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hoverboard-firmware-hack-fo.../Inc/config.h

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Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
// Define to prevent recursive inclusion
#ifndef CONFIG_H
#define CONFIG_H
Initial commit
2019-10-06 13:09:15 +00:00
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
//Select the calibration values for the different pcbs
change bobbycar back to voltage mode
2020-06-01 14:20:51 +00:00
#define BOBBYCAR_PCB_FRONT //Green PCB. black programming cable. outer power button
//#define BOBBYCAR_PCB_REAR //Blue PCB. with XT60-U, beige programming cable. inner power button
change timeout to 15min for bobbycar controller to timeout first
2020-04-19 18:59:30 +00:00
//#define HOVERBRETT //Green PCB in Hoverbrett
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
Initial commit
2019-10-06 13:09:15 +00:00
#include "stm32f1xx_hal.h"
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
// ############################### VARIANT SELECTION ###############################
// PlatformIO: uncomment desired variant in platformio.ini
// Keil uVision: select desired variant from the Target drop down menu (to the right of the Load button)
// Ubuntu: define the desired build variant here if you want to use make in console
// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_NUNCHUK". Select only one at a time.
- removed default / fallback variant; you are forced to define the variant of your choice now or build will stop with an error - added condition in config.h to either take setting from platform.ini or config.h - homogenized default_envs naming; all variants now have VARIANT_ as prefix - added nunchuck variant in platform.ini and config.h - added PPM variant in platform.ini and config.h - README: added jan's nunchuck breakout board repo
2020-01-03 23:09:57 +00:00
#if !defined(PLATFORMIO)
//#define VARIANT_ADC // Variant for control via ADC input
renamed USART3 to USART because you can also use USART2 not only USART3
2020-01-18 00:08:47 +00:00
//#define VARIANT_USART // Variant for Serial control via USART3 input
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
//#define VARIANT_NUNCHUK // Variant for Nunchuk controlled vehicle build
- removed default / fallback variant; you are forced to define the variant of your choice now or build will stop with an error - added condition in config.h to either take setting from platform.ini or config.h - homogenized default_envs naming; all variants now have VARIANT_ as prefix - added nunchuck variant in platform.ini and config.h - added PPM variant in platform.ini and config.h - README: added jan's nunchuck breakout board repo
2020-01-03 23:09:57 +00:00
//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
First commit pwm - buttons not yet support
2020-03-21 18:24:29 +00:00
//#define VARIANT_PWM // Variant for RC-Remote with PWM Signal
Updated IBUS variant - separated the implementation from USART implementation for more clarity - fixed warnings - minor visual updates
2020-01-08 18:16:34 +00:00
//#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS
Minor updates - fixed all warnings for VARIANT_NUNCHUCK and VARIANT_PPM - changed the variant order: the basic Variants on top, more application specific in the bottom
2020-01-07 17:09:19 +00:00
//#define VARIANT_HOVERCAR // Variant for HOVERCAR build
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
//#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build
Minor updates - fixed all warnings for VARIANT_NUNCHUCK and VARIANT_PPM - changed the variant order: the basic Variants on top, more application specific in the bottom
2020-01-07 17:09:19 +00:00
//#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
created SKATEBOARD variant
2020-07-20 18:33:42 +00:00
//#define VARIANT_SKATEBOARD // Variant for SKATEBOARD build
Made Variant selection easy via platformio.ini Now it is easy to select between different variant builds via platformio.ini. Currently, 3 variants can be selected: VARIANT_ADC VARIANT_USART3 TRANSPOTTER Note: For any particular needs, you can still change config.h according to your needs.
2019-12-23 11:12:01 +00:00
#endif
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
// ########################### END OF VARIANT SELECTION ############################
Initial commit
2019-10-06 13:09:15 +00:00
feedback struct first left, seconds value right
2020-02-02 13:42:56 +00:00
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// ############################### DO-NOT-TOUCH SETTINGS ###############################
#define PWM_FREQ 16000 // PWM frequency in Hz / is also used for buzzer
#define DEAD_TIME 48 // PWM deadtime
#ifdef VARIANT_TRANSPOTTER
#define DELAY_IN_MAIN_LOOP 2
#else
#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
#endif
Fixed PPM, PWM timeout - fixed the general timeout handling: there is no need to disable the MOSFETs timer because it will confuse the BLDC_controller, making him consider the timeout as a false MOSFET defective error. - renamed `timeout` to `timeoutCnt` for consistency and to ease the search #61
2020-07-01 17:50:32 +00:00
#define TIMEOUT 20 // number of wrong / missing input commands before emergency off
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
Fixed printf - works with default UART settings - still some clean up to do
2020-12-09 19:35:26 +00:00
// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
Initial commit
2019-10-06 13:09:15 +00:00
// ADC conversion time definitions
#define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5)
#define ADC_CONV_TIME_7C5 (20) //Total ADC clock cycles / conversion = ( 7.5+12.5)
#define ADC_CONV_TIME_13C5 (26) //Total ADC clock cycles / conversion = ( 13.5+12.5)
#define ADC_CONV_TIME_28C5 (41) //Total ADC clock cycles / conversion = ( 28.5+12.5)
#define ADC_CONV_TIME_41C5 (54) //Total ADC clock cycles / conversion = ( 41.5+12.5)
#define ADC_CONV_TIME_55C5 (68) //Total ADC clock cycles / conversion = ( 55.5+12.5)
#define ADC_CONV_TIME_71C5 (84) //Total ADC clock cycles / conversion = ( 71.5+12.5)
#define ADC_CONV_TIME_239C5 (252) //Total ADC clock cycles / conversion = (239.5+12.5)
// This settings influences the actual sample-time. Only use definitions above
// This parameter needs to be the same as the ADC conversion for Current Phase of the FIRST Motor in setup.c
#define ADC_CONV_CLOCK_CYCLES (ADC_CONV_TIME_7C5)
// Set the configured ADC divider. This parameter needs to be the same ADC divider as PeriphClkInit.AdcClockSelection (see main.c)
#define ADC_CLOCK_DIV (4)
// ADC Total conversion time: this will be used to offset TIM8 in advance of TIM1 to align the Phase current ADC measurement
// This parameter is used in setup.c
#define ADC_TOTAL_CONV_TIME (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// ########################### END OF DO-NOT-TOUCH SETTINGS ############################
Initial commit
2019-10-06 13:09:15 +00:00
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// ############################### BATTERY ###############################
/* Battery voltage calibration: connect power source.
* see How to calibrate.
* Write debug output value nr 5 to BAT_CALIB_ADC. make and flash firmware.
* Then you can verify voltage on debug output value 6 (to get calibrated voltage multiplied by 100).
