motor control init parameters
This commit is contained in:
parent
fcb3457c42
commit
620b3867c9
@ -59,35 +59,26 @@ UART_HandleTypeDef huart6;
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/* Definitions for control */
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osThreadId_t controlHandle;
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const osThreadAttr_t control_attributes = {
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.name = "control",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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const osThreadAttr_t control_attributes = { .name = "control", .stack_size = 512
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* 4, .priority = (osPriority_t) osPriorityBelowNormal, };
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/* Definitions for draw */
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osThreadId_t drawHandle;
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const osThreadAttr_t draw_attributes = {
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.name = "draw",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityLow,
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};
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const osThreadAttr_t draw_attributes = { .name = "draw", .stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityLow, };
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/* Definitions for menu */
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osThreadId_t menuHandle;
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const osThreadAttr_t menu_attributes = {
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.name = "menu",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityLow,
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};
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const osThreadAttr_t menu_attributes = { .name = "menu", .stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityLow, };
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/* Definitions for balance */
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osThreadId_t balanceHandle;
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const osThreadAttr_t balance_attributes = { .name = "balance", .stack_size = 128
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* 4, .priority = (osPriority_t) osPriorityLow7, };
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/* Definitions for presses */
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osMessageQueueId_t pressesHandle;
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const osMessageQueueAttr_t presses_attributes = {
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.name = "presses"
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};
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const osMessageQueueAttr_t presses_attributes = { .name = "presses" };
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/* Definitions for display */
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osMutexId_t displayHandle;
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const osMutexAttr_t display_attributes = {
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.name = "display"
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};
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const osMutexAttr_t display_attributes = { .name = "display" };
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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@ -105,6 +96,7 @@ static void MX_I2C1_Init(void);
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void start_control(void *argument);
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void snakegame(void *argument);
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void handle_menu(void *argument);
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void start_balance(void *argument);
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/* USER CODE BEGIN PFP */
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@ -127,6 +119,11 @@ int redraw_menu_pending;
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#define GRID_X 2
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#define GRID_Y 3
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uint8_t menu_status[GRID_X][GRID_Y] = { 0 };
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struct motorstruct {
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float wr, ur;
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float wl, ul;
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} motor;
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void process_line(const char *line) {
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if (strncmp(line, "ABS:", 4) == 0) {
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char axis[32];
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@ -134,7 +131,7 @@ void process_line(const char *line) {
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if (sscanf(line, "ABS:%31[^:]:%d:", axis, &value) == 2) {
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// Handle axis input
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if (strcmp(axis, "ABS_X") == 0) {
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motor.ul = 2 * 3.1415 / 32000.1 * value;
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// Do something with X axis
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} else if (strcmp(axis, "ABS_Y") == 0) {
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@ -152,14 +149,21 @@ void process_line(const char *line) {
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if (state) {
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char dir;
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dir = key[0];
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osStatus_t status = osMessageQueuePut(pressesHandle, &dir, 0,
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0);
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if (dir == 'L' || dir == 'R' || dir == 'D' || dir == 'U'
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|| dir == 'A') {
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if (dir == 'U') {
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motor.ul = -1 * motor.ul;
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}
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osStatus_t status = osMessageQueuePut(pressesHandle, &dir,
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0, 0);
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if (status != osOK) {
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// Optional: Handle error
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}
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}
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}
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if (key[0] == 'B' && state == 1) { // B goes to the menu
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run_snake = 0;
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run_menu = 1;
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@ -194,7 +198,7 @@ void UART_CALLBACK() {
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#define TIM4_ARR_VALUE 1024
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uint32_t TIM4_CurrentCount;
