implemented write syscall for printf, added float-support for printf, serial tx does not need an interrupt anymore, replaced consoleLog and consoleScope with printf, changed debug output: every comment starts with "# " now, added lots of debug messages, added welcome message with gcc version and build date
This commit is contained in:
parent
ad8c2a552a
commit
c57e1a0e4e
33
Inc/comms.h
33
Inc/comms.h
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@ -1,33 +0,0 @@
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/*
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
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* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef COMMS_H
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#define COMMS_H
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#include "stm32f1xx_hal.h"
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void setScopeChannel(uint8_t ch, int16_t val);
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void consoleScope(void);
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void consoleLog(char *message);
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#endif
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81
Src/comms.c
81
Src/comms.c
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@ -1,81 +0,0 @@
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#include <stdio.h>
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#include <string.h>
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#include "stm32f1xx_hal.h"
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#include "defines.h"
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#include "setup.h"
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#include "config.h"
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#include "comms.h"
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extern UART_HandleTypeDef huart2;
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extern UART_HandleTypeDef huart3;
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static volatile uint8_t uart_buf[100];
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static volatile int16_t ch_buf[8];
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//volatile char char_buf[300];
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void setScopeChannel(uint8_t ch, int16_t val) {
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ch_buf[ch] = val;
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}
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void consoleScope(void) {
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#if defined DEBUG_SERIAL_SERVOTERM && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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uart_buf[0] = 0xff;
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uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
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uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255);
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uart_buf[3] = CLAMP(ch_buf[2]+127, 0, 255);
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uart_buf[4] = CLAMP(ch_buf[3]+127, 0, 255);
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uart_buf[5] = CLAMP(ch_buf[4]+127, 0, 255);
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uart_buf[6] = CLAMP(ch_buf[5]+127, 0, 255);
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uart_buf[7] = CLAMP(ch_buf[6]+127, 0, 255);
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uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
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uart_buf[9] = '\n';
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#ifdef DEBUG_SERIAL_USART2
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if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart3, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#endif
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#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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// memset((void *)(uintptr_t)uart_buf, 0, sizeof(uart_buf));
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int strLength;
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strLength = sprintf((char *)(uintptr_t)uart_buf,
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"1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n",
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ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
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#ifdef DEBUG_SERIAL_USART2
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if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart3, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#endif
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}
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void consoleLog(char *message)
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{
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#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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#ifdef DEBUG_SERIAL_USART2
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if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, strlen((char *)(uintptr_t)message));
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart3, (uint8_t *)message, strlen((char *)(uintptr_t)message));
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}
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#endif
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#endif
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}
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39
Src/main.c
39
Src/main.c
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@ -26,7 +26,6 @@
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#include "setup.h"
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#include "config.h"
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#include "util.h"
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#include "comms.h"
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#include "BLDC_controller.h" /* BLDC's header file */
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#include "rtwtypes.h"
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@ -52,6 +51,8 @@ extern volatile adc_buf_t adc_buffer;
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extern UART_HandleTypeDef huart2;
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extern UART_HandleTypeDef huart3;
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volatile uint8_t uart_buf[200];
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// Matlab defines - from auto-code generation
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//---------------
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extern P rtP_Left; /* Block parameters (auto storage) */
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@ -191,6 +192,10 @@ int main(void) {
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poweronMelody();
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HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
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printf("\n# hoverboard-firmware-hack-FOC\n");
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printf("# GCC Version: %s\n",__VERSION__);
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printf("# Build Date: %s\n\n",__DATE__);
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int16_t speedL = 0, speedR = 0;
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int16_t lastSpeedL = 0, lastSpeedR = 0;
