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hoverboard-firmware-hack-foc-serial-esc
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Fix typo

This commit is contained in:
Candas1 2020-10-29 00:41:41 +01:00
parent 95c912d757
commit b50efdcab2
2 changed files with 44 additions and 34 deletions
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2
Src/main.c
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@ -62,6 +62,8 @@ extern ExtY rtY_Right; /* External outputs */
extern int16_t cmd1; // normalized input value. -1000 to 1000 extern int16_t cmd1; // normalized input value. -1000 to 1000
extern int16_t cmd2; // normalized input value. -1000 to 1000 extern int16_t cmd2; // normalized input value. -1000 to 1000
extern int16_t cmd1_in; // normalized input value. -1000 to 1000
extern int16_t cmd2_in; // normalized input value. -1000 to 1000
extern int16_t speedAvg; // Average measured speed extern int16_t speedAvg; // Average measured speed
extern int16_t speedAvgAbs; // Average measured speed in absolute extern int16_t speedAvgAbs; // Average measured speed in absolute

76
Src/util.c
View File

@ -128,23 +128,24 @@ static int16_t INPUT_MAX; // [-] Input target maximum limitation
static int16_t INPUT_MIN; // [-] Input target minimum limitation static int16_t INPUT_MIN; // [-] Input target minimum limitation
static uint8_t cur_spd_valid = 0; #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
static uint8_t adc_cal_valid = 0; static uint8_t cur_spd_valid = 0;
static uint16_t INPUT1_MIN_CAL = INPUT1_MIN; static uint8_t input_cal_valid = 0;
static uint16_t INPUT1_MAX_CAL = INPUT1_MAX; static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
static uint16_t INPUT2_MIN_CAL = INPUT2_MIN; static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
static uint16_t INPUT2_MAX_CAL = INPUT2_MAX; static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
#ifdef INPUT1_MID_POT static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
static uint16_t INPUT1_MID_CAL = INPUT1_MID; #ifdef INPUT1_MID_POT
#else static uint16_t INPUT1_MID_CAL = INPUT1_MID;
static uint16_t INPUT1_MID_CAL = 0; #else
static uint16_t INPUT1_MID_CAL = 0;
#endif
#ifdef INPUT1_MID_POT
static uint16_t INPUT2_MID_CAL = INPUT2_MID;
#else
static uint16_t INPUT2_MID_CAL = 0;
#endif
#endif #endif
#ifdef INPUT1_MID_POT
static uint16_t INPUT2_MID_CAL = INPUT2_MID;
#else
static uint16_t INPUT2_MID_CAL = 0;
#endif
#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA) #if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
@ -433,6 +434,8 @@ void adcCalibLim(void) {
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return; return;
} }
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Input calibration started... "); consoleLog("Input calibration started... ");
@ -487,6 +490,7 @@ void adcCalibLim(void) {
input_cal_valid = 0; input_cal_valid = 0;
consoleLog("FAIL (Pots travel too short)\n"); consoleLog("FAIL (Pots travel too short)\n");
} }
#endif
} }
@ -501,6 +505,8 @@ void updateCurSpdLim(void) {
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return; return;
} }
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Torque and Speed limits update started... "); consoleLog("Torque and Speed limits update started... ");
@ -529,7 +535,7 @@ void updateCurSpdLim(void) {
cur_spd_valid = 1; cur_spd_valid = 1;
consoleLog("OK\n"); consoleLog("OK\n");
#endif
} }
/* /*
@ -545,7 +551,7 @@ void saveConfig() {
} }
#endif #endif
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
if (adc_cal_valid || cur_spd_valid) { if (input_cal_valid || cur_spd_valid) {
HAL_FLASH_Unlock(); HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY); EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL); EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL);
@ -749,8 +755,8 @@ void readInput(void) {
cmd1_in = (ppm_captured_value[0] - 500) * 2; cmd1_in = (ppm_captured_value[0] - 500) * 2;
cmd2_in = (ppm_captured_value[1] - 500) * 2; cmd2_in = (ppm_captured_value[1] - 500) * 2;
#ifdef SUPPORT_BUTTONS #ifdef SUPPORT_BUTTONS
button1 = ppm_captured_value[5] > 500; button1 = ppm_captured_value[5] > 500;
button2 = 0; button2 = 0;
#endif #endif
#endif #endif
@ -761,8 +767,8 @@ void readInput(void) {
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
// ADC values range: 0-4095, see ADC-calibration in config.h // ADC values range: 0-4095, see ADC-calibration in config.h
cmd1_in = adc_buffer.l_tx2; cmd1_in = adc_buffer.l_tx2;
cmd2_in = adc_buffer.l_rx2; cmd2_in = adc_buffer.l_rx2;
#endif #endif
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3) #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
@ -827,20 +833,22 @@ void readCommand(void) {
timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R; timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
#endif #endif
#ifdef INPUT1_MID_POT #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX); #ifdef INPUT1_MID_POT
#else cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
#endif
#if !defined(VARIANT_SKATEBOARD)
#ifdef INPUT2_MID_POT
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
#else #else
cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2 cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
#endif
#if !defined(VARIANT_SKATEBOARD)
#ifdef INPUT2_MID_POT
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
#else
cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2
#endif
#else
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT2_OUT_MIN, INPUT_MAX);
#endif #endif
#else
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_OUT_MIN, INPUT_MAX);
#endif #endif