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uint32_t TIM4_PreviousCount = 0;
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#define TS 0.01
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#define TS 0.005
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#define M_PI 3.1415
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float encoder_TIM4_speed_rad() {
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int32_t TIM4_DiffCount;
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@ -218,6 +222,31 @@ float encoder_TIM4_speed_rad() {
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TIM4_PreviousCount = TIM4_CurrentCount;
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return (float) TIM4_DiffCount / (TIM4_ARR_VALUE * TS) * 2 * M_PI;
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}
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#define TIM1_ARR_VALUE 1024
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uint32_t TIM1_CurrentCount;
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uint32_t TIM1_PreviousCount = 0;
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float encoder_TIM1_speed_rad() {
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int32_t TIM1_DiffCount;
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TIM1_CurrentCount = __HAL_TIM_GET_COUNTER(&htim1);
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/* evaluate increment of TIM3 counter from previous count */
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if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1)) {
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/* check for counter underflow */
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if (TIM1_CurrentCount <= TIM1_PreviousCount)
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TIM1_DiffCount = TIM1_CurrentCount - TIM1_PreviousCount;
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else
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TIM1_DiffCount = -((TIM1_ARR_VALUE + 1) - TIM1_CurrentCount)
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- TIM1_PreviousCount;
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} else {
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/* check for counter overflow */
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if (TIM1_CurrentCount >= TIM1_PreviousCount)
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TIM1_DiffCount = TIM1_CurrentCount - TIM1_PreviousCount;
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else
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TIM1_DiffCount = ((TIM1_ARR_VALUE + 1) - TIM1_PreviousCount)
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+ TIM1_CurrentCount;
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}
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TIM1_PreviousCount = TIM1_CurrentCount;
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return (float) TIM1_DiffCount / (TIM1_ARR_VALUE * TS) * 2 * M_PI;
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}
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#define TIM5_ARR_VALUE 4000
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void set_pwm(float duty, char motor, char mode) {
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// Limit the duty cycle to ±70%
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@ -248,6 +277,7 @@ void set_pwm(float duty, char motor, char mode) {
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}
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if (motor == 'l') {
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if (duty >= 0) { // rotate forward
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if (mode == 'c') {
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__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_3,
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@ -277,8 +307,7 @@ void set_pwm(float duty, char motor, char mode) {
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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int main(void) {
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/* USER CODE BEGIN 1 */
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@ -301,6 +330,8 @@ int main(void)
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_SPI1_Init();
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@ -309,6 +340,7 @@ int main(void)
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MX_TIM5_Init();
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MX_USART6_UART_Init();
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MX_I2C1_Init();
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/* USER CODE BEGIN 2 */
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ILI9341_Init();
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ILI9341_SetRotation(SCREEN_HORIZONTAL_1);
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@ -337,7 +369,7 @@ int main(void)
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/* Create the queue(s) */
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/* creation of presses */
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pressesHandle = osMessageQueueNew (16, sizeof(char), &presses_attributes);
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pressesHandle = osMessageQueueNew(16, sizeof(char), &presses_attributes);
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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@ -353,6 +385,9 @@ int main(void)
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/* creation of menu */
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menuHandle = osThreadNew(handle_menu, NULL, &menu_attributes);
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/* creation of balance */
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balanceHandle = osThreadNew(start_balance, NULL, &balance_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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@ -394,7 +429,7 @@ int main(void)
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/* USER CODE BEGIN 3 */
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float tempspeed;
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tempspeed = encoder_TIM4_speed_rad();
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//tempspeed = encoder_TIM4_speed_rad();
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HAL_Delay(10);
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}
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@ -405,10 +440,9 @@ int main(void)
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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void SystemClock_Config(void) {
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RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
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RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
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/** Configure the main internal regulator output voltage
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*/
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@ -422,22 +456,20 @@ void SystemClock_Config(void)
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
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| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