*/
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
#define BAT_FILT_COEF 655 // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
#ifdef BOBBYCAR_PCB_REAR
//REAR WHEELS PCB
#define BAT_CALIB_REAL_VOLTAGE 4000 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4000
#define BAT_CALIB_ADC 1593 // adc-value measured by mainboard (value nr 5 on UART debug output)
#endif
#ifdef BOBBYCAR_PCB_FRONT
use front pcb temp calib for rear board. enable phase advance
2021-05-24 15:28:27 +00:00
#define BAT_CALIB_REAL_VOLTAGE 4000 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4000
finish calibration for front hoverboard pcb
2019-12-10 23:18:17 +00:00
#define BAT_CALIB_ADC 1580 // adc-value measured by mainboard (value nr 5 on UART debug output)
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
#endif
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#ifdef HOVERBRETT
#define BAT_CALIB_REAL_VOLTAGE 4300 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4300
#define BAT_CALIB_ADC 1704 // adc-value measured by mainboard (value nr 5 on UART debug output)
#endif
move bat_cells to defines
2019-12-28 23:36:44 +00:00
//#define BAT_CELLS 10 // battery number of cells. Normal Hoverboard battery: 10s
#ifdef BOBBYCAR_PCB_REAR
#define BAT_CELLS 12
#endif
#ifdef BOBBYCAR_PCB_FRONT
#define BAT_CELLS 12
#endif
#ifdef HOVERBRETT
#define BAT_CELLS 10
#endif
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#define BAT_LVL2_ENABLE 0 // to beep or not to beep, 1 or 0
#define BAT_LVL1_ENABLE 1 // to beep or not to beep, 1 or 0
#define BAT_BLINK_INTERVAL 80 // battery led blink interval (80 loops * 5ms ~= 400ms)
#define BAT_LVL5 (390 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Green blink: no beep
#define BAT_LVL4 (380 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow: no beep
#define BAT_LVL3 (370 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow blink: no beep
#define BAT_LVL2 (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Red: gently beep at this voltage level. [V*100/cell]. In this case 3.60 V/cell
#define BAT_LVL1 (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Red blink: fast beep. Your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
#define BAT_DEAD (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // All leds off: undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell
prettified config.h
2020-01-18 01:00:48 +00:00
// ######################## END OF BATTERY ###############################
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// ############################### TEMPERATURE ###############################
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
/* Board overheat detection: the sensor is inside the STM/GD chip.
* It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!
prettified config.h
2020-01-18 01:00:48 +00:00
* Let your board cool down.
* see <How to calibrate.
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
* Get the real temp of the chip by thermo cam or another temp-sensor taped on top of the chip and write it to TEMP_CAL_LOW_DEG_C.
prettified config.h
2020-01-18 01:00:48 +00:00
* Write debug output value 8 to TEMP_CAL_LOW_ADC. drive around to warm up the board. it should be at least 20°C warmer. repeat it for the HIGH-values.
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
* Enable warning and/or poweroff and make and flash firmware.
prettified config.h
2020-01-18 01:00:48 +00:00
*/
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
#define TEMP_FILT_COEF 655 // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
//#define TEMP_CAL_LOW_ADC 1655 // temperature 1: ADC value
//#define TEMP_CAL_LOW_DEG_C 358 // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
//#define TEMP_CAL_HIGH_ADC 1588 // temperature 2: ADC value
//#define TEMP_CAL_HIGH_DEG_C 489 // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
#ifdef BOBBYCAR_PCB_REAR
//REAR WHEELS PCB
#define TEMP_CAL_LOW_ADC 1722 // temperature 1: ADC value
#define TEMP_CAL_LOW_DEG_C 220 // temperature 1: measured temperature [°C * 10]. Here 22.0 °C
#define TEMP_CAL_HIGH_ADC 1580 // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C 500 // temperature 2: measured temperature [°C * 10]. Here 50.0 °C
#endif
#ifdef BOBBYCAR_PCB_FRONT
//FRONT WHEELS PCB
#define TEMP_CAL_LOW_ADC 1722 // temperature 1: ADC value
#define TEMP_CAL_LOW_DEG_C 220 // temperature 1: measured temperature [°C * 10]. Here 22.0 °C
#define TEMP_CAL_HIGH_ADC 1580 // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C 500 // temperature 2: measured temperature [°C * 10]. Here °C
#endif
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#ifdef HOVERBRETT
//Hoverbrett
use front pcb temp calib for rear board. enable phase advance
2021-05-24 15:28:27 +00:00
#define TEMP_CAL_LOW_ADC 1722 // temperature 1: ADC value
#define TEMP_CAL_LOW_DEG_C 220 // temperature 1: measured temperature [°C * 10]. Here 22.0 °C
#define TEMP_CAL_HIGH_ADC 1580 // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C 500 // temperature 2: measured temperature [°C * 10]. Here °C
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#endif
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
prettified config.h
2020-01-18 01:10:40 +00:00
#define TEMP_WARNING_ENABLE 0 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
#define TEMP_WARNING 600 // annoying fast beeps [°C * 10]. Here 60.0 °C
Initial commit
2019-10-06 13:09:15 +00:00
#define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
#define TEMP_POWEROFF 650 // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
prettified config.h
2020-01-18 01:00:48 +00:00
// ######################## END OF TEMPERATURE ###############################
Initial commit
2019-10-06 13:09:15 +00:00
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
Initial commit
2019-10-06 13:09:15 +00:00
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// ############################### MOTOR CONTROL #########################
/* GENERAL NOTES:
* 1. The parameters here are over-writing the default motor parameters. For all the available parameters check BLDC_controller_data.c
* 2. The parameters are represented in fixed point data type for a more efficient code execution
* 3. For calibrating the fixed-point parameters use the Fixed-Point Viewer tool (see <https://github.com/EmanuelFeru/FixedPointViewer>)
* 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
* 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code.
* The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge
*
* NOTES Field Weakening / Phase Advance:
* 1. The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively)
* 2. The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
* 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
Inputs:
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
- input1[inIdx].cmd and input2[inIdx].cmd: normalized input values. INPUT_MIN to INPUT_MAX
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
- button1 and button2: digital input values. 0 or 1
- adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
Outputs:
Improvements and clean-up - clean-up printfs - removed consoleLog function with respective files - removed Delay when using printf - renamed speedL, speedR to cmdL, cmdR - corrected Arduino baud rate - updated FLASH write pointer cast int16_t to uint16_t
2020-12-10 18:35:13 +00:00
- cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
*/
Added functionality: Electric Brake, Standstill hold - For TORQUE mode, by enabling `ELECTRIC_BRAKE_ENABLE` in `config.h`, the freewheeling amount can be adjusted using the `ELECTRIC_BRAKE_MAX` parameter. - For VOLTAGE and TORQUE mode, the standstill hold functionality can be forced by enabling `STANDSTILL_HOLD_ENABLE` in `config.h`. Known (minor) issue: There is a small "tick" noise when Stanstill is engaged/disengaged, due to the switching to SPEED mode. To be solved by an improved mode switching strategy in the future.
2020-07-19 09:24:37 +00:00
#define COM_CTRL 0 // [-] Commutation Control Type
#define SIN_CTRL 1 // [-] Sinusoidal Control Type
#define FOC_CTRL 2 // [-] Field Oriented Control (FOC) Type
#define OPEN_MODE 0 // [-] OPEN mode
#define VLT_MODE 1 // [-] VOLTAGE mode
#define SPD_MODE 2 // [-] SPEED mode
#define TRQ_MODE 3 // [-] TORQUE mode
PWM Variant update - made the 2 channels to operate independently #61 - added defines to enable/disable motors, if one motor is not needed #63
2020-06-13 08:57:54 +00:00
// Enable/Disable Motor
Current and speed setting for all variants
2020-11-13 21:31:49 +00:00
#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// Control selections
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
//#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
//#define CTRL_MOD_REQ VLT_MODE // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#ifdef BOBBYCAR_PCB_FRONT
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
#define CTRL_TYP_SEL SIN_CTRL //sinusoidal. ignores ctrl_mod
#define CTRL_MOD_REQ VLT_MODE //voltage (torque mode (with foc)) had some quirks)
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#endif
#ifdef BOBBYCAR_PCB_REAR
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
#define CTRL_TYP_SEL SIN_CTRL //sinusoidal. ignores ctrl_mod
#define CTRL_MOD_REQ VLT_MODE //voltage (torque mode (with foc) had some quirks)
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#endif
#ifdef HOVERBRETT
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
#define CTRL_TYP_SEL FOC_CTRL
#define CTRL_MOD_REQ VLT_MODE //voltage
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#endif
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// Limitation settings
Update config.h current limiting comments
2020-05-03 13:29:40 +00:00
#define I_MOT_MAX 15 // [A] Maximum single motor current limit
#define I_DC_MAX 17 // [A] Maximum stage2 DC Link current limit for Commutation and Sinusoidal types (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#define N_MOT_MAX 1000 // [rpm] Maximum motor speed limit
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// Field Weakening / Phase Advance
use front pcb temp calib for rear board. enable phase advance
2021-05-24 15:28:27 +00:00
#define FIELD_WEAK_ENA 1 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
Update config.h current limiting comments
2020-05-03 13:29:40 +00:00
#define FIELD_WEAK_MAX 5 // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed. Up to 10A has been tested using 10" wheels.
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
Update BLDC controller - added possbility to switch the Control mode while motor is spinning. NOT yet checked how motors behaves when swiching is triggered! - added Cruise Control functionality: activated by button1 to GND (Blue Left or Right cable depending on selection). Functionality NOT yet tested in practice! - extended Phase current measurements z_selPhaCurMeasABC : {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2 - added interface for external motor angle measurement from as sensor, e.g., encoder. The selection can be done via b_angleMeasEna: 0 = Estimated (default), 1 = Measured. - update the Field weakening Lo and Hi to fully blended. - minor improvements: - Buttons initialization - lowered ADC margins in auto-calibration - commented out ADC_SAMPLETIME_239CYCLES_5, reported to give some issues when Hall sensor ADC input is used
2020-10-12 20:55:39 +00:00
#define FIELD_WEAK_HI 1000 // (1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
#define FIELD_WEAK_LO 750 // ( 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
Added functionality: Electric Brake, Standstill hold - For TORQUE mode, by enabling `ELECTRIC_BRAKE_ENABLE` in `config.h`, the freewheeling amount can be adjusted using the `ELECTRIC_BRAKE_MAX` parameter. - For VOLTAGE and TORQUE mode, the standstill hold functionality can be forced by enabling `STANDSTILL_HOLD_ENABLE` in `config.h`. Known (minor) issue: There is a small "tick" noise when Stanstill is engaged/disengaged, due to the switching to SPEED mode. To be solved by an improved mode switching strategy in the future.
2020-07-19 09:24:37 +00:00
// Extra functionality
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
// #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode.
// #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released).
// #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging.
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// ########################### END OF MOTOR CONTROL ########################
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
// ############################## DEFAULT SETTINGS ############################
// Default settings will be applied at the end of this config file if not set before
Input Auto-calibration - mainly rearangement of function - updated initialization in the auto-calibration function - added beep for confirmation of Input protection
2020-11-18 18:16:56 +00:00
#define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise.
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
#define BEEPS_BACKWARD 0 // 0 or 1
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define ADC_MARGIN 100 // ADC input margin applied on the raw ADC min and max to make sure the MIN and MAX values are reached even in the presence of noise
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
//#define AUTO_CALIBRATION_ENA // Enable/Disable input auto-calibration by holding power button pressed. Un-comment this if auto-calibration is not needed.
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
/* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
* Value of COEFFICIENT is in fixdt(1,16,14)
* If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
* If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
*/
// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
#define DEFAULT_RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
#define DEFAULT_FILTER 6553 // Default for FILTER 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define DEFAULT_SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define DEFAULT_STEER_COEFFICIENT 8192 // Defualt for STEER_COEFFICIENT 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
// ######################### END OF DEFAULT SETTINGS ##########################
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// ############################## INPUT FORMAT ############################
/* ***_INPUT: TYPE, MIN, MID, MAX, DEADBAND
* -----------------------------------------
* TYPE: 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
* MIN: min ADC1-value while poti at minimum-position (0 - 4095)
* MID: mid ADC1-value while poti at mid-position (INPUT_MIN - INPUT_MAX)
* MAX: max ADC2-value while poti at maximum-position (0 - 4095)
* DEADBAND: how much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
*
* Dual-inputs
* PRI_INPUT: Primary Input. These limits will be used for the input with priority 0
* AUX_INPUT: Auxiliary Input. These limits will be used for the input with priority 1
* -----------------------------------------
*/
// ############################## END OF INPUT FORMAT ############################
Update BLDC controller - added possbility to switch the Control mode while motor is spinning. NOT yet checked how motors behaves when swiching is triggered! - added Cruise Control functionality: activated by button1 to GND (Blue Left or Right cable depending on selection). Functionality NOT yet tested in practice! - extended Phase current measurements z_selPhaCurMeasABC : {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2 - added interface for external motor angle measurement from as sensor, e.g., encoder. The selection can be done via b_angleMeasEna: 0 = Estimated (default), 1 = Measured. - update the Field weakening Lo and Hi to fully blended. - minor improvements: - Buttons initialization - lowered ADC margins in auto-calibration - commented out ADC_SAMPLETIME_239CYCLES_5, reported to give some issues when Hall sensor ADC input is used
2020-10-12 20:55:39 +00:00
// ############################## CRUISE CONTROL SETTINGS ############################
/* Cruise Control info:
* enable CRUISE_CONTROL_SUPPORT and (SUPPORT_BUTTONS_LEFT or SUPPORT_BUTTONS_RIGHT depending on which cable is the button installed)
* can be activated/deactivated by pressing button1 (Blue cable) to GND
* when activated, it maintains the current speed by switching to SPD_MODE. Acceleration is still possible via the input request, but when released it resumes to previous set speed.
* when deactivated, it returns to previous control MODE and follows the input request.
*/
// #define CRUISE_CONTROL_SUPPORT
// #define SUPPORT_BUTTONS_LEFT // Use button1 (Blue Left cable) to activate/deactivate Cruise Control
// #define SUPPORT_BUTTONS_RIGHT // Use button1 (Blue Right cable) to activate/deactivate Cruise Control
// ######################### END OF CRUISE CONTROL SETTINGS ##########################
prettified config.h
2020-01-18 01:00:48 +00:00
// ############################### DEBUG SERIAL ###############################
/* Connect GND and RX of a 3.3v uart-usb adapter to the left (USART2) or right sensor board cable (USART3)
Input Auto-calibration - mainly rearangement of function - updated initialization in the auto-calibration function - added beep for confirmation of Input protection
2020-11-18 18:16:56 +00:00
* Be careful not to use the red wire of the cable. 15v will destroy everything.
prettified config.h
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* If you are using VARIANT_NUNCHUK, disable it temporarily.
* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
*
*
Ascii Debug updates - added missing pointer to UART2 input user processing - added comms.c to Makefile - fixed #134 : uncomment #define AUTO_CALIBRATION_ENA to disable auto-calibration - small styling adjustments
2021-01-29 18:47:03 +00:00
* DEBUG ASCII output is:
Improvements and clean-up - clean-up printfs - removed consoleLog function with respective files - removed Delay when using printf - renamed speedL, speedR to cmdL, cmdR - corrected Arduino baud rate - updated FLASH write pointer cast int16_t to uint16_t
2020-12-10 18:35:13 +00:00
* // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
prettified config.h
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*
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
* in1: (int16_t)input1[inIdx].raw); raw input1: ADC1, UART, PWM, PPM, iBUS
* in2: (int16_t)input2[inIdx].raw); raw input2: ADC2, UART, PWM, PPM, iBUS
* cmdL: (int16_t)cmdL); output command Left: [-1000, 1000]
* cmdR: (int16_t)cmdR); output command Right: [-1000, 1000]
Improvements and clean-up - clean-up printfs - removed consoleLog function with respective files - removed Delay when using printf - renamed speedL, speedR to cmdL, cmdR - corrected Arduino baud rate - updated FLASH write pointer cast int16_t to uint16_t
2020-12-10 18:35:13 +00:00
* BatADC: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
* BatV: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
* TempADC: (int16_t)board_temp_adcFilt); for board temperature calibration
* Temp: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
prettified config.h
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*
*/
Initial commit
2019-10-06 13:09:15 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
Improvements and clean-up - clean-up printfs - removed consoleLog function with respective files - removed Delay when using printf - renamed speedL, speedR to cmdL, cmdR - corrected Arduino baud rate - updated FLASH write pointer cast int16_t to uint16_t
2020-12-10 18:35:13 +00:00
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
Ascii Debug updates - added missing pointer to UART2 input user processing - added comms.c to Makefile - fixed #134 : uncomment #define AUTO_CALIBRATION_ENA to disable auto-calibration - small styling adjustments
2021-01-29 18:47:03 +00:00
// #define DEBUG_SERIAL_PROTOCOL // uncomment this to send user commands to the board, change parameters and print specific signals (see comms.c for the user commands)
prettified config.h
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// ########################### END OF DEBUG SERIAL ############################
Initial commit
2019-10-06 13:09:15 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// ############################### DEBUG LCD ###############################
Improvements and clean-up - clean-up printfs - removed consoleLog function with respective files - removed Delay when using printf - renamed speedL, speedR to cmdL, cmdR - corrected Arduino baud rate - updated FLASH write pointer cast int16_t to uint16_t
2020-12-10 18:35:13 +00:00
// #define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
prettified config.h
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// ########################### END OF DEBUG LCD ############################
Initial commit
2019-10-06 13:09:15 +00:00
Add FLYSKY IBUS support
2020-01-07 20:01:17 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// ################################# VARIANT_ADC SETTINGS ############################
#ifdef VARIANT_ADC
/* CONTROL VIA TWO POTENTIOMETERS
improved VARIANT_ADC documentation in config.h
2020-11-21 23:45:48 +00:00
* Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire!)
*
* Auto-calibration of the ADC Limit to finds the Minimum, Maximum, and Middle for the ADC input
* Procedure:
* - press the power button for more than 5 sec and release after the beep sound
* - move the potentiometers freely to the min and max limits repeatedly
* - release potentiometers to the resting postion
* - press the power button to confirm or wait for the 20 sec timeout
* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
*
* After calibration you can optionally write the values to the following defines
* Procedure:
* - connect gnd, rx and tx of a usb-uart converter in 3.3V mode to the right sensor board cable (do NOT use the red 15V wire!)
Fixed printf - works with default UART settings - still some clean up to do
2020-12-09 19:35:26 +00:00
* - readout values using a serial terminal in 115200 baud rate
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
* - turn the potis to minimum position, write value in1 to PRI_INPUT1 MIN and value in2 to PRI_INPUT2 MIN
* - turn the potis to maximum position, write value in1 to PRI_INPUT1 MAX and value in2 to PRI_INPUT2 MAX
* - for middle resting potis: Let the potis in the middle resting position, write value in1 to PRI_INPUT1 MID and value in2 to PRI_INPUT2 MID
prettified config.h
2020-01-18 01:00:48 +00:00
*/
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
// #define DUAL_INPUTS // ADC*(Primary) + UART(Auxiliary). Uncomment this to use Dual-inputs
#define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#ifdef DUAL_INPUTS
#define FLASH_WRITE_KEY 0x1101 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
// #define SIDEBOARD_SERIAL_USART3 1
#define CONTROL_SERIAL_USART3 1 // right sensor board cable. Number indicates priority for dual-input. Disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#define AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#else
#define FLASH_WRITE_KEY 0x1001 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#endif
Fixes
2020-10-31 20:14:15 +00:00
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
change hoverbrett to voltage mode
2019-12-28 13:19:44 +00:00
#endif
prettified config.h
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// ############################# END OF VARIANT_ADC SETTINGS #########################
// ############################ VARIANT_USART SETTINGS ############################
#ifdef VARIANT_USART
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define SIDEBOARD_SERIAL_USART2 0
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
//#define CONTROL_SERIAL_USART2 0 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
//#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define SIDEBOARD_SERIAL_USART3 0
// #define CONTROL_SERIAL_USART3 0 // right sensor board cable. Number indicates priority for dual-input. Disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
// #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
pull current version from github and reapply own changes
2021-02-26 17:48:49 +00:00
#ifdef BOBBYCAR_PCB_FRONT
#define CONTROL_SERIAL_USART3 0
#define FEEDBACK_SERIAL_USART3
#endif
#ifdef BOBBYCAR_PCB_REAR
#define CONTROL_SERIAL_USART3 0
#define FEEDBACK_SERIAL_USART3
#endif
#ifdef HOVERBRETT
#define CONTROL_SERIAL_USART2 0
#define FEEDBACK_SERIAL_USART2
#endif
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define DUAL_INPUTS // UART*(Primary) + SIDEBOARD(Auxiliary). Uncomment this to use Dual-inputs
#define PRI_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#ifdef DUAL_INPUTS
#define FLASH_WRITE_KEY 0x1102 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
// #define SIDEBOARD_SERIAL_USART2 1 // left sideboard
#define SIDEBOARD_SERIAL_USART3 1 // right sideboard
#define AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#else
#define FLASH_WRITE_KEY 0x1002 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#endif
Input Auto-calibration - mainly rearangement of function - updated initialization in the auto-calibration function - added beep for confirmation of Input protection
2020-11-18 18:16:56 +00:00
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
change hoverbrett to voltage mode
2019-12-28 13:19:44 +00:00
#endif
prettified config.h
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// ######################## END OF VARIANT_USART SETTINGS #########################
// ################################# VARIANT_NUNCHUK SETTINGS ############################
#ifdef VARIANT_NUNCHUK
Input Auto-calibration - mainly rearangement of function - updated initialization in the auto-calibration function - added beep for confirmation of Input protection
2020-11-18 18:16:56 +00:00
/* on Right sensor cable
prettified config.h
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* keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuk,
* use the right one of the 2 types of nunchuks, add i2c pullups.
* use original nunchuk. most clones does not work very well.
* Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
*/
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define CONTROL_NUNCHUK 0 // use nunchuk as input. Number indicates priority for dual-input. Disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
// #define DUAL_INPUTS // Nunchuk*(Primary) + UART(Auxiliary). Uncomment this to use Dual-inputs
#define PRI_INPUT1 2, -1024, 0, 1024, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 2, -1024, 0, 1024, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#ifdef DUAL_INPUTS
#define FLASH_WRITE_KEY 0x1103 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
// #define SIDEBOARD_SERIAL_USART2 1
#define CONTROL_SERIAL_USART2 1 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#define AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#else
#define FLASH_WRITE_KEY 0x1003 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#endif
prettified config.h
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// # maybe good for ARMCHAIR #
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FILTER 3276 // 0.05f
#define SPEED_COEFFICIENT 8192 // 0.5f
#define STEER_COEFFICIENT 62259 // -0.2f
// #define SUPPORT_BUTTONS // Define for Nunchuk buttons support
prettified config.h
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#endif
// ############################# END OF VARIANT_NUNCHUK SETTINGS #########################
// ################################# VARIANT_PPM SETTINGS ##############################
#ifdef VARIANT_PPM
/* ###### CONTROL VIA RC REMOTE ######
Minor updates RC - moved all the RC inputs (PPM, PWM, iBUS) to Right cable - updated timing to enter torque and speed update from 300ms to 1000ms
2020-11-19 20:51:15 +00:00
* Right sensor board cable. Channel 1: steering, Channel 2: speed.
prettified config.h
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* https://gist.github.com/peterpoetzi/1b63a4a844162196613871767189bd05
*/
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define DUAL_INPUTS // ADC*(Primary) + PPM(Auxiliary). Uncomment this to use Dual-inputs
#ifdef DUAL_INPUTS
#define FLASH_WRITE_KEY 0x1104 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define CONTROL_PPM_RIGHT 1 // use PPM-Sum as input on the RIGHT cable. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART3!
#define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
Added default Debug selection for PPM, PWM
2020-06-26 09:23:48 +00:00
#else
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FLASH_WRITE_KEY 0x1004 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
// #define CONTROL_PPM_LEFT 0 // use PPM-Sum as input on the LEFT cable. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2!
#define CONTROL_PPM_RIGHT 0 // use PPM-Sum as input on the RIGHT cable. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART3!
#define PRI_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#endif
#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
// #define SUPPORT_BUTTONS // Define for PPM buttons support
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#if defined(CONTROL_PPM_RIGHT) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#elif defined(CONTROL_PPM_LEFT) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART3 // right sensor cable debug
Added default Debug selection for PPM, PWM
2020-06-26 09:23:48 +00:00
#endif
prettified config.h
2020-01-18 01:00:48 +00:00
#endif
// ############################# END OF VARIANT_PPM SETTINGS ############################
First commit pwm - buttons not yet support
2020-03-21 18:24:29 +00:00
// ################################# VARIANT_PWM SETTINGS ##############################
#ifdef VARIANT_PWM
/* ###### CONTROL VIA RC REMOTE ######
Minor updates RC - moved all the RC inputs (PPM, PWM, iBUS) to Right cable - updated timing to enter torque and speed update from 300ms to 1000ms
2020-11-19 20:51:15 +00:00
* Right sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
First commit pwm - buttons not yet support
2020-03-21 18:24:29 +00:00
* Channel 1: steering, Channel 2: speed.
*/
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define DUAL_INPUTS // ADC*(Primary) + PWM(Auxiliary). Uncomment this to use Dual-inputs
#ifdef DUAL_INPUTS
#define FLASH_WRITE_KEY 0x1105 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT 1 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3!
#define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
Current and speed setting for all variants
2020-11-13 21:31:49 +00:00
#else
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FLASH_WRITE_KEY 0x1005 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
// #define CONTROL_PWM_LEFT 0 // use RC PWM as input on the LEFT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT 0 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3!
#define PRI_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
Current and speed setting for all variants
2020-11-13 21:31:49 +00:00
#endif
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
First commit pwm - buttons not yet support
2020-03-21 18:24:29 +00:00
// #define INVERT_R_DIRECTION
// #define INVERT_L_DIRECTION
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#if defined(CONTROL_PWM_RIGHT) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#elif defined(CONTROL_PWM_LEFT) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
First commit pwm - buttons not yet support
2020-03-21 18:24:29 +00:00
#endif
Fixes Skateboard Variant - fixed to RIGHT cable - fixed braking relative to the direction of motion - adjusted the braking amount to -400
2020-07-20 19:06:39 +00:00
// ############################# END OF VARIANT_PWM SETTINGS ############################
First commit pwm - buttons not yet support
2020-03-21 18:24:29 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// ################################# VARIANT_IBUS SETTINGS ##############################
#ifdef VARIANT_IBUS
/* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL
Minor updates RC - moved all the RC inputs (PPM, PWM, iBUS) to Right cable - updated timing to enter torque and speed update from 300ms to 1000ms
2020-11-19 20:51:15 +00:00
* Connected to Right sensor board cable. Channel 1: steering, Channel 2: speed.
prettified config.h
2020-01-18 01:00:48 +00:00
*/
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define CONTROL_IBUS // use IBUS as input. Number indicates priority for dual-input.
#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
#define IBUS_LENGTH 0x20
#define IBUS_COMMAND 0x40
#define USART3_BAUD 115200
// #define DUAL_INPUTS // ADC*(Primary) + iBUS(Auxiliary). Uncomment this to use Dual-inputs
#ifdef DUAL_INPUTS
#define FLASH_WRITE_KEY 0x1106 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define CONTROL_SERIAL_USART3 1 // use RC iBUS input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3!
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if ADC or PPM is used!
