ADD: Wii Nunchuck control
This commit is contained in:
parent
30f8d97694
commit
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12
Inc/config.h
12
Inc/config.h
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@ -14,12 +14,18 @@
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#define DEAD_TIME 32 // PWM deadtime
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//#define DC_CUR_LIMIT 34 // Motor DC current limit in amps
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#define DC_CUR_LIMIT 24 // Motor DC current limit in amps
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#define DC_CUR_LIMIT 35 // Motor DC current limit in amps
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//#define DEBUG_SERIAL_SERVOTERM
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// #define DEBUG_SERIAL_ASCII
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#define DEBUG_SERIAL_ASCII
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#define DEBUG_SERIAL_USART2
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#define DEBUG_BAUD 115200 // UART baud rate
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//#define DEBUG_I2C_LCD
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// #define CONTROL_PPM // use PPM CONTROL_PPM
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//#define CONTROL_PPM // use PPM CONTROL_PPM
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#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive
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// #define CONTROL_ADC
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#define CONTROL_NUNCHUCK
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// #define BEEPS_BACKWARD
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@ -45,7 +45,7 @@ extern "C" {
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/* ########################## Module Selection ############################## */
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/**
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* @brief This is the list of modules to be used in the HAL driver
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* @brief This is the list of modules to be used in the HAL driver
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*/
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#define HAL_MODULE_ENABLED
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@ -60,7 +60,7 @@ extern "C" {
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/*#define HAL_ETH_MODULE_ENABLED */
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/*#define HAL_FLASH_MODULE_ENABLED */
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#define HAL_GPIO_MODULE_ENABLED
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/*#define HAL_I2C_MODULE_ENABLED */
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#define HAL_I2C_MODULE_ENABLED
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/*#define HAL_I2S_MODULE_ENABLED */
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/*#define HAL_IRDA_MODULE_ENABLED */
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/*#define HAL_IWDG_MODULE_ENABLED */
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@ -94,7 +94,7 @@ extern "C" {
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/**
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* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
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* This value is used by the RCC HAL module to compute the system frequency
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* (when HSE is used as system clock source, directly or through the PLL).
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* (when HSE is used as system clock source, directly or through the PLL).
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*/
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#if !defined(HSE_VALUE)
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#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
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@ -107,7 +107,7 @@ extern "C" {
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/**
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* @brief Internal High Speed oscillator (HSI) value.
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* This value is used by the RCC HAL module to compute the system frequency
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* (when HSI is used as system clock source, directly or through the PLL).
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* (when HSI is used as system clock source, directly or through the PLL).
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*/
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#if !defined(HSI_VALUE)
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#define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/
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@ -148,7 +148,7 @@ extern "C" {
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/* ########################## Assert Selection ############################## */
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/**
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* @brief Uncomment the line below to expanse the "assert_param" macro in the
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* @brief Uncomment the line below to expanse the "assert_param" macro in the
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* HAL drivers code
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*/
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/* #define USE_FULL_ASSERT 1U */
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@ -211,7 +211,7 @@ extern "C" {
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/* Includes ------------------------------------------------------------------*/
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/**
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* @brief Include module's header file
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* @brief Include module's header file
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*/
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#ifdef HAL_RCC_MODULE_ENABLED
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@ -345,7 +345,7 @@ extern "C" {
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* @brief The assert_param macro is used for function's parameters check.
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* @param expr: If expr is false, it calls assert_failed function
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* which reports the name of the source file and the source
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* line number of the call that failed.
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* line number of the call that failed.
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* If expr is true, it returns no value.