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shortBeep(4); HAL_Delay(100);
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steerFixdt = speedFixdt = 0; // reset filters
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enable = 1; // enable motors
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consoleLog("-- Motors enabled --\r\n");
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printf("# -- Motors enabled --\n");
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}
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// ####### VARIANT_HOVERCAR #######
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// ####### DEBUG SERIAL OUT #######
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#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
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if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
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setScopeChannel(0, (int16_t)input1); // 1: INPUT1
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setScopeChannel(1, (int16_t)input2); // 2: INPUT2
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setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
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setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]
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setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
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setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
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setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
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setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
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consoleScope();
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printf("1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n",
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input1, // 1: INPUT1
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input2, // 2: INPUT2
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speedR, // 3: output command: [-1000, 1000]
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speedL, // 4: output command: [-1000, 1000]
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adc_buffer.batt1, // 5: for battery voltage calibration
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batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
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board_temp_adcFilt, // 7: for board temperature calibration
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board_temp_deg_c); // 8: for verifying board temperature calibration
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printf("# Battery empty: %4.2fV: power off\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
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}
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#endif
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// ####### BEEP AND EMERGENCY POWEROFF #######
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if ((TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && speedAvgAbs < 20) || (batVoltage < BAT_DEAD && speedAvgAbs < 20)) { // poweroff before mainboard burns OR low bat 3
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if (board_temp_deg_c >= TEMP_POWEROFF) printf("# Error: STM32 overtemp: %4.1f°C: power off\n", board_temp_deg_c / 10.0);
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if (batVoltage < BAT_DEAD) printf("# Battery empty: %4.2fV: power off\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
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poweroff();
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} else if (rtY_Left.z_errCode || rtY_Right.z_errCode) { // disable motors and beep in case of Motor error - fast beep
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enable = 0;
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if (rtY_Left.z_errCode) printf("# Warning: rtY_Left.z_errCode: %i\n", rtY_Left.z_errCode);
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if (rtY_Right.z_errCode) printf("# Warning: rtY_Right.z_errCode: %i\n", rtY_Right.z_errCode);
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buzzerFreq = 8;
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buzzerPattern = 1;
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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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if (timeoutFlagADC) printf("# Warning: ADC timeout\n");
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if (timeoutFlagSerial) printf("# Warning: Serial timeout\n");
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if (timeoutCnt > TIMEOUT) printf("# Warning: General timeout\n");
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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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printf("# Warning: STM32 is getting hot: %4.1f°C\n", board_temp_deg_c / 10.0);
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buzzerFreq = 4;
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buzzerPattern = 1;
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} else if (BAT_LVL1_ENABLE && batVoltage < BAT_LVL1) { // low bat 1: fast beep
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printf("# Warning: Battery is getting empty 1: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
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buzzerFreq = 5;
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buzzerPattern = 6;
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} else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) { // low bat 2: slow beep
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printf("# Warning: Battery is getting empty 2: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
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buzzerFreq = 5;
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buzzerPattern = 42;
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} else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // backward beep
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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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printf("# inactivity timeout: power off\n");
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poweroff();
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}
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60
Src/setup.c
60
Src/setup.c
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/* DMA interrupt init */
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/* DMA1_Channel2_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
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// HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
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// HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
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/* DMA1_Channel3_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
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// HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
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// HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
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huart3.Instance = USART3;
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huart3.Init.BaudRate = USART3_BAUD;
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@ -149,16 +149,22 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