#define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
Minor updates RC - moved all the RC inputs (PPM, PWM, iBUS) to Right cable - updated timing to enter torque and speed update from 300ms to 1000ms
2020-11-19 20:51:15 +00:00
#else
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FLASH_WRITE_KEY 0x1006 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define CONTROL_SERIAL_USART3 0 // use RC iBUS input on the RIGHT cable, disable if ADC or PPM is used!
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if ADC or PPM is used!
#define PRI_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
Minor updates RC - moved all the RC inputs (PPM, PWM, iBUS) to Right cable - updated timing to enter torque and speed update from 300ms to 1000ms
2020-11-19 20:51:15 +00:00
#endif
Input Auto-calibration - mainly rearangement of function - updated initialization in the auto-calibration function - added beep for confirmation of Input protection
2020-11-18 18:16:56 +00:00
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#if defined(CONTROL_SERIAL_USART3) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#elif defined(DEBUG_SERIAL_USART2) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
prettified config.h
2020-01-18 01:00:48 +00:00
#endif
// ############################# END OF VARIANT_IBUS SETTINGS ############################
// ############################ VARIANT_HOVERCAR SETTINGS ############################
- removed default / fallback variant; you are forced to define the variant of your choice now or build will stop with an error - added condition in config.h to either take setting from platform.ini or config.h - homogenized default_envs naming; all variants now have VARIANT_ as prefix - added nunchuck variant in platform.ini and config.h - added PPM variant in platform.ini and config.h - README: added jan's nunchuck breakout board repo
2020-01-03 23:09:57 +00:00
#ifdef VARIANT_HOVERCAR
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FLASH_WRITE_KEY 0x1107 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
Hovercar minor update - put by default TORQUE mode. Hovercar works best in Torque mode - made the brake pedal more aggressive. Gives a better braking feel.
2020-03-17 14:38:35 +00:00
#undef CTRL_MOD_REQ
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define CTRL_MOD_REQ TRQ_MODE // HOVERCAR works best in TORQUE Mode
#define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define SIDEBOARD_SERIAL_USART3 1 // Rx from right sensor board: to use photosensors as buttons. Number indicates priority for dual-input. Comment-out if sideboard is not used!
#define FEEDBACK_SERIAL_USART3 // Tx to right sensor board: for LED battery indication. Comment-out if sideboard is not used!
#define DUAL_INPUTS // ADC*(Primary) + Sideboard_R(Auxiliary). Uncomment this to use Dual-inputs
#define PRI_INPUT1 1, 1000, 0, 2500, 0 // Pedal Brake TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 1, 500, 0, 2200, 0 // Pedal Accel TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT1 2, -1000, 0, 1000, 0 // Sideboard Steer TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 2, -1000, 0, 1000, 0 // Sideboard Speed TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define SPEED_COEFFICIENT 16384 // 1.0f
#define STEER_COEFFICIENT 8192 // 0.5f Only active in Sideboard input
// #define INVERT_R_DIRECTION // Invert rotation of right motor
// #define INVERT_L_DIRECTION // Invert rotation of left motor
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
Added functionality: Electric Brake, Standstill hold - For TORQUE mode, by enabling `ELECTRIC_BRAKE_ENABLE` in `config.h`, the freewheeling amount can be adjusted using the `ELECTRIC_BRAKE_MAX` parameter. - For VOLTAGE and TORQUE mode, the standstill hold functionality can be forced by enabling `STANDSTILL_HOLD_ENABLE` in `config.h`. Known (minor) issue: There is a small "tick" noise when Stanstill is engaged/disengaged, due to the switching to SPEED mode. To be solved by an improved mode switching strategy in the future.
2020-07-19 09:24:37 +00:00
// Extra functionality
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define CRUISE_CONTROL_SUPPORT // [-] Flag to enable Cruise Control support. Activation/Deactivation is done by sideboard button or Brake pedal press.
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
// #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode.
// #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released).
// #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging.
change hoverbrett to voltage mode
2019-12-28 13:19:44 +00:00
#endif
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
// Multiple tap detection: default DOUBLE Tap on Brake pedal (4 pulses)
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define MULTIPLE_TAP_NR 2 * 2 // [-] Define tap number: MULTIPLE_TAP_NR = number_of_taps * 2, number_of_taps = 1 (for single taping), 2 (for double tapping), 3 (for triple tapping), etc...
#define MULTIPLE_TAP_HI 600 // [-] Multiple tap detection High hysteresis threshold
#define MULTIPLE_TAP_LO 200 // [-] Multiple tap detection Low hysteresis threshold
#define MULTIPLE_TAP_TIMEOUT 2000 // [ms] Multiple tap detection Timeout period. The taps need to happen within this time window to be accepted.
prettified config.h
2020-01-18 01:00:48 +00:00
// ######################## END OF VARIANT_HOVERCAR SETTINGS #########################
Initial commit
2019-10-06 13:09:15 +00:00
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
// ############################ VARIANT_HOVERBOARD SETTINGS ############################
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
// Communication: [DONE]
// Balancing controller: [TODO]
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
#ifdef VARIANT_HOVERBOARD
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FLASH_WRITE_KEY 0x1008 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define SIDEBOARD_SERIAL_USART2 1 // left sensor board cable. Number indicates priority for dual-input. Disable if ADC or PPM is used!
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#define FEEDBACK_SERIAL_USART2
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define SIDEBOARD_SERIAL_USART3 0 // right sensor board cable. Number indicates priority for dual-input. Disable if I2C (nunchuk or lcd) is used!
#define FEEDBACK_SERIAL_USART3
Initial commit
2019-10-06 13:09:15 +00:00
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// If an iBUS RC receiver is connected to either Left Sideboard (AUX_INPUT) or Right Sideboard (PRI_INPUT)
// PRIMARY INPUT: TYPE, MIN, MID, MAX, DEADBAND /* TYPE: 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect */
#define PRI_INPUT1 3, -1000, 0, 1000, 0 // Priority Sideboard can be used to send commands via an iBUS Receiver connected to the sideboard
#define PRI_INPUT2 3, -1000, 0, 1000, 0 // Priority Sideboard can be used to send commands via an iBUS Receiver connected to the sideboard
#define AUX_INPUT1 3, -1000, 0, 1000, 0 // not used
#define AUX_INPUT2 3, -1000, 0, 1000, 0 // not used
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
#endif
// ######################## END OF VARIANT_HOVERBOARD SETTINGS #########################
prettified config.h
2020-01-18 01:00:48 +00:00
// ################################# VARIANT_TRANSPOTTER SETTINGS ############################
//TODO ADD VALIDATION
#ifdef VARIANT_TRANSPOTTER
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FLASH_WRITE_KEY 0x1009 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
prettified config.h
2020-01-18 01:00:48 +00:00
#define CONTROL_GAMETRAK
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#define SUPPORT_LCD
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
// #define SUPPORT_NUNCHUK
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
prettified config.h
2020-01-18 01:00:48 +00:00
// during nunchuk control (only relevant when activated)
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0?
#define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
#define INVERT_R_DIRECTION // Invert right motor
#define INVERT_L_DIRECTION // Invert left motor
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define PRI_INPUT1 2, -1000, 0, 1000, 0 // dummy input, TRANSPOTTER does not use input limitations
#define PRI_INPUT2 2, -1000, 0, 1000, 0 // dummy input, TRANSPOTTER does not use input limitations
prettified config.h
2020-01-18 01:00:48 +00:00
#endif
// ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
Fixes Skateboard Variant - fixed to RIGHT cable - fixed braking relative to the direction of motion - adjusted the braking amount to -400
2020-07-20 19:06:39 +00:00
// ################################# VARIANT_SKATEBOARD SETTINGS ##############################
created SKATEBOARD variant
2020-07-20 18:33:42 +00:00
#ifdef VARIANT_SKATEBOARD
/* ###### CONTROL VIA RC REMOTE ######
* right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver.
* Channel 1: steering, Channel 2: speed.
*/
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define FLASH_WRITE_KEY 0x1010 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
created SKATEBOARD variant
2020-07-20 18:33:42 +00:00
#undef CTRL_MOD_REQ
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
// #define CONTROL_PWM_LEFT 0 // use RC PWM as input on the LEFT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT 0 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3!
#define PRI_INPUT1 0, -1000, 0, 1000, 0 // Disabled. TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 2, -800, 0, 700, 100 // Active. TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define INPUT_BRK -400 // (-1000 - 0) Change this value to adjust the braking amount
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
created SKATEBOARD variant
2020-07-20 18:33:42 +00:00
#define INVERT_R_DIRECTION
#define INVERT_L_DIRECTION
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
#ifdef CONTROL_PWM_RIGHT
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
created SKATEBOARD variant
2020-07-20 18:33:42 +00:00
#endif
Fixes Skateboard Variant - fixed to RIGHT cable - fixed braking relative to the direction of motion - adjusted the braking amount to -400
2020-07-20 19:06:39 +00:00
// ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
Initial commit
2019-10-06 13:09:15 +00:00
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// ########################### UART SETIINGS ############################
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for serial commands
Major UART communication improvement - the UART communication is improved based on UART Idle line detection interrupt - an Rx ring buffer is used to manage the UART incoming data - both Tx and Rx are efficiently handled using DMA #45 #64 #65 Other: - minor visual improvements
2020-06-21 21:14:46 +00:00
#define SERIAL_BUFFER_SIZE 64 // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the structure size
Improved UART error recovery - In case of an Rx error instead of stopping the complete UART, only the Rx DMA is aborted and restarted.
2020-06-23 17:58:36 +00:00
#define SERIAL_TIMEOUT 160 // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec
prettified config.h
2020-01-18 01:00:48 +00:00
#endif
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
prettified config.h
2020-01-18 01:00:48 +00:00
#ifndef USART2_BAUD
Baud rate to 115200 - updated baud rate to 115200 - minor updates to match sideboard data
2020-12-07 19:33:22 +00:00
#define USART2_BAUD 115200 // UART2 baud rate (long wired cable)
prettified config.h
2020-01-18 01:00:48 +00:00
#endif
#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#endif
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
Minor updates RC - moved all the RC inputs (PPM, PWM, iBUS) to Right cable - updated timing to enter torque and speed update from 300ms to 1000ms
2020-11-19 20:51:15 +00:00
#ifndef USART3_BAUD
Baud rate to 115200 - updated baud rate to 115200 - minor updates to match sideboard data
2020-12-07 19:33:22 +00:00
#define USART3_BAUD 115200 // UART3 baud rate (short wired cable)
Minor updates RC - moved all the RC inputs (PPM, PWM, iBUS) to Right cable - updated timing to enter torque and speed update from 300ms to 1000ms
2020-11-19 20:51:15 +00:00
#endif
prettified config.h
2020-01-18 01:00:48 +00:00
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
Merge branch 'master' into pr/9
2019-12-14 12:51:37 +00:00
#endif
prettified config.h
2020-01-18 01:00:48 +00:00
// ########################### UART SETIINGS ############################
Improvements and Issues implementation Major: - Issue #3: added raw ADC1, ADC2 values to the setScopeChannel - Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled) - Issue #6: implemented that board does not power-off after a software reset due to flashing - added Rate constraints for Input target for smoother response Minor: - added 2 beep sound when motors get enabled - minor bugfixes
2019-10-27 17:21:04 +00:00
Floating-point converted to fixed-point The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 11:31:47 +00:00
Initial commit
2019-10-06 13:09:15 +00:00
prettified config.h
2020-01-18 01:00:48 +00:00
// ############################### APPLY DEFAULT SETTINGS ###############################
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#ifndef RATE
#define RATE DEFAULT_RATE
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
#endif
Minor changes for PR #18 - updated sligtly the order of defines and corrected defines for some variants in config.h - fixed checksum data type in Arduino example (Issue #19)
2020-01-29 20:20:04 +00:00
#ifndef FILTER
#define FILTER DEFAULT_FILTER
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
#endif
prettified config.h
2020-01-18 01:00:48 +00:00
#ifndef SPEED_COEFFICIENT
#define SPEED_COEFFICIENT DEFAULT_SPEED_COEFFICIENT
add hoverbrett define for calibration and control defines
2019-12-28 13:03:02 +00:00
#endif
prettified config.h
2020-01-18 01:00:48 +00:00
#ifndef STEER_COEFFICIENT
#define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT
- removed default / fallback variant; you are forced to define the variant of your choice now or build will stop with an error - added condition in config.h to either take setting from platform.ini or config.h - homogenized default_envs naming; all variants now have VARIANT_ as prefix - added nunchuck variant in platform.ini and config.h - added PPM variant in platform.ini and config.h - README: added jan's nunchuck breakout board repo
2020-01-03 23:09:57 +00:00
#endif
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
#define INPUTS_NR 2
update Auto-calibration - implemented forced potentiometer type - extended the INPUTx_TYPE to 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
2020-11-19 16:49:14 +00:00
#else
Dual-inputs implemented - implemented dual-inputs functionality - the dual-inputs combinations mentioned in Readme are now supported
2020-12-20 09:16:31 +00:00
#define INPUTS_NR 1
update Auto-calibration - implemented forced potentiometer type - extended the INPUTx_TYPE to 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
2020-11-19 16:49:14 +00:00
#endif
prettified config.h
2020-01-18 01:00:48 +00:00
// ########################### END OF APPLY DEFAULT SETTING ############################
calibrate rear (blue) pcb, temp and voltage
2019-12-10 22:44:35 +00:00
Initial commit
2019-10-06 13:09:15 +00:00
// ############################### VALIDATE SETTINGS ###############################
First commit pwm - buttons not yet support
2020-03-21 18:24:29 +00:00
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
created SKATEBOARD variant
2020-07-20 18:33:42 +00:00
!defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_SKATEBOARD)
all for travis
2020-01-05 13:28:02 +00:00
#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
- removed default / fallback variant; you are forced to define the variant of your choice now or build will stop with an error - added condition in config.h to either take setting from platform.ini or config.h - homogenized default_envs naming; all variants now have VARIANT_ as prefix - added nunchuck variant in platform.ini and config.h - added PPM variant in platform.ini and config.h - README: added jan's nunchuck breakout board repo
2020-01-03 23:09:57 +00:00
#endif
Initial commit
2019-10-06 13:09:15 +00:00
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
// General checks
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#if defined(CONTROL_SERIAL_USART2) && defined(SIDEBOARD_SERIAL_USART2)
#error CONTROL_SERIAL_USART2 and SIDEBOARD_SERIAL_USART2 not allowed, choose one.