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* @retval None
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*/
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2
Makefile
2
Makefile
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@ -33,6 +33,8 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \
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Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \
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Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c \
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Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
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Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c \
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Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
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Src/system_stm32f1xx.c \
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Src/setup.c \
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Src/control.c \
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64
Src/bldc.c
64
Src/bldc.c
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@ -9,7 +9,10 @@ volatile int posl = 0;
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volatile int posr = 0;
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volatile int pwml = 0;
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volatile int pwmr = 0;
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int16_t pwmrl = 0;
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volatile int weakl = 0;
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volatile int weakr = 0;
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extern volatile int pwmrl;
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extern volatile adc_buf_t adc_buffer;
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@ -128,7 +131,7 @@ int offsetrr2 = 2000;
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int offsetdcl = 2000;
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int offsetdcr = 2000;
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float batteryVoltage;
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float batteryVoltage = 40.0;
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float adccmd1;
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float adccmd2;
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@ -157,32 +160,20 @@ void DMA1_Channel1_IRQHandler() {
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return;
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}
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batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
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adccmd1 = adccmd1 * 0.999 + (float)adc_buffer.l_rx2 * 0.001;
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adccmd2 = adccmd2 * 0.999 + (float)adc_buffer.l_tx2 * 0.001;
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//0-4096
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//+-2000
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pwmrl = 0;
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if(adccmd1 - 700 > 0){
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pwmrl -= adccmd1 - 700;
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}
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if(adccmd2 - 700 > 0){
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pwmrl += adccmd2 - 700;
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if (buzzerTimer % 100 == 0) {
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batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
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}
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if (pwmrl < -100 && 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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pwmrl = powf((pwmrl/4), 3) / 255885;
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pwml = -pwmrl;
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pwmr = pwmrl;
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#ifdef BEEPS_BACKWARD
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if (pwmrl < -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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@ -258,9 +249,32 @@ void DMA1_Channel1_IRQHandler() {
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// errorl = cmdl - curl;
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// pwml = kp * errorl;
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blockPWM(pwml, posl, &ul, &vl, &wl);
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blockPWM(pwmr, posr, &ur, &vr, &wr);
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int weakul, weakvl, weakwl;
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if (pwml > 0) {
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blockPWM(weakl, (posl+5) % 6, &weakul, &weakvl, &weakwl);
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} else {
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blockPWM(-weakl, (posl+1) % 6, &weakul, &weakvl, &weakwl);
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}
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ul += weakul;
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vl += weakvl;
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wl += weakwl;
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int weakur, weakvr, weakwr;
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if (pwmr > 0) {
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blockPWM(weakr, (posr+5) % 6, &weakur, &weakvr, &weakwr);
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} else {
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blockPWM(-weakr, (posr+1) % 6, &weakur, &weakvr, &weakwr);
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}
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ur += weakur;
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vr += weakvr;
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wr += weakwr;
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// blockPWM(pwmr, posr, &ur, &vr, &wr);
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LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
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LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
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LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10);
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29
Src/comms.c
29
Src/comms.c
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@ -7,6 +7,15 @@
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UART_HandleTypeDef huart2;
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#ifdef DEBUG_SERIAL_USART3
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#define UART_DMA_CHANNEL DMA1_Channel2
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#endif
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#ifdef DEBUG_SERIAL_USART2
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#define UART_DMA_CHANNEL DMA1_Channel7
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#endif
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volatile uint8_t uart_buf[100];
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volatile int16_t ch_buf[8];
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//volatile char char_buf[300];
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@ -28,11 +37,11 @@ void consoleScope() {
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uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
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uart_buf[9] = '\n';
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if(DMA1_Channel2->CNDTR == 0) {
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DMA1_Channel2->CCR &= ~DMA_CCR_EN;
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DMA1_Channel2->CNDTR = 10;
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DMA1_Channel2->CMAR = (uint32_t)uart_buf;
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DMA1_Channel2->CCR |= DMA_CCR_EN;
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if(UART_DMA_CHANNEL->CNDTR == 0) {
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UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
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UART_DMA_CHANNEL->CNDTR = 10;
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UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
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UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
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}
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#endif
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@ -40,11 +49,11 @@ void consoleScope() {
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memset(uart_buf, 0, sizeof(uart_buf));
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sprintf(uart_buf, "%i;%i;%i;%i\n\r", 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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if(DMA1_Channel2->CNDTR == 0) {
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DMA1_Channel2->CCR &= ~DMA_CCR_EN;
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DMA1_Channel2->CNDTR = strlen(uart_buf);
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DMA1_Channel2->CMAR = (uint32_t)uart_buf;
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DMA1_Channel2->CCR |= DMA_CCR_EN;
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if(UART_DMA_CHANNEL->CNDTR == 0) {
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UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
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UART_DMA_CHANNEL->CNDTR = strlen(uart_buf);
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UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
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UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
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}
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#endif
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}
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@ -8,6 +8,13 @@ TIM_HandleTypeDef TimHandle;
