For testing sending data over UART, to read realtime angle and send c…

…ommand to increase/decrease the angle

Flash_Debug-STM8.launch

@@ -16,7 +16,7 @@
 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
 <booleanAttribute key="org.eclipse.cdt.launch.ENABLE_REGISTER_BOOKKEEPING" value="false"/>
 <booleanAttribute key="org.eclipse.cdt.launch.ENABLE_VARIABLE_BOOKKEEPING" value="false"/>
-<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;ui8_temp-ADC1_IRQHandler-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;temp1-apply_duty_cycle-(format)&quot; val=&quot;0&quot;/&gt;&lt;content id=&quot;temp1-apply_duty_cycle-(cast)&quot; val=&quot;int&quot;/&gt;&lt;content id=&quot;a-main-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;b-main-(format)&quot; val=&quot;0&quot;/&gt;&lt;content id=&quot;b-main-(cast)&quot; val=&quot;unsigned char&quot;/&gt;&lt;content id=&quot;ui8_temp-adc_read_throttle-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;ui8_temp-TIM1_UPD_OVF_TRG_BRK_IRQHandler-(format)&quot; val=&quot;1&quot;/&gt;&lt;/contentList&gt;"/>
+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;ui8_temp-TIM1_UPD_OVF_TRG_BRK_IRQHandler-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;ui8_temp-adc_read_throttle-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;b-main-(cast)&quot; val=&quot;unsigned char&quot;/&gt;&lt;content id=&quot;b-main-(format)&quot; val=&quot;0&quot;/&gt;&lt;content id=&quot;a-main-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;temp1-apply_duty_cycle-(cast)&quot; val=&quot;int&quot;/&gt;&lt;content id=&quot;temp1-apply_duty_cycle-(format)&quot; val=&quot;0&quot;/&gt;&lt;content id=&quot;ui8_temp-ADC1_IRQHandler-(format)&quot; val=&quot;1&quot;/&gt;&lt;/contentList&gt;"/>
 <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;globalVariableList/&gt;&#10;"/>
 <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;memoryBlockExpressionList&gt;&#10;&lt;memoryBlockExpressionItem&gt;&#10;&lt;expression text=&quot;0x40000000&quot;/&gt;&#10;&lt;/memoryBlockExpressionItem&gt;&#10;&lt;memoryBlockExpressionItem&gt;&#10;&lt;expression text=&quot;0x40000424&quot;/&gt;&#10;&lt;/memoryBlockExpressionItem&gt;&#10;&lt;/memoryBlockExpressionList&gt;&#10;"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="/home/cas/OpenSource-EBike-firmware/BMSBattery_S_controllers_firmware/main.elf"/>

cruise_control.c

@@ -26,7 +26,7 @@ uint8_t cruise_control (uint8_t ui8_value)
       ui32_cruise_counter++;
       ui8_cruise_output = ui8_value;
 
-      if (ui32_cruise_counter > 100) // time control: time to lock cruise control
+      if (ui32_cruise_counter > 25) // 100 time control: time to lock cruise control
       {
 	ui8_cruise_state = 1;
 	ui8_cruise_output = ui8_value;

main.c

@@ -110,7 +110,8 @@ int main (void)
       static float f_temp = 0;
 
 	ui16_temp_delay = TIM2_GetCounter ();
-	if ((ui16_temp_delay - ui16_throttle_counter) > 25)
+//	if ((ui16_temp_delay - ui16_throttle_counter) > 25)
+	if ((ui16_temp_delay - ui16_throttle_counter) > 100)
         {
 	  ui16_throttle_counter = ui16_temp_delay;
 
@@ -145,7 +146,14 @@ int main (void)
 //          printf("%d\n", (uint16_t) ui32_LPF_temp);
 //
 //          printf("%d\n", ui16_PWM_cycles_counter_value_temp);
-          printf("%d, %d\n", ui16_log1, ui16_log2);
+
+
+
+//          printf("%d, %d\n", ui16_log1, ui16_log2);
+
+          getchar1 ();
+
+          printf("%d\n", ui8_position_correction_value);
         }
 
