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hoverboard-firmware-hack-foc-serial-esc
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Fixes

This commit is contained in:
Candas1 2020-10-31 21:14:15 +01:00
parent b50efdcab2
commit b1169c02b7
4 changed files with 65 additions and 53 deletions
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30
Inc/config.h
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@ -250,22 +250,22 @@
* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
* Make, flash and test it.
*/
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
// #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 300 // ADC Protection threshold below/above the MIN/MAX ADC values
#define INPUT1_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 INPUT1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
// #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 300 // ADC Protection threshold below/above the MIN/MAX ADC values
#define INPUT1_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 INPUT1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
#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_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
// #define INPUT2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
#define INPUT2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
#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_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
// #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 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!
#endif
// ############################# END OF VARIANT_ADC SETTINGS #########################
@ -311,13 +311,13 @@
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_MID_POT
#define INPUT1_MIN -1024 // (-1000 - 0)
#define INPUT1_MIN -1024 // (-1024 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1024 // (0 - 1000)
#define INPUT1_MAX 1024 // (0 - 1024)
#define INPUT2_MID_POT
#define INPUT2_MIN -1024 // (-1000 - 0)
#define INPUT2_MIN -1024 // (-1024 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1024 // (0 - 1000)
#define INPUT2_MAX 1024 // (0 - 1024)
// # maybe good for ARMCHAIR #
#define FILTER 3276 // 0.05f
#define SPEED_COEFFICIENT 8192 // 0.5f
@ -503,7 +503,7 @@
*/
#undef CTRL_MOD_REQ
#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
// #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
//#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)

2
Inc/defines.h
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@ -181,7 +181,7 @@
#define MIN3(a, b, c) MIN(a, MIN(b, c))
#define MAX3(a, b, c) MAX(a, MAX(b, c))
#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
#define MAP(x, in_min, in_max, out_min, out_max) ((((x - in_min) * (out_max - out_min)) / (in_max - in_min)) + out_min )
#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
typedef struct {

4
Src/main.c
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@ -411,8 +411,8 @@ int main(void) {
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
setScopeChannel(0, (int16_t)cmd1_in); // 1: ADC1
setScopeChannel(1, (int16_t)cmd2_in); // 2: ADC2
setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]
setScopeChannel(2, (int16_t)cmd1); //speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)cmd2); //speedL); // 4: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration

82
Src/util.c
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@ -114,7 +114,7 @@ float setDistance;
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337}; // Virtual address defined by the user: 0xFFFF value is prohibited
static uint16_t saveValue = 0;
static uint8_t saveValue_valid = 0;
#elif defined(CONTROL_ADC)
#elif !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308};
#else
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy virtual address to avoid warnings
@ -274,7 +274,7 @@ void Input_Init(void) {
UART_DisableRxErrors(&huart3);
#endif
#ifdef CONTROL_ADC
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
uint16_t writeCheck, i_max, n_max;
HAL_FLASH_Unlock();
@ -438,17 +438,18 @@ void adcCalibLim(void) {
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Input calibration started... ");
readInput();
// Inititalization: MIN = a high values, MAX = a low value,
int32_t input1_fixdt = adc_buffer.l_tx2 << 16;
int32_t input2_fixdt = adc_buffer.l_rx2 << 16;
int32_t input1_fixdt = cmd1_in << 16;
int32_t input2_fixdt = cmd2_in << 16;
uint16_t input_cal_timeout = 0;
uint16_t INPUT1_MIN_temp = 4095;
uint16_t INPUT1_MID_temp = 0;
uint16_t INPUT1_MAX_temp = 0;
uint16_t INPUT2_MIN_temp = 4095;
uint16_t INPUT2_MID_temp = 0;
uint16_t INPUT2_MAX_temp = 0;
int16_t INPUT1_MIN_temp = INPUT1_MAX;
int16_t INPUT1_MID_temp = 0;
int16_t INPUT1_MAX_temp = INPUT1_MIN;
int16_t INPUT2_MIN_temp = INPUT2_MAX;
int16_t INPUT2_MID_temp = 0;
int16_t INPUT2_MAX_temp = INPUT2_MIN;
input_cal_valid = 1;
@ -457,8 +458,9 @@ void adcCalibLim(void) {
readInput();
filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
INPUT1_MID_temp = (uint16_t)CLAMP(input1_fixdt >> 16, 0, 4095); // convert fixed-point to integer
INPUT2_MID_temp = (uint16_t)CLAMP(input2_fixdt >> 16, 0, 4095);
INPUT1_MID_temp = (int16_t)CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX); // convert fixed-point to integer
INPUT2_MID_temp = (int16_t)CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
INPUT1_MIN_temp = MIN(INPUT1_MIN_temp, INPUT1_MID_temp);
INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);
INPUT2_MIN_temp = MIN(INPUT2_MIN_temp, INPUT2_MID_temp);
@ -477,20 +479,26 @@ void adcCalibLim(void) {
}
#endif
uint16_t input_margin = 0;
#ifdef CONTROL_ADC
input_margin = 100;
#endif
// Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
if (input_cal_valid && (INPUT1_MAX_temp - INPUT1_MIN_temp) > 500 && (INPUT2_MAX_temp - INPUT2_MIN_temp) > 500) {
INPUT1_MIN_CAL = INPUT1_MIN_temp + 100;
INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - 100;
INPUT2_MIN_CAL = INPUT2_MIN_temp + 100;
INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - 100;
INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
consoleLog("OK\n");
} else {
input_cal_valid = 0;
consoleLog("FAIL (Pots travel too short)\n");
}
#endif
}
@ -550,7 +558,7 @@ void saveConfig() {
HAL_FLASH_Lock();
}
#endif
#ifdef CONTROL_ADC
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
if (input_cal_valid || cur_spd_valid) {
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
@ -572,12 +580,12 @@ void saveConfig() {
* This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
*/
int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
if(u > in_mid - deadBand && u < in_mid + deadBand) {
if( u > in_mid - deadBand && u < in_mid + deadBand ) {
return 0;
} else if(u > 0) {
return MAP(u, in_mid + deadBand, in_max, 0, out_max);
} else if(u > in_mid) {
return CLAMP( MAP(u, in_mid + deadBand, in_max, 0, out_max), 0 , out_max);
} else {
return MAP(u, in_mid - deadBand, in_min, out_min, 0);
return CLAMP( MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
}
}
@ -683,7 +691,7 @@ void poweroff(void) {
void poweroffPressCheck(void) {
#if defined(CONTROL_ADC)
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
uint16_t cnt_press = 0;
@ -741,13 +749,13 @@ void readInput(void) {
#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
if (nunchuk_connected != 0) {
Nunchuk_Read();
cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
#ifdef SUPPORT_BUTTONS
button1 = (uint8_t)nunchuk_data[5] & 1;
button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
#endif
#ifdef SUPPORT_BUTTONS
button1 = (uint8_t)nunchuk_data[5] & 1;
button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
#endif
}
#endif
@ -833,21 +841,25 @@ void readCommand(void) {
timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
#endif
//setScopeChannel(4, (int16_t)INPUT1_MIN_CAL);
//setScopeChannel(5, (int16_t)INPUT1_MID_CAL);
//setScopeChannel(6, (int16_t)INPUT1_MAX_CAL);
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
#ifdef INPUT1_MID_POT
cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
#else
cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1
#endif
#if !defined(VARIANT_SKATEBOARD)
#ifdef INPUT2_MID_POT
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
#else
cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2
cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2
#endif
#else
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT2_OUT_MIN, INPUT_MAX);
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
#endif
#endif
@ -1033,7 +1045,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
{
for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
consoleLog("-- Command received --\r\n");
//consoleLog("-- Command received --\r\n");
// handle_input(*userCommand); // -> Create this function to handle the user commands
}
}