Fixed PPM, PWM timeout
- fixed the general timeout handling: there is no need to disable the MOSFETs timer because it will confuse the BLDC_controller, making him consider the timeout as a false MOSFET defective error. - renamed `timeout` to `timeoutCnt` for consistency and to ease the search #61
This commit is contained in:
EmanuelFeru
parent
68776699e1
commit
22984a7fd6
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@ -31,7 +31,7 @@
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#else
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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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#endif
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#define TIMEOUT 5 // number of wrong / missing input commands before emergency off
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#define TIMEOUT 20 // number of wrong / missing input commands before emergency off
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#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
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// ADC conversion time definitions
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@ -57,8 +57,6 @@ volatile int pwmr = 0;
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extern volatile adc_buf_t adc_buffer;
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extern volatile uint32_t timeout;
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uint8_t buzzerFreq = 0;
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uint8_t buzzerPattern = 0;
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static uint32_t buzzerTimer = 0;
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@ -116,13 +114,13 @@ void DMA1_Channel1_IRQHandler(void) {
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// Disable PWM when current limit is reached (current chopping)
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// This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
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if(ABS(curL_DC) > curDC_max || timeout > TIMEOUT || enable == 0) {
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if(ABS(curL_DC) > curDC_max || enable == 0) {
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LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
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} else {
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LEFT_TIM->BDTR |= TIM_BDTR_MOE;
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}
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if(ABS(curR_DC) > curDC_max || timeout > TIMEOUT || enable == 0) {
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if(ABS(curR_DC) > curDC_max || enable == 0) {
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RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
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} else {
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RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
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@ -10,7 +10,7 @@ TIM_HandleTypeDef TimHandle;
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TIM_HandleTypeDef TimHandle2;
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uint8_t ppm_count = 0;
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uint8_t pwm_count = 0;
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uint32_t timeout = 100;
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uint32_t timeoutCnt = 0;
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uint8_t nunchuk_data[6] = {0};
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uint8_t i2cBuffer[2];
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@ -40,7 +40,7 @@ void PPM_ISR_Callback(void) {
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ppm_count = 0;
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}
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else if (ppm_count < PPM_NUM_CHANNELS && IN_RANGE(rc_delay, 900, 2100)){
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timeout = 0;
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timeoutCnt = 0;
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ppm_captured_value_buffer[ppm_count++] = CLAMP(rc_delay, 1000, 2000) - 1000;
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} else {
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ppm_valid = false;
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@ -113,7 +113,7 @@ void PWM_ISR_CH1_Callback(void) {
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} else { // Falling Edge interrupt -> measure pulse duration
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uint16_t rc_signal = TIM2->CNT - pwm_CNT_prev_ch1;
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if (IN_RANGE(rc_signal, 900, 2100)){
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timeout = 0;
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timeoutCnt = 0;
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pwm_timeout_ch1 = 0;
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pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
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}
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@ -132,7 +132,7 @@ void PWM_ISR_CH2_Callback(void) {
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} else { // Falling Edge interrupt -> measure pulse duration
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uint16_t rc_signal = TIM2->CNT - pwm_CNT_prev_ch2;
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if (IN_RANGE(rc_signal, 900, 2100)){
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timeout = 0;
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timeoutCnt = 0;
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pwm_timeout_ch2 = 0;
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pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
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}
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@ -143,7 +143,7 @@ void PWM_ISR_CH2_Callback(void) {
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void PWM_SysTick_Callback(void) {
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pwm_timeout_ch1++;
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pwm_timeout_ch2++;
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// Stop after 500 ms without PPM signal
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// Stop after 500 ms without PWM signal
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if(pwm_timeout_ch1 > 500) {
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pwm_captured_ch1_value = 500;
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pwm_timeout_ch1 = 0;
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@ -228,11 +228,11 @@ void Nunchuk_Read(void) {
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 10);
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HAL_Delay(3);
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if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 6, 10) == HAL_OK) {
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timeout = 0;
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timeoutCnt = 0;
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}
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#ifndef TRANSPOTTER
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if (timeout > 3) {
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if (timeoutCnt > 3) {
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HAL_Delay(50);
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Nunchuk_Init();
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}
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22
Src/main.c
22
Src/main.c
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@ -65,6 +65,7 @@ extern int16_t cmd2; // normalized input value. -1000 to 1000
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extern int16_t speedAvg; // Average measured speed
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extern int16_t speedAvgAbs; // Average measured speed in absolute
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extern volatile uint32_t timeoutCnt; // Timeout counter for the General timeout (PPM, PWM, Nunchuck)
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extern uint8_t timeoutFlagADC; // Timeout Flag for for ADC Protection: 0 = OK, 1 = Problem detected (line disconnected or wrong ADC data)
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extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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@ -76,7 +77,6 @@ extern uint8_t buzzerPattern; // global variable for the buzzer patter
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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 int16_t batVoltage; // global variable for battery voltage
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#if defined(SIDEBOARD_SERIAL_USART2)
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@ -236,6 +236,12 @@ int main(void) {
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}
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#endif
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// ####### GENERAL TIMEOUT #######
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if (timeoutCnt > TIMEOUT) { // Bring the system to a Safe State
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cmd1 = 0;
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cmd2 = 0;
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}
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// ####### LOW-PASS FILTER #######
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rateLimiter16(cmd1, RATE, &steerRateFixdt);
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rateLimiter16(cmd2, RATE, &speedRateFixdt);
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@ -259,7 +265,7 @@ int main(void) {
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mixerFcn(speed << 4, steer << 4, &speedR, &speedL); // This function implements the equations above
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// ####### SET OUTPUTS (if the target change is less than +/- 100) #######
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if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100) && timeout < TIMEOUT) {
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if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100)) {
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#ifdef INVERT_R_DIRECTION
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pwmr = speedR;
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#else
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@ -308,10 +314,10 @@ int main(void) {
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enable = 0;
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}
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}
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timeout = 0;
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timeoutCnt = 0;
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}
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if (timeout > TIMEOUT) {
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if (timeoutCnt > TIMEOUT) {
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pwml = 0;
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pwmr = 0;
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enable = 0;
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@ -345,7 +351,7 @@ int main(void) {
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#ifdef SUPPORT_LCD
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LCD_SetLocation(&lcd, 0, 0); LCD_WriteString(&lcd, "Nunchuk Control");
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#endif
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timeout = 0;
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timeoutCnt = 0;
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HAL_Delay(1000);
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nunchuk_connected = 1;
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}
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@ -452,7 +458,7 @@ int main(void) {
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enable = 0;
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buzzerFreq = 8;
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buzzerPattern = 1;
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} else if (timeoutFlagADC || timeoutFlagSerial) { // beep in case of ADC or Serial timeout - fast beep
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} else if (timeoutFlagADC || timeoutFlagSerial || timeoutCnt > TIMEOUT) { // beep in case of ADC timeout, Serial timeout or General timeout - fast beep
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buzzerFreq = 24;
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buzzerPattern = 1;
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} else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // beep if mainboard gets hot
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@ -479,7 +485,7 @@ int main(void) {
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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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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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poweroff();
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@ -490,7 +496,7 @@ int main(void) {
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lastSpeedL = speedL;
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lastSpeedR = speedR;
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main_loop_counter++;
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timeout++;
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timeoutCnt++;
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}
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}
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@ -52,7 +52,7 @@ extern uint8_t buzzerPattern; // global variable for the buzzer patter
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extern uint8_t enable; // global variable for motor enable
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extern uint8_t nunchuk_data[6];
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extern volatile uint32_t timeout; // global variable for timeout
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extern volatile uint32_t timeoutCnt; // global variable for general timeout counter
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extern volatile uint32_t main_loop_counter;
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#if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
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@ -746,7 +746,7 @@ void readCommand(void) {
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button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
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button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
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#endif
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timeout = 0;
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timeoutCnt = 0;
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#endif
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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@ -776,7 +776,7 @@ void readCommand(void) {
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button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
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button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
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#endif
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timeout = 0;
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timeoutCnt = 0;
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#endif
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#if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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@ -798,7 +798,7 @@ void readCommand(void) {
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#endif
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#ifdef VARIANT_HOVERCAR
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brakePressed = (uint8_t)(cmd1 > 50);
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brakePressed = (uint8_t)(cmd1 > 50);
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#endif
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#ifdef VARIANT_TRANSPOTTER
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