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PWM Steering fixed

This commit is contained in:
Benjamin 2020-06-02 11:53:59 +02:00
parent ea8507fc67
commit 21a8f757d0
2 changed files with 53 additions and 67 deletions
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2
Inc/config.h
View File

@ -298,7 +298,7 @@
#define PWM_CH2_MIN -1000 // (-1000 - 0) #define PWM_CH2_MIN -1000 // (-1000 - 0)
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0]. #define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 #define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 0 // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 0 = 0.0 * 2^14. If you do not want any steering, set it to 0. #define STEER_COEFFICIENT 16384 // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
// #define SUPPORT_BUTTONS // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! // #define SUPPORT_BUTTONS // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
// #define INVERT_R_DIRECTION // #define INVERT_R_DIRECTION
// #define INVERT_L_DIRECTION // #define INVERT_L_DIRECTION

118
Src/control.c
View File

@ -88,109 +88,95 @@ void PPM_Init(void) {
#ifdef CONTROL_PWM #ifdef CONTROL_PWM
uint16_t pwm_captured_ch1_value = 500; uint16_t pwm_captured_ch1_value = 500;
uint16_t pwm_captured_ch2_value = 500; uint16_t pwm_captured_ch2_value = 500;
uint32_t pwm_timeout_ch1 = 0; uint32_t pwm_timeout = 0;
uint32_t pwm_timeout_ch2 = 0;
void PWM_ISR_CH1_Callback(void) { int PWM_Signal_Correct(int x, int max, int min) {
// Dummy loop with 16 bit count wrap around int outVal = 0;
uint16_t rc_signal = TIM3->CNT; if(x > -PWM_DEADBAND && x < PWM_DEADBAND) {
TIM3->CNT = 0; outVal = 0;
} else if(x > 0) {
if (IN_RANGE(rc_signal, 900, 2100)){ outVal = (float)CLAMP(x-PWM_DEADBAND, 0, max - PWM_DEADBAND) / (max - PWM_DEADBAND) * 1000;
timeout = 0; } else {
pwm_timeout_ch1 = 0; outVal = 0 - ((float)CLAMP(x+PWM_DEADBAND, min + PWM_DEADBAND, 0) / (min + PWM_DEADBAND) * 1000);
pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
} }
return outVal;
} }
void PWM_ISR_CH1_Callback() {
void PWM_ISR_CH2_Callback(void) {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT; uint16_t rc_signal = TIM2->CNT;
TIM2->CNT = 0; TIM2->CNT = 0;
if (IN_RANGE(rc_signal, 900, 2100)){ if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0; timeout = 0;
pwm_timeout_ch2 = 0; pwm_timeout = 0;
pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
}
}
void PWM_ISR_CH2_Callback() {
// Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT;
TIM2->CNT = 0;
if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0;
pwm_timeout = 0;
pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000; pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
} }
} }
// SysTick executes once each ms // SysTick executes once each ms
void PWM_SysTick_Callback(void) { void PWM_SysTick_Callback() {
pwm_timeout_ch1++; pwm_timeout++;
pwm_timeout_ch2++; // Stop after 500 ms without PPM signal
// Stop after 500 ms without PWM signal if(pwm_timeout > 500) {
if(pwm_timeout_ch1 > 500) { //pwm_captured_ch1_value = 500;
pwm_captured_ch1_value = 500;
pwm_timeout_ch1 = 500; // limit the timeout to max timeout value of 500 ms
}
if(pwm_timeout_ch2 > 500) {
pwm_captured_ch2_value = 500; pwm_captured_ch2_value = 500;
pwm_timeout_ch2 = 500; // limit the timeout to max timeout value of 500 ms pwm_timeout = 0;
} }
} }
void PWM_Init(void) { void PWM_Init() {
// PWM Timer (TIM2)
__HAL_RCC_TIM2_CLK_ENABLE();
TimHandle.Instance = TIM2;
TimHandle.Init.Period = UINT16_MAX;
TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TimHandle);
// Channel 1 (steering) // Channel 1 (steering)
GPIO_InitTypeDef GPIO_InitStruct2; GPIO_InitTypeDef GPIO_InitStruct2;
// Configure GPIO pin : PA2 // Configure GPIO pin : PA2
GPIO_InitStruct2.Pin = GPIO_PIN_2; GPIO_InitStruct2.Pin = GPIO_PIN_2;
GPIO_InitStruct2.Mode = GPIO_MODE_IT_RISING_FALLING; GPIO_InitStruct2.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct2.Pull = GPIO_PULLDOWN; GPIO_InitStruct2.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct2); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct2);
__HAL_RCC_TIM3_CLK_ENABLE();
TimHandle2.Instance = TIM3;
TimHandle2.Init.Period = UINT16_MAX;
TimHandle2.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
TimHandle2.Init.ClockDivision = 0;
TimHandle2.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TimHandle2);
// EXTI interrupt init // EXTI interrupt init
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0); HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn); HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_TIM_Base_Start(&TimHandle2);
// Channel 2 (speed) // Channel 2 (speed)
GPIO_InitTypeDef GPIO_InitStruct; GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PA3 */ /*Configure GPIO pin : PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_3; GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING; GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
__HAL_RCC_TIM2_CLK_ENABLE();
TimHandle.Instance = TIM2;
TimHandle.Init.Period = UINT16_MAX;
TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TimHandle);
/* EXTI interrupt init*/ /* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0); HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn); HAL_NVIC_EnableIRQ(EXTI3_IRQn);
// Start timer
HAL_TIM_Base_Start(&TimHandle); HAL_TIM_Base_Start(&TimHandle);
#ifdef SUPPORT_BUTTONS
/*Configure GPIO pin : PB10 */
GPIO_InitStruct.Pin = BUTTON1_RIGHT_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(BUTTON1_RIGHT_PORT, &GPIO_InitStruct);
/*Configure GPIO pin : PB11 */
GPIO_InitStruct2.Pin = BUTTON2_RIGHT_PIN;
GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct2.Pull = GPIO_PULLUP;
HAL_GPIO_Init(BUTTON2_RIGHT_PORT, &GPIO_InitStruct2);
#endif
} }
#endif #endif