release of 1.0.3

Selective031 · May 26, 2021 · c6b901c · c6b901c
1 parent 0a48b63
commit c6b901c
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Showing 9 changed files with 543 additions and 113 deletions.
diff --git a/RazorBoard 1.0 rev. E/Core/Inc/signature.h b/RazorBoard 1.0 rev. E/Core/Inc/signature.h
@@ -13,7 +13,9 @@
 #define SIGNATURE_LEN			128			// Length of the signature
 
 int16_t ADCADC[ADC_SAMPLE_LEN];
+int16_t ADCADC_REAR[ADC_SAMPLE_LEN];
 int16_t ADC_BUFFER[ADC_SAMPLE_LEN];
+int16_t ADC_REAR_BUFFER[ADC_SAMPLE_LEN];
 float32_t validSignature[SIGNATURE_LEN] =
 
 { 		214.871185,482.408661,653.609131,736.649292,744.055664,699.717102,634.489746,559.587341,

diff --git a/RazorBoard 1.0 rev. E/Core/Inc/sram.h b/RazorBoard 1.0 rev. E/Core/Inc/sram.h
@@ -8,7 +8,7 @@
 #ifndef INC_SRAM_H_
 #define INC_SRAM_H_
 
-static const char VERSION[] = "Version 1.0.2";
+static const char VERSION[] = "Version 1.0.3";
 
 #define CONFIG_SET_ADDR					0x01	//uint8_t
 #define GO_GOME_DIRECTION_ADDR			0x02	//uint8_t
@@ -18,13 +18,16 @@ static const char VERSION[] = "Version 1.0.2";
 #define OVERTURN_LIMIT_ADDR				0x06	//uint8_t
 #define MOTORSPEEDUPDATEFREQ_ADDR		0x07	//uint8_t
 #define OUTSIDE_THRESHOLD_ADDR			0x08	//uint8_t
+#define MOVE_COUNT_ADDR					0x09	//uint8_t
+#define BUMPER_COUNT_ADDR				0x0A	//uint8_t
 
 #define HOLDCHARGEDETECTION_ADDR		0x32	//uint16_t
 #define MAGVALUE_ADDR					0x34	//uint16_t
 #define MAGMINVALUE_ADDR				0x36	//uint16_t
 #define MOTORMAXSPEED_ADDR				0x38	//uint16_t
 #define MOTORMINSPEED_ADDR				0x3A	//uint16_t
 #define CUTTERSPEED_ADDR				0x3C	//uint16_t
+#define ADC_LEVEL_ADDR					0x3E	//uint16_t
 
 #define BATTERY_LOW_LIMIT_ADDR			0x64	//uint32_t
 #define BATTERY_HIGH_LIMIT_ADDR			0x68	//uint32_t
@@ -53,12 +56,15 @@ typedef struct SRAM {
 	uint8_t Overturn_Limit;
 	uint8_t MotorSpeedUpdateFreq;
 	uint8_t Outside_Threshold;
+	uint8_t move_count_limit;
+	uint8_t bumber_count_limit;
 	uint16_t HoldChargeDetection;
 	uint16_t magValue;
 	uint16_t magMinValue;
 	uint16_t motorMaxSpeed;
 	uint16_t motorMinSpeed;
 	uint16_t cutterSpeed;
+	uint16_t adcLevel;
 	float Battery_Low_Limit;
 	float Battery_High_Limit;
 	float Signal_Integrity_IN;

diff --git a/RazorBoard 1.0 rev. E/Core/Inc/stm32f4xx_it.h b/RazorBoard 1.0 rev. E/Core/Inc/stm32f4xx_it.h
@@ -65,6 +65,7 @@ void USART2_IRQHandler(void);
 void TIM5_IRQHandler(void);
 void DMA2_Stream0_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
+void DMA2_Stream3_IRQHandler(void);
 void HASH_RNG_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 

diff --git a/RazorBoard 1.0 rev. E/Core/Src/help.c b/RazorBoard 1.0 rev. E/Core/Src/help.c
@@ -45,6 +45,8 @@ void show_config(sram_settings settings) {
 	Serial_Console(msg);
 	sprintf(msg, "Motor Min Limit: %.2f\r\n", settings.Motor_Min_Limit);
 	Serial_Console(msg);
+	sprintf(msg, "ADC Level: %d\r\n", settings.adcLevel);
+	Serial_Console(msg);
 	sprintf(msg, "KP: %.4f\r\n", settings.kp);
 	Serial_Console(msg);
 	sprintf(msg, "KI: %.4f\r\n", settings.ki);
@@ -59,14 +61,18 @@ void show_config(sram_settings settings) {
 	Serial_Console(msg);
 	sprintf(msg, "Proximity Speed: %.2f\r\n", settings.proximitySpeed);
 	Serial_Console(msg);
-	sprintf(msg, "Movement Value: %.2f\r\n", settings.movement);
+	sprintf(msg, "Movement Limit: %.2f\r\n", settings.movement);
 	Serial_Console(msg);
 	sprintf(msg, "Motor Max Speed: %d\r\n", settings.motorMaxSpeed);
 	Serial_Console(msg);
 	sprintf(msg, "Motor Min Speed: %d\r\n", settings.motorMinSpeed);
 	Serial_Console(msg);
 	sprintf(msg, "Cutter Speed: %d\r\n", settings.cutterSpeed);
 	Serial_Console(msg);
+	sprintf(msg, "Movement limit: %d\r\n", settings.move_count_limit);
+	Serial_Console(msg);
+	sprintf(msg, "Bumber limit: %d\r\n", settings.bumber_count_limit);
+	Serial_Console(msg);
 
 }
 
@@ -140,6 +146,14 @@ void help(void) {
 	Serial_Console(msg);
 	sprintf(msg, "SET MOVEMENT LIMIT      - Set Movement Limit for detecting movement\r\n");
 	Serial_Console(msg);
+	sprintf(msg, "SET ADC LEVEL           - Set the ADC level for BWF\r\n");
+	Serial_Console(msg);
+	sprintf(msg, "SET CUTTER SPEED        - Set speed of cutter motor\r\n");
+	Serial_Console(msg);
+	sprintf(msg, "SET MOVEMENT COUNT LIMIT    - Set limit for movement detection before HALT\r\n");
+	Serial_Console(msg);
+	sprintf(msg, "SET BUMBER COUNT LIMIT  - Set limit for bumber detection before HALT\r\n");
+	Serial_Console(msg);
 	sprintf(msg, "SET TIME		- Set current time for RTC\r\n");
 	Serial_Console(msg);
 	sprintf(msg, "SET DATE		- Set current date for RTC\r\n");