//uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1; //uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
@ -138,7 +138,7 @@ int main(void) {
#endif #endif
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
//uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); //uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
timeout = 0; timeout = 0;
@ -185,13 +185,13 @@ int main(void) {
while(1) {} while(1) {}
} }
if (batteryVoltage < 36.0 && batteryVoltage > 33.0) { if (batteryVoltage < BAT_LOW_LVL1 && batteryVoltage > BAT_LOW_LVL2) {
buzzerFreq = 5; buzzerFreq = 5;
buzzerPattern = 8; buzzerPattern = 8;
} else if (batteryVoltage < 33.0 && batteryVoltage > 30.0) { } else if (batteryVoltage < BAT_LOW_LVL2 && batteryVoltage > BAT_LOW_DEAD) {
buzzerFreq = 5; buzzerFreq = 5;
buzzerPattern = 1; buzzerPattern = 1;
} else if (batteryVoltage < 30.0) { } else if (batteryVoltage < BAT_LOW_DEAD) {
buzzerPattern = 0; buzzerPattern = 0;
enable = 0; enable = 0;
for (int i = 0; i < 8; i++) { for (int i = 0; i < 8; i++) {