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hoverboard-firmware-hack-se.../Src/main.c

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/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2017 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "gpio.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer[1];
volatile int pos = 0;
const int pwm_res = 64000000 / 2 / PWM_FREQ;
volatile int pwm = 0;
uint8_t hall_to_pos[8] = {
0,
0,
2,
1,
4,
5,
3,
0,
};
int last_pos = 0;
int timer = 0;
int max_time = PWM_FREQ / 10;
volatile int vel = 0;
void DMA1_Channel1_IRQHandler(){
DMA1->IFCR = DMA_IFCR_CTCIF1;
int u = 0;
int v = 0;
int w = 0;
uint8_t hall_u = HAL_GPIO_ReadPin(LEFT_HALL_U_PORT, LEFT_HALL_U_PIN);
uint8_t hall_v = HAL_GPIO_ReadPin(LEFT_HALL_V_PORT, LEFT_HALL_V_PIN);
uint8_t hall_w = HAL_GPIO_ReadPin(LEFT_HALL_W_PORT, LEFT_HALL_W_PIN);
uint8_t hall = hall_u * 1 + hall_v * 2 + hall_w * 4;
pos = hall_to_pos[hall];
pos += 2;
pos %= 6;
timer++;
if(timer > max_time){
timer = max_time;
vel = 0;
}
if(pos != last_pos){
vel = 1000 * PWM_FREQ / timer / P / 6 * 2;
if((pos - last_pos + 6) % 6 > 2){
vel = -vel;
}
timer = 0;
}
last_pos = pos;
switch(pos){
case 0:
u = 0;
v = pwm;
w = -pwm;
break;
case 1:
u = -pwm;
v = pwm;
w = 0;
break;
case 2:
u = -pwm;
v = 0;
w = pwm;
break;
case 3:
u = 0;
v = -pwm;
w = pwm;
break;
case 4:
u = pwm;
v = -pwm;
w = 0;
break;
case 5:
u = pwm;
v = 0;
w = -pwm;
break;
default:
u = 0;
v = 0;
w = 0;
}
LEFT_TIM->LEFT_TIM_U = CLAMP(u + pwm_res / 2, 0, pwm_res);
LEFT_TIM->LEFT_TIM_V = CLAMP(v + pwm_res / 2, 0, pwm_res);
LEFT_TIM->LEFT_TIM_W = CLAMP(w + pwm_res / 2, 0, pwm_res);
// while(!(ADC1->SR & 2)){
// }
// while(!(DMA1->ISR & 2)){}
// DMA1->IFCR = 1;
// }
}
int milli_vel_error_sum = 0;
int main(void)
{
HAL_Init();
SystemClock_Config();
__HAL_RCC_DMA1_CLK_DISABLE();
MX_GPIO_Init();
MX_TIM_Init();
MX_ADC1_Init();
MX_ADC2_Init();
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
while (1)
{
HAL_Delay(0);
int milli_cur = 3000;
int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
// pwm = milli_volt * pwm_res / MILLI_V;
int milli_vel_cmd = 200;
int milli_vel_error = milli_vel_cmd - vel;
milli_vel_error_sum += milli_vel_error;
milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
if(vel > milli_vel_cmd){
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
}
else{
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/** 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;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**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;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**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);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
void _Error_Handler(char * file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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