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hoverboard-firmware-hack-foc-serial-esc
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Added Keil project 

Project can now be built and flashed with Keil uVision as well.
This commit is contained in:
EmanuelFeru 2020-02-16 21:58:15 +01:00
parent 9e943feb8e
commit 872d86f021
15 changed files with 6827 additions and 55 deletions
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5
.gitignore vendored
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@ -3,3 +3,8 @@
.pioenvs/
.vscode/
01_Matlab/slprj/
MDK-ARM/DebugConfig/
MDK-ARM/Listing/
MDK-ARM/Objects/
MDK-ARM/RTE/
MDK-ARM/*.uvguix.*

BIN
01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx
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7
Inc/comms.h
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@ -19,10 +19,15 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// Define to prevent recursive inclusion
#ifndef COMMS_H
#define COMMS_H
#include "stm32f1xx_hal.h"
void setScopeChannel(uint8_t ch, int16_t val);
void consoleScope(void);
void consoleLog(char *message);
#endif

76
Inc/config.h
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@ -1,11 +1,14 @@
#pragma once
// Define to prevent recursive inclusion
#ifndef CONFIG_H
#define CONFIG_H
#include "stm32f1xx_hal.h"
// ############################### GENERAL SETTINGS ###############################
// For variant selection, check platformio.ini
// or 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"
// Only one at a time, choose wisely ;-)
// ############################### 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.
#if !defined(PLATFORMIO)
//#define VARIANT_ADC // Variant for control via ADC input
//#define VARIANT_USART // Variant for Serial control via USART3 input
@ -13,12 +16,10 @@
//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
//#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS
//#define VARIANT_HOVERCAR // Variant for HOVERCAR build
//#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build
//#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
#endif
#define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise.
#define BEEPS_BACKWARD 1 // 0 or 1
// ########################### END OF GENERAL SETTINGS ############################
// ########################### END OF VARIANT SELECTION ############################
// ############################### DO-NOT-TOUCH SETTINGS ###############################
@ -147,6 +148,26 @@
// ############################## DEFAULT SETTINGS ############################
// Default settings will be applied at the end of this config file if not set before
#define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise.
#define BEEPS_BACKWARD 1 // 0 or 1
// #define SUPPORT_BUTTONS // Define for buttons support on ADC, Nunchuck
/* 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 ##########################
// ############################### DEBUG SERIAL ###############################
/* Connect GND and RX of a 3.3v uart-usb adapter to the left (USART2) or right sensor board cable (USART3)
* Be careful not to use the red wire of the cable. 15v will destroye evrything.
@ -188,22 +209,6 @@
// ############################## VARIANT DEFAULT SETTINGS ############################
/* Default settings will be applied at the end of this config file if not set before
* 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 VARIANT DEFAULT SETTINGS ##########################
// ################################# VARIANT_ADC SETTINGS ############################
#ifdef VARIANT_ADC
/* CONTROL VIA TWO POTENTIOMETERS
@ -317,12 +322,24 @@
// ############################ VARIANT_HOVERBOARD SETTINGS ############################
// ##### ! NOT IMPLEMENTED YET ! #####
#ifdef VARIANT_HOVERBOARD
// #define CONTROL_SERIAL_USART2 // 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 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!
#endif
// ######################## END OF VARIANT_HOVERBOARD SETTINGS #########################
// ################################# VARIANT_TRANSPOTTER SETTINGS ############################
//TODO ADD VALIDATION
#ifdef VARIANT_TRANSPOTTER
#define CONTROL_GAMETRAK
#define SUPPORT_LCD
#define SUPPORT_NUNCHUK
// #define SUPPORT_NUNCHUK
#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
//#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)
#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
@ -382,7 +399,8 @@
// ############################### VALIDATE SETTINGS ###############################
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_IBUS) && !defined(DEBUG_SERIAL_USART3) && !defined(DEBUG_SERIAL_USART2)
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_IBUS) && \
!defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
#endif
@ -441,3 +459,5 @@
#endif
// ############################# END OF VALIDATE SETTINGS ############################
#endif

8
Inc/defines.h
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@ -19,7 +19,10 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// Define to prevent recursive inclusion
#ifndef DEFINES_H
#define DEFINES_H
#include "stm32f1xx_hal.h"
#define LEFT_HALL_U_PIN GPIO_PIN_5
@ -181,3 +184,6 @@ void Nunchuk_Read(void);
uint8_t Nunchuk_Ping(void);
void PPM_Init(void);
void PPM_ISR_Callback(void);
#endif

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MDK-ARM/mainboard-hack.uvoptx Normal file
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MDK-ARM/mainboard-hack.uvprojx Normal file
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373
MDK-ARM/startup_stm32f103xe.s Normal file
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@ -0,0 +1,373 @@
;******************** (C) COPYRIGHT 2017 STMicroelectronics ********************
;* File Name : startup_stm32f103xe.s
;* Author : MCD Application Team
;* Version : V4.2.0
;* Date : 31-March-2017
;* Description : STM32F103xE Devices vector table for MDK-ARM toolchain.
;* This module performs:
;* - Set the initial SP
;* - Set the initial PC == Reset_Handler
;* - Set the vector table entries with the exceptions ISR address
;* - Configure the clock system
;* - Branches to __main in the C library (which eventually
;* calls main()).
;* After Reset the Cortex-M3 processor is in Thread mode,
;* priority is Privileged, and the Stack is set to Main.
;********************************************************************************
;*
;* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
;*
;* Redistribution and use in source and binary forms, with or without modification,
;* are permitted provided that the following conditions are met:
;* 1. Redistributions of source code must retain the above copyright notice,
;* this list of conditions and the following disclaimer.
;* 2. Redistributions in binary form must reproduce the above copyright notice,
;* this list of conditions and the following disclaimer in the documentation
;* and/or other materials provided with the distribution.
;* 3. Neither the name of STMicroelectronics nor the names of its contributors
;* may be used to endorse or promote products derived from this software
;* without specific prior written permission.
;*
;* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
;* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
;* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
;* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
;* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
;* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
;* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
;* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
;* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
;* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
;
;*******************************************************************************
; Amount of memory (in bytes) allocated for Stack
; Tailor this value to your application needs
; <h> Stack Configuration
; <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
; </h>
Stack_Size EQU 0x400
AREA STACK, NOINIT, READWRITE, ALIGN=3
Stack_Mem SPACE Stack_Size
