AVR: break on reverse

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index f588c35cdd10d282ab2efe00ac33ee1d91557c72..32c35ed9ddbbe4cb9b9a985714e1823922353cb5 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -992,7 +992,7 @@ static void update_pid(void) {
 
                uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
                if (speed1_wish == 0 || dir_change) {
-                       motor1 = 0;
+                       motor1 = dir_change ? PWM_BREAK : 0;
                        eold1 = 0;
                        error_state &= ~(1<<4);
                } else {
@@ -1015,7 +1015,7 @@ static void update_pid(void) {
 
                uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
                if (speed2_wish == 0 || dir_change) {
-                       motor2 = 0;
+                       motor2 = dir_change ? PWM_BREAK : 0;
                        eold2 = 0;
                        error_state &= ~(1<<5);
                } else {
@@ -1038,7 +1038,7 @@ static void update_pid(void) {
 
                uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
                if (speed3_wish == 0 || dir_change) {
-                       motor3 = 0;
+                       motor3 = dir_change ? PWM_BREAK : 0;
                        eold3 = 0;
                        error_state &= ~(1<<6);
                } else {
@@ -1061,7 +1061,7 @@ static void update_pid(void) {
 
                uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
                if (speed4_wish == 0 || dir_change) {
-                       motor4 = 0;
+                       motor4 = dir_change ? PWM_BREAK : 0;
                        eold4 = 0;
                        error_state &= ~(1<<7);
                } else {

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index d903f614351d0091f2b41eeb12222a650c7a4005..565095b0db6405b53cfbeb605d7cac150ee9c401 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -6,9 +6,9 @@
 :100050000C9458000D0A53746172740D0A004546E1\r
 :100060004765666700202B2D2E303132333435360C\r
 :1000700037383968000011241FBECFE5D8E0DEBF55\r
-:10008000CDBF10E0A0E6B0E0E0E9FEE202C00590DE\r
+:10008000CDBF10E0A0E6B0E0E0EBFEE202C00590DC\r
 :100090000D92A037B107D9F721E0A0E7B0E001C089\r
-:1000A0001D92AC36B207E1F70E94DD060C942616CD\r
+:1000A0001D92AC36B207E1F70E94DD060C943616BD\r
 :1000B0000C9400008091A300807F8093A30080B304\r
 :1000C00036B32091A30090E086FB8827992783F917\r
 :1000D0003770832B3FE08327822B8093A30080918E\r
@@ -60,13 +60,13 @@
 :1003B000887F803A09F40BC330F48036A9F0803886\r
 :1003C00069F185ED05C3883B21F0883F89F0883AC3\r
 :1003D000C1F7E091ED00E150E43A08F0F5C2F0E039\r
-:1003E000E95CF94E0C945E1385EC86BF1092ED002B\r
+:1003E000E95BF94E0C946E1385EC86BF1092ED001C\r
 :1003F00080919F00823009F4A895FF91EF91BF9101\r
 :10040000AF919F918F917F916F915F914F913F91AC\r
 :100410002F910F900FBE0F901F901895E091ED0057\r
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-:10043000E059E531D8F7F0E0E552F94E0C945E133F\r
-:10044000F0E0E051F94E0C945E13E13B09F43FC13A\r
+:10043000E059E531D8F7F0E0E551F94E0C946E1330\r
+:10044000F0E0E050F94E0C946E13E13B09F43FC12B\r
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 :1004600095008093940008C083B18093ED00809143\r
 :10047000ED0081508093ED0085EC86BF8091ED000A\r
@@ -88,7 +88,7 @@
 :1005700023B160919A0070919B0080919C009091B2\r
 :100580009D00982F872F762F6627622B60939A0005\r
 :1005900070939B0080939C0090939D002AE93DED11\r
-:1005A0004DE955E40E946D120E944111462F572FCC\r
+:1005A0004DE955E40E947D120E945111462F572FAC\r
 :1005B0005093D5004093D4005093D3004093D20081\r
 :1005C00081E08093DB00A0CF83B190E0A0E0B0E0B9\r
 :1005D000C6CF23B180919A0090919B00A0919C007E\r
@@ -108,7 +108,7 @@
 :1006B00083B18093A50081E08093F600DDCE83B105\r
 :1006C0008093A400F8CF83B180939F00D5CE83B1EF\r
 :1006D00060E070E070919400682B709395006093D7\r
-:1006E00094006115710579F08CE496E20E942B1359\r
+:1006E00094006115710579F08CE496E20E943B1349\r
 :1006F0006093C3001092C40089B7816089BF8FEFF7\r
 :100700008093A200B9CE89B78E7F89BF1092E50091\r
 :100710001092E400B1CE83B18093EC0087CE8AB50D\r
@@ -195,7 +195,7 @@
 :100C2000F900F2CF2AB128612AB9579A20B5266077\r
 :100C300020BDA0E0B0E09C01AD0184E0220F331F95\r
 :100C4000441F551F8A95D1F760E47BE48CE490E063\r
-:100C50000E943F13DA01C9010197A109B109892F47\r
+:100C50000E944F13DA01C9010197A109B109892F37\r
 :100C60009A2FAB2FBB27A7FDBA9580BD215029B97C\r
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@@ -204,7 +204,7 @@
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-:100CE00076E089E496E00C94C813CF93DF939C01DF\r
+:100CE00076E089E496E00C94D813CF93DF939C01CF\r
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@@ -217,510 +217,510 @@
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