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hoverboard-firmware-hack-foc-serial-esc
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fix data type

This commit is contained in:
interfisch 2021-03-02 23:47:41 +01:00
parent 2bab3aa1a4
commit 898898a63c
1 changed files with 12 additions and 11 deletions
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23
Src/main.c
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@ -82,8 +82,8 @@ extern uint8_t enable; // global variable for motor enable
extern int16_t batVoltage; // global variable for battery voltage extern int16_t batVoltage; // global variable for battery voltage
//extern int16_t curL_DC; // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV extern int16_t curL_DC; // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
//extern int16_t curR_DC; // global variable for right motor current extern int16_t curR_DC; // global variable for right motor current
extern int16_t curL_phaA; extern int16_t curL_phaA;
extern int16_t curL_phaB; extern int16_t curL_phaB;
extern int16_t curR_phaA; extern int16_t curR_phaA;
@ -157,8 +157,8 @@ static int16_t speed; // local variable for speed. -1000 to 10
static int16_t speedRightRateFixdt; // local fixed-point variable for speed rate limiter static int16_t speedRightRateFixdt; // local fixed-point variable for speed rate limiter
//static int32_t steerFixdt; // local fixed-point variable for steering low-pass filter //static int32_t steerFixdt; // local fixed-point variable for steering low-pass filter
//static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter //static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter
static int16_t speedLeftFixdt; // local fixed-point variable for speedLeft low-pass filter static int32_t speedLeftFixdt; // local fixed-point variable for speedLeft low-pass filter
static int16_t speedRightFixdt; // local fixed-point variable for speedRight low-pass filter static int32_t speedRightFixdt; // local fixed-point variable for speedRight low-pass filter
#endif #endif
static uint32_t inactivity_timeout_counter; static uint32_t inactivity_timeout_counter;
@ -297,7 +297,7 @@ int main(void) {
filtLowPass32(speedLeftRateFixdt >> 4, FILTER, &speedLeftFixdt); filtLowPass32(speedLeftRateFixdt >> 4, FILTER, &speedLeftFixdt);
filtLowPass32(speedRightRateFixdt >> 4, FILTER, &speedRightFixdt); filtLowPass32(speedRightRateFixdt >> 4, FILTER, &speedRightFixdt);
speedL = (int16_t)(speedLeftFixdt >> 16); // convert fixed-point to integer speedL = (int16_t)(speedLeftFixdt >> 16); // convert fixed-point to integer
speedR = (int16_t)(speedRightRateFixdt >> 16); // convert fixed-point to integer speedR = (int16_t)(speedRightFixdt >> 16); // convert fixed-point to integer
// ####### VARIANT_HOVERCAR ####### // ####### VARIANT_HOVERCAR #######
#ifdef VARIANT_HOVERCAR #ifdef VARIANT_HOVERCAR
@ -315,8 +315,9 @@ int main(void) {
// cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX); // cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
// cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX); // cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
//mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above //mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above
cmdL = speedL; //straight copy, no mixing needed int16_t _temp;
cmdR = speedR; //straight copy mixerFcn(speedL << 4, ((int16_t)0) << 4, &cmdL, &_temp); // This function implements the equations above
mixerFcn(speedR << 4, ((int16_t)0) << 4, &cmdR, &_temp); // This function implements the equations above
// ####### SET OUTPUTS (if the target change is less than +/- 100) ####### // ####### SET OUTPUTS (if the target change is less than +/- 100) #######
if ((cmdL > cmdL_prev-100 && cmdL < cmdL_prev+100) && (cmdR > cmdR_prev-100 && cmdR < cmdR_prev+100)) { if ((cmdL > cmdL_prev-100 && cmdL < cmdL_prev+100) && (cmdR > cmdR_prev-100 && cmdR < cmdR_prev+100)) {
@ -476,10 +477,10 @@ int main(void) {
Feedback.speedL_meas = (int16_t)rtY_Left.n_mot; Feedback.speedL_meas = (int16_t)rtY_Left.n_mot;
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
Feedback.boardTemp = (int16_t)board_temp_deg_c; Feedback.boardTemp = (int16_t)board_temp_deg_c;
//Feedback.curL_DC = (int16_t)curL_DC; //divide by A2BIT_CONV to get current in amperes Feedback.curL_DC = (int16_t)curL_DC; //divide by A2BIT_CONV to get current in amperes
//Feedback.curR_DC = (int16_t)curR_DC; Feedback.curR_DC = (int16_t)curR_DC;
Feedback.curL_DC = (int16_t)curL_phaA; //Feedback.curL_DC = (int16_t)curL_phaA;
Feedback.curR_DC = (int16_t)curL_phaB; //Feedback.curR_DC = (int16_t)curL_phaB;
#if defined(FEEDBACK_SERIAL_USART2) #if defined(FEEDBACK_SERIAL_USART2)
if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) { if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {