all for travis

.travis.yml

@@ -44,9 +44,7 @@ jobs:
       before_script: arm-none-eabi-gcc --version
 
     - name: platformio
-      script: platformio run -e VARIANT_ADC -e VARIANT_USART3 -e VARIANT_HOVERCAR -e VARIANT_TRANSPOTTER -e VARIANT_NUNCHUCK -e VARIANT_PPM
+      script: platformio run
-      env: 
-        - PLATFORMIO_DEFAULT_ENVS=VARIANT_ADC
       language: python
       python:
         - "2.7"

Inc/config.h

@@ -145,7 +145,7 @@
 // ###### CONTROL VIA RC REMOTE ######
 // left sensor board cable. Channel 1: steering, Channel 2: speed.
 #define CONTROL_PPM                 // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
-//#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.
 #endif 
 
 // ###### CONTROL VIA TWO POTENTIOMETERS ######
@@ -318,7 +318,7 @@
 // ############################### VALIDATE SETTINGS ###############################
 
 #if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUCK) && !defined(VARIANT_PPM)
-  #error Variant not defined! Please check platformio.ini or inc/config.h for available variants.
+  #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
 #endif
 
 #if defined(CONTROL_SERIAL_USART2) && defined(CONTROL_SERIAL_USART3)

README.md

@@ -25,17 +25,17 @@ The main firmware architecture includes:
 - **FOC Algorithm**: implements the FOC strategy
 - **Control Type Manager**: Manages the transition between Commutation, Sinusoidal, and FOC control type
 
-![Firmware architecture](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FW_architecture.png)
+![Firmware architecture](/docs/pictures/FW_architecture.png)
 
 The FOC algorithm architecture is illustrated in the figure below:
 
-![FOC algorithm](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FOC_algorithm.png)
+![FOC algorithm](/docs/pictures/FOC_algorithm.png)
 
 In this firmware 3 control types are available:
 - Commutation
 - SIN (Sinusoidal)
 - FOC (Field Oriented Control)
-![Schematic representation of the available control methods](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/01_Matlab/02_Figures/control_methods.png)
+![Schematic representation of the available control methods](/01_Matlab/02_Figures/control_methods.png)
 
 
 Demo videos:
@@ -48,13 +48,13 @@ Demo videos:
 
 [►Video: HOVERCAR demo](https://drive.google.com/open?id=18IvRJVdQSsjTg1I0Wedlg19e0FuDjfdS)
 
-![Hoverboard wheel](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/hoverboard_wheel.JPG)
+![Hoverboard wheel](/docs/pictures/hoverboard_wheel.JPG)
 
 
 ---
 ## General Notes
- - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab).
+ - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](/01_Matlab).
- - A [webview](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab/BLDC_controller_ert_rtw/html/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.
+ - A [webview](/01_Matlab/BLDC_controller_ert_rtw/html/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.
 
 ### Field Weakening / Phase Advance
 
@@ -62,7 +62,7 @@ Demo videos:
  - 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)
  - The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
  - The figure below shows different possible calibrations for Field Weakening / Phase Advance
- ![Field Weakening](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FieldWeakening.png) 
+ ![Field Weakening](/docs/pictures/FieldWeakening.png) 
  - If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
 
 
@@ -72,7 +72,7 @@ Demo videos:
  - For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EmanuelFeru/FixedPointViewer) tool
  - The parameters data Fixed-point types are given in the following table:
 
-![Parameters table](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/paramTable.png)
+![Parameters table](/docs/pictures/paramTable.png)
 
 
 ### Diagnostics
@@ -153,9 +153,9 @@ Most robust way for input is to use the ADC and potis. It works well even on 1m
 ---
 ## Example variants 
 
-This firmware offers currently these variants (selectable in [platformio.ini](platformio.ini) and / or [config.h](/Inc/config.h)):
+This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) and / or [/Inc/config.h](/Inc/config.h)):
 - **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
-- **VARIANT_USART3**: In this variant the motors are controlled via serial protocol on USART3 right sensor cable (short wired). The commands can be sent from an Arduino. Check out the [hoverserial.ino](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/02_Arduino/hoverserial) as an example sketch.
+- **VARIANT_USART3**: In this variant the motors are controlled via serial protocol on USART3 right sensor cable (short wired). The commands can be sent from an Arduino. Check out the [hoverserial.ino](/02_Arduino/hoverserial) as an example sketch.
 - **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.
 - **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_NUNCHUCK**: Wii Nunchuck offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.

platformio.ini

@@ -6,7 +6,9 @@ include_dir = Inc
 src_dir     = Src
 
 ;=================== VARIANT SELECTION ==========================
-default_envs = UNDEFINED            ; 
+;
+; Choose one or all variants get built
+;
 ;default_envs = VARIANT_ADC         ; Variant for control via ADC input
 ;default_envs = VARIANT_USART3      ; Variant for Serial control via USART3 input
 ;default_envs = VARIANT_HOVERCAR    ; Variant for HOVERCAR build