current measurement bug testing
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15
Src/main.c
15
Src/main.c
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@ -101,6 +101,7 @@ static SerialFeedback Feedback;
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#endif
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static uint8_t serialSendCounter; // serial send counter
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#if defined(CONTROL_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
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static uint8_t button1, button2;
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#endif
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@ -135,8 +136,12 @@ 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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extern int16_t curL_DC; // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
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extern int16_t curR_DC; // global variable for right motor current
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//extern int16_t curL_DC; // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
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//extern int16_t curR_DC; // global variable for right motor current
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extern int16_t curL_phaA;
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extern int16_t curL_phaB;
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extern int16_t curR_phaA;
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extern int16_t curR_phaB;
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static uint32_t inactivity_timeout_counter;
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static uint32_t main_loop_counter;
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@ -493,8 +498,10 @@ int main(void) {
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//Feedback.angleR_meas = (int16_t)rtY_Right.a_elecAngle/N_POLEPAIRS; //rtY_Right.a_elecAngle/N_POLEPAIRS goes from 0 to ca. 24
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Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
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Feedback.boardTemp = (int16_t)board_temp_deg_c;
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Feedback.curL_DC = (int16_t)curL_DC; //divide by A2BIT_CONV to get current in amperes
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Feedback.curR_DC = (int16_t)curR_DC;
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//Feedback.curL_DC = (int16_t)curL_DC; //divide by A2BIT_CONV to get current in amperes
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//Feedback.curR_DC = (int16_t)curR_DC;
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Feedback.curL_DC = (int16_t)curL_phaA;
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Feedback.curR_DC = (int16_t)curL_phaB;
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Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedL ^ Feedback.speedR
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^ Feedback.speedL_meas ^ Feedback.speedR_meas ^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.curL_DC ^Feedback.curR_DC);
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