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hoverboard-firmware-hack-foc-serial-esc
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Improvements and clean-up 

- clean-up printfs
- removed consoleLog function with respective files
- removed Delay when using printf
- renamed speedL, speedR to cmdL, cmdR
- corrected Arduino baud rate
- updated FLASH write pointer cast int16_t to uint16_t
This commit is contained in:
EmanuelFeru 2020-12-10 19:35:13 +01:00
parent d1286e246b
commit c86d9c4f43
10 changed files with 909 additions and 270 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Arduino/hoverserial/hoverserial.ino
View File

@ -23,7 +23,7 @@
// *******************************************************************
// ########################## DEFINES ##########################
#define HOVER_SERIAL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define HOVER_SERIAL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
#define TIME_SEND 100 // [ms] Sending time interval

36
Inc/config.h
View File

@ -124,7 +124,7 @@
- button1 and button2: digital input values. 0 or 1
- adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
Outputs:
- speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
- cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX
*/
#define COM_CTRL 0 // [-] Commutation Control Type
#define SIN_CTRL 1 // [-] Sinusoidal Control Type
@ -205,32 +205,24 @@
* Be careful not to use the red wire of the cable. 15v will destroy everything.
* If you are using VARIANT_NUNCHUK, disable it temporarily.
* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
* and DEBUG_SERIAL_ASCII use asearial terminal.
*
*
* DEBUG_SERIAL_ASCII output is:
* // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
* // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
*
* 1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
* 2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
* 3: (int16_t)speedR); output command: [-1000, 1000]
* 4: (int16_t)speedL); output command: [-1000, 1000]
* 5: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
* 6: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
* 7: (int16_t)board_temp_adcFilt); for board temperature calibration
* 8: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
* in1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
* in2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
* cmdL: (int16_t)speedL); output command: [-1000, 1000]
* cmdR: (int16_t)speedR); output command: [-1000, 1000]
* BatADC: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
* BatV: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
* TempADC: (int16_t)board_temp_adcFilt); for board temperature calibration
* Temp: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
*
*/
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#if defined(VARIANT_ADC)
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#endif
#ifndef VARIANT_TRANSPOTTER
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII
#endif
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// ########################### END OF DEBUG SERIAL ############################
@ -276,6 +268,8 @@
#define INPUT2_MID 0 // mid ADC2-value while poti at mid-position (INPUT2_MIN - INPUT2_MAX)
#define INPUT2_MAX 4095 // max ADC2-value while poti at max-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 DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// #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
@ -293,13 +287,13 @@
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
#define 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)
#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#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 INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)

217
MDK-ARM/mainboard-hack.uvoptx
View File

@ -75,7 +75,7 @@
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
<IsCurrentTarget>0</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<DebugOpt>
@ -1398,6 +1398,159 @@
</TargetOption>
</Target>
<Target>
<TargetName>VARIANT_SKATEBOARD</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>8000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>0</BeepAtEnd>
<RunSim>0</RunSim>
<RunTarget>1</RunTarget>
<RunAbUc>0</RunAbUc>
</OPTTT>
<OPTHX>
<HexSelection>1</HexSelection>
<FlashByte>65535</FlashByte>
<HexRangeLowAddress>0</HexRangeLowAddress>
<HexRangeHighAddress>0</HexRangeHighAddress>
<HexOffset>0</HexOffset>
</OPTHX>
<OPTLEX>
<PageWidth>79</PageWidth>
<PageLength>66</PageLength>
<TabStop>8</TabStop>
<ListingPath>.\Listing\</ListingPath>
</OPTLEX>
<ListingPage>
<CreateCListing>1</CreateCListing>
<CreateAListing>1</CreateAListing>
<CreateLListing>1</CreateLListing>
<CreateIListing>0</CreateIListing>
<AsmCond>1</AsmCond>
<AsmSymb>1</AsmSymb>
<AsmXref>0</AsmXref>
<CCond>1</CCond>
<CCode>0</CCode>
<CListInc>0</CListInc>
<CSymb>0</CSymb>
<LinkerCodeListing>0</LinkerCodeListing>
</ListingPage>
<OPTXL>
<LMap>1</LMap>
<LComments>1</LComments>
<LGenerateSymbols>1</LGenerateSymbols>
<LLibSym>1</LLibSym>
<LLines>1</LLines>
<LLocSym>1</LLocSym>
<LPubSym>1</LPubSym>
<LXref>0</LXref>
<LExpSel>0</LExpSel>
</OPTXL>
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
<sLdApp>1</sLdApp>
<sGomain>1</sGomain>
<sRbreak>1</sRbreak>
<sRwatch>1</sRwatch>
<sRmem>1</sRmem>
<sRfunc>1</sRfunc>
<sRbox>1</sRbox>
<tLdApp>1</tLdApp>
<tGomain>1</tGomain>
<tRbreak>1</tRbreak>
<tRwatch>1</tRwatch>
<tRmem>1</tRmem>
<tRfunc>0</tRfunc>
<tRbox>1</tRbox>
<tRtrace>1</tRtrace>
<sRSysVw>1</sRSysVw>
<tRSysVw>1</tRSysVw>
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<nTsel>5</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
<sDlgPa></sDlgPa>
<sIfile></sIfile>
<tDll></tDll>
<tDllPa></tDllPa>
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U -O206 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM))</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
<DebugFlag>
<trace>0</trace>
<periodic>0</periodic>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
<aPa>0</aPa>
<viewmode>0</viewmode>
<vrSel>0</vrSel>
<aSym>0</aSym>
<aTbox>0</aTbox>
<AscS1>0</AscS1>
<AscS2>0</AscS2>
<AscS3>0</AscS3>
<aSer3>0</aSer3>
<eProf>0</eProf>
<aLa>0</aLa>
<aPa1>0</aPa1>
<AscS4>0</AscS4>
<aSer4>0</aSer4>
<StkLoc>0</StkLoc>
<TrcWin>0</TrcWin>
<newCpu>0</newCpu>
<uProt>0</uProt>
</DebugFlag>
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
<bLintAuto>0</bLintAuto>
<bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags>
<pMisraName></pMisraName>
<pszMrule></pszMrule>
<pSingCmds></pSingCmds>
<pMultCmds></pMultCmds>
<DebugDescription>
<Enable>1</Enable>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>
</DebugDescription>
</TargetOption>
</Target>
<Group>
<GroupName>Startup</GroupName>
<tvExp>1</tvExp>
@ -1467,18 +1620,6 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\comms.c</PathWithFileName>
<FilenameWithoutPath>comms.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>6</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\control.c</PathWithFileName>
<FilenameWithoutPath>control.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@ -1486,7 +1627,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>7</FileNumber>
<FileNumber>6</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1498,7 +1639,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>8</FileNumber>
<FileNumber>7</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1510,7 +1651,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>9</FileNumber>
<FileNumber>8</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1522,7 +1663,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>10</FileNumber>
<FileNumber>9</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1534,7 +1675,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>11</FileNumber>
<FileNumber>10</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1546,7 +1687,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>12</FileNumber>
<FileNumber>11</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1558,7 +1699,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>13</FileNumber>
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1570,7 +1711,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>14</FileNumber>
<FileNumber>13</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1590,7 +1731,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>15</FileNumber>
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1602,7 +1743,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>16</FileNumber>
<FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1614,7 +1755,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>17</FileNumber>
<FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1626,7 +1767,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>18</FileNumber>
<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1638,7 +1779,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>19</FileNumber>
<FileNumber>18</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1650,7 +1791,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>20</FileNumber>
<FileNumber>19</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1662,7 +1803,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>21</FileNumber>
<FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1674,7 +1815,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>22</FileNumber>
<FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1686,7 +1827,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>23</FileNumber>
<FileNumber>22</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1698,7 +1839,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>24</FileNumber>
<FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1710,7 +1851,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>25</FileNumber>
<FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1722,7 +1863,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>26</FileNumber>
<FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1734,7 +1875,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>27</FileNumber>
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1746,7 +1887,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>28</FileNumber>
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1758,7 +1899,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>29</FileNumber>
<FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1770,7 +1911,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>30</FileNumber>
<FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1790,7 +1931,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>31</FileNumber>
<FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>

585
MDK-ARM/mainboard-hack.uvprojx
View File

@ -404,11 +404,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -954,11 +949,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -1572,11 +1562,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -2190,11 +2175,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -2808,11 +2788,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -3426,11 +3401,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -4044,11 +4014,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -4662,11 +4627,6 @@
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
@ -5213,9 +5173,549 @@
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>comms.c</FileName>
<FileName>control.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
<FilePath>..\Src\control.c</FilePath>
</File>
<File>
<FileName>eeprom.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\eeprom.c</FilePath>
</File>
<File>
<FileName>hd44780.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\hd44780.c</FilePath>
</File>
<File>
<FileName>main.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\main.c</FilePath>
</File>
<File>
<FileName>pcf8574.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\pcf8574.c</FilePath>
</File>
<File>
<FileName>setup.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\setup.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_it.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\stm32f1xx_it.c</FilePath>
</File>
<File>
<FileName>util.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\util.c</FilePath>
</File>
<File>
<FileName>config.h</FileName>
<FileType>5</FileType>
<FilePath>..\Inc\config.h</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>HAL_Driver</GroupName>
<Files>
<File>
<FileName>stm32f1xx_hal.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_adc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_adc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_cortex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_dma.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_flash.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_flash_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_gpio.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_i2c.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_pwr.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_uart.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>CMSIS</GroupName>
<Files>
<File>
<FileName>system_stm32f1xx.c</FileName>
<FileType>1</FileType>
<FilePath>../Src/system_stm32f1xx.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>::CMSIS</GroupName>
</Group>
</Groups>
</Target>
<Target>
<TargetName>VARIANT_SKATEBOARD</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
<TargetOption>
<TargetCommonOption>
<Device>STM32F103RC</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2000BFFF) IROM(0x8000000-0x803FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll>
<DeviceId></DeviceId>
<RegisterFile></RegisterFile>
<MemoryEnv></MemoryEnv>
<Cmp></Cmp>
<Asm></Asm>
<Linker></Linker>
<OHString></OHString>
<InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc></SLE66CMisc>
<SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>$$Device:STM32F103RC$SVD\STM32F103xx.svd</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv>
<BinPath></BinPath>
<IncludePath></IncludePath>
<LibPath></LibPath>
<RegisterFilePath></RegisterFilePath>
<DBRegisterFilePath></DBRegisterFilePath>
<TargetStatus>
<Error>0</Error>
<ExitCodeStop>0</ExitCodeStop>
<ButtonStop>0</ButtonStop>
<NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>.\Objects\</OutputDirectory>
<OutputName>firmware</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation>
<ListingPath>.\Listing\</ListingPath>
<HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile>
<BeforeCompile>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X>
<nStopU2X>0</nStopU2X>
</BeforeCompile>
<BeforeMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X>
<nStopB2X>0</nStopB2X>
</BeforeMake>
<AfterMake>
<RunUserProg1>1</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name>$K\ARM\ARMCC\bin\fromelf.exe --bin --output=.\Objects\@L.bin !L</UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>0</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString>
</TargetCommonOption>
<CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>0</AlwaysBuild>
<GenerateAssemblyFile>0</GenerateAssemblyFile>
<AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg>
</CommonProperty>
<DllOption>
<SimDllName>SARMCM3.DLL</SimDllName>
<SimDllArguments>-REMAP</SimDllArguments>
<SimDlgDll>DCM.DLL</SimDlgDll>
<SimDlgDllArguments>-pCM3</SimDlgDllArguments>
<TargetDllName>SARMCM3.DLL</TargetDllName>
<TargetDllArguments></TargetDllArguments>
<TargetDlgDll>TCM.DLL</TargetDlgDll>
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
</DllOption>
