User-defined functions. More...

Functions
float	tempmonGetTemp (void)
	Get the CPU temperature.

uint32_t	set_arm_clock (uint32_t frequency)
	Set the CPU clock.

void	start_IObus (void)
	Initialize the IO buses.

void	set_IObus (void)
	Start the IO buses.

void	do_zeros (void)
	Perform the zero.

void	set_GPIO (void)
	Set the GPIO.

void	start_brake_stepper (void)
	Start the brake stepper motor.

void	get_sensors (void)
	Get sensor readings.

void	set_ctrl_input (void)
	Set the control inputs.

void	do_control (void)
	Update the control loop.

void	check_error (void)
	Check for errors.

bool	check_sbus (void)
	Check for SBUS.

void	set_driver (void)
	Set the drivers.

int8_t	get_selector (void)
	Get the selector.

bool	get_enable (void)
	Get the enable.

void	turnoff_callback (void)
	Callback for tuning off.

boolean	check_voltage (void)
	Check the battery voltage.

time_t	getTime ()
	Get internal RTC time.

void	do_led ()
	Management of the status LED.

void	serial_flush ()
	Flush the UARTs.

void	set_ctrl_param ()
	Set custom control parameters.

void	update_tet (uint32_t t0)
	Update task execution time.

Detailed Description

User-defined functions.

Definition of the user defined functions called in main().

See also: main userfun.h

Function Documentation

◆ check_error()

void check_error ( void )

Check for errors.

Function to check for possible errors, such as unfeasible values of signals or limit exceeding. A error state variable is modified if errors are found.

◆ check_sbus()

bool check_sbus ( void )

Check for SBUS.

Function to check for unfeasible values of SBUS channels, which must be within MIN_SBUS and MAX_SBUS. The function checks also for lost frame and fail safe.

Returns: True if success, false for errors.

See also: MIN_SBUS MAX_SBUS

◆ check_voltage()

boolean check_voltage ( void )

Check the battery voltage.

Function to check possible under- or over-voltage of the battery.

Returns: True if the battery voltage is between MIN_VOLTAGE and MAX_VOLTAGE (no under- or over-voltage occured).

See also: MIN_VOLTAGE MAX_VOLTAGE

◆ do_control()

void do_control ( void )

Update the control loop.

Function to update the control loop with the new sensor readings or create the ouput in the case of tests.

See also: Macros

◆ do_led()

void do_led ( )

Management of the status LED.

Function to manage the status LED according to the microcontroller mode. Depending on the LED blinking, the microcontroller mode is:

Default mode without signal-logging: LEDmode is LedMode::DEF, LED blinks depending on DEF_LED.
Default mode with signal-logging: LEDmode is LedMode::LOG, LED blinks depending on LOG_LED.
MTP mode: LEDmode is LedMode::MTP, LED blinks depending on MTP_LED.
Error mode: LEDmode is LedMode::ERR, LED blinks depending on ERR_LED.
See also
LedMode DEF_LED LOG_LED MTP_LED ERR_LED

◆ do_zeros()

void do_zeros ( void )

Perform the zero.

Function to perform the zero-calibration of some sensors. These include the torsiometer, the actual motor current and the actual steer rate. It also sets the pre-defined offsets (e.g. for the gyrometer).

See also: RiderTorque::riderTorque_offset GYROX_OFFSET GYROY_OFFSET GYROZ_OFFSET

◆ get_enable()

bool get_enable ( void )

Get the enable.

Function to get the enable status. Enable is 0 if errors found or remote enable is off.

◆ get_selector()

int8_t get_selector ( void )

Get the selector.

Function to get the selector status. Selector is +/-1/0 depending on the switch on the remote controller.

◆ get_sensors()

void get_sensors ( void )

Get sensor readings.

Function to get the sensor readings (raw values only). Sensors are read with the specified sampling factor.

See also: SAMPLING_TIME SPEED_SAMPLING_FAC IMU_SAMPLING_FAC MAG_SAMPLING_FAC

◆ getTime()

time_t getTime ( )

Get internal RTC time.

Function to get the internal RTC time of the microcontroller.

Returns: The internal RTC time, as a time_t type, which are the seconds elapsed from 1970 1 Jan 00:00:00.

◆ serial_flush()

void serial_flush ( )

Flush the UARTs.

Function to flush the receive buffer of the UARTs.

See also: UART_SPEEDSENS UART_GPS

◆ set_arm_clock()

uint32_t set_arm_clock ( uint32_t frequency )

Set the CPU clock.

Extern function to set the CPU clock.

Parameters

frequency The CPU clock in Hz.

Returns: The actual CPU frequency in Hz.

See also: https://forum.pjrc.com/threads/57444-How-to-change-clock-speed-on-Teensy-4-0

◆ set_ctrl_input()

void set_ctrl_input ( void )

Set the control inputs.

Function to convert sensor readings to convenient units.

◆ set_ctrl_param()

void set_ctrl_param ( )

Set custom control parameters.

Function to set custom control parameters in controlParams, e.g. controlParams.propGainSpeed = 0.

Attention: Be sure that modified variables exist.

◆ set_driver()

void set_driver ( void )

Set the drivers.

Function to set the drivers, such as the steer-motor driver and the throttle via the DAC. Drivers are set only if no error is found.

See also: Macros

◆ set_GPIO()

void set_GPIO ( void )

Set the GPIO.

Function to set general-purpose input-output digital pins, depending on their usage. This also includes the assignment of a default (initial) state for the digital output pins.

◆ set_IObus()

void set_IObus ( void )

Start the IO buses.

Function to start the IO buses for the sensors and drivers after initialization. This incluses the setting of sensors (IMU, magnetometer, GPS, ADC, PWM and DAC).

◆ start_brake_stepper()

void start_brake_stepper ( void )

Start the brake stepper motor.

Function to start and set the stepper motor acting on the brake lever.

◆ start_IObus()

void start_IObus ( void )

Initialize the IO buses.

Function to initialize the IO buses for the sensors and drivers. This incluses initialization of SPI and the related sensors (IMU, magnetometer, and DAC), initialization of the UARTs for the speed sensor and GPS.

See also: USED_SPI UART_SPEEDSENS UART_GPS

◆ tempmonGetTemp()

float tempmonGetTemp ( void )

extern

Get the CPU temperature.

Extern function to get the CPU temperature in Celsius degrees.

Returns: The CPU temperature in Celsius degrees.

See also: https://forum.pjrc.com/threads/59813-Teensy-4-0-Internal-Temperature-measurement

◆ turnoff_callback()

void turnoff_callback ( void )

Callback for tuning off.

Callback function called when the microcontroller turns of, in order to end stuff before (e.g. close the log file).

◆ update_tet()

void update_tet ( uint32_t t0 )

Update task execution time.

Function to update the TET.