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
#endif
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#if defined(CONTROL_SERIAL_USART3) && defined(SIDEBOARD_SERIAL_USART3)
#error CONTROL_SERIAL_USART3 and SIDEBOARD_SERIAL_USART3 not allowed, choose one.
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
#endif
#if defined(DEBUG_SERIAL_USART2) && defined(FEEDBACK_SERIAL_USART2)
#error DEBUG_SERIAL_USART2 and FEEDBACK_SERIAL_USART2 not allowed, choose one.
#endif
#if defined(DEBUG_SERIAL_USART3) && defined(FEEDBACK_SERIAL_USART3)
#error DEBUG_SERIAL_USART3 and FEEDBACK_SERIAL_USART3 not allowed, choose one.
#endif
#if defined(DEBUG_SERIAL_USART2) && defined(DEBUG_SERIAL_USART3)
#error DEBUG_SERIAL_USART2 and DEBUG_SERIAL_USART3 not allowed, choose one.
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_PPM_LEFT) && defined(CONTROL_PPM_RIGHT)
#error CONTROL_PPM_LEFT and CONTROL_PPM_RIGHT not allowed, choose one.
#endif
#if defined(CONTROL_PWM_LEFT) && defined(CONTROL_PWM_RIGHT)
#error CONTROL_PWM_LEFT and CONTROL_PWM_RIGHT not allowed, choose one.
#endif
#if defined(SUPPORT_BUTTONS_LEFT) && defined(SUPPORT_BUTTONS_RIGHT)
#error SUPPORT_BUTTONS_LEFT and SUPPORT_BUTTONS_RIGHT not allowed, choose one.
#endif
// LEFT cable checks
UART with sideboards works + major refactoring ► the mainboard can now send and receive Serial data from the sideboards ► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created ► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general: - ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off - Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off - added one sideboard functionality: - LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking. - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
2020-03-01 09:00:26 +00:00
#if defined(CONTROL_ADC) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
#error CONTROL_ADC and SERIAL_USART2 not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_PPM_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
#error CONTROL_PPM_LEFT and SERIAL_USART2 not allowed. It is on the same cable.
#endif
#if defined(CONTROL_PWM_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
#error CONTROL_PWM_LEFT and SERIAL_USART2 not allowed. It is on the same cable.
#endif
#if defined(SUPPORT_BUTTONS_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
#error SUPPORT_BUTTONS_LEFT and SERIAL_USART2 not allowed. It is on the same cable.
#endif
#if defined(SUPPORT_BUTTONS_LEFT) && (defined(CONTROL_ADC) || defined(CONTROL_PPM_LEFT) || defined(CONTROL_PWM_LEFT))
#error SUPPORT_BUTTONS_LEFT and (CONTROL_ADC or CONTROL_PPM_LEFT or CONTROL_PWM_LEFT) not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_ADC) && (defined(CONTROL_PPM_LEFT) || defined(CONTROL_PWM_LEFT))
#error CONTROL_ADC and (CONTROL_PPM_LEFT or CONTROL_PWM_LEFT) not allowed. It is on the same cable.
Variant_PWM implemented
2020-03-24 18:57:08 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_PPM_LEFT) && defined(CONTROL_PWM_LEFT)
#error CONTROL_PPM_LEFT and CONTROL_PWM_LEFT not allowed. It is on the same cable.
Variant_PWM implemented
2020-03-24 18:57:08 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
// RIGHT cable checks
#if defined(CONTROL_NUNCHUK) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
space removal
2020-01-18 00:15:45 +00:00
#error CONTROL_NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_PPM_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
#error CONTROL_PPM_RIGHT and SERIAL_USART3 not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_PWM_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
#error CONTROL_PWM_RIGHT and SERIAL_USART3 not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(DEBUG_I2C_LCD) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
Implemented reliable Serial Rx/Tx ► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
2019-11-29 16:31:53 +00:00
#error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(SUPPORT_BUTTONS_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
#error SUPPORT_BUTTONS_RIGHT and SERIAL_USART3 not allowed. It is on the same cable.
#endif
#if defined(SUPPORT_BUTTONS_RIGHT) && (defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT) || defined(DEBUG_I2C_LCD))
#error SUPPORT_BUTTONS_RIGHT and (CONTROL_NUNCHUK or CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT or DEBUG_I2C_LCD) not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
Implemented HOVERCAR variant Major: - created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2) - implemented "Double tapping" on Brake pedal to engage Reverse driving - implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving - implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA - updated error handling: in case of major error the motors will be disabled for improved safety Minor: - fixed bug on low-pass filter for not reaching exact "0" value - calibrated the ADC Battery voltage reading - other minor visual updates
2019-12-31 12:35:01 +00:00
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_NUNCHUK) && (defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT) || defined(DEBUG_I2C_LCD))
#error CONTROL_NUNCHUK and (CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT or DEBUG_I2C_LCD) not allowed. It is on the same cable.
#endif
#if defined(DEBUG_I2C_LCD) && (defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT))
#error DEBUG_I2C_LCD and (CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT) not allowed. It is on the same cable.
Initial commit
2019-10-06 13:09:15 +00:00
#endif
PWM/PPM Left/Right, UART update - created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant) - updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler - added Button support LEFT/RIGHT
2020-06-25 18:17:55 +00:00
#if defined(CONTROL_PPM_RIGHT) && defined(CONTROL_PWM_RIGHT)
#error CONTROL_PPM_RIGHT and CONTROL_PWM_RIGHT not allowed. It is on the same cable.
#endif
// Functional checks
#if (defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)) && !defined(PPM_NUM_CHANNELS)
- removed default / fallback variant; you are forced to define the variant of your choice now or build will stop with an error - added condition in config.h to either take setting from platform.ini or config.h - homogenized default_envs naming; all variants now have VARIANT_ as prefix - added nunchuck variant in platform.ini and config.h - added PPM variant in platform.ini and config.h - README: added jan's nunchuck breakout board repo
2020-01-03 23:09:57 +00:00
#error Total number of PPM channels needs to be set
prettified config.h
2020-01-18 01:00:48 +00:00
#endif
// ############################# END OF VALIDATE SETTINGS ############################
Added Keil project Project can now be built and flashed with Keil uVision as well.
2020-02-16 20:58:15 +00:00
#endif