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Some fixes

This commit is contained in:
Benjamin Vedder 2014-08-10 22:48:31 +02:00
parent 58258d5efa
commit e24b555dea
3 changed files with 9 additions and 10 deletions
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2
applications/app_uartcomm.c
View File

@ -136,7 +136,7 @@ static void process_packet(unsigned char *buffer, unsigned char len) {
switch (buffer[0]) {
case UARTCOMM_CMD_SET_DUTY:
mcpwm_set_duty((float)buffer_get_int16(buffer, &ind) / 1000.0);
mcpwm_set_duty((float)buffer_get_int32(buffer, &ind) / 100000.0);
last_uart_update_time = chTimeNow();
break;

12
buffer.c
View File

@ -64,18 +64,18 @@ uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index) {
int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index) {
int32_t res = ((uint32_t) buffer[*index]) << 24 |
((uint32_t) buffer[*index]) << 16 |
((uint32_t) buffer[*index]) << 8 |
((uint32_t) buffer[*index + 1]);
((uint32_t) buffer[*index + 1]) << 16 |
((uint32_t) buffer[*index + 2]) << 8 |
((uint32_t) buffer[*index + 3]);
*index += 4;
return res;
}
uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index) {
uint32_t res = ((uint32_t) buffer[*index]) << 24 |
((uint32_t) buffer[*index]) << 16 |
((uint32_t) buffer[*index]) << 8 |
((uint32_t) buffer[*index + 1]);
((uint32_t) buffer[*index + 1]) << 16 |
((uint32_t) buffer[*index + 2]) << 8 |
((uint32_t) buffer[*index + 3]);
*index += 4;
return res;
}

5
mcpwm.c
View File

@ -588,8 +588,7 @@ void mcpwm_set_brake_current(float current) {
if (state != MC_STATE_RUNNING) {
// In case the motor is already spinning, set the state to running
// so that it can be ramped down before the full brake is applied.
// TODO: The number 500 is a hack...
if (fabsf(rpm_now) > 500) {
if (fabsf(rpm_now) > MCPWM_CURR_MIN_RPM_FBRAKE) {
state = MC_STATE_RUNNING;
} else {
full_brake_ll();
@ -853,7 +852,7 @@ static void set_duty_cycle_hl(float dutyCycle) {
} else {
// In case the motor is already spinning, set the state to running
// so that it can be ramped down before the full brake is applied.
if (fabsf(rpm_now) > MCPWM_MIN_RPM) {
if (fabsf(rpm_now) > MCPWM_CURR_MIN_RPM_FBRAKE) {
state = MC_STATE_RUNNING;
} else {
full_brake_ll();