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hoverboard-firmware-hack-foc-serial-esc
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update Auto-calibration 

- implemented forced potentiometer type
- extended the INPUTx_TYPE to 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
This commit is contained in:
EmanuelFeru 2020-11-19 17:49:14 +01:00
parent 8dc6eb68eb
commit 44cf0c8f1f
2 changed files with 64 additions and 57 deletions
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43
Inc/config.h
View File

@ -253,15 +253,15 @@
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken #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 #define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095) #define INPUT1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
#define INPUT1_MID 2048 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX) #define INPUT1_MID 0 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
#define INPUT1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095) #define INPUT1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095) #define INPUT2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
#define INPUT2_MID 2048 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX) #define INPUT2_MID 0 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
#define INPUT2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095) #define INPUT2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2! // #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
@ -281,13 +281,13 @@
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino #define CONTROL_SERIAL_USART3 // right sensor board cable, 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 FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0) #define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000) #define INPUT2_MAX 1000 // (0 - 1000)
@ -309,13 +309,13 @@
*/ */
#define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3! #define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1024 // (-1024 - 0) #define INPUT1_MIN -1024 // (-1024 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 1024 // (0 - 1024) #define INPUT1_MAX 1024 // (0 - 1024)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1024 // (-1024 - 0) #define INPUT2_MIN -1024 // (-1024 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 1024 // (0 - 1024) #define INPUT2_MAX 1024 // (0 - 1024)
@ -346,13 +346,13 @@
#endif #endif
#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used. #define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 3
#define INPUT1_MAX 1000 // (0 - 1000) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0) #define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000) #define INPUT2_MAX 1000 // (0 - 1000)
@ -378,13 +378,13 @@
#define DEBUG_SERIAL_USART3 // right sensor cable debug #define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif #endif
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0) #define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000) #define INPUT2_MAX 1000 // (0 - 1000)
@ -419,13 +419,13 @@
// #define DEBUG_SERIAL_USART3 // right sensor cable debug // #define DEBUG_SERIAL_USART3 // right sensor cable debug
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0) #define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000) #define INPUT2_MAX 1000 // (0 - 1000)
@ -443,13 +443,13 @@
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken #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 #define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
#define INPUT1_TYPE 1 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN 1000 // min ADC1-value while poti at minimum-position (0 - 4095) #define INPUT1_MIN 1000 // min ADC1-value while poti at minimum-position (0 - 4095)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 2500 // max ADC1-value while poti at maximum-position (0 - 4095) #define INPUT1_MAX 2500 // max ADC1-value while poti at maximum-position (0 - 4095)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 1 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN 500 // min ADC2-value while poti at minimum-position (0 - 4095) #define INPUT2_MIN 500 // min ADC2-value while poti at minimum-position (0 - 4095)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095) #define INPUT2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095)
@ -527,13 +527,13 @@
#define DEBUG_SERIAL_USART3 // right sensor cable debug #define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif #endif
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 0 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT1_TYPE 0 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot #define INPUT2_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -800 // (-1000 - 0) #define INPUT2_MIN -800 // (-1000 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 700 // (0 - 1000) #define INPUT2_MAX 700 // (0 - 1000)
@ -587,6 +587,11 @@
#ifndef STEER_COEFFICIENT #ifndef STEER_COEFFICIENT
#define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT #define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT
#endif #endif
#ifdef CONTROL_ADC
#define INPUT_MARGIN 100 // Input margin applied on the raw ADC min and max to make sure the motor MIN and MAX values are reached even in the presence of noise
#else
#define INPUT_MARGIN 0
#endif
// ########################### END OF APPLY DEFAULT SETTING ############################ // ########################### END OF APPLY DEFAULT SETTING ############################

