From: Erik Andresen Date: Sat, 4 Apr 2026 13:38:01 +0000 (+0200) Subject: AVR: break on reverse X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=c9db3f3d146c1000460bf11d4f6c263206b5869a;p=a4wd3.git AVR: break on reverse --- diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index f588c35..32c35ed 100644 --- 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 d903f61..565095b 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -6,9 +6,9 @@ :100050000C9458000D0A53746172740D0A004546E1 :100060004765666700202B2D2E303132333435360C :1000700037383968000011241FBECFE5D8E0DEBF55 -:10008000CDBF10E0A0E6B0E0E0E9FEE202C00590DE +:10008000CDBF10E0A0E6B0E0E0EBFEE202C00590DC :100090000D92A037B107D9F721E0A0E7B0E001C089 -:1000A0001D92AC36B207E1F70E94DD060C942616CD +:1000A0001D92AC36B207E1F70E94DD060C943616BD :1000B0000C9400008091A300807F8093A30080B304 :1000C00036B32091A30090E086FB8827992783F917 :1000D0003770832B3FE08327822B8093A30080918E @@ -60,13 +60,13 @@ :1003B000887F803A09F40BC330F48036A9F0803886 :1003C00069F185ED05C3883B21F0883F89F0883AC3 :1003D000C1F7E091ED00E150E43A08F0F5C2F0E039 -:1003E000E95CF94E0C945E1385EC86BF1092ED002B +:1003E000E95BF94E0C946E1385EC86BF1092ED001C 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