 

motor.c

@@ -24,9 +24,10 @@ uint16_t ui16_speed_inverse = 0;
 uint8_t ui8_motor_rotor_position = 0; // in 360/256 degrees
 uint8_t ui8_motor_rotor_absolute_position = 0; // in 360/256 degrees
 uint8_t ui8_position_correction_value = 0; // in 360/256 degrees
+uint8_t ui16_PWM_cycles_correction_value = 0; // in 360/256 degrees
 uint16_t ui16_PWM_cycles_counter_total = 0;
-uint16_t ui16_PWM_cycles_counter_total_filtered = 0;
-uint16_t ui16_PWM_cycles_counter_total_accumulated = 0;
+uint16_t ui16_PWM_cycles_counter_angle_track_filtered = 0;
+uint16_t ui16_PWM_cycles_counter_angle_track_accumulated = 0;
 uint8_t ui8_interpolation_angle = 0;
 uint8_t ui8_interpolation_angle_temp = 0;
 uint8_t ui8_interpolation_angle_old = 0;
@@ -45,7 +46,8 @@ int8_t hall_sensors;
 int8_t hall_sensors_last = 0;
 
 uint8_t ui8_angle_track_flag = 0;
-
+uint16_t ui16_position_correction_value_accumulated = 0;
+uint16_t ui16_position_correction_value_filtered = 0;
 
 //uint8_t ui8_debug = 0;
 //uint16_t ui16_debug = 0;
@@ -77,27 +79,27 @@ void TIM1_UPD_OVF_TRG_BRK_IRQHandler(void) __interrupt(TIM1_UPD_OVF_TRG_BRK_IRQH
     {
       ui8_angle_track_flag = 0;
 
-      ui16_PWM_cycles_counter_total_accumulated -= ui16_PWM_cycles_counter_total_accumulated >> 6;
-      ui16_PWM_cycles_counter_total_accumulated += ui16_PWM_cycles_counter;
-      ui16_PWM_cycles_counter_total_filtered = ui16_PWM_cycles_counter_total_accumulated >> 6;
+      ui16_PWM_cycles_counter_angle_track_accumulated -= ui16_PWM_cycles_counter_angle_track_accumulated >> 6;
+      ui16_PWM_cycles_counter_angle_track_accumulated += ui16_PWM_cycles_counter;
+      ui16_PWM_cycles_counter_angle_track_filtered = ui16_PWM_cycles_counter_angle_track_accumulated >> 6;
 
 //ui16_log1 = ui16_motor_speed_erps;
-//ui16_log2 = ui8_motor_rotor_position;
+//ui16_log2 = ui16_PWM_cycles_counter_angle_track_filtered;
     }
   }
 
 
-  ui16_temp = (ui16_PWM_cycles_counter_total_filtered >> 1) + (ui16_PWM_cycles_counter_total_filtered >> 2); // 3/4
-  if (ui16_PWM_cycles_counter == ui16_temp)
-  {
-//    debug_pin_set ();
-    ui16_log1 = ui16_PWM_cycles_counter_total_filtered - ui16_PWM_cycles_counter;
-
-    ui16_log2 = ((ui16_log1 << 8) / ui16_PWM_cycles_counter_total);
-
-//    ui16_log2 = (uint16_t) ui8_position_correction_value;
-  }
-  else { /* debug_pin_reset (); */ }
+//  ui16_temp = (ui16_PWM_cycles_counter_angle_track_filtered >> 1) + (ui16_PWM_cycles_counter_angle_track_filtered >> 2); // 3/4
+//  if (ui16_PWM_cycles_counter == ui16_temp)
+//  {
+////    debug_pin_set ();
+//    ui16_log1 = ui16_PWM_cycles_counter_angle_track_filtered - ui16_PWM_cycles_counter;
+//
+//    ui16_log2 = ((ui16_log1 << 8) / ui16_PWM_cycles_counter_total);
+//
+////    ui16_log2 = (uint16_t) ui8_position_correction_value;
+//  }
+//  else { /* debug_pin_reset (); */ }
 
 
   hall_sensors_read_and_action ();
@@ -121,6 +123,9 @@ void hall_sensor_init (void)
 
 void hall_sensors_read_and_action (void)
 {
+  uint8_t ui8_temp;
+  uint16_t ui16_temp;
+
   // read hall sensors signal pins and mask other pins
   hall_sensors = (GPIO_ReadInputData (HALL_SENSORS__PORT) & (HALL_SENSORS_MASK));
   if ((hall_sensors != hall_sensors_last) ||
@@ -153,6 +158,24 @@ void hall_sensors_read_and_action (void)
 	break;
 
       case 5:
+	// find the phase current B lag
+//	ui16_temp = ui16_PWM_cycles_counter_angle_track_filtered - ui16_PWM_cycles_counter;
+//	ui8_temp = (uint8_t) ((ui16_temp << 8) / ui16_PWM_cycles_counter_total);
+
+//	ui16_position_correction_value_accumulated -= ui16_position_correction_value_accumulated >> 3;
+//	ui16_position_correction_value_accumulated += (uint16_t) ui8_temp;
+//	ui16_position_correction_value_filtered = ui16_position_correction_value_accumulated >> 3;
+//
+//
+//	ui8_position_correction_value = ui16_position_correction_value_filtered - 10;
+
+	ui16_PWM_cycles_correction_value = ui16_PWM_cycles_counter_angle_track_filtered - ui16_PWM_cycles_counter;
+
+
+//ui16_log1 = ui16_PWM_cycles_counter;
+//ui16_log2 = ui16_PWM_cycles_counter_angle_track_filtered;
+
+
 	if (motor_state != MOTOR_STATE_RUNNING)
 	{
 	  ui8_motor_rotor_absolute_position = ANGLE_240;
@@ -244,6 +267,8 @@ void hall_sensors_read_and_action (void)
 // runs every 64us (PWM frequency)
 void motor_fast_loop (void)
 {
+  uint16_t ui16_temp;
+
   // count number of fast loops / PWM cycles
   if (ui16_PWM_cycles_counter < PWM_CYCLES_COUNTER_MAX)
   {
@@ -268,9 +293,14 @@ void motor_fast_loop (void)
   // interpolation seems a problem when motor starts, so avoid to do it at very low speed
   if (motor_state == MOTOR_STATE_RUNNING)
   {
-    ui8_interpolation_angle = (uint8_t) ((ui16_PWM_cycles_counter << 8) / ui16_PWM_cycles_counter_total);
+//    ui16_temp = ui16_PWM_cycles_counter + ui16_PWM_cycles_correction_value;
+    ui16_temp = ui16_PWM_cycles_counter;
+    ui8_interpolation_angle = (uint8_t) ((ui16_temp << 8) / ui16_PWM_cycles_counter_total);
 
     ui8_motor_rotor_position = (uint8_t) (ui8_motor_rotor_absolute_position + ui8_position_correction_value + ui8_interpolation_angle);
+
+ui16_log1 = ui16_PWM_cycles_counter_total;
+ui16_log2 = ui16_PWM_cycles_correction_value;
   }
 #endif
 

motor.h

@@ -22,6 +22,7 @@
 #define MOTOR_STATE_RUNNING 2
 
 extern uint8_t ui8_motor_rotor_position;
+extern uint8_t ui8_position_correction_value;
 
 void hall_sensor_init (void);
 void hall_sensors_read_and_action (void);

uart.c

@@ -9,6 +9,7 @@
 #include <stdint.h>
 #include "stm8s.h"
 #include "stm8s_uart2.h"
+#include "motor.h"
 
 void uart_init (void)
 {
@@ -41,3 +42,27 @@ char getchar(void)
 
   return (c);
 }
+
+char getchar1(void)
+{
+  uint8_t c = 0;
+
+  if (UART2_GetFlagStatus(UART2_FLAG_RXNE) == RESET)
+  {
+    return 255;
+  }
+
+  c = UART2_ReceiveData8();
+
+  if (c == '0')
+  {
+    ui8_position_correction_value--;
+  }
+
+  if (c == '1')
+	  {
+	    ui8_position_correction_value++;
+	  }
+
+  return (c);
+}

uart.h

@@ -14,5 +14,6 @@
 void uart_init (void);
 void putchar(char c);
 char getchar(void);
+char getchar1(void);
 
 #endif /* _UART_H */