ADD: buzzer, undervoltage lockout, safe poweroff, foo

Inc/config.h

@@ -13,10 +13,10 @@
 #define PWM_FREQ         16000     // PWM frequency in Hz
 #define DEAD_TIME        32        // PWM deadtime
 
-#define DC_CUR_LIMIT     5         // Motor DC current limit in amps
+#define DC_CUR_LIMIT     32         // Motor DC current limit in amps
 
-#define DEBUG_SERIAL_SERVOTERM
+//#define DEBUG_SERIAL_SERVOTERM
-//#define DEBUG_SERIAL_ASCII
+#define DEBUG_SERIAL_ASCII
 #define DEBUG_BAUD       115200    // UART baud rate
 //#define DEBUG_I2C_LCD
 

Inc/defines.h

@@ -114,6 +114,9 @@
 #define OFF_PIN GPIO_PIN_5
 #define OFF_PORT GPIOA
 
+#define BUTTON_PIN GPIO_PIN_1
+#define BUTTON_PORT GPIOA
+
 #define CHARGER_PIN GPIO_PIN_12
 #define CHARGER_PORT GPIOA
 

Makefile

@@ -97,7 +97,7 @@ C_INCLUDES =  \
 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
 
-CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -std=gnu11
 
 ifeq ($(DEBUG), 1)
 CFLAGS += -g -gdwarf-2

Src/bldc.c

@@ -12,6 +12,13 @@ volatile int pwmr = 0;
 
 extern volatile adc_buf_t adc_buffer;
 
+extern volatile uint32_t timeout;
+
+uint8_t buzzerFreq = 0;
+uint8_t buzzerPattern = 0;
+
+uint8_t enable = 0;
+
 const int pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
 
 const uint8_t hall_to_pos[8] = {
@@ -112,6 +119,7 @@ inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
 
 int last_pos     = 0;
 int timer        = 0;
+uint16_t buzzerTimer        = 0;
 int max_time     = PWM_FREQ / 10;
 volatile int vel = 0;
 
@@ -123,6 +131,8 @@ int offsetrr2   = 2000;
 int offsetdcl   = 2000;
 int offsetdcr   = 2000;
 
+float batteryVoltage;
+
 int curl = 0;
 // int errorl = 0;
 // int kp = 5;
@@ -143,7 +153,9 @@ void DMA1_Channel1_IRQHandler() {
     return;
   }
 
-  if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT) {
+  batteryVoltage = batteryVoltage * 0.99 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.01;
+
+  if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
     LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
     //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
   } else {
@@ -151,7 +163,7 @@ void DMA1_Channel1_IRQHandler() {
     //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
   }
 
-  if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP  > DC_CUR_LIMIT) {
+  if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP  > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
     RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
   } else {
     RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
@@ -182,9 +194,19 @@ void DMA1_Channel1_IRQHandler() {
 
   setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8);
   setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8);
-  consoleScope();
 
   timer++;
+  buzzerTimer++;
+
+
+  if (buzzerFreq != 0 && (buzzerTimer / 1500) % (buzzerPattern + 1) == 0) {
+    if (buzzerTimer % buzzerFreq == 0) {
+      HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
+    }
+  } else {
+      HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0);
+  }
+
 
   // if(timer > max_time){
   //   timer = max_time;

Src/comms.c

@@ -7,7 +7,7 @@
 
 UART_HandleTypeDef huart2;
 
-volatile uint8_t uart_buf[300];
+volatile uint8_t uart_buf[100];
 volatile int16_t ch_buf[8];
 //volatile char char_buf[300];
 
@@ -37,8 +37,8 @@ void consoleScope() {
   #endif
 
   #ifdef DEBUG_SERIAL_ASCII
-    memset(&uart_buf, 0, sizeof(uart_buf));
+    memset(uart_buf, 0, sizeof(uart_buf));
-    sprintf(uart_buf, "%i;%i;%i;%i;%i;%i;%i;%i\n\r", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
+    sprintf(uart_buf, "%i;%i;%i;%i\n\r", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3]);//, ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
 
     if(DMA1_Channel2->CNDTR == 0) {
       DMA1_Channel2->CCR &= ~DMA_CCR_EN;

