ADD: make unlock and make flash to Makefile

This commit is contained in:
Niklas Fauth 2018-04-25 19:27:15 +02:00
parent 4ac8b72fb0
commit 0172976057
4 changed files with 394 additions and 369 deletions

View File

@ -15,7 +15,7 @@
#define PWM_FREQ 16000 // PWM frequency in Hz #define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime #define DEAD_TIME 32 // PWM deadtime
#define DC_CUR_LIMIT 35 // Motor DC current limit in amps #define DC_CUR_LIMIT 25 // Motor DC current limit in amps
#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level #define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now! #define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
@ -54,6 +54,19 @@
// #define SPEED_COEFFICIENT -1 // #define SPEED_COEFFICIENT -1
// #define STEER_COEFFICIENT 0 // #define STEER_COEFFICIENT 0
// #define ADDITIONAL_CODE \
if (button1 && speedR < 300) { \
speedR = speedR * -0.2f; \
speedL = speedL * -0.2f; } \
else { \
direction = 1; } \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = speedR - 600; } \
else { \
weakl = 0; \
weakr = 0; }
// ###### ARMCHAIR ###### // ###### ARMCHAIR ######
// #define FILTER 0.05 // #define FILTER 0.05
// #define SPEED_COEFFICIENT 0.5 // #define SPEED_COEFFICIENT 0.5

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@ -162,6 +162,12 @@ format:
clean: clean:
-rm -fR .dep $(BUILD_DIR) -rm -fR .dep $(BUILD_DIR)
flash:
st-flash --reset write $(BUILD_DIR)/$(TARGET).bin 0x8000000
unlock:
openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0"
####################################### #######################################
# dependencies # dependencies
####################################### #######################################

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@ -139,7 +139,7 @@ int main(void) {
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050 cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
//uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
timeout = 0; timeout = 0;
#endif #endif
@ -158,10 +158,15 @@ int main(void) {
setScopeChannel(2, (int)speedR); setScopeChannel(2, (int)speedR);
setScopeChannel(3, (int)speedL); setScopeChannel(3, (int)speedL);
// ####### ADDITIONAL CODE #######
#ifdef ADDITIONAL_CODE
ADDITIONAL_CODE;
#endif
// ####### SET OUTPUTS ####### // ####### SET OUTPUTS #######
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) { if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
pwmr = speedR; pwmr = speedR;
pwml = speedL; pwml = -speedL;
} }
lastSpeedL = speedL; lastSpeedL = speedL;

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