__initial_sp
; <h> Heap Configuration
; <o> Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
; </h>
Heap_Size EQU 0x200
AREA HEAP, NOINIT, READWRITE, ALIGN=3
__heap_base
Heap_Mem SPACE Heap_Size
__heap_limit
PRESERVE8
THUMB
; Vector Table Mapped to Address 0 at Reset
AREA RESET, DATA, READONLY
EXPORT __Vectors
EXPORT __Vectors_End
EXPORT __Vectors_Size
__Vectors DCD __initial_sp ; Top of Stack
DCD Reset_Handler ; Reset Handler
DCD NMI_Handler ; NMI Handler
DCD HardFault_Handler ; Hard Fault Handler
DCD MemManage_Handler ; MPU Fault Handler
DCD BusFault_Handler ; Bus Fault Handler
DCD UsageFault_Handler ; Usage Fault Handler
DCD 0 ; Reserved
DCD 0 ; Reserved
DCD 0 ; Reserved
DCD 0 ; Reserved
DCD SVC_Handler ; SVCall Handler
DCD DebugMon_Handler ; Debug Monitor Handler
DCD 0 ; Reserved
DCD PendSV_Handler ; PendSV Handler
DCD SysTick_Handler ; SysTick Handler
; External Interrupts
DCD WWDG_IRQHandler ; Window Watchdog
DCD PVD_IRQHandler ; PVD through EXTI Line detect
DCD TAMPER_IRQHandler ; Tamper
DCD RTC_IRQHandler ; RTC
DCD FLASH_IRQHandler ; Flash
DCD RCC_IRQHandler ; RCC
DCD EXTI0_IRQHandler ; EXTI Line 0
DCD EXTI1_IRQHandler ; EXTI Line 1
DCD EXTI2_IRQHandler ; EXTI Line 2
DCD EXTI3_IRQHandler ; EXTI Line 3
DCD EXTI4_IRQHandler ; EXTI Line 4
DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1
DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2
DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3
DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4
DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5
DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6
DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7
DCD ADC1_2_IRQHandler ; ADC1 & ADC2
DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX
DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0
DCD CAN1_RX1_IRQHandler ; CAN1 RX1
DCD CAN1_SCE_IRQHandler ; CAN1 SCE
DCD EXTI9_5_IRQHandler ; EXTI Line 9..5
DCD TIM1_BRK_IRQHandler ; TIM1 Break
DCD TIM1_UP_IRQHandler ; TIM1 Update
DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation
DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare
DCD TIM2_IRQHandler ; TIM2
DCD TIM3_IRQHandler ; TIM3
DCD TIM4_IRQHandler ; TIM4
DCD I2C1_EV_IRQHandler ; I2C1 Event
DCD I2C1_ER_IRQHandler ; I2C1 Error
DCD I2C2_EV_IRQHandler ; I2C2 Event
DCD I2C2_ER_IRQHandler ; I2C2 Error
DCD SPI1_IRQHandler ; SPI1
DCD SPI2_IRQHandler ; SPI2
DCD USART1_IRQHandler ; USART1
DCD USART2_IRQHandler ; USART2
DCD USART3_IRQHandler ; USART3
DCD EXTI15_10_IRQHandler ; EXTI Line 15..10
DCD RTC_Alarm_IRQHandler ; RTC Alarm through EXTI Line
DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend
DCD TIM8_BRK_IRQHandler ; TIM8 Break
DCD TIM8_UP_IRQHandler ; TIM8 Update
DCD TIM8_TRG_COM_IRQHandler ; TIM8 Trigger and Commutation
DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare
DCD ADC3_IRQHandler ; ADC3
DCD FSMC_IRQHandler ; FSMC
DCD SDIO_IRQHandler ; SDIO
DCD TIM5_IRQHandler ; TIM5
DCD SPI3_IRQHandler ; SPI3
DCD UART4_IRQHandler ; UART4
DCD UART5_IRQHandler ; UART5
DCD TIM6_IRQHandler ; TIM6
DCD TIM7_IRQHandler ; TIM7
DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1
DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2
DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3
DCD DMA2_Channel4_5_IRQHandler ; DMA2 Channel4 & Channel5
__Vectors_End
__Vectors_Size EQU __Vectors_End - __Vectors
AREA |.text|, CODE, READONLY
; Reset handler
Reset_Handler PROC
EXPORT Reset_Handler [WEAK]
IMPORT __main
IMPORT SystemInit
LDR R0, =SystemInit
BLX R0
LDR R0, =__main
BX R0
ENDP
; Dummy Exception Handlers (infinite loops which can be modified)
NMI_Handler PROC
EXPORT NMI_Handler [WEAK]
B .
ENDP
HardFault_Handler\
PROC
EXPORT HardFault_Handler [WEAK]
B .
ENDP
MemManage_Handler\
PROC
EXPORT MemManage_Handler [WEAK]
B .
ENDP
BusFault_Handler\
PROC
EXPORT BusFault_Handler [WEAK]
B .
ENDP
UsageFault_Handler\
PROC
EXPORT UsageFault_Handler [WEAK]
B .
ENDP
SVC_Handler PROC
EXPORT SVC_Handler [WEAK]
B .
ENDP
DebugMon_Handler\
PROC
EXPORT DebugMon_Handler [WEAK]
B .
ENDP
PendSV_Handler PROC
EXPORT PendSV_Handler [WEAK]
B .
ENDP
SysTick_Handler PROC
EXPORT SysTick_Handler [WEAK]
B .