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{
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
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Error_Handler();
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}
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}
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@ -447,11 +479,14 @@ void SystemClock_Config(void)
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* @param None
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* @retval None
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*/
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static void MX_I2C1_Init(void)
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{
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static void MX_I2C1_Init(void) {
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/* USER CODE BEGIN I2C1_Init 0 */
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//HAL_RCC_I2C1_FORCE_RESET();
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HAL_Delay(10);
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//HAL_RCC_I2C1_RELEASE_RESET();
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//HAL_I2C_Init(&hi2c1);
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/* USER CODE END I2C1_Init 0 */
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/* USER CODE BEGIN I2C1_Init 1 */
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@ -466,12 +501,13 @@ static void MX_I2C1_Init(void)
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK)
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{
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if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN I2C1_Init 2 */
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HAL_I2C_DeInit(&hi2c1);
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HAL_Delay(10); // Allow lines to settle
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HAL_I2C_Init(&hi2c1);
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/* USER CODE END I2C1_Init 2 */
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}
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@ -481,8 +517,7 @@ static void MX_I2C1_Init(void)
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* @param None
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* @retval None
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*/
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static void MX_SPI1_Init(void)
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{
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static void MX_SPI1_Init(void) {
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/* USER CODE BEGIN SPI1_Init 0 */
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@ -504,8 +539,7 @@ static void MX_SPI1_Init(void)
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi1.Init.CRCPolynomial = 10;
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if (HAL_SPI_Init(&hspi1) != HAL_OK)
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{
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if (HAL_SPI_Init(&hspi1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN SPI1_Init 2 */
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@ -519,15 +553,14 @@ static void MX_SPI1_Init(void)
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* @param None
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* @retval None
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*/
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static void MX_TIM1_Init(void)
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{
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static void MX_TIM1_Init(void) {
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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TIM_Encoder_InitTypeDef sConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_Encoder_InitTypeDef sConfig = { 0 };
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TIM_MasterConfigTypeDef sMasterConfig = { 0 };
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/* USER CODE BEGIN TIM1_Init 1 */
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@ -548,18 +581,17 @@ static void MX_TIM1_Init(void)
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sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC2Prescaler = TIM_ICPSC_DIV8;
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sConfig.IC2Filter = 15;
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if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK)
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{
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if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
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{
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig)
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!= HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM1_Init 2 */
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HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL);
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/* USER CODE END TIM1_Init 2 */
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}
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@ -569,15 +601,14 @@ static void MX_TIM1_Init(void)
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* @param None
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* @retval None
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*/
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static void MX_TIM4_Init(void)
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{
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static void MX_TIM4_Init(void) {
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/* USER CODE BEGIN TIM4_Init 0 */
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/* USER CODE END TIM4_Init 0 */
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TIM_Encoder_InitTypeDef sConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_Encoder_InitTypeDef sConfig = { 0 };
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TIM_MasterConfigTypeDef sMasterConfig = { 0 };
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/* USER CODE BEGIN TIM4_Init 1 */
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@ -585,7 +616,7 @@ static void MX_TIM4_Init(void)
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htim4.Instance = TIM4;
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htim4.Init.Prescaler = 0;
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htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim4.Init.Period = TIM4_ARR_VALUE;
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htim4.Init.Period = 65535;
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htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
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@ -597,14 +628,13 @@ static void MX_TIM4_Init(void)
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sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC2Filter = 15;
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if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
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{
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if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
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{