Src/control.c

@@ -7,16 +7,13 @@
 TIM_HandleTypeDef TimHandle;
 uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0};
 uint8_t ppm_count = 0;
-uint32_t timeout = 0;
+uint32_t timeout = 100;
 
 void PPM_ISR_Callback() {
   // Dummy loop with 16 bit count wrap around
   uint16_t rc_delay = TIM2->CNT;
   TIM2->CNT = 0;
 
-  HAL_TIM_Base_Stop(&TimHandle);
-  __HAL_RCC_TIM2_CLK_DISABLE();
-
   if (rc_delay > 3000) {
     ppm_count = 0;
   }
@@ -25,8 +22,7 @@ void PPM_ISR_Callback() {
     ppm_captured_value[ppm_count] = CLAMP(rc_delay, 1000, 2000) - 1000;
     ppm_count++;
   }
-  __HAL_RCC_TIM2_CLK_ENABLE();
+
-  HAL_TIM_Base_Start(&TimHandle);
 }
 
 void PPM_Init() {
@@ -49,4 +45,5 @@ void PPM_Init() {
   /* EXTI interrupt init*/
   HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(EXTI3_IRQn);
+  HAL_TIM_Base_Start(&TimHandle);
 }

Src/main.c

@@ -35,6 +35,15 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
 extern volatile int pwml;
 extern volatile int pwmr;
 
+extern uint8_t buzzerFreq;
+extern uint8_t buzzerPattern;
+
+extern uint8_t enable;
+
+extern volatile uint32_t timeout;
+
+extern float batteryVoltage;
+
 
 int milli_vel_error_sum = 0;
 
@@ -67,20 +76,30 @@ int main(void) {
   MX_ADC2_Init();
   UART_Init();
 
-  #ifdef CONTROL_PPM
-    PPM_Init();
-  #endif
-
   HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
 
   HAL_ADC_Start(&hadc1);
   HAL_ADC_Start(&hadc2);
 
+  for (int i = 8; i >= 0; i--) {
+    buzzerFreq = i;
+    HAL_Delay(100);
+  }
+  buzzerFreq = 0;
+
+  HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
+
   int lastSpeedL = 0, lastSpeedR = 0;
   int speedL = 0, speedR = 0;
 
+  #ifdef CONTROL_PPM
+    PPM_Init();
+  #endif
+
+  enable = 1;
+
   while(1) {
-    HAL_Delay(0);
+    HAL_Delay(10);
     // int milli_cur = 3000;
     // int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
     // // pwm = milli_volt * pwm_res / MILLI_V;
@@ -93,19 +112,55 @@ int main(void) {
     // cmdl = 70;
 
     #ifdef CONTROL_PPM
-      speedR = -(CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
       speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
+      speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
     #endif
 
-    if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
+    if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
       pwmr = speedR;
       pwml = speedL;
     }
+
     lastSpeedL = speedL;
     lastSpeedR = speedR;
     setScopeChannel(0, speedR);
     setScopeChannel(1, speedL);
 
+    consoleScope();
+
+    timeout++;
+
+    if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+      enable = 0;
+      for (int i = 0; i < 8; i++) {
+        buzzerFreq = i;
+        HAL_Delay(100);
+      }
+      HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
+      while(1) {}
+    }
+
+    if (batteryVoltage < 36.0 && batteryVoltage > 33.0) {
+      buzzerFreq = 5;
+      buzzerPattern = 8;
+    } else if  (batteryVoltage < 33.0 && batteryVoltage > 30.0) {
+      buzzerFreq = 5;
+      buzzerPattern = 1;
+    } else if  (batteryVoltage < 30.0) {
+      buzzerPattern = 0;
+      enable = 0;
+      for (int i = 0; i < 8; i++) {
+        buzzerFreq = i;
+        HAL_Delay(100);
+      }
+      HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
+      while(1) {}
+    } else {
+      buzzerFreq = 0;
+      buzzerPattern = 0;
+    }
+
+
     // if(vel > milli_vel_cmd){
     //   HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
     // }

Src/setup.c

@@ -140,6 +140,9 @@ void MX_GPIO_Init(void) {
   GPIO_InitStruct.Pin = CHARGER_PIN;
   HAL_GPIO_Init(CHARGER_PORT, &GPIO_InitStruct);
 
+  GPIO_InitStruct.Pin = BUTTON_PIN;
+  HAL_GPIO_Init(BUTTON_PORT, &GPIO_InitStruct);
+
 
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;