ENDP
Default_Handler PROC
EXPORT WWDG_IRQHandler [WEAK]
EXPORT PVD_IRQHandler [WEAK]
EXPORT TAMPER_IRQHandler [WEAK]
EXPORT RTC_IRQHandler [WEAK]
EXPORT FLASH_IRQHandler [WEAK]
EXPORT RCC_IRQHandler [WEAK]
EXPORT EXTI0_IRQHandler [WEAK]
EXPORT EXTI1_IRQHandler [WEAK]
EXPORT EXTI2_IRQHandler [WEAK]
EXPORT EXTI3_IRQHandler [WEAK]
EXPORT EXTI4_IRQHandler [WEAK]
EXPORT DMA1_Channel1_IRQHandler [WEAK]
EXPORT DMA1_Channel2_IRQHandler [WEAK]
EXPORT DMA1_Channel3_IRQHandler [WEAK]
EXPORT DMA1_Channel4_IRQHandler [WEAK]
EXPORT DMA1_Channel5_IRQHandler [WEAK]
EXPORT DMA1_Channel6_IRQHandler [WEAK]
EXPORT DMA1_Channel7_IRQHandler [WEAK]
EXPORT ADC1_2_IRQHandler [WEAK]
EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK]
EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK]
EXPORT CAN1_RX1_IRQHandler [WEAK]
EXPORT CAN1_SCE_IRQHandler [WEAK]
EXPORT EXTI9_5_IRQHandler [WEAK]
EXPORT TIM1_BRK_IRQHandler [WEAK]
EXPORT TIM1_UP_IRQHandler [WEAK]
EXPORT TIM1_TRG_COM_IRQHandler [WEAK]
EXPORT TIM1_CC_IRQHandler [WEAK]
EXPORT TIM2_IRQHandler [WEAK]
EXPORT TIM3_IRQHandler [WEAK]
EXPORT TIM4_IRQHandler [WEAK]
EXPORT I2C1_EV_IRQHandler [WEAK]
EXPORT I2C1_ER_IRQHandler [WEAK]
EXPORT I2C2_EV_IRQHandler [WEAK]
EXPORT I2C2_ER_IRQHandler [WEAK]
EXPORT SPI1_IRQHandler [WEAK]
EXPORT SPI2_IRQHandler [WEAK]
EXPORT USART1_IRQHandler [WEAK]
EXPORT USART2_IRQHandler [WEAK]
EXPORT USART3_IRQHandler [WEAK]
EXPORT EXTI15_10_IRQHandler [WEAK]
EXPORT RTC_Alarm_IRQHandler [WEAK]
EXPORT USBWakeUp_IRQHandler [WEAK]
EXPORT TIM8_BRK_IRQHandler [WEAK]
EXPORT TIM8_UP_IRQHandler [WEAK]
EXPORT TIM8_TRG_COM_IRQHandler [WEAK]
EXPORT TIM8_CC_IRQHandler [WEAK]
EXPORT ADC3_IRQHandler [WEAK]
EXPORT FSMC_IRQHandler [WEAK]
EXPORT SDIO_IRQHandler [WEAK]
EXPORT TIM5_IRQHandler [WEAK]
EXPORT SPI3_IRQHandler [WEAK]
EXPORT UART4_IRQHandler [WEAK]
EXPORT UART5_IRQHandler [WEAK]
EXPORT TIM6_IRQHandler [WEAK]
EXPORT TIM7_IRQHandler [WEAK]
EXPORT DMA2_Channel1_IRQHandler [WEAK]
EXPORT DMA2_Channel2_IRQHandler [WEAK]
EXPORT DMA2_Channel3_IRQHandler [WEAK]
EXPORT DMA2_Channel4_5_IRQHandler [WEAK]
WWDG_IRQHandler
PVD_IRQHandler
TAMPER_IRQHandler
RTC_IRQHandler
FLASH_IRQHandler
RCC_IRQHandler
EXTI0_IRQHandler
EXTI1_IRQHandler
EXTI2_IRQHandler
EXTI3_IRQHandler
EXTI4_IRQHandler
DMA1_Channel1_IRQHandler
DMA1_Channel2_IRQHandler
DMA1_Channel3_IRQHandler
DMA1_Channel4_IRQHandler
DMA1_Channel5_IRQHandler
DMA1_Channel6_IRQHandler
DMA1_Channel7_IRQHandler
ADC1_2_IRQHandler
USB_HP_CAN1_TX_IRQHandler
USB_LP_CAN1_RX0_IRQHandler
CAN1_RX1_IRQHandler
CAN1_SCE_IRQHandler
EXTI9_5_IRQHandler
TIM1_BRK_IRQHandler
TIM1_UP_IRQHandler
TIM1_TRG_COM_IRQHandler
TIM1_CC_IRQHandler
TIM2_IRQHandler
TIM3_IRQHandler
TIM4_IRQHandler
I2C1_EV_IRQHandler
I2C1_ER_IRQHandler
I2C2_EV_IRQHandler
I2C2_ER_IRQHandler
SPI1_IRQHandler
SPI2_IRQHandler
USART1_IRQHandler
USART2_IRQHandler
USART3_IRQHandler
EXTI15_10_IRQHandler
RTC_Alarm_IRQHandler
USBWakeUp_IRQHandler
TIM8_BRK_IRQHandler
TIM8_UP_IRQHandler
TIM8_TRG_COM_IRQHandler
TIM8_CC_IRQHandler
ADC3_IRQHandler
FSMC_IRQHandler
SDIO_IRQHandler
TIM5_IRQHandler
SPI3_IRQHandler
UART4_IRQHandler
UART5_IRQHandler
TIM6_IRQHandler
TIM7_IRQHandler
DMA2_Channel1_IRQHandler
DMA2_Channel2_IRQHandler
DMA2_Channel3_IRQHandler
DMA2_Channel4_5_IRQHandler
B .
ENDP
ALIGN
;*******************************************************************************
; User Stack and Heap initialization
;*******************************************************************************
IF :DEF:__MICROLIB
EXPORT __initial_sp
EXPORT __heap_base
EXPORT __heap_limit
ELSE
IMPORT __use_two_region_memory
EXPORT __user_initial_stackheap
__user_initial_stackheap
LDR R0, = Heap_Mem
LDR R1, =(Stack_Mem + Stack_Size)
LDR R2, = (Heap_Mem + Heap_Size)
LDR R3, = Stack_Mem
BX LR
ALIGN
ENDIF
END
;************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE*****

9
README.md
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@ -112,7 +112,14 @@ To build and flash choose one of the following methods:
- open the folder in the IDE of choice (vscode or Atom)
- press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode).
### Method 2: Using Ubuntu
### Method 2: Using Keil uVision
- in [Keil uVision](https://www.keil.com/download/product/), open the [mainboard-hack.uvproj](/MDK-ARM/)
- if you are asked to install missing packages, click Yes
- click Build Target (or press F7) to build the firmware
- click Load Code (or press F8) to flash the firmware.
### Method 3: Using Ubuntu
- prerequisites: install [ST-Flash utility](https://github.com/texane/stlink).
