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Rpm mode #108

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Rpm mode #108

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4a56154
dshot + telemetry correction, set rpm mode
May 24, 2022
027d1ef
change input / rpm target mapping to be linear
Jun 3, 2022
b4c57e6
improve rpm mode
Aug 18, 2022
7ebe0d6
add KV and bat_voltage into the rpm control law
Aug 18, 2022
671a98e
add eeprom pid parameters
Aug 23, 2022
9503c84
tune PID
Aug 25, 2022
a6f5d3a
correct PID bug
Dec 8, 2022
09d0c35
merge master
Dec 8, 2022
61573ad
correction bug makfile
Jan 26, 2023
80a93b4
clean code
Jun 7, 2023
c066dc6
merge akamotors git
Jun 7, 2023
d527bd0
rewrite doPidCalculations
Sep 12, 2023
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4 changes: 1 addition & 3 deletions Inc/common.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#pragma once

extern uint8_t eepromBuffer[176];
extern uint8_t eepromBuffer[183];
extern uint16_t TIMER1_MAX_ARR;

extern uint32_t gcr[37];
Expand Down Expand Up @@ -50,5 +50,3 @@ typedef struct fastPID{
int32_t integral_limit;
int32_t output_limit;
}fastPID;


42 changes: 29 additions & 13 deletions Inc/targets.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,9 +50,23 @@
#define DEAD_TIME 45
#define HARDWARE_GROUP_F0_B
#define USE_SERIAL_TELEMETRY
#define SERIAL_PIN_OPENDRAIN
//#define USE_RGB_LED
#endif

#ifdef HKMICRO_F051
#define FILE_NAME "HKMICRO_F051"
#define FIRMWARE_NAME "HK Micro "
#define DEAD_TIME 45
#define HARDWARE_GROUP_F0_B
#define MILLIVOLT_PER_AMP 20
#define CURRENT_OFFSET 0
#define TARGET_VOLTAGE_DIVIDER 110
#define USE_SERIAL_TELEMETRY
#define SERIAL_PIN_OPENDRAIN
#define USE_RGB_LED
#endif

#ifdef MP6531_F051
#define FILE_NAME "MP6531_F051"
#define FIRMWARE_NAME "Mp6531_Dev "
Expand Down Expand Up @@ -102,6 +116,20 @@
#define USE_SERIAL_TELEMETRY
#endif

#ifdef HGLRC35_F051
#define FILE_NAME "HGLRC35_F051"
#define FIRMWARE_NAME "HGLRC_35A "
#define DEAD_TIME 45
#define HARDWARE_GROUP_F0_A
#define USE_SERIAL_TELEMETRY
#define SERIAL_PIN_OPENDRAIN
#define PA6_VOLTAGE
#define TARGET_VOLTAGE_DIVIDER 210
#endif




#ifdef SISKIN_F051
#define FILE_NAME "SISKIN_F051"
#define FIRMWARE_NAME "SISKIN_PA2 "
Expand Down Expand Up @@ -420,7 +448,7 @@

#ifndef MILLIVOLT_PER_AMP
#define MILLIVOLT_PER_AMP 20
#endif
#endif

#ifndef CURRENT_OFFSET
#define CURRENT_OFFSET 0 // in millivolt measured at output of op-amp
Expand Down Expand Up @@ -1211,15 +1239,3 @@
#define VOLTAGE_ADC_PIN LL_GPIO_PIN_6
#endif
#endif












2 changes: 1 addition & 1 deletion Mcu/f051/Src/ADC.c
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,7 @@ void ADC_Init(void)


GPIO_InitStruct.Pin = LL_GPIO_PIN_3;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);

Expand Down
5 changes: 1 addition & 4 deletions Mcu/f051/Src/peripherals.c
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ void initCorePeripherals(void){
MX_COMP1_Init();
MX_TIM14_Init();
MX_TIM6_Init();
MX_TIM17_Init();
MX_TIM17_Init();
UN_TIM_Init();
#ifdef USE_SERIAL_TELEMETRY
telem_UART_Init();
Expand Down Expand Up @@ -485,6 +485,3 @@ void LED_GPIO_init(){
}

#endif



5 changes: 4 additions & 1 deletion Mcu/f051/Src/serial_telemetry.c
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,11 @@ void telem_UART_Init(void)
GPIO_InitStruct.Pin = LL_GPIO_PIN_6;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
#ifdef SERIAL_PIN_OPENDRAIN
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_OPENDRAIN;
#else
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
#endif
GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
GPIO_InitStruct.Alternate = LL_GPIO_AF_0;
LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
Expand Down Expand Up @@ -202,4 +206,3 @@ void makeTelemPackage(uint8_t temp, uint16_t voltage, uint16_t current, uint16_t

aTxBuffer[9] = get_crc8(aTxBuffer,9);
}

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