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/* USART2_TX Init */
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hdma_usart2_tx.Instance = DMA1_Channel7;
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hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart2_tx.Init.Mode = DMA_NORMAL;
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hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart2_tx);
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__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
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// hdma_usart2_tx.Instance = DMA1_Channel7;
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// hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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// hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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// hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
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// hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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// hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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// hdma_usart2_tx.Init.Mode = DMA_NORMAL;
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// hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
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// HAL_DMA_Init(&hdma_usart2_tx);
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// __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
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USART2->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
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DMA1_Channel7->CCR = 0;
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DMA1_Channel7->CPAR = (uint32_t) & (USART3->DR);
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DMA1_Channel7->CNDTR = 0;
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DMA1_Channel7->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
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DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
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/* USART2 interrupt Init */
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HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
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__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
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/* USART3_TX Init */
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hdma_usart3_tx.Instance = DMA1_Channel2;
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hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart3_tx.Init.Mode = DMA_NORMAL;
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hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart3_tx);
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__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx);
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// hdma_usart3_tx.Instance = DMA1_Channel2;
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// hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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// hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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// hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
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// hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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// hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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// hdma_usart3_tx.Init.Mode = DMA_NORMAL;
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// hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
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// HAL_DMA_Init(&hdma_usart3_tx);
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// __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx);
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USART3->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
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DMA1_Channel2->CCR = 0;
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DMA1_Channel2->CPAR = (uint32_t) & (USART3->DR);
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DMA1_Channel2->CNDTR = 0;
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DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
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DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
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/* USART3 interrupt Init */
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HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
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@ -0,0 +1,36 @@
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#include <reent.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <errno.h>
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#include <sys/stat.h>
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#include <sys/time.h>
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#include <string.h>
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#include "stm32f1xx_hal.h"
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#include "config.h"
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extern volatile uint8_t uart_buf[200];
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/*
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* printf sends its output to this function, this function sends it to the uart dma output buffer
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*/
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__attribute__((__used__)) int _write(int fd, const char *ptr, int len){
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#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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#ifdef DEBUG_SERIAL_USART2
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while(DMA1_Channel7->CNDTR != 0); // wait
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memcpy(uart_buf,ptr,len); // copy to buffer
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DMA1_Channel7->CCR &= ~DMA_CCR_EN;
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DMA1_Channel7->CNDTR = len; // set number of bytes to read
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DMA1_Channel7->CMAR = (uint32_t)uart_buf; // set buffer to read from
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DMA1_Channel7->CCR |= DMA_CCR_EN;
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#endif
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#ifdef DEBUG_SERIAL_USART3
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while(DMA1_Channel2->CNDTR != 0); // wait
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memcpy(uart_buf,ptr,len); // copy to buffer
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DMA1_Channel2->CCR &= ~DMA_CCR_EN;
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DMA1_Channel2->CNDTR = len; // set number of bytes to read
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DMA1_Channel2->CMAR = (uint32_t)uart_buf; // set buffer to read from
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DMA1_Channel2->CCR |= DMA_CCR_EN;
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#endif
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#endif
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return len;
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}
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61
Src/util.c
61
Src/util.c
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@ -24,7 +24,6 @@
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#include "defines.h"
|
||||
#include "setup.h"
|
||||
#include "config.h"
|
||||
#include "comms.h"
|
||||
#include "eeprom.h"
|
||||
#include "util.h"
|
||||
#include "BLDC_controller.h"
|
||||
|
@ -458,26 +457,26 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
|
|||
HAL_Delay(10);
|
||||
if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) {
|
||||
type = 0;
|
||||
consoleLog("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
|
||||
printf("# Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
|
||||
} else {
|
||||
if ((min / threshold) == (mid / threshold)){
|
||||
type = 1;
|
||||
consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot
|
||||
printf("# Input is a normal pot"); // MIN and MID are close, it's a normal pot
|
||||
} else {
|
||||
type = 2;
|
||||
consoleLog("Input is a mid-resting pot"); // it's a mid resting pot
|
||||
printf("# Input is a mid-resting pot"); // it's a mid resting pot
|
||||
}
|
||||
HAL_Delay(10);
|
||||
#ifdef CONTROL_ADC
|
||||
if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
|
||||
consoleLog(" and protected");
|
||||
printf(" and protected");
|
||||
longBeep(2); // Indicate protection by a beep
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
HAL_Delay(10);
|
||||
consoleLog("\n");
|
||||
printf("\n");
|
||||
HAL_Delay(10);
|
||||
|
||||
return type;
|
||||
|
@ -499,7 +498,10 @@ void adcCalibLim(void) {
|
|||
}
|
||||
|
||||
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
|
||||
consoleLog("Input calibration started...\n");
|
||||
printf("# Input calibration started...\n");
|
||||
printf("# move the potentiometers freely to the min and max limits repeatedly\n");
|
||||
printf("# release potentiometers to the resting postion\n");
|
||||
printf("# press the power button to confirm or wait for the 20 sec timeout\n");
|
||||
|
||||
readInput();
|
||||
// Inititalization: MIN = a high value, MAX = a low value
|
||||
|
@ -533,10 +535,10 @@ void adcCalibLim(void) {
|
|||
INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
|
||||
INPUT1_MID_CAL = INPUT1_MID_temp;
|
||||
INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
|
||||
consoleLog("Input1 OK\n"); HAL_Delay(10);
|
||||
printf("# Input1 OK\n"); HAL_Delay(10);
|
||||
} else {
|
||||
INPUT1_TYP_CAL = 0; // Disable input
|
||||
consoleLog("Input1 Fail\n"); HAL_Delay(10);
|
||||
printf("# Input1 Fail\n"); HAL_Delay(10);
|
||||
}
|
||||
|
||||
INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
|
||||
|
@ -544,23 +546,14 @@ void adcCalibLim(void) {
|
|||
INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
|
||||
INPUT2_MID_CAL = INPUT2_MID_temp;
|
||||
INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
|
||||
consoleLog("Input2 OK\n"); HAL_Delay(10);
|
||||
printf("# Input2 OK\n"); HAL_Delay(10);
|
||||
} else {
|
||||
INPUT2_TYP_CAL = 0; // Disable input
|
||||
consoleLog("Input2 Fail\n"); HAL_Delay(10);
|
||||
printf("# Input2 Fail\n"); HAL_Delay(10);
|
||||
}
|
||||
|
||||
inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
|
||||
consoleLog("Limits: "); HAL_Delay(10);
|
||||
setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
|
||||
setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
|
||||
setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
|
||||
setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
|
||||
setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
|
||||
setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
|
||||
setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
|
||||
setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
|
||||
consoleScope();
|
||||
printf("# Limits: INPUT1_TYP_CAL:%i INPUT1_MIN_CAL:%i INPUT1_MID_CAL:%i INPUT1_MAX_CAL:%i INPUT2_TYP_CAL:%i INPUT2_MIN_CAL:%i INPUT2_MID_CAL:%i INPUT2_MAX_CAL:%i\n",
|
||||
INPUT1_TYP_CAL, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT2_TYP_CAL, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
|
||||
#endif
|
||||
}
|
||||
/*
|
||||
|
@ -576,7 +569,9 @@ void updateCurSpdLim(void) {
|
|||
}
|
||||
|
||||
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
|
||||
consoleLog("Torque and Speed limits update started...\n");
|
||||
printf("# Torque and Speed limits update started...\n");
|
||||
printf("# move and hold the pots to a desired limit position for Current and Speed\n");
|
||||
printf("# press the power button to confirm or wait for the 10 sec timeout\n");
|
||||
|
||||
int32_t input1_fixdt = input1 << 16;
|
||||
int32_t input2_fixdt = input2 << 16;
|
||||
|
@ -608,17 +603,9 @@ void updateCurSpdLim(void) {
|
|||
cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown
|
||||
}
|
||||
|
||||
consoleLog("Limits: "); HAL_Delay(10);
|
||||
setScopeChannel(0, (int16_t)cur_spd_valid); // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
|
||||
setScopeChannel(1, (int16_t)input1_fixdt);
|
||||
setScopeChannel(2, (int16_t)cur_factor);
|
||||
setScopeChannel(3, (int16_t)rtP_Left.i_max);
|
||||
setScopeChannel(4, (int16_t)0);
|
||||
setScopeChannel(5, (int16_t)input2_fixdt);
|
||||
setScopeChannel(6, (int16_t)spd_factor);
|
||||
setScopeChannel(7, (int16_t)rtP_Left.n_max);
|
||||
consoleScope();
|
||||
|
||||
// cur_spd_valid: 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
|
||||
printf("# Limits: cur_spd_valid:%i input1_fixdt:%li cur_factor:%i rtP_Left.i_max:%i input2_fixdt:%li spd_factor:%i rtP_Left.n_max:%i\n",
|
||||
cur_spd_valid, input1_fixdt, cur_factor, rtP_Left.i_max, input2_fixdt, spd_factor, rtP_Left.n_max);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
@ -752,8 +739,8 @@ void cruiseControl(uint8_t button) {
|
|||
void poweroff(void) {
|
||||
buzzerPattern = 0;
|
||||
enable = 0;
|
||||
consoleLog("-- Motors disabled --\r\n");
|
||||
for (int i = 0; i < 8; i++) {
|
||||
printf("# -- Motors disabled --\n");
|
||||
for (int i = 0; i < 8; i++) {
|
||||
buzzerFreq = (uint8_t)i;
|
||||
HAL_Delay(100);
|
||||
}
|
||||
|
@ -1107,7 +1094,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
|
|||
{
|
||||
for (; len > 0; len--, userCommand++) {
|
||||
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
|
||||
consoleLog("-- Command received --\r\n");
|
||||
printf("# -- Command received --\n");
|
||||
// handle_input(*userCommand); // -> Create this function to handle the user commands
|
||||
}
|
||||
}
|
||||
|
|
|
@ -37,6 +37,7 @@ monitor_speed = 38400
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -60,6 +61,7 @@ monitor_speed = 38400
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -79,6 +81,7 @@ upload_protocol = stlink
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -98,6 +101,7 @@ upload_protocol = stlink
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -117,6 +121,7 @@ upload_protocol = stlink
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -136,6 +141,7 @@ upload_protocol = stlink
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -159,6 +165,7 @@ monitor_speed = 38400
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -182,6 +189,7 @@ monitor_speed = 38400
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -201,6 +209,7 @@ upload_protocol = stlink
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
@ -221,6 +230,7 @@ upload_protocol = stlink
|
|||
build_flags =
|
||||
-DUSE_HAL_DRIVER
|
||||
-DSTM32F103xE
|
||||
-Wl,-u,_printf_float ; enable float for printf
|
||||
-Wl,-T./STM32F103RCTx_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
|
|
Loading…
Reference in New Issue