62
Src/util.c
View File

@ -292,6 +292,9 @@ void Input_Init(void) {
rtP_Left.n_max = n_max; rtP_Left.n_max = n_max;
rtP_Right.i_max = i_max; rtP_Right.i_max = i_max;
rtP_Right.n_max = n_max; rtP_Right.n_max = n_max;
} else { // Else If Input type is 3 (auto), identify the input type based on the values from config.h
if (INPUT1_TYPE == 3) { INPUT1_TYP_CAL = checkInputType(INPUT1_MIN, INPUT1_MID, INPUT1_MAX); }
if (INPUT2_TYPE == 3) { INPUT2_TYP_CAL = checkInputType(INPUT2_MIN, INPUT2_MID, INPUT2_MAX); }
} }
HAL_FLASH_Lock(); HAL_FLASH_Lock();
#endif #endif
@ -453,22 +456,22 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
#endif #endif
HAL_Delay(10); HAL_Delay(10);
if ((min / threshold) == (max / threshold)) { if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold)) {
consoleLog("Input is ignored"); // MIN and MAX are close, disable input
type = 0; type = 0;
consoleLog("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
} else { } else {
if ((min / threshold) == (mid / threshold)){ if ((min / threshold) == (mid / threshold)){
consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot
type = 1; type = 1;
consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot
} else { } else {
consoleLog("Input is a mid-resting pot"); // it's a mid resting pot
type = 2; type = 2;
consoleLog("Input is a mid-resting pot"); // it's a mid resting pot
} }
HAL_Delay(10); HAL_Delay(10);
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
if ((min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095) { if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
consoleLog(" and protected"); consoleLog(" and protected");
shortBeep(2); // Indicate protection by a beep longBeep(2); // Indicate protection by a beep
} }
#endif #endif
} }
@ -524,25 +527,30 @@ void adcCalibLim(void) {
HAL_Delay(5); HAL_Delay(5);
} }
#ifdef CONTROL_ADC INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
int16_t input_margin = 100; if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
#else INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
int16_t input_margin = 0; INPUT1_MID_CAL = INPUT1_MID_temp;
#endif INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
consoleLog("Input1 OK\n"); HAL_Delay(10);
} else {
INPUT1_TYP_CAL = 0; // Disable input
consoleLog("Input1 Fail\n"); HAL_Delay(10);
}
INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin; INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
INPUT1_MID_CAL = INPUT1_MID_temp; if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin; INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL); INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
consoleLog("Input2 OK\n"); HAL_Delay(10);
} else {
INPUT2_TYP_CAL = 0; // Disable input
consoleLog("Input2 Fail\n"); HAL_Delay(10);
}
INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin; inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
INPUT2_MID_CAL = INPUT2_MID_temp; consoleLog("Limits: "); HAL_Delay(10);
INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
consoleLog("Saved limits\n");
HAL_Delay(10);
setScopeChannel(0, (int16_t)INPUT1_TYP_CAL); setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
setScopeChannel(1, (int16_t)INPUT1_MIN_CAL); setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
setScopeChannel(2, (int16_t)INPUT1_MID_CAL); setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
@ -552,9 +560,6 @@ void adcCalibLim(void) {
setScopeChannel(6, (int16_t)INPUT2_MID_CAL); setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
setScopeChannel(7, (int16_t)INPUT2_MAX_CAL); setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
consoleScope(); consoleScope();
HAL_Delay(20);
consoleLog("OK\n");
#endif #endif
} }
/* /*
@ -602,8 +607,7 @@ void updateCurSpdLim(void) {
cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown
} }
consoleLog("Saved limits\n"); consoleLog("Limits: "); HAL_Delay(10);
HAL_Delay(10);
setScopeChannel(0, (int16_t)cur_spd_valid); // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed setScopeChannel(0, (int16_t)cur_spd_valid); // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
setScopeChannel(1, (int16_t)input1_fixdt); setScopeChannel(1, (int16_t)input1_fixdt);
setScopeChannel(2, (int16_t)cur_factor); setScopeChannel(2, (int16_t)cur_factor);
@ -613,8 +617,6 @@ void updateCurSpdLim(void) {
setScopeChannel(6, (int16_t)spd_factor); setScopeChannel(6, (int16_t)spd_factor);
setScopeChannel(7, (int16_t)rtP_Left.n_max); setScopeChannel(7, (int16_t)rtP_Left.n_max);
consoleScope(); consoleScope();
HAL_Delay(20);
consoleLog("OK\n");
#endif #endif
} }