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firmware for motor speed controller tuning (#8)
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This is some dirty stuff. Sorry.
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@ksstms
ksstms committed Sep 6, 2021
1 parent 700e37b commit e03f1f3
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Showing 3 changed files with 84 additions and 15 deletions.
6 changes: 3 additions & 3 deletions firmware/.settings/language.settings.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1014405571940480247" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="292487106879976849" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
Expand All @@ -18,10 +18,10 @@
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1014405571940480247" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="292487106879976849" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
</project>
</project>
86 changes: 77 additions & 9 deletions firmware/Core/Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -157,12 +157,30 @@ static void MX_ADC1_Init(void);

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

uint32_t samplePrescaler = 0;
uint32_t sample;
uint8_t sampleFlag = 0;
uint8_t sampleError = 0;

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
static uint32_t adcTimerItCount = 0;

if (htim == LCD_TIMER) {
lcdHandler();
} else if (htim == VBAT_ADC_TIMER) {
//lcdHandler();

/*
if (samplePrescaler % 40 == 0) {
if (sampleFlag == 0) {
sample = encoderGetCounterValue(&encoder1);
sampleFlag = 1;
} else {
sampleError = 1;
}
}
samplePrescaler++;
*/
} else if (htim == VBAT_ADC_TIMER) {/*
adcTimerItCount++;
if (adcTimerItCount >= BATTERY_INDICATOR_PERIOD) {
Expand All @@ -173,19 +191,19 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (!batteryAdcBusy) {
batteryAdcBusy = 1;
HAL_ADC_Start_IT(VBAT_ADC);
}
}*/
}
}

void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {/*
if (hadc == VBAT_ADC) {
uint16_t adcVal = HAL_ADC_GetValue(VBAT_ADC);
batteryVoltage = adcVal * ADC_TO_VBAT_MULTIPLIER;
batteryAdcBusy = 0;
}
}*/
}

void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {/*
if (htim == US_AND_COLOR_CAPTURE_TIMER) {
switch (htim->Channel) {
case US_RISING_ACTIVE_CHANNEL : {
Expand All @@ -205,7 +223,7 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
}
default: break; // only needed to suppress unhandled enum value warning
}
}
}*/
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
Expand Down Expand Up @@ -414,6 +432,7 @@ int main(void)
lcdPrintf(0, 0, "Press button\nto start");
while (HAL_GPIO_ReadPin(BUTTON_GPIO_Port, BUTTON_Pin) == GPIO_PIN_SET);

/*
// Start user application
int retVal = application();
Expand All @@ -424,9 +443,58 @@ int main(void)
lcdClear();
lcdPrintf(0, 0, "application");
lcdPrintf(1, 0, "returned %d", retVal);
*/


uint32_t p1 = encoderGetCounterValue(&encoder1);
uint32_t p2 = encoderGetCounterValue(&encoder2);

uint32_t cntr = 0;

uint8_t speeds[] = {95,100, 1,5,6,7,8,10,15,20,30,40,50,60,70,80,90,95,100};
uint8_t i=0;
int16_t speed;

while (1)
{
uint32_t encVal2 = encoderGetCounterValue(&encoder2);
uint32_t d2 = encVal2 - p2;
p2 = encVal2;


uint32_t time = htim2.Instance->CNT;

char t[32];
int len = sprintf(t, "%d,%d,%d\n", time, speed, d2);

HAL_UART_Transmit(&huart1, t, len, 0xff);

delayMs(1);

if (cntr == 3000) {
speed = -speeds[i];
motorSetSpeed(motor1, speed);
motorSetSpeed(motor2, speed);
i++;
}

if (cntr == 3700) {
speed = 0;
motorSetSpeed(motor1, speed);
motorSetSpeed(motor2, speed);
cntr = 0;
}

cntr++;

/*
if (sampleError) {
HAL_UART_Transmit(&huart1, "E", 2, 0xffff);
sampleError = 0;
}
if (sampleFlag) {
}*/

/* USER CODE END WHILE */

Expand Down Expand Up @@ -619,9 +687,9 @@ static void MX_TIM2_Init(void)

/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.Prescaler = 1600;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 1600;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
Expand Down
7 changes: 4 additions & 3 deletions firmware/tanfolyamrobot.ioc
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Original file line number Diff line number Diff line change
Expand Up @@ -233,7 +233,7 @@ PD2.GPIO_Label=COLOR_S1
PD2.Locked=true
PD2.Signal=GPIO_Output
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=false
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
Expand Down Expand Up @@ -312,8 +312,9 @@ TIM1.Period=5120
TIM1.Prescaler=250
TIM1.Pulse-PWM\ Generation3\ CH3N=256
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM2.IPParameters=Period,AutoReloadPreload
TIM2.Period=1600
TIM2.IPParameters=Period,AutoReloadPreload,Prescaler
TIM2.Period=65535
TIM2.Prescaler=1600
TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
Expand Down

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