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if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig)
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!= HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM4_Init 2 */
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@ -618,15 +648,14 @@ static void MX_TIM4_Init(void)
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* @param None
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* @retval None
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*/
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static void MX_TIM5_Init(void)
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{
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static void MX_TIM5_Init(void) {
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/* USER CODE BEGIN TIM5_Init 0 */
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/* USER CODE END TIM5_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_MasterConfigTypeDef sMasterConfig = { 0 };
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TIM_OC_InitTypeDef sConfigOC = { 0 };
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/* USER CODE BEGIN TIM5_Init 1 */
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@ -634,37 +663,36 @@ static void MX_TIM5_Init(void)
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htim5.Instance = TIM5;
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htim5.Init.Prescaler = 15;
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htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim5.Init.Period = TIM5_ARR_VALUE;
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htim5.Init.Period = 4000;
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htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
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{
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if (HAL_TIM_PWM_Init(&htim5) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
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{
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if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig)
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!= HAL_OK) {
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1)
|
||||
!= HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
||||
{
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2)
|
||||
!= HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
||||
{
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3)
|
||||
!= HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
|
||||
{
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4)
|
||||
!= HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN TIM5_Init 2 */
|
||||
@ -688,8 +716,7 @@ static void MX_TIM5_Init(void)
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_USART6_UART_Init(void)
|
||||
{
|
||||
static void MX_USART6_UART_Init(void) {
|
||||
|
||||
/* USER CODE BEGIN USART6_Init 0 */
|
||||
|
||||
@ -706,8 +733,7 @@ static void MX_USART6_UART_Init(void)
|
||||
huart6.Init.Mode = UART_MODE_TX_RX;
|
||||
huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart6.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
if (HAL_UART_Init(&huart6) != HAL_OK)
|
||||
{
|
||||
if (HAL_UART_Init(&huart6) != HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN USART6_Init 2 */
|
||||
@ -721,8 +747,7 @@ static void MX_USART6_UART_Init(void)
|
||||
/**
|
||||
* Enable DMA controller clock
|
||||
*/
|
||||
static void MX_DMA_Init(void)
|
||||
{
|
||||
static void MX_DMA_Init(void) {
|
||||
|
||||
/* DMA controller clock enable */
|
||||
__HAL_RCC_DMA2_CLK_ENABLE();
|
||||
@ -742,9 +767,8 @@ static void MX_DMA_Init(void)
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_GPIO_Init(void)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
static void MX_GPIO_Init(void) {
|
||||
GPIO_InitTypeDef GPIO_InitStruct = { 0 };
|
||||
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
||||
|
||||
/* USER CODE END MX_GPIO_Init_1 */
|
||||
@ -758,7 +782,7 @@ static void MX_GPIO_Init(void)
|
||||
HAL_GPIO_WritePin(LED_BLUE_GPIO_Port, LED_BLUE_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOA, DISPLAY_CS_Pin|DISPLAY_RES_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(GPIOA, DISPLAY_CS_Pin | DISPLAY_RES_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(DISPLAY_DC_GPIO_Port, DISPLAY_DC_Pin, GPIO_PIN_RESET);
|
||||
@ -771,7 +795,7 @@ static void MX_GPIO_Init(void)
|
||||
HAL_GPIO_Init(LED_BLUE_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : DISPLAY_CS_Pin DISPLAY_RES_Pin */
|
||||
GPIO_InitStruct.Pin = DISPLAY_CS_Pin|DISPLAY_RES_Pin;
|
||||
GPIO_InitStruct.Pin = DISPLAY_CS_Pin | DISPLAY_RES_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
@ -800,17 +824,102 @@ static void MX_GPIO_Init(void)
|
||||
* @retval None
|
||||
*/
|
||||
/* USER CODE END Header_start_control */
|
||||
void start_control(void *argument)
|
||||
{
|
||||
void start_control(void *argument) {
|
||||
/* USER CODE BEGIN 5 */
|
||||
/* Infinite loop */
|
||||
float tempspeed;
|
||||
float Ki = 0.5 * 0.5;
|
||||
float Kp = 0.005 * 10;
|
||||
float Kw = 1;
|
||||
float integral1 = 0;
|
||||
float integral2 = 0;
|
||||
float sat_diff_1 = 0;
|
||||
float sat_diff_2 = 0;
|
||||
static char statsBuffer[200];
|
||||
motor.ul = 2 * M_PI;
|
||||
motor.ur = 2 * M_PI;
|
||||
|
||||
for (;;) {
|
||||
osDelay(10);
|
||||
set_pwm(0.1, 'l', 'c');
|
||||
|
||||
tempspeed=encoder_TIM4_speed_rad();
|
||||
vTaskDelay(5);
|
||||
|
||||
vTaskGetRunTimeStats(statsBuffer);
|
||||
//motor.wr = encoder_TIM3_speed_rad();
|
||||
|
||||
tempspeed = -encoder_TIM1_speed_rad();
|
||||
if (fabsf(tempspeed - motor.wr) < 700.0f) {
|
||||
motor.wr = tempspeed;
|
||||
char uart_buf[20];
|
||||
int whole = (int) motor.wr;
|
||||
int frac = (int) ((motor.wr - whole) * 1000); // 3 decimal digits
|
||||
|
||||
if (frac < 0)
|
||||
frac = -frac; // handle negative numbers
|
||||
//
|
||||
int len = 0;
|
||||
if (motor.wr < 0 && whole == 0)
|
||||
len = sprintf(uart_buf, "-0.%03d\r\n", frac);
|
||||
else
|
||||
len = sprintf(uart_buf, "%d.%03d\r\n", whole, frac);
|
||||
|
||||
HAL_UART_Transmit(&huart6, (uint8_t*) uart_buf, len, HAL_MAX_DELAY);
|
||||
}
|
||||
tempspeed = -encoder_TIM4_speed_rad();
|
||||
if (fabsf(tempspeed - motor.wl) > 70.0f) {
|
||||
|
||||
} else {
|
||||
motor.wl = tempspeed;
|
||||
|
||||
// char uart_buf[20];
|
||||
// int whole = (int) motor.wl;
|
||||
// int frac = (int) ((motor.wl - whole) * 1000); // 3 decimal digits
|
||||
//
|
||||
// if (frac < 0)
|
||||
// frac = -frac; // handle negative numbers
|
||||
////
|
||||
// int len = 0;
|
||||
// if (motor.wl < 0 && whole == 0)
|
||||
// len = sprintf(uart_buf, "-0.%03d\r\n", frac);
|
||||
// else
|
||||
// len = sprintf(uart_buf, "%d.%03d\r\n", whole, frac);
|
||||
//
|
||||
// HAL_UART_Transmit(&huart6, (uint8_t*) uart_buf, len, HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
|
||||
// Calculation for Motor 1 control signal
|
||||
float error1 = (-1) * motor.ur - motor.wr;
|
||||
if (error1 > 10) {
|
||||
int t = 0;
|
||||
}
|
||||
float anti_windup_1 = Ki * error1 - sat_diff_1 * Kw;
|
||||
integral1 += anti_windup_1 * TS;
|
||||
float control1 = integral1 + Kp * error1;
|
||||
float unsat_control_1 = control1;
|
||||
control1 =
|
||||
fabsf(control1) > 0.7f ?
