fixed serial debug output, backward beep and low bat beeps work now together, low bat beeps can now be disabled, added inactivity timeout
This commit is contained in:
larsm
parent
2932480274
commit
612dce68ea
24
Inc/config.h
24
Inc/config.h
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@ -6,23 +6,29 @@
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define DEAD_TIME 32 // PWM deadtime
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#define DC_CUR_LIMIT 15 // Motor DC current limit in amps. it does not disable motors, it is a soft current limit.
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#define DC_CUR_LIMIT 15 // DC current limit in amps per motor. so 15 means it will draw 30A out of your battery. it does not disable motors, it is a soft current limit.
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// Battery voltage calibration: connect power source. use multimeter to measure real voltage and write it to BAT_CALIB_REAL_VOLTAGE. watch UART on one of the sensor board cables. write value nr 4 to BAT_CALIB_ADC. make and flash firmware. you can verify voltage on UART debug value 5 (devide it by 100.0 to get calibrated voltage).
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#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.
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// Battery voltage calibration: connect power source. use multimeter to measure real voltage and write it to BAT_CALIB_REAL_VOLTAGE. enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII (and disconnect and disable CONTROL_NUNCHUCK) and watch UART on right sensor board cable. write value nr 5 to BAT_CALIB_ADC. make and flash firmware. you can verify voltage on UART debug value 6 (devide it by 100.0 to get calibrated voltage).
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#define BAT_CALIB_REAL_VOLTAGE 42.0 // input voltage measured by multimeter
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#define BAT_CALIB_ADC 1667 // adc-value measured by mainboard (value nr 4 on UART debug output)
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#define BAT_NUMBER_OF_CELLS 10 // normal Hoverboard battery: 10s
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#define BAT_NUMBER_OF_CELLS 12 // normal Hoverboard battery: 10s
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#define BAT_LOW_LVL1_ENABLE 0 // to beep or not to beep, 1 or 0
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#define BAT_LOW_LVL1 3.6 // gently beeps at this voltage level. [V/cell]
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#define BAT_LOW_LVL2 3.5 // your battery is almost empty. Charge now! [V/cell]
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#define BAT_LOW_DEAD 3.37 // undervoltage lockout. [V/cell]
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#define BAT_LOW_LVL2_ENABLE 1 // to beep or not to beep, 1 or 0
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#define BAT_LOW_LVL2 3.5 // your battery is almost empty. Charge now! [V/cell]
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#define BAT_LOW_DEAD 3.37 // undervoltage lockout. [V/cell]
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#define INACTIVITY_TIMEOUT 8 // minutes of not driving until poweroff. it is not very precise.
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// ################################################################################
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//#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck) is used!
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#define DEBUG_BAUD 115200 // UART baud rate
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//#define DEBUG_SERIAL_SERVOTERM
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//#define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r"
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#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
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//#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry
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@ -40,7 +46,7 @@
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//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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// ###### CONTROL VIA TWO POTENTIOMETERS ######
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// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V), watch UART on the right sensor board cable. the first 2 values are ADC1 and ADC2. write minimum and maximum poti position-values to ADC?_MIN and ADC?_MAX.
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// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII (and disconnect and disable CONTROL_NUNCHUCK) and watch UART on right sensor board cable. value1 == ADC1 and value2 == ADC2. write minimum and maximum poti position-values to ADC?_MIN and ADC?_MAX.
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//#define CONTROL_ADC // use ADC as input. disable DEBUG_SERIAL_USART2!
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//#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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//#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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@ -64,7 +70,7 @@
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// - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400
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#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues.
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#define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to 1.0
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#define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to ~2.0?
