Update util.c
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Candas1
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dd09115e95
264
Src/util.c
264
Src/util.c
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@ -88,6 +88,8 @@ ExtY rtY_Right; /* External outputs */
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int16_t cmd1; // normalized input value. -1000 to 1000
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int16_t cmd2; // normalized input value. -1000 to 1000
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int16_t cmd1_in; // normalized input value. -1000 to 1000
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int16_t cmd2_in; // normalized input value. -1000 to 1000
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int16_t speedAvg; // average measured speed
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int16_t speedAvgAbs; // average measured speed in absolute
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@ -125,24 +127,24 @@ uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy virtual address to av
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static int16_t INPUT_MAX; // [-] Input target maximum limitation
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static int16_t INPUT_MIN; // [-] Input target minimum limitation
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#ifdef CONTROL_ADC
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static uint8_t cur_spd_valid = 0;
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static uint8_t adc_cal_valid = 0;
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static uint16_t ADC1_MIN_CAL = ADC1_MIN;
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static uint16_t ADC1_MAX_CAL = ADC1_MAX;
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static uint16_t ADC2_MIN_CAL = ADC2_MIN;
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static uint16_t ADC2_MAX_CAL = ADC2_MAX;
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#ifdef ADC1_MID_POT
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static uint16_t ADC1_MID_CAL = ADC1_MID;
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#else
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static uint16_t ADC1_MID_CAL = 0;
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#endif
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#ifdef ADC1_MID_POT
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static uint16_t ADC2_MID_CAL = ADC2_MID;
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#else
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static uint16_t ADC2_MID_CAL = 0;
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#endif
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static uint8_t cur_spd_valid = 0;
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static uint8_t adc_cal_valid = 0;
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static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
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static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
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static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
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static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
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#ifdef INPUT1_MID_POT
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static uint16_t INPUT1_MID_CAL = INPUT1_MID;
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#else
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static uint16_t INPUT1_MID_CAL = 0;
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#endif
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#ifdef INPUT1_MID_POT
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static uint16_t INPUT2_MID_CAL = INPUT2_MID;
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#else
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static uint16_t INPUT2_MID_CAL = 0;
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#endif
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#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
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static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
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@ -278,12 +280,12 @@ void Input_Init(void) {
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EE_Init(); /* EEPROM Init */
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EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
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if (writeCheck == FLASH_WRITE_KEY) {
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EE_ReadVariable(VirtAddVarTab[1], &ADC1_MIN_CAL);
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EE_ReadVariable(VirtAddVarTab[2], &ADC1_MAX_CAL);
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EE_ReadVariable(VirtAddVarTab[3], &ADC1_MID_CAL);
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EE_ReadVariable(VirtAddVarTab[4], &ADC2_MIN_CAL);
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EE_ReadVariable(VirtAddVarTab[5], &ADC2_MAX_CAL);
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EE_ReadVariable(VirtAddVarTab[6], &ADC2_MID_CAL);
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EE_ReadVariable(VirtAddVarTab[1], &INPUT1_MIN_CAL);
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EE_ReadVariable(VirtAddVarTab[2], &INPUT1_MAX_CAL);
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EE_ReadVariable(VirtAddVarTab[3], &INPUT1_MID_CAL);
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EE_ReadVariable(VirtAddVarTab[4], &INPUT2_MIN_CAL);
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EE_ReadVariable(VirtAddVarTab[5], &INPUT2_MAX_CAL);
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EE_ReadVariable(VirtAddVarTab[6], &INPUT2_MID_CAL);
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EE_ReadVariable(VirtAddVarTab[7], &i_max);
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EE_ReadVariable(VirtAddVarTab[8], &n_max);
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rtP_Left.i_max = i_max;
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@ -427,65 +429,63 @@ void calcAvgSpeed(void) {
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* - release potentiometers to the resting postion
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* - press the power button to confirm or wait for the 20 sec timeout
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*/
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void adcCalibLim(void) {
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void inputCalibLim(void) {
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if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
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return;
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}
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#ifdef CONTROL_ADC
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consoleLog("ADC calibration started... ");
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consoleLog("Input calibration started... ");
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// Inititalization: MIN = a high values, MAX = a low value,
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int32_t adc1_fixdt = adc_buffer.l_tx2 << 16;
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int32_t adc2_fixdt = adc_buffer.l_rx2 << 16;
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uint16_t adc_cal_timeout = 0;
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uint16_t ADC1_MIN_temp = 4095;
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uint16_t ADC1_MID_temp = 0;
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uint16_t ADC1_MAX_temp = 0;
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uint16_t ADC2_MIN_temp = 4095;
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uint16_t ADC2_MID_temp = 0;
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uint16_t ADC2_MAX_temp = 0;
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// Inititalization: MIN = a high values, MAX = a low value,
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int32_t input1_fixdt = adc_buffer.l_tx2 << 16;
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int32_t input2_fixdt = adc_buffer.l_rx2 << 16;
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uint16_t input_cal_timeout = 0;
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uint16_t INPUT1_MIN_temp = 4095;
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uint16_t INPUT1_MID_temp = 0;
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uint16_t INPUT1_MAX_temp = 0;
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uint16_t INPUT2_MIN_temp = 4095;
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uint16_t INPUT2_MID_temp = 0;
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uint16_t INPUT2_MAX_temp = 0;
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adc_cal_valid = 1;
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input_cal_valid = 1;
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// Extract MIN, MAX and MID from ADC while the power button is not pressed
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while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && adc_cal_timeout++ < 4000) { // 20 sec timeout
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filtLowPass32(adc_buffer.l_tx2, FILTER, &adc1_fixdt);
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filtLowPass32(adc_buffer.l_rx2, FILTER, &adc2_fixdt);
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ADC1_MID_temp = (uint16_t)CLAMP(adc1_fixdt >> 16, 0, 4095); // convert fixed-point to integer
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ADC2_MID_temp = (uint16_t)CLAMP(adc2_fixdt >> 16, 0, 4095);
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ADC1_MIN_temp = MIN(ADC1_MIN_temp, ADC1_MID_temp);
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ADC1_MAX_temp = MAX(ADC1_MAX_temp, ADC1_MID_temp);
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ADC2_MIN_temp = MIN(ADC2_MIN_temp, ADC2_MID_temp);
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ADC2_MAX_temp = MAX(ADC2_MAX_temp, ADC2_MID_temp);
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HAL_Delay(5);
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}
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// ADC calibration checks
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#ifdef ADC_PROTECT_ENA
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if ((ADC1_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (ADC1_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095 &&
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(ADC2_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (ADC2_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095) {
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adc_cal_valid = 1;
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} else {
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adc_cal_valid = 0;
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consoleLog("FAIL (ADC out-of-range protection not possible)\n");
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}
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#endif
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// Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
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if (adc_cal_valid && (ADC1_MAX_temp - ADC1_MIN_temp) > 500 && (ADC2_MAX_temp - ADC2_MIN_temp) > 500) {
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ADC1_MIN_CAL = ADC1_MIN_temp + 100;
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ADC1_MID_CAL = ADC1_MID_temp;
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ADC1_MAX_CAL = ADC1_MAX_temp - 100;
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ADC2_MIN_CAL = ADC2_MIN_temp + 100;
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ADC2_MID_CAL = ADC2_MID_temp;
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ADC2_MAX_CAL = ADC2_MAX_temp - 100;
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consoleLog("OK\n");
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} else {
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adc_cal_valid = 0;
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consoleLog("FAIL (Pots travel too short)\n");
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}
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// Extract MIN, MAX and MID from ADC while the power button is not pressed
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while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) { // 20 sec timeout
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filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
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filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
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INPUT1_MID_temp = (uint16_t)CLAMP(input1_fixdt >> 16, 0, 4095); // convert fixed-point to integer
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INPUT2_MID_temp = (uint16_t)CLAMP(input2_fixdt >> 16, 0, 4095);
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INPUT1_MIN_temp = MIN(INPUT1_MIN_temp, INPUT1_MID_temp);
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INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);
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INPUT2_MIN_temp = MIN(INPUT2_MIN_temp, INPUT2_MID_temp);
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INPUT2_MAX_temp = MAX(INPUT2_MAX_temp, INPUT2_MID_temp);
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HAL_Delay(5);
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}
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// ADC calibration checks
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#ifdef ADC_PROTECT_ENA
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if ((INPUT1_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095 &&
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(INPUT2_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095) {
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input_cal_valid = 1;
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} else {
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input_cal_valid = 0;
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consoleLog("FAIL (ADC out-of-range protection not possible)\n");
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}
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#endif
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// Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
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if (input_cal_valid && (INPUT1_MAX_temp - INPUT1_MIN_temp) > 500 && (INPUT2_MAX_temp - INPUT2_MIN_temp) > 500) {
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INPUT1_MIN_CAL = INPUT1_MIN_temp + 100;
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INPUT1_MID_CAL = INPUT1_MID_temp;
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INPUT1_MAX_CAL = INPUT1_MAX_temp - 100;
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INPUT2_MIN_CAL = INPUT2_MIN_temp + 100;
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INPUT2_MID_CAL = INPUT2_MID_temp;
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INPUT2_MAX_CAL = INPUT2_MAX_temp - 100;
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consoleLog("OK\n");
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} else {
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input_cal_valid = 0;
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consoleLog("FAIL (Pots travel too short)\n");
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}
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}
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@ -548,12 +548,12 @@ void saveConfig() {
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if (adc_cal_valid || cur_spd_valid) {
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HAL_FLASH_Unlock();
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EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
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EE_WriteVariable(VirtAddVarTab[1], ADC1_MIN_CAL);
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EE_WriteVariable(VirtAddVarTab[2], ADC1_MAX_CAL);
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EE_WriteVariable(VirtAddVarTab[3], ADC1_MID_CAL);
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EE_WriteVariable(VirtAddVarTab[4], ADC2_MIN_CAL);
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EE_WriteVariable(VirtAddVarTab[5], ADC2_MAX_CAL);
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EE_WriteVariable(VirtAddVarTab[6], ADC2_MID_CAL);
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EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL);
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EE_WriteVariable(VirtAddVarTab[2], INPUT1_MAX_CAL);
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EE_WriteVariable(VirtAddVarTab[3], INPUT1_MID_CAL);
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EE_WriteVariable(VirtAddVarTab[4], INPUT2_MIN_CAL);
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EE_WriteVariable(VirtAddVarTab[5], INPUT2_MAX_CAL);
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EE_WriteVariable(VirtAddVarTab[6], INPUT2_MID_CAL);
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EE_WriteVariable(VirtAddVarTab[7], rtP_Left.i_max);
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EE_WriteVariable(VirtAddVarTab[8], rtP_Left.n_max);
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HAL_FLASH_Lock();
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@ -731,21 +731,16 @@ void poweroffPressCheck(void) {
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#endif
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}
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/* =========================== Read Command Function =========================== */
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void readCommand(void) {
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#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
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void readInput(void) {
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#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
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if (nunchuk_connected != 0) {
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Nunchuk_Read();
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cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
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cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
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#ifdef SUPPORT_BUTTONS
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button1 = (uint8_t)nunchuk_data[5] & 1;
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button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
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button1 = (uint8_t)nunchuk_data[5] & 1;
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button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
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#endif
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}
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#endif
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@ -756,28 +751,44 @@ void readCommand(void) {
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#ifdef SUPPORT_BUTTONS
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button1 = ppm_captured_value[5] > 500;
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button2 = 0;
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#elif defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
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button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
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button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
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#endif
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// float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed
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#endif
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#if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
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cmd1_in = (pwm_captured_ch1_value - 500) * 2;
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cmd2_in = (pwm_captured_ch2_value - 500) * 2;
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#if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
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button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
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button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
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#endif
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#endif
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#ifdef CONTROL_ADC
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// ADC values range: 0-4095, see ADC-calibration in config.h
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cmd1_in = adc_buffer.l_tx2;
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cmd2_in = adc_buffer.l_rx2;
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#endif
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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// Handle received data validity, timeout and fix out-of-sync if necessary
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#ifdef CONTROL_IBUS
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
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ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
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}
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cmd1_in = (ibus_captured_value[0] - 500) * 2;
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cmd2_in = (ibus_captured_value[1] - 500) * 2;
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#else
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if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
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cmd1_in = command.steer;
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cmd2_in = command.speed;
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}
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#endif
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timeoutCnt = 0;
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#endif
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}
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/* =========================== Read Command Function =========================== */
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void readCommand(void) {
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readInput();
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#ifdef CONTROL_ADC
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#ifdef ADC_PROTECT_ENA
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if (adc_buffer.l_tx2 >= (ADC1_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_tx2 <= (ADC1_MAX_CAL + ADC_PROTECT_THRESH) &&
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adc_buffer.l_rx2 >= (ADC2_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_rx2 <= (ADC2_MAX_CAL + ADC_PROTECT_THRESH)) {
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@ -795,32 +806,6 @@ void readCommand(void) {
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}
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#endif
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#if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
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button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
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button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
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#endif
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timeoutCnt = 0;
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#endif
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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// Handle received data validity, timeout and fix out-of-sync if necessary
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#ifdef CONTROL_IBUS
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
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ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
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}
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cmd1_in = (ibus_captured_value[0] - 500) * 2;
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cmd2_in = (ibus_captured_value[1] - 500) * 2;
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#else
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if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
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cmd1 = command.steer;
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cmd2 = command.speed;
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}
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#endif
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#if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
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button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
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button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
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#endif
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timeoutCnt = 0;
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#endif
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@ -841,29 +826,32 @@ void readCommand(void) {
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#if defined(SIDEBOARD_SERIAL_USART2) && defined(SIDEBOARD_SERIAL_USART3)
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timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
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#endif
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#ifdef INPUT1_MID_POT
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cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
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#else
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cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
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#endif
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cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
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#if !defined(VARIANT_SKATEBOARD)
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cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
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#ifdef INPUT2_MID_POT
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cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
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#else
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cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2
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#endif
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#else
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cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_OUT_MIN, INPUT_MAX);
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#endif
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#ifdef ADC1_MID_POT
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#else
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cmd1 = MAP( adc_buffer.l_tx2 , ADC1_MIN_CAL, ADC1_MAX_CAL, 0, INPUT_MAX ); // ADC1
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#endif
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#ifdef ADC2_MID_POT
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#else
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cmd2 = MAP( adc_buffer.l_rx2 , ADC2_MIN_CAL, ADC2_MAX_CAL, 0, INPUT_MAX ); // ADC2
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#endif
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#ifdef VARIANT_HOVERCAR
|
||||
brakePressed = (uint8_t)(cmd1 > 50);
|
||||
#endif
|
||||
|
||||
#if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
|
||||
button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
|
||||
button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
|
||||
#endif
|
||||
|
||||
#ifdef VARIANT_TRANSPOTTER
|
||||
#ifdef GAMETRAK_CONNECTION_NORMAL
|
||||
|
|
|
|||
Loading…
Reference in New Issue