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uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0};
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uint8_t ppm_count = 0;
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uint32_t timeout = 100;
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uint8_t nunchuck_data[6] = {0};
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uint8_t ai2cBuffer[6];
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extern I2C_HandleTypeDef hi2c2;
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DMA_HandleTypeDef hdma_i2c2_rx;
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DMA_HandleTypeDef hdma_i2c2_tx;
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void PPM_ISR_Callback() {
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// Dummy loop with 16 bit count wrap around
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HAL_NVIC_EnableIRQ(EXTI3_IRQn);
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HAL_TIM_Base_Start(&TimHandle);
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}
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void Nunchuck_Init() {
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//-- START -- init WiiNunchuck
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ai2cBuffer[0] = 0xF0;
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ai2cBuffer[1] = 0x55;
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//Originale
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ai2cBuffer[0] = 0x40;
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ai2cBuffer[1] = 0x00;
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//HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2);
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//while(wii_JOYdati.I2CTxDone ==0);
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//wii_JOYdati.I2CTxDone = 0;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 2, 100);
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HAL_Delay(10);
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//wii_JOYdati.done = 0;
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}
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void Nunchuck_Read() {
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ai2cBuffer[0] = 0x00;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 1, 100);
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HAL_Delay(2);
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HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 6, 100);
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for (int i = 0; i < 6; i++) {
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nunchuck_data[i] = (ai2cBuffer[i] ^ 0x17) + 0x17;
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}
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//setScopeChannel(0, (int)nunchuck_data[0]);
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//setScopeChannel(1, (int)nunchuck_data[1]);
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//setScopeChannel(2, (int)nunchuck_data[5] & 1);
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//setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1);
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}
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91
Src/main.c
91
Src/main.c
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@ -25,6 +25,9 @@
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void SystemClock_Config(void);
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extern float adccmd1;
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extern float adccmd2;
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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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@ -34,6 +37,10 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
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extern volatile int pwml;
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extern volatile int pwmr;
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extern volatile int weakl;
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extern volatile int weakr;
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volatile int pwmrl = 0;
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extern uint8_t buzzerFreq;
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extern uint8_t buzzerPattern;
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@ -43,6 +50,7 @@ extern uint8_t enable;
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extern volatile uint32_t timeout;
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extern float batteryVoltage;
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extern uint8_t nunchuck_data[6];
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int milli_vel_error_sum = 0;
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@ -91,40 +99,79 @@ int main(void) {
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int lastSpeedL = 0, lastSpeedR = 0;
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int speedL = 0, speedR = 0;
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float direction = 1;
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#ifdef CONTROL_PPM
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PPM_Init();
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#endif
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#ifdef CONTROL_NUNCHUCK
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I2C_Init();
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Nunchuck_Init();
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#endif
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enable = 1;
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while(1) {
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HAL_Delay(10);
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// int milli_cur = 3000;
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// int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
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// // pwm = milli_volt * pwm_res / MILLI_V;
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HAL_Delay(2);
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#ifdef CONTROL_NUNCHUCK
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Nunchuck_Read();
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setScopeChannel(0, (int)nunchuck_data[0]);
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setScopeChannel(1, (int)nunchuck_data[1]);
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setScopeChannel(2, (int)nunchuck_data[5] & 1);
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setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1);
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#endif
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// int milli_vel_cmd = 200;
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// int milli_vel_error = milli_vel_cmd - vel;
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// milli_vel_error_sum += milli_vel_error;
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// milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
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// pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
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// cmdl = 70;
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#ifdef CONTROL_PPM
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speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
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speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
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//pwmr = speedR;
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//pwml = speedL;
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}
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lastSpeedL = speedL;
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lastSpeedR = speedR;
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//setScopeChannel(0, (int)pwmrl);
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//setScopeChannel(1, (int)speedL);
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#endif
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
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pwmr = speedR;
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pwml = speedL;
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}
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#ifdef CONTROL_ADC
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//adccmd1 = adccmd1 * 0.9 + (float)adc_buffer.l_rx2 * 0.1; // throttle
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adccmd2 = adccmd2 * 0.9 + (float)adc_buffer.l_tx2 * 0.1; // button
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lastSpeedL = speedL;
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lastSpeedR = speedR;
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setScopeChannel(0, speedR);
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setScopeChannel(1, speedL);
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pwmrl = pwmrl * 0.9 + (CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35) * 0.1 * direction;
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// pwmrl has to be 0-1000 (or negative when driving backwards)
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setScopeChannel(0, (int)adccmd1);
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setScopeChannel(1, (int)adccmd2);
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// adccmd2 = button, ranges 0 in idle and 4096 when pressed
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if (adccmd2 > 2000 && pwmrl < 300) { // driving backwards at low speeds
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direction = -0.2;
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} else {
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direction = 1;
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}
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if (adccmd2 > 2000 && pwmrl > 700) { // field weakening at high speeds
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weakl = pwmrl - 600; // weak should never exceed 400 or 450 MAX!!
