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Add high voltage tiltback

This commit is contained in:
Mitch Lustig 2019-09-12 00:07:26 -07:00
parent 9f263b8c1a
commit 3c31d264fd
5 changed files with 16 additions and 8 deletions
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7
appconf/appconf_default.h
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@ -303,8 +303,11 @@
#ifndef APPCONF_BALANCE_TILTBACK_SPEED #ifndef APPCONF_BALANCE_TILTBACK_SPEED
#define APPCONF_BALANCE_TILTBACK_SPEED 5.0 #define APPCONF_BALANCE_TILTBACK_SPEED 5.0
#endif #endif
#ifndef APPCONF_BALANCE_TILTBACK_VOLTAGE #ifndef APPCONF_BALANCE_TILTBACK_HIGH_V
#define APPCONF_BALANCE_TILTBACK_VOLTAGE 0.0 #define APPCONF_BALANCE_TILTBACK_HIGH_V 100.0
#endif
#ifndef APPCONF_BALANCE_TILTBACK_LOW_V
#define APPCONF_BALANCE_TILTBACK_LOW_V 0.0
#endif #endif
#ifndef APPCONF_BALANCE_STARTUP_M_TOLERANCE #ifndef APPCONF_BALANCE_STARTUP_M_TOLERANCE
#define APPCONF_BALANCE_STARTUP_M_TOLERANCE 20.0 #define APPCONF_BALANCE_STARTUP_M_TOLERANCE 20.0

3
applications/app_balance.c
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@ -254,7 +254,8 @@ static THD_FUNCTION(balance_thread, arg) {
// Over speed tilt back safety // Over speed tilt back safety
if(fabsf(mc_interface_get_duty_cycle_now()) > balance_conf.tiltback_duty || if(fabsf(mc_interface_get_duty_cycle_now()) > balance_conf.tiltback_duty ||
(fabsf(mc_interface_get_duty_cycle_now()) > 0.05 && GET_INPUT_VOLTAGE() < balance_conf.tiltback_voltage)){ (fabsf(mc_interface_get_duty_cycle_now()) > 0.05 && GET_INPUT_VOLTAGE() > balance_conf.tiltback_high_voltage) ||
(fabsf(mc_interface_get_duty_cycle_now()) > 0.05 && GET_INPUT_VOLTAGE() < balance_conf.tiltback_low_voltage)){
if(mc_interface_get_duty_cycle_now() > 0){ if(mc_interface_get_duty_cycle_now() > 0){
setpoint_target = balance_conf.tiltback_angle; setpoint_target = balance_conf.tiltback_angle;
} else { } else {

9
confgenerator.c
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@ -234,7 +234,8 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_angle, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_angle, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_speed, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_speed, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_voltage, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_high_voltage, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_low_voltage, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_m_tolerance, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_m_tolerance, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_c_tolerance, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_c_tolerance, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_speed, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_speed, &ind);
@ -500,7 +501,8 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_angle = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_angle = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_speed = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_speed = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_voltage = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_high_voltage = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_low_voltage = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_m_tolerance = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.startup_m_tolerance = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_c_tolerance = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.startup_c_tolerance = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_speed = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.startup_speed = buffer_get_float32_auto(buffer, &ind);
@ -750,7 +752,8 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY; conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY;
conf->app_balance_conf.tiltback_angle = APPCONF_BALANCE_TILTBACK_ANGLE; conf->app_balance_conf.tiltback_angle = APPCONF_BALANCE_TILTBACK_ANGLE;
conf->app_balance_conf.tiltback_speed = APPCONF_BALANCE_TILTBACK_SPEED; conf->app_balance_conf.tiltback_speed = APPCONF_BALANCE_TILTBACK_SPEED;
conf->app_balance_conf.tiltback_voltage = APPCONF_BALANCE_TILTBACK_VOLTAGE; conf->app_balance_conf.tiltback_high_voltage = APPCONF_BALANCE_TILTBACK_HIGH_V;
conf->app_balance_conf.tiltback_low_voltage = APPCONF_BALANCE_TILTBACK_LOW_V;
conf->app_balance_conf.startup_m_tolerance = APPCONF_BALANCE_STARTUP_M_TOLERANCE; conf->app_balance_conf.startup_m_tolerance = APPCONF_BALANCE_STARTUP_M_TOLERANCE;
conf->app_balance_conf.startup_c_tolerance = APPCONF_BALANCE_STARTUP_C_TOLERANCE; conf->app_balance_conf.startup_c_tolerance = APPCONF_BALANCE_STARTUP_C_TOLERANCE;
conf->app_balance_conf.startup_speed = APPCONF_BALANCE_STARTUP_SPEED; conf->app_balance_conf.startup_speed = APPCONF_BALANCE_STARTUP_SPEED;

2
confgenerator.h
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@ -9,7 +9,7 @@
// Constants // Constants
#define MCCONF_SIGNATURE 503309878 #define MCCONF_SIGNATURE 503309878
#define APPCONF_SIGNATURE 3223366057 #define APPCONF_SIGNATURE 183781183
// Functions // Functions
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf); int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

3
datatypes.h
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@ -507,7 +507,8 @@ typedef struct {
float tiltback_duty; float tiltback_duty;
float tiltback_angle; float tiltback_angle;
float tiltback_speed; float tiltback_speed;
float tiltback_voltage; float tiltback_high_voltage;
float tiltback_low_voltage;
float startup_m_tolerance; float startup_m_tolerance;
float startup_c_tolerance; float startup_c_tolerance;
float startup_speed; float startup_speed;