|
||||
(control1 / fabsf(control1)) * 0.7f : control1;
|
||||
sat_diff_1 = unsat_control_1 - control1;
|
||||
|
||||
set_pwm(control1, 'r', 'c');
|
||||
|
||||
// Calculation for Motor 2 control signal
|
||||
float error2 = motor.ul - motor.wl;
|
||||
if (error2 > 10) {
|
||||
int t = 0;
|
||||
}
|
||||
float anti_windup_2 = Ki * error2 - sat_diff_2 * Kw;
|
||||
integral2 += anti_windup_2 * TS;
|
||||
float control2 = integral2 + Kp * error2;
|
||||
float unsat_control_2 = control2;
|
||||
control2 =
|
||||
fabsf(control2) > 0.7f ?
|
||||
(control2 / fabsf(control2)) * 0.7f : control2;
|
||||
sat_diff_2 = unsat_control_2 - control2;
|
||||
|
||||
set_pwm(control2, 'l', 'c');
|
||||
//set_pwm(-0.7, 'l', 'c');
|
||||
|
||||
}
|
||||
/* USER CODE END 5 */
|
||||
}
|
||||
@ -822,8 +931,7 @@ void start_control(void *argument)
|
||||
* @retval None
|
||||
*/
|
||||
/* USER CODE END Header_snakegame */
|
||||
void snakegame(void *argument)
|
||||
{
|
||||
void snakegame(void *argument) {
|
||||
/* USER CODE BEGIN snakegame */
|
||||
/* Infinite loop */
|
||||
//ILI9341_FillScreen(BLACK);
|
||||
@ -917,8 +1025,7 @@ void redraw_menu() { //only done onece saves resources
|
||||
}
|
||||
|
||||
/* USER CODE END Header_handle_menu */
|
||||
void handle_menu(void *argument)
|
||||
{
|
||||
void handle_menu(void *argument) {
|
||||
/* USER CODE BEGIN handle_menu */
|
||||
/* Infinite loop */
|
||||
|
||||
@ -926,7 +1033,6 @@ void handle_menu(void *argument)
|
||||
vTaskDelay(50);
|
||||
redraw_menu();
|
||||
while (1) {
|
||||
|
||||
// Check input
|
||||
if (run_menu) {
|
||||
osStatus_t status = osMessageQueueGet(pressesHandle, &dir, NULL,
|
||||
@ -942,15 +1048,26 @@ void handle_menu(void *argument)
|
||||
}
|
||||
if (dir == 'U' || dir == 'D' || dir == 'L' || dir == 'R') {
|
||||
if (menu_status[sel_x][sel_y]) {
|
||||
if (osMutexAcquire(displayHandle, osWaitForever)
|
||||
== osOK) {
|
||||
|
||||
ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
|
||||
START_X + sel_x * CELL_WIDTH,
|
||||
START_Y + sel_y * CELL_HEIGHT, COLOR_TEXT,
|
||||
COLOR_ACTIVATED);
|
||||
osMutexRelease(displayHandle);
|
||||
}
|
||||
} else {
|
||||
if (osMutexAcquire(displayHandle, osWaitForever)
|
||||
== osOK) {
|
||||
|
||||
ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
|
||||
START_X + sel_x * CELL_WIDTH,
|
||||
START_Y + sel_y * CELL_HEIGHT, COLOR_TEXT,
|
||||
COLOR_BG);
|
||||
osMutexRelease(displayHandle);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
if (dir == 'U' && sel_y > 0)
|
||||
@ -963,15 +1080,27 @@ void handle_menu(void *argument)
|
||||
sel_x++;
|
||||
}
|
||||
if (menu_status[sel_x][sel_y]) {
|
||||
if (osMutexAcquire(displayHandle, osWaitForever) == osOK) {
|
||||
|
||||
ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
|
||||
START_X + sel_x * CELL_WIDTH, START_Y + sel_y * CELL_HEIGHT,
|
||||
COLOR_TEXT,
|
||||
COLOR_ACTIVATED_AND_SELECTED);
|
||||
osMutexRelease(displayHandle);
|
||||
|
||||
}
|
||||
|
||||
} else {
|
||||
if (osMutexAcquire(displayHandle, osWaitForever) == osOK) {
|
||||
|
||||
ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
|
||||
