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change float calculation to fixed point calculation #147

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change float calculation to fixed point calculation #147

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41 changes: 21 additions & 20 deletions Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -346,10 +346,10 @@ char return_to_center = 0;
uint16_t target_e_com_time = 0;
int16_t Speed_pid_output;
char use_speed_control_loop = 0;
float input_override = 0;
int32_t input_override = 0;
int16_t use_current_limit_adjust = 2000;
char use_current_limit = 0;
float stall_protection_adjust = 0;
int32_t stall_protection_adjust = 0;

uint32_t MCU_Id = 0;
uint32_t REV_Id = 0;
Expand All @@ -375,7 +375,7 @@ char cell_count = 0;
char brushed_direction_set = 0;

uint16_t tenkhzcounter = 0;
float consumed_current = 0;
int32_t consumed_current = 0;
int32_t smoothed_raw_current = 0;
int16_t actual_current = 0;

Expand Down Expand Up @@ -553,7 +553,7 @@ uint16_t signaltimeout = 0;
uint8_t ubAnalogWatchdogStatus = RESET;


float doPidCalculations(struct fastPID* pidnow, int actual, int target)
int32_t doPidCalculations(struct fastPID* pidnow, int actual, int target)
{

pidnow->error = actual - target;
Expand Down Expand Up @@ -1045,21 +1045,21 @@ void setInput()
speedPid.error = 0;
input_override = 0;
} else {
input = (uint16_t)input_override; // speed control pid override
if (input_override > 2047) {
input = (uint16_t)(input_override / 10000); // speed control pid override
if (input > 2047) {
input = 2047;
}
if (input_override < 48) {
if (input < 48) {
input = 48;
}
}
} else {

input = (uint16_t)input_override; // speed control pid override
if (input_override > 2047) {
input = (uint16_t)(input_override / 10000); // speed control pid override
if (input > 2047) {
input = 2047;
}
if (input_override < 48) {
if (input < 48) {
input = 48;
}
}
Expand Down Expand Up @@ -1202,7 +1202,7 @@ if (!stepper_sine && armed) {

if (stall_protection_adjust > 0 && input > 47) {

duty_cycle_setpoint = duty_cycle_setpoint + (uint16_t)stall_protection_adjust;
duty_cycle_setpoint = duty_cycle_setpoint + (uint16_t)(stall_protection_adjust/10000);
}
}
}
Expand Down Expand Up @@ -1309,18 +1309,18 @@ void tenKhzRoutine()
if (eepromBuffer.stall_protection && running) { // this boosts throttle as the rpm gets lower, for crawlers
// and rc cars only, do not use for multirotors.
stall_protection_adjust += (doPidCalculations(&stallPid, commutation_interval,
stall_protect_target_interval))/ 10000;
if (stall_protection_adjust > 150) {
stall_protection_adjust = 150;
stall_protect_target_interval));
if (stall_protection_adjust > 150 * 10000) {
stall_protection_adjust = 150 * 10000;
}
if (stall_protection_adjust <= 0) {
stall_protection_adjust = 0;
}
}
if (use_speed_control_loop && running) {
input_override += doPidCalculations(&speedPid, e_com_time, target_e_com_time) / 10000;
if (input_override > 2047) {
input_override = 2047;
input_override += doPidCalculations(&speedPid, e_com_time, target_e_com_time);
if (input_override > 2047 * 10000) {
input_override = 2047 * 10000;
}
if (input_override < 0) {
input_override = 0;
Expand Down Expand Up @@ -1832,7 +1832,7 @@ if(zero_crosses < 5){
#endif

if (tenkhzcounter > LOOP_FREQUENCY_HZ) { // 1s sample interval 10000
consumed_current = (float)actual_current / 360 + consumed_current;
consumed_current += (actual_current << 16) / 360;
switch (dshot_extended_telemetry) {

case 1:
Expand Down Expand Up @@ -1909,7 +1909,7 @@ if(zero_crosses < 5){
if (send_telemetry) {
#ifdef USE_SERIAL_TELEMETRY
makeTelemPackage(degrees_celsius, battery_voltage, actual_current,
(uint16_t)consumed_current, e_rpm);
(uint16_t)(consumed_current >> 16), e_rpm);
send_telem_DMA();
send_telemetry = 0;
#endif
Expand All @@ -1923,7 +1923,8 @@ if(zero_crosses < 5){
#endif
#ifdef MCU_GDE23
ADC_DMA_Callback();
converted_degrees = (1.43 - ADC_raw_temp * 3.3 / 4096) * 1000 / 4.3 + 25;
// converted_degrees = (1.43 - ADC_raw_temp * 3.3 / 4096) * 1000 / 4.3 + 25;
converted_degrees = ((int32_t)(357.5581395348837f * (1 << 16)) - ADC_raw_temp * (int32_t)(0.18736373546511628f * (1 << 16))) >> 16;
adc_software_trigger_enable(ADC_REGULAR_CHANNEL);
#endif
#ifdef ARTERY
Expand Down
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