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Tester branch #1

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6ea6d3a
initial
briskspirit Mar 24, 2022
1d47d25
typo
briskspirit Apr 1, 2022
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60 changes: 27 additions & 33 deletions board/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ int16_t cmdL; // global variable for Left Command
int16_t cmdR; // global variable for Right Command

uint8_t ignition; // global variable for ignition on SBU2 line
bool forward = true;

//------------------------------------------------------------------------
// Local variables
Expand Down Expand Up @@ -102,7 +103,13 @@ int main(void) {
llcan_set_speed(CAN2, 5000, false, false);
llcan_init(CAN2);

out_enable(LED_GREEN, true);
poweronMelody();
out_enable(LED_GREEN, false);
poweronMelody();
out_enable(LED_GREEN, true);
poweronMelody();
out_enable(LED_GREEN, false);

ignition = 1;

Expand All @@ -120,7 +127,7 @@ int main(void) {
cmdL = cmdR = 0;
enable_motors = 0;
}
if (!enable_motors || (torque_cmd_timeout > 20)) {
if (!enable_motors) {
cmdL = 0;
cmdR = 0;
}
Expand All @@ -133,7 +140,25 @@ int main(void) {
enable_motors = 1; // enable motors
}

out_enable(LED_GREEN, ignition);
if (cmdL >= 1000) {
forward = false;
} else if (cmdL <= -1000) {
forward = true;
}

if (main_loop_counter % 20 == 0) { // 10Hz
if (forward) {
out_enable(LED_BLUE, true);
out_enable(LED_RED, false);
cmdL += 100;
cmdR += 100;
} else {
out_enable(LED_RED, true);
out_enable(LED_BLUE, false);
cmdL -= 100;
cmdR -= 100;
}
}

pwml = CLAMP((int)cmdL, -1000, 1000);
pwmr = -CLAMP((int)cmdR, -1000, 1000);
Expand All @@ -146,34 +171,6 @@ int main(void) {
// ####### CALC CALIBRATED BATTERY VOLTAGE #######
batVoltageCalib = batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC;

if (main_loop_counter % 2 == 0) { // runs at ~100Hz
if (ignition) { // Send msg only with ignition on
uint8_t dat[8];
uint16_t speedL = rtY_Left.n_mot;
uint16_t speedR = -(rtY_Right.n_mot); // Invert speed sign for the right wheel
dat[0] = (speedL >> 8U) & 0xFFU;
dat[1] = speedL & 0xFFU;
dat[2] = (speedR >> 8U) & 0xFFU;
dat[3] = speedR & 0xFFU;
dat[4] = rtY_Left.a_elecAngle;
dat[5] = rtY_Right.a_elecAngle;
dat[6] = rtY_Left.z_errCode;
dat[7] = rtY_Right.z_errCode;

// speed_L(2), speed_R(2), hall_angle_L(1), hall_angle_R(1), left mot error(1), right motor error(1)
can_send_msg(0x201U, ((dat[7] << 24U) | (dat[6] << 16U) | (dat[5]<< 8U) | dat[4]), ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 8U);
}
}

if (main_loop_counter % 20 == 0) { // Runs at ~10Hz
uint8_t dat[2];
dat[0] = ignition;
dat[1] = enable_motors;

// ignition(1), enable_motors(1)
can_send_msg(0x202U, 0x0U, ((dat[1] << 8U) | dat[0]), 2U);
}

if (main_loop_counter % 200 == 0) { // Runs at ~1Hz
uint8_t dat[4];
dat[0] = (board_temp_deg_c >> 8U) & 0xFFU;
Expand All @@ -183,9 +180,6 @@ int main(void) {

// MCU temp(2), battery voltage(2)
can_send_msg(0x203U, 0x0U, ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 4U);

// Reset LED after CAN RX
out_enable(LED_BLUE, false);
}

poweroffPressCheck();
Expand Down