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#define STEER_COEFFICIENT 0.5 // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
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//#define INVERT_R_DIRECTION
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//#define INVERT_L_DIRECTION
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@ -108,7 +114,7 @@ else {\
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weakl = 0;\
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weakr = 0;
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// #define BEEPS_BACKWARD
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#define BEEPS_BACKWARD 1 // 0 or 1
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// ################################################################################
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12
Src/bldc.c
12
Src/bldc.c
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@ -165,18 +165,6 @@ void DMA1_Channel1_IRQHandler() {
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batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.001;
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}
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#ifdef BEEPS_BACKWARD
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if (speed < -50 && enable == 1) {
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buzzerFreq = 5;
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buzzerPattern = 1;
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} else if (enable == 1) {
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buzzerFreq = 0;
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buzzerPattern = 1;
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}
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#endif
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//disable PWM when current limit is reached (current chopping)
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if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
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LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
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@ -25,7 +25,7 @@ void setScopeChannel(uint8_t ch, int16_t val) {
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}
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void consoleScope() {
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#ifdef DEBUG_SERIAL_SERVOTERM
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#if defined DEBUG_SERIAL_SERVOTERM && defined DEBUG_SERIAL_USART3
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uart_buf[0] = 0xff;
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uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
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uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255);
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@ -45,7 +45,7 @@ void consoleScope() {
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}
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#endif
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#ifdef DEBUG_SERIAL_ASCII
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#if defined DEBUG_SERIAL_ASCII && defined DEBUG_SERIAL_USART3
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memset(uart_buf, 0, sizeof(uart_buf));
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sprintf(uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
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57
Src/main.c
57
Src/main.c
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@ -67,6 +67,8 @@ extern uint8_t enable; // global variable for motor enable
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extern volatile uint32_t timeout; // global variable for timeout
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extern float batteryVoltage; // global variable for battery voltage
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uint32_t inactivity_timeout_counter;
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extern uint8_t nunchuck_data[6];
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#ifdef CONTROL_PPM
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extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
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@ -162,7 +164,7 @@ int main(void) {
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enable = 1; // enable motors
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while(1) {
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HAL_Delay(5);
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HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
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#ifdef CONTROL_NUNCHUCK
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Nunchuck_Read();
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@ -211,17 +213,19 @@ int main(void) {
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// ####### DEBUG SERIAL OUT #######
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#ifdef CONTROL_ADC
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setScopeChannel(0, (int)adc_buffer.l_tx2); // 1: ADC1
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setScopeChannel(1, (int)adc_buffer.l_rx2); // 2: ADC2
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#endif
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setScopeChannel(2, (int)speedR); // 3:
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setScopeChannel(3, (int)speedL); // 4:
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setScopeChannel(4, (int)adc_buffer.batt1); // 5: for battery voltage calibration
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setScopeChannel(5, (int)(batteryVoltage * 100.0f)); // 6: for verifying battery voltage calibration
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// setScopeChannel(6, (int)); // 7:
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// setScopeChannel(7, (int)); // 8:
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consoleScope();
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if (inactivity_timeout_counter % 10 == 0) {
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#ifdef CONTROL_ADC
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setScopeChannel(0, (int)adc_buffer.l_tx2); // 1: ADC1
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setScopeChannel(1, (int)adc_buffer.l_rx2); // 2: ADC2
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#endif
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setScopeChannel(2, (int)speedR); // 3:
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setScopeChannel(3, (int)speedL); // 4:
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setScopeChannel(4, (int)adc_buffer.batt1); // 5: for battery voltage calibration
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setScopeChannel(5, (int)(batteryVoltage * 100.0f)); // 6: for verifying battery voltage calibration
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// setScopeChannel(6, (int)); // 7:
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// setScopeChannel(7, (int)); // 8:
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consoleScope();
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}
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#ifdef ADDITIONAL_CODE
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@ -263,13 +267,16 @@ int main(void) {
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// ####### BATTERY VOLTAGE #######
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if (batteryVoltage < ((float)BAT_LOW_LVL1 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS)) {
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if (BEEPS_BACKWARD && speed < -50) { // backward beep
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buzzerFreq = 5;
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buzzerPattern = 1;
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} else if (batteryVoltage < ((float)BAT_LOW_LVL1 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS) && BAT_LOW_LVL1_ENABLE) { // low bat 1: slow beep
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buzzerFreq = 5;
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buzzerPattern = 42;
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} else if (batteryVoltage < ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS)) {
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} else if (batteryVoltage < ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS) && BAT_LOW_LVL2_ENABLE) { // low bat 2: fast beep
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buzzerFreq = 5;
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buzzerPattern = 6;
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} else if (batteryVoltage < ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS)) {
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} else if (batteryVoltage < ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS) && abs(speed) < 20) { // low bat 3: power off
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buzzerPattern = 0;
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enable = 0;
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for (int i = 0; i < 8; i++) {
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@ -278,10 +285,28 @@ int main(void) {
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}
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
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while(1) {}
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} else {
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} else { // do not beep
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buzzerFreq = 0;
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buzzerPattern = 0;
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}
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// ####### INACTIVITY TIMEOUT #######
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if (abs(speedL) > 50 || abs(speedR) > 50) {
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inactivity_timeout_counter = 0;
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} else {
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inactivity_timeout_counter ++;
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}
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if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms
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buzzerPattern = 0;
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enable = 0;
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for (int i = 0; i < 8; i++) {
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buzzerFreq = i;
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HAL_Delay(100);
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}
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
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while(1) {}
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}
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}
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}
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437
build/hover.hex
437
build/hover.hex
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@ -1,23 +1,23 @@
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:020000040800F2
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:1000000000C000206538000847380008493800085B
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:100010004B3800084D3800084F3800080000000039
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:10002000000000000000000000000000513800083F
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:100030005338000800000000553800085738000801
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:1000E000AD380008AD380008AD380008AD3800085C
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:10011000AD380008AD380008AD380008AD3800082B
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:10002000000000000000000000000000C1380008CF
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:1001300000000000000000000000000000000000BF
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:1001400000000000000000000000000000000000AF
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:10015000000000000000000000000000000000009F
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:0401E0005FF8E0F1F3
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:1001E80010B5054C237833B9044B13B10448AFF369
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:1001F80000800123237010BD2400002000000000AF
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:10020800F838000808B5034B1BB103490348AFF39E
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:10021800008008BD0000000028000020F838000811
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:100208006839000808B5034B1BB103490348AFF32D
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:1017680023F46053296943EAC1035360FFF724FF58
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
:00000001FF
|
||||
|
|
|
|||
Loading…
Reference in New Issue