Merge pull request #84 from EmanuelFeru/variant-skateboard-PWM

Variant skateboard pwm

Inc/config.h

@@ -19,6 +19,7 @@
   //#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
+  //#define VARIANT_SKATEBOARD  // Variant for SKATEBOARD build
 #endif
 // ########################### END OF VARIANT SELECTION ############################
 
@@ -323,11 +324,6 @@
 */
   #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!
-  #ifdef CONTROL_PWM_RIGHT
-    #define DEBUG_SERIAL_USART2       // left sensor cable debug
-  #else
-    #define DEBUG_SERIAL_USART3       // right sensor cable debug
-  #endif
   #define PWM_DEADBAND        100     // 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 PWM_CH1_MAX         1000    // (0 - 1000)
@@ -341,8 +337,13 @@
   // #define INVERT_L_DIRECTION
   // #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!
+  #ifdef CONTROL_PWM_RIGHT
+    #define DEBUG_SERIAL_USART2       // left sensor cable debug
+  #else
+    #define DEBUG_SERIAL_USART3       // right sensor cable debug
+  #endif
 #endif
-// ############################# END OF VARIANT_PPM SETTINGS ############################
+// ############################# END OF VARIANT_PWM SETTINGS ############################
 
 
 
@@ -432,6 +433,40 @@
 // ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
 
 
+// ################################# VARIANT_SKATEBOARD SETTINGS ##############################
+#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.
+*/
+  #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_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
+  #define PWM_DEADBAND        100     // 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 PWM_CH1_MAX         1000    // (0 - 1000)
+  #define PWM_CH1_MIN        -1000    // (-1000 - 0)
+  #define PWM_CH2_MAX         700     // (0 - 1000)
+  #define PWM_CH2_MIN        -800     // (-1000 - 0)
+  #define PWM_CH2_OUT_MIN    -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.
+  #define INVERT_R_DIRECTION
+  #define INVERT_L_DIRECTION
+  // #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
+#endif
+// ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
+
+
 
 // ########################### UART SETIINGS ############################
 #if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
@@ -473,7 +508,7 @@
 
 // ############################### VALIDATE SETTINGS ###############################
 #if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
-    !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
+    !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_SKATEBOARD)
   #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
 #endif
 

README.md

@@ -125,6 +125,7 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p
 - **VARIANT_HOVERCAR**: In this variant the motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR video](https://www.youtube.com/watch?v=IgHCcj0NgWQ&t=).
 - **VARIANT_HOVERBOARD**: In this variant the mainboard reads the sideboards data. The sideboards need to be flashed with the hacked version. Only balancing controller is still to be implemented.
 - **VARIANT_TRANSPOTTER**: This build is for transpotter which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
+- **VARIANT_SKATEBOARD**: This is for skateboard build, controlled using an RC remote with PWM signal connected to the right sensor cable.
 
 Of course the firmware can be further customized for other needs or projects.
 

Src/main.c

@@ -213,7 +213,7 @@ int main(void) {
       }
 
       // ####### VARIANT_HOVERCAR ####### 
-      #if defined(VARIANT_HOVERCAR) || defined(ELECTRIC_BRAKE_ENABLE)        
+      #if defined(VARIANT_HOVERCAR) || defined(VARIANT_SKATEBOARD) || defined(ELECTRIC_BRAKE_ENABLE)
         uint16_t speedBlend;                                        // Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
         speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,10,60) - 10) << 15) / 50); // speedBlend [0,1] is within [10 rpm, 60rpm]
       #endif
@@ -240,6 +240,16 @@ int main(void) {
         }
       #endif
 
+      #ifdef VARIANT_SKATEBOARD
+        if (cmd2 < 0) {                                           // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving) 
+          if (speedAvg > 0) {                                     // Make sure the braking is opposite to the direction of motion
+            cmd2 = (int16_t)(( cmd2 * speedBlend) >> 15);
+          } else {
+            cmd2 = (int16_t)((-cmd2 * speedBlend) >> 15);
+          }
+        }
+      #endif
+
       // ####### LOW-PASS FILTER #######
       rateLimiter16(cmd1, RATE, &steerRateFixdt);
       rateLimiter16(cmd2, RATE, &speedRateFixdt);

Src/util.c

@@ -751,7 +751,11 @@ void readCommand(void) {
 
     #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
       cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
+      #if !defined(VARIANT_SKATEBOARD)
       cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
+      #else      
+      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, PWM_CH2_OUT_MIN, INPUT_MAX);
+      #endif
       #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
         button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
         button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);

platformio.ini

@@ -18,6 +18,7 @@ src_dir     = Src
 ;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
+;default_envs = VARIANT_SKATEBOARD  ; Variant for SKATEBOARD build controlled via RC-Remotes with PWM signal
 ;================================================================
 
 ;================================================================
@@ -208,3 +209,23 @@ build_flags =
     -D VARIANT_TRANSPOTTER
     
 ;================================================================
+
+
+[env:VARIANT_SKATEBOARD]
+platform        = ststm32
+framework       = stm32cube
+board           = genericSTM32F103RC
+debug_tool      = stlink
+upload_protocol = stlink
+
+build_flags =
+    -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_SKATEBOARD
+    
+;================================================================