- open a terminal in the repo check-out folder and type:

2
Src/bldc.c
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@ -136,7 +136,7 @@ void DMA1_Channel1_IRQHandler(void) {
HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
}
} else {
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0);
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET);
}
// ############################### MOTOR CONTROL ###############################

32
Src/main.c
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@ -26,14 +26,12 @@
#include "setup.h"
#include "config.h"
#include "comms.h"
#include "eeprom.h"
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
#include "hd44780.h"
#endif
#ifdef VARIANT_TRANSPOTTER
#include "eeprom.h"
#endif
// Matlab includes and defines - from auto-code generation
// ###############################################################################
@ -45,7 +43,7 @@ RT_MODEL rtM_Right_; /* Real-time model */
RT_MODEL *const rtM_Left = &rtM_Left_;
RT_MODEL *const rtM_Right = &rtM_Right_;
P rtP_Left; /* Block parameters (auto storage) */
extern P rtP_Left; /* Block parameters (auto storage) */
DW rtDW_Left; /* Observable states */
ExtU rtU_Left; /* External inputs */
ExtY rtY_Left; /* External outputs */
@ -98,6 +96,7 @@ extern I2C_HandleTypeDef hi2c2;
uint16_t counter = 0;
#else
uint8_t nunchuk_connected = 1;
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy address to avoid warnings
#endif
#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
@ -146,25 +145,24 @@ typedef struct{
static SerialFeedback Feedback;
#endif
#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
#ifdef SUPPORT_BUTTONS
static uint8_t button1, button2;
#endif
uint8_t ctrlModReqRaw = CTRL_MOD_REQ;
uint8_t ctrlModReq = CTRL_MOD_REQ; // Final control mode request
static int cmd1; // normalized input value. -1000 to 1000
static int cmd2; // normalized input value. -1000 to 1000
static int16_t speed; // local variable for speed. -1000 to 1000
#ifndef VARIANT_TRANSPOTTER
static int cmd1; // normalized input value. -1000 to 1000
static int cmd2; // normalized input value. -1000 to 1000
static int16_t steer; // local variable for steering. -1000 to 1000
static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
static int32_t steerFixdt; // local fixed-point variable for steering low-pass filter
static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter
#endif
#ifdef VARIANT_HOVERCAR
static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal
#endif
static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal
static int16_t speedAvg; // average measured speed
static int16_t speedAvgAbs; // average measured speed in absolute
@ -197,7 +195,7 @@ void poweroff(void) {
buzzerFreq = (uint8_t)i;
HAL_Delay(100);
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
while(1) {}
// }
}
@ -232,7 +230,7 @@ int main(void) {
MX_ADC1_Init();
MX_ADC2_Init();
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_SET);
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
@ -279,7 +277,7 @@ int main(void) {
}
buzzerFreq = 0;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
#ifdef VARIANT_TRANSPOTTER
int lastDistance = 0;
@ -459,16 +457,20 @@ int main(void) {
cmd1 = CLAMP((nunchuk_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuk joystick readings range 30 - 230
cmd2 = CLAMP((nunchuk_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
#ifdef SUPPORT_BUTTONS
button1 = (uint8_t)nunchuk_data[5] & 1;
button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
#endif
}
#endif
#ifdef CONTROL_PPM
cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
#ifdef SUPPORT_BUTTONS
button1 = ppm_captured_value[5] > INPUT_MID;
button2 = 0;
#endif
// float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed
#endif
@ -514,8 +516,10 @@ int main(void) {
#endif
// use ADCs as button inputs:
#ifdef SUPPORT_BUTTONS
button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1
button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2
#endif
timeout = 0;
#endif
@ -833,7 +837,7 @@ int main(void) {
} else if (timeoutFlagADC || timeoutFlagSerial) { // beep in case of ADC or Serial timeout - fast beep
buzzerFreq = 24;
buzzerPattern = 1;
} else if (BEEPS_BACKWARD && speed < -50 && speedAvg < 0) { // backward beep
} else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBreak.b_multipleTap)) { // backward beep
buzzerFreq = 5;
buzzerPattern = 1;
} else { // do not beep

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01_Matlab/02_Figures/motor_winding.png → docs/pictures/motor_winding.png
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platformio.ini
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@ -15,6 +15,7 @@ src_dir = Src
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS
;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
;default_envs = VARIANT_HOVERBOARD ; Variant for HOVERBOARD
;default_envs = VARIANT_TRANSPOTTER ; Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
;================================================================
@ -152,6 +153,30 @@ build_flags =
;================================================================
[env:VARIANT_HOVERBOARD]
platform = ststm32
framework = stm32cube
board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
build_flags =
-I${PROJECT_DIR}/inc/
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_HOVERBOARD
;================================================================
[env:VARIANT_TRANSPOTTER]
platform = ststm32
framework = stm32cube