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weakr = pwmrl - 600;
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} else {
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weakl = 0;
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weakr = 0;
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}
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if (pwml < 1000) {
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pwml +=1;
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}
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pwml = pwmrl;
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pwmr = -pwmrl;
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#endif
|
||||
|
||||
consoleScope();
|
||||
|
||||
|
@ -162,14 +209,6 @@ int main(void) {
|
|||
buzzerFreq = 0;
|
||||
buzzerPattern = 0;
|
||||
}
|
||||
|
||||
|
||||
// if(vel > milli_vel_cmd){
|
||||
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
|
||||
// }
|
||||
// else{
|
||||
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
|
|
124
Src/setup.c
124
Src/setup.c
|
@ -41,8 +41,10 @@ TIM_HandleTypeDef htim_right;
|
|||
TIM_HandleTypeDef htim_left;
|
||||
ADC_HandleTypeDef hadc1;
|
||||
ADC_HandleTypeDef hadc2;
|
||||
I2C_HandleTypeDef hi2c2;
|
||||
volatile adc_buf_t adc_buffer;
|
||||
|
||||
#ifdef DEBUG_SERIAL_USART3
|
||||
void UART_Init() {
|
||||
__HAL_RCC_USART3_CLK_ENABLE();
|
||||
__HAL_RCC_DMA1_CLK_ENABLE();
|
||||
|
@ -73,6 +75,40 @@ void UART_Init() {
|
|||
DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
|
||||
DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef DEBUG_SERIAL_USART2
|
||||
void UART_Init() {
|
||||
__HAL_RCC_USART2_CLK_ENABLE();
|
||||
__HAL_RCC_DMA1_CLK_ENABLE();
|
||||
|
||||
UART_HandleTypeDef huart2;
|
||||
huart2.Instance = USART2;
|
||||
huart2.Init.BaudRate = DEBUG_BAUD;
|
||||
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
||||
huart2.Init.StopBits = UART_STOPBITS_1;
|
||||
huart2.Init.Parity = UART_PARITY_NONE;
|
||||
huart2.Init.Mode = UART_MODE_TX;
|
||||
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
HAL_UART_Init(&huart2);
|
||||
|
||||
USART2->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_2;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
DMA1_Channel7->CCR = 0;
|
||||
DMA1_Channel7->CPAR = (uint32_t) & (USART2->DR);
|
||||
DMA1_Channel7->CNDTR = 0;
|
||||
DMA1_Channel7->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
|
||||
DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
|
||||
}
|
||||
#endif
|
||||
|
||||
/*
|
||||
void UART_Init() {
|
||||
|
@ -107,6 +143,94 @@ void UART_Init() {
|
|||
}
|
||||
*/
|
||||
|
||||
DMA_HandleTypeDef hdma_i2c2_rx;
|
||||
|
||||
DMA_HandleTypeDef hdma_i2c2_tx;
|
||||
|
||||
|
||||
void I2C_Init()
|
||||
{
|
||||
|
||||
__HAL_RCC_I2C2_CLK_ENABLE();
|
||||
__HAL_RCC_DMA1_CLK_ENABLE();
|
||||
|
||||
/* DMA1_Channel4_IRQn interrupt configuration */
|
||||
HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 1, 4);
|
||||
HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
|
||||
/* DMA1_Channel5_IRQn interrupt configuration */
|
||||
HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 1, 3);
|
||||
HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
|
||||
|
||||
hi2c2.Instance = I2C2;
|
||||
hi2c2.Init.ClockSpeed = 100000;
|
||||
hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
|
||||
hi2c2.Init.OwnAddress1 = 0;
|
||||
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
|
||||
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
|
||||
hi2c2.Init.OwnAddress2 = 0;
|
||||
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
