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hoverboard-firmware-hack-serial-esc
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vel iff0

This commit is contained in:
crinq 2017-12-30 04:07:09 +01:00
parent 2556a9bbce
commit 73d5c38c88
1 changed files with 21 additions and 14 deletions
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35
Src/main.c
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@ -75,8 +75,6 @@ extern volatile adc_buf_t adc_buffer[1];
volatile int pos = 0; volatile int pos = 0;
const int pwm_res = 64000000 / 2 / PWM_FREQ; const int pwm_res = 64000000 / 2 / PWM_FREQ;
int cur = 0;
int milli_volt = 0;
volatile int pwm = 0; volatile int pwm = 0;
uint8_t hall_to_pos[8] = { uint8_t hall_to_pos[8] = {
0, 0,
@ -91,7 +89,7 @@ uint8_t hall_to_pos[8] = {
int last_pos = 0; int last_pos = 0;
int timer = 0; int timer = 0;
int max_time = PWM_FREQ / 5; int max_time = PWM_FREQ / 10;
volatile int vel = 0; volatile int vel = 0;
void DMA1_Channel1_IRQHandler(){ void DMA1_Channel1_IRQHandler(){
@ -117,7 +115,7 @@ void DMA1_Channel1_IRQHandler(){
} }
if(pos != last_pos){ if(pos != last_pos){
vel = 1000 * PWM_FREQ / timer / P / 6; vel = 1000 * PWM_FREQ / timer / P / 6 * 2;
if((pos - last_pos + 6) % 6 > 2){ if((pos - last_pos + 6) % 6 > 2){
vel = -vel; vel = -vel;
@ -174,14 +172,11 @@ void DMA1_Channel1_IRQHandler(){
// DMA1->IFCR = 1; // DMA1->IFCR = 1;
// } // }
if(adc_buffer[0].data1 > 1900){
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
}
else{
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
} }
int milli_vel_error_sum = 0;
int main(void) int main(void)
{ {
@ -205,11 +200,23 @@ int main(void)
while (1) while (1)
{ {
HAL_Delay(0); HAL_Delay(0);
cur = 3; int milli_cur = 3000;
milli_volt = cur * MILLI_R;// + vel * MILLI_PSI * 141; int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
pwm = milli_volt * pwm_res / MILLI_V; // pwm = milli_volt * pwm_res / MILLI_V;
int milli_vel_cmd = 200;
int milli_vel_error = milli_vel_cmd - vel;
milli_vel_error_sum += milli_vel_error;
milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
if(vel > milli_vel_cmd){
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
}
else{
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */