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hoverboard-firmware-hack-foc-serial-esc
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Fixed RC switch update

This commit is contained in:
EmanuelFeru 2021-01-02 10:49:55 +01:00
parent 7aee1b37c6
commit 63276132a7
2 changed files with 20 additions and 15 deletions
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4
Src/main.c
View File

@ -63,6 +63,7 @@ extern ExtY rtY_Right; /* External outputs */
//---------------
extern uint8_t inIdx; // input index used for dual-inputs
extern uint8_t inIdx_prev;
extern InputStruct input1[]; // input structure
extern InputStruct input2[]; // input structure
@ -505,7 +506,8 @@ int main(void) {
}
// HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
// Update main loop states
// Update states
inIdx_prev = inIdx;
cmdL_prev = cmdL;
cmdR_prev = cmdR;
main_loop_counter++;

25
Src/util.c
View File

@ -89,7 +89,7 @@ ExtY rtY_Right; /* External outputs */
//---------------
uint8_t inIdx = 0;
static uint8_t inIdxPrev = 0;
uint8_t inIdx_prev = 0;
#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
InputStruct input1[INPUTS_NR] = { {0, 0, 0, PRI_INPUT1}, {0, 0, 0, AUX_INPUT1} };
InputStruct input2[INPUTS_NR] = { {0, 0, 0, PRI_INPUT2}, {0, 0, 0, AUX_INPUT2} };
@ -1004,12 +1004,10 @@ void handleTimeout(void) {
}
// Beep in case of Input index change
if (inIdx && !inIdxPrev) { // rising edge
if (inIdx && !inIdx_prev) { // rising edge
beepShort(8);
inIdxPrev = inIdx;
} else if (!inIdx && inIdxPrev) { // falling edge
} else if (!inIdx && inIdx_prev) { // falling edge
beepShort(18);
inIdxPrev = inIdx;
}
}
@ -1368,8 +1366,8 @@ void sideboardLeds(uint8_t *leds) {
*/
void sideboardSensors(uint8_t sensors) {
#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
static uint8_t sensor1_prev, sensor2_prev;
static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
static uint8_t sensor1_prev, sensor2_prev;
uint8_t sensor1_trig = 0, sensor2_trig = 0;
#if defined(SIDEBOARD_SERIAL_USART2)
uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART2;
@ -1385,6 +1383,9 @@ void sideboardSensors(uint8_t sensors) {
sensor1_index = (sideboardSns & SWC_SET) >> 11; // SWC on RC transmitter is used to change Control Mode
}
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
if (inIdx != inIdx_prev) { // Force one update at Input idx change
sensor1_trig = 1;
}
sensor1_prev = sensor1_index;
} else { // Use Optical switches
sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection
@ -1415,22 +1416,24 @@ void sideboardSensors(uint8_t sensors) {
rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = COM_CTRL;
break;
}
beepShortMany(sensor1_index + 1, 1);
if (inIdx == inIdx_prev) { beepShortMany(sensor1_index + 1, 1); }
if (++sensor1_index > 4) { sensor1_index = 0; }
}
// Field Weakening Activation/Deactivation
#ifdef CRUISE_CONTROL_SUPPORT
#ifdef CRUISE_CONTROL_SUPPORT // Cruise Control Activation/Deactivation
if (sensor2_trig) {
cruiseControl(sensor2_trig);
}
#else
#else // Field Weakening Activation/Deactivation
static uint8_t sensor2_index = 1; // holds the press index number for sensor2, when used as a button
// Override in case the Sideboard control is Active
if (inIdx == sideboardIdx) { // Use Sideboard data
sensor2_index = (sideboardSns & SWD_SET) >> 13; // SWD on RC transmitter is used to Activate/Deactivate Field Weakening
sensor2_trig = sensor2_index != sensor2_prev; // rising or falling edge change detection
if (inIdx != inIdx_prev) { // Force one update at Input idx change
sensor2_trig = 1;
}
sensor2_prev = sensor2_index;
}
@ -1447,7 +1450,7 @@ void sideboardSensors(uint8_t sensors) {
Input_Lim_Init();
break;
}
beepShortMany(sensor2_index + 1, 1);
if (inIdx == inIdx_prev) { beepShortMany(sensor2_index + 1, 1); }
if (++sensor2_index > 1) { sensor2_index = 0; }
}
#endif // CRUISE_CONTROL_SUPPORT