START_X + sel_x * CELL_WIDTH, START_Y + sel_y * CELL_HEIGHT,
|
||||
COLOR_TEXT,
|
||||
COLOR_SELECTED);
|
||||
osMutexRelease(displayHandle);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
if (redraw_menu_pending) {
|
||||
redraw_menu();
|
||||
@ -984,6 +1113,50 @@ void handle_menu(void *argument)
|
||||
/* USER CODE END handle_menu */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_start_balance */
|
||||
#define MPU6050_ADDR (0x68 <<1)
|
||||
|
||||
/**
|
||||
* @brief Function implementing the balance thread.
|
||||
* @param argument: Not used
|
||||
* @retval None
|
||||
*/
|
||||
/* USER CODE END Header_start_balance */
|
||||
void start_balance(void *argument) {
|
||||
/* USER CODE BEGIN start_balance */
|
||||
/* Infinite loop */
|
||||
int16_t accel[3], gyro[3], temp;
|
||||
HAL_Delay(500);
|
||||
|
||||
for (;;) {
|
||||
uint8_t value = 0;
|
||||
HAL_StatusTypeDef ret;
|
||||
ret = HAL_I2C_Mem_Read(&hi2c1, 0xD0, 0x75, 1, &value, 1, 100);
|
||||
|
||||
uint8_t who_am_i = 0;
|
||||
HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x75, 1, &who_am_i, 1, 100);
|
||||
uint8_t check;
|
||||
uint8_t data;
|
||||
|
||||
// Check WHO_AM_I register
|
||||
HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x75, 1, &check, 1, 100);
|
||||
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6B, 1, &data, 1, 100);
|
||||
|
||||
float ax = accel[0] / 16384.0;
|
||||
float gx = gyro[0] / 131.0;
|
||||
|
||||
float temperature = temp / 340.0 + 36.53; // °C
|
||||
|
||||
osDelay(10);
|
||||
|
||||
uint8_t TX_Buffer[] = "A"; // DATA to send
|
||||
|
||||
ret = HAL_I2C_Master_Transmit(&hi2c1, 20, TX_Buffer, 1, 1000); //Sending in Blocking mode
|
||||
|
||||
}
|
||||
/* USER CODE END start_balance */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Period elapsed callback in non blocking mode
|
||||
* @note This function is called when TIM3 interrupt took place, inside
|
||||
@ -992,13 +1165,11 @@ void handle_menu(void *argument)
|
||||
* @param htim : TIM handle
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||||
{
|
||||
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
|
||||
/* USER CODE BEGIN Callback 0 */
|
||||
|
||||
/* USER CODE END Callback 0 */
|
||||
if (htim->Instance == TIM3)
|
||||
{
|
||||
if (htim->Instance == TIM3) {
|
||||
HAL_IncTick();
|
||||
}
|
||||
/* USER CODE BEGIN Callback 1 */
|
||||
@ -1010,8 +1181,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||||
* @brief This function is executed in case of error occurrence.
|
||||
* @retval None
|
||||
*/
|
||||
void Error_Handler(void)
|
||||
{
|
||||
void Error_Handler(void) {
|
||||
/* USER CODE BEGIN Error_Handler_Debug */
|
||||
/* User can add his own implementation to report the HAL error return state */
|
||||
__disable_irq();
|
||||
|
||||
@ -228,7 +228,7 @@ void USART6_IRQHandler(void)
|
||||
/* USER CODE END USART6_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart6);
|
||||
/* USER CODE BEGIN USART6_IRQn 1 */
|
||||
//UART_CALLBACK();
|
||||
UART_CALLBACK();
|
||||
/* USER CODE END USART6_IRQn 1 */
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user