|
||||
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
|
||||
HAL_I2C_Init(&hi2c2);
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
|
||||
__HAL_RCC_DMA1_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||
/* USER CODE BEGIN I2C2_MspInit 0 */
|
||||
|
||||
/* USER CODE END I2C2_MspInit 0 */
|
||||
|
||||
/**I2C2 GPIO Configuration
|
||||
PB10 ------> I2C2_SCL
|
||||
PB11 ------> I2C2_SDA
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/* Peripheral clock enable */
|
||||
__HAL_RCC_I2C2_CLK_ENABLE();
|
||||
|
||||
/* Peripheral DMA init*/
|
||||
|
||||
hdma_i2c2_rx.Instance = DMA1_Channel5;
|
||||
hdma_i2c2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_i2c2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_i2c2_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_i2c2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_i2c2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_i2c2_rx.Init.Mode = DMA_NORMAL;
|
||||
hdma_i2c2_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
|
||||
HAL_DMA_Init(&hdma_i2c2_rx);
|
||||
|
||||
__HAL_LINKDMA(&hi2c2,hdmarx,hdma_i2c2_rx);
|
||||
|
||||
hdma_i2c2_tx.Instance = DMA1_Channel4;
|
||||
hdma_i2c2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
||||
hdma_i2c2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_i2c2_tx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_i2c2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_i2c2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_i2c2_tx.Init.Mode = DMA_NORMAL;
|
||||
hdma_i2c2_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
|
||||
HAL_DMA_Init(&hdma_i2c2_tx);
|
||||
|
||||
__HAL_LINKDMA(&hi2c2,hdmatx,hdma_i2c2_tx);
|
||||
|
||||
/* Peripheral interrupt init */
|
||||
HAL_NVIC_SetPriority(I2C2_EV_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(I2C2_EV_IRQn);
|
||||
HAL_NVIC_SetPriority(I2C2_ER_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(I2C2_ER_IRQn);
|
||||
/* USER CODE BEGIN I2C2_MspInit 1 */
|
||||
|
||||
/* USER CODE END I2C2_MspInit 1 */
|
||||
|
||||
|
||||
}
|
||||
|
||||
void MX_GPIO_Init(void) {
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
|
||||
|
|
|
@ -35,6 +35,10 @@
|
|||
#include "stm32f1xx.h"
|
||||
#include "stm32f1xx_it.h"
|
||||
|
||||
extern DMA_HandleTypeDef hdma_i2c2_rx;
|
||||
extern DMA_HandleTypeDef hdma_i2c2_tx;
|
||||
extern I2C_HandleTypeDef hi2c2;
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
@ -165,6 +169,47 @@ void SysTick_Handler(void) {
|
|||
}
|
||||
|
||||
|
||||
extern I2C_HandleTypeDef hi2c2;
|
||||
void I2C1_EV_IRQHandler(void)
|
||||
{
|
||||
HAL_I2C_EV_IRQHandler(&hi2c2);
|
||||
}
|
||||
|
||||
void I2C1_ER_IRQHandler(void)
|
||||
{
|
||||
HAL_I2C_ER_IRQHandler(&hi2c2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA1 channel4 global interrupt.
|
||||
*/
|
||||
void DMA1_Channel4_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA1_Channel4_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_i2c2_tx);
|
||||
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA1_Channel4_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA1 channel5 global interrupt.
|
||||
*/
|
||||
void DMA1_Channel5_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA1_Channel5_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_i2c2_rx);
|
||||
/* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA1_Channel5_IRQn 1 */
|
||||
}
|
||||
|
||||
|
||||
|
||||
void EXTI3_IRQHandler(void)
|
||||
{
|
||||
PPM_ISR_Callback();
|
||||
|
|
2442
build/hover.hex
2442
build/hover.hex
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue