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Updated PWM variant 

- fixed the setScopeChannel for PWM, to calibrate properly the limits
- improved the scaling
This commit is contained in:
EmanuelFeru 2020-07-20 19:36:24 +02:00
parent f2d86f3b30
commit dcdac4f6db
3 changed files with 10 additions and 10 deletions
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2
Inc/util.h
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@ -69,7 +69,7 @@ void calcAvgSpeed(void);
void adcCalibLim(void); void adcCalibLim(void);
void updateCurSpdLim(void); void updateCurSpdLim(void);
void saveConfig(void); void saveConfig(void);
int addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max); int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
void standstillHold(int16_t *speedCmd); void standstillHold(int16_t *speedCmd);
void electricBrake(uint16_t speedBlend, uint8_t reverseDir); void electricBrake(uint16_t speedBlend, uint8_t reverseDir);

4
Src/main.c
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@ -405,8 +405,8 @@ int main(void) {
setScopeChannel(1, ppm_captured_value[1]); // 2: CH2 setScopeChannel(1, ppm_captured_value[1]); // 2: CH2
#endif #endif
#if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT) #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
setScopeChannel(0, pwm_captured_ch1_value); // 1: CH1 setScopeChannel(0, (pwm_captured_ch1_value - 500) * 2); // 1: CH1
setScopeChannel(1, pwm_captured_ch2_value); // 2: CH2 setScopeChannel(1, (pwm_captured_ch2_value - 500) * 2); // 2: CH2
#endif #endif
setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000] setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000] setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]

14
Src/util.c
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@ -567,17 +567,17 @@ void saveConfig() {
/* /*
* Add Dead-band to a signal * Add Dead-band to a signal
* This function realizes a dead-band around 0 and scales the input within a min and a max * This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
*/ */
int addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max) { int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) {
#if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT) #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
int outVal = 0; int outVal = 0;
if(u > -deadBand && u < deadBand) { if(u > -deadBand && u < deadBand) {
outVal = 0; outVal = 0;
} else if(u > 0) { } else if(u > 0) {
outVal = (INPUT_MAX * CLAMP(u - deadBand, 0, max - deadBand)) / (max - deadBand); outVal = (out_max * CLAMP(u - deadBand, 0, in_max - deadBand)) / (in_max - deadBand);
} else { } else {
outVal = (INPUT_MIN * CLAMP(u + deadBand, min + deadBand, 0)) / (min + deadBand); outVal = (out_min * CLAMP(u + deadBand, in_min + deadBand, 0)) / (in_min + deadBand);
} }
return outVal; return outVal;
#else #else
@ -750,8 +750,8 @@ void readCommand(void) {
#endif #endif
#if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT) #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
cmd1 = CLAMP(addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX); cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP(addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX), INPUT_MIN, INPUT_MAX); cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
#if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT) #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN); button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN); button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
@ -1252,7 +1252,7 @@ void sideboardSensors(uint8_t sensors) {
* filtLowPass16(u, 52429, &y); * filtLowPass16(u, 52429, &y);
* yint = (int16_t)(y >> 16); // the integer output is the fixed-point ouput shifted by 16 bits * yint = (int16_t)(y >> 16); // the integer output is the fixed-point ouput shifted by 16 bits
*/ */
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y) { void filtLowPass32(int32_t u, uint16_t coef, int32_t *y) {
int64_t tmp; int64_t tmp;
tmp = ((int64_t)((u << 4) - (*y >> 12)) * coef) >> 4; tmp = ((int64_t)((u << 4) - (*y >> 12)) * coef) >> 4;
tmp = CLAMP(tmp, -2147483648LL, 2147483647LL); // Overflow protection: 2147483647LL = 2^31 - 1 tmp = CLAMP(tmp, -2147483648LL, 2147483647LL); // Overflow protection: 2147483647LL = 2^31 - 1