FOC-AT32-patch

FOC-AT32.patch

hoverboard-firmware-hack-FOC>>git diff Src/bldc.c Makefile
diff --git a/Makefile b/Makefile
index 94b9a6a..1e6d40c 100644
--- a/Makefile
+++ b/Makefile
@@ -179,6 +179,9 @@ clean:
 flash:
        st-flash --reset write $(BUILD_DIR)/$(TARGET).bin 0x8000000
 
+flash-at32:
+       openocd -f interface/stlink-v2.cfg -f target/stm32f3x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0" -c "flash write_image erase $(BUILD_DIR)/$(TARGET).hex 0 ihex" -c "shutdown"
+
 unlock:
        openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0"
 
diff --git a/Src/bldc.c b/Src/bldc.c
index 680d70f..a943d97 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -63,6 +63,7 @@ uint8_t buzzerFreq          = 0;
 uint8_t buzzerPattern       = 0;
 static uint32_t buzzerTimer = 0;
 
+uint8_t        enablePrev   = 0;        // initially motors are disabled for SAFETY
 uint8_t        enable       = 0;        // initially motors are disabled for SAFETY
 static uint8_t enableFin    = 0;
 
@@ -98,6 +99,9 @@ void DMA1_Channel1_IRQHandler(void) {
     offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
     return;
   }
+  else if (enablePrev == 0 && enable == 1) {
+    offsetcount = 0;
+  }
 
   if (buzzerTimer % 1000 == 0) {  // because you get float rounding errors if it would run every time -> not any more, everything converted to fixed-point
     filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
@@ -152,6 +156,7 @@ void DMA1_Channel1_IRQHandler(void) {
 
   /* Make sure to stop BOTH motors in case of an error */
   enableFin = enable && !rtY_Left.z_errCode && !rtY_Right.z_errCode;
+  enablePrev = enable;
  
   // ========================= LEFT MOTOR ============================ 
     // Get hall sensors values