<DebugOption>
<OPTHX>
<HexSelection>1</HexSelection>
<HexRangeLowAddress>0</HexRangeLowAddress>
<HexRangeHighAddress>0</HexRangeHighAddress>
<HexOffset>0</HexOffset>
<Oh166RecLen>16</Oh166RecLen>
</OPTHX>
</DebugOption>
<Utilities>
<Flash1>
<UseTargetDll>1</UseTargetDll>
<UseExternalTool>0</UseExternalTool>
<RunIndependent>0</RunIndependent>
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
<Capability>1</Capability>
<DriverSelection>4096</DriverSelection>
</Flash1>
<bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3>
<Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst>
</Utilities>
<TargetArmAds>
<ArmAdsMisc>
<GenerateListings>0</GenerateListings>
<asHll>1</asHll>
<asAsm>1</asAsm>
<asMacX>1</asMacX>
<asSyms>1</asSyms>
<asFals>1</asFals>
<asDbgD>1</asDbgD>
<asForm>1</asForm>
<ldLst>0</ldLst>
<ldmm>1</ldmm>
<ldXref>1</ldXref>
<BigEnd>0</BigEnd>
<AdsALst>1</AdsALst>
<AdsACrf>1</AdsACrf>
<AdsANop>0</AdsANop>
<AdsANot>0</AdsANot>
<AdsLLst>1</AdsLLst>
<AdsLmap>1</AdsLmap>
<AdsLcgr>1</AdsLcgr>
<AdsLsym>1</AdsLsym>
<AdsLszi>1</AdsLszi>
<AdsLtoi>1</AdsLtoi>
<AdsLsun>1</AdsLsun>
<AdsLven>1</AdsLven>
<AdsLsxf>1</AdsLsxf>
<RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M3"</AdsCpuType>
<RvctDeviceName></RvctDeviceName>
<mOS>0</mOS>
<uocRom>0</uocRom>
<uocRam>0</uocRam>
<hadIROM>1</hadIROM>
<hadIRAM>1</hadIRAM>
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>0</RvdsVP>
<hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
<useUlib>1</useUlib>
<EndSel>0</EndSel>
<uLtcg>0</uLtcg>
<nSecure>0</nSecure>
<RoSelD>3</RoSelD>
<RwSelD>3</RwSelD>
<CodeSel>0</CodeSel>
<OptFeed>0</OptFeed>
<NoZi1>0</NoZi1>
<NoZi2>0</NoZi2>
<NoZi3>0</NoZi3>
<NoZi4>0</NoZi4>
<NoZi5>0</NoZi5>
<Ro1Chk>0</Ro1Chk>
<Ro2Chk>0</Ro2Chk>
<Ro3Chk>0</Ro3Chk>
<Ir1Chk>1</Ir1Chk>
<Ir2Chk>0</Ir2Chk>
<Ra1Chk>0</Ra1Chk>
<Ra2Chk>0</Ra2Chk>
<Ra3Chk>0</Ra3Chk>
<Im1Chk>1</Im1Chk>
<Im2Chk>0</Im2Chk>
<OnChipMemories>
<Ocm1>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm1>
<Ocm2>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm2>
<Ocm3>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm3>
<Ocm4>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm4>
<Ocm5>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm5>
<Ocm6>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm6>
<IRAM>
<Type>0</Type>
<StartAddress>0x20000000</StartAddress>
<Size>0xc000</Size>
</IRAM>
<IROM>
<Type>1</Type>
<StartAddress>0x8000000</StartAddress>
<Size>0x40000</Size>
</IROM>
<XRAM>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</XRAM>
<OCR_RVCT1>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT1>
<OCR_RVCT2>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT2>
<OCR_RVCT3>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT3>
<OCR_RVCT4>
<Type>1</Type>
<StartAddress>0x8000000</StartAddress>
<Size>0x40000</Size>
</OCR_RVCT4>
<OCR_RVCT5>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT5>
<OCR_RVCT6>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT6>
<OCR_RVCT7>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT7>
<OCR_RVCT8>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT8>
<OCR_RVCT9>
<Type>0</Type>
<StartAddress>0x20000000</StartAddress>
<Size>0xc000</Size>
</OCR_RVCT9>
<OCR_RVCT10>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT10>
</OnChipMemories>
<RvctStartVector></RvctStartVector>
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>4</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
<Strict>0</Strict>
<EnumInt>0</EnumInt>
<PlainCh>0</PlainCh>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<wLevel>2</wLevel>
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<useXO>0</useXO>
<v6Lang>1</v6Lang>
<v6LangP>1</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xE,VARIANT_SKATEBOARD</Define>
<Undefine></Undefine>
<IncludePath>..\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include</IncludePath>
</VariousControls>
</Cads>
<Aads>
<interw>1</interw>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<thumb>0</thumb>
<SplitLS>0</SplitLS>
<SwStkChk>0</SwStkChk>
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Aads>
<LDads>
<umfTarg>1</umfTarg>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange>0x08000000</TextAddressRange>
<DataAddressRange>0x20000000</DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc></Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
</LDads>
</TargetArmAds>
</TargetOption>
<Groups>
<Group>
<GroupName>Startup</GroupName>
<Files>
<File>
<FileName>startup_stm32f103xe.s</FileName>
<FileType>2</FileType>
<FilePath>.\startup_stm32f103xe.s</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Src</GroupName>
<Files>
<File>
<FileName>bldc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\bldc.c</FilePath>
</File>
<File>
<FileName>BLDC_controller.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller.c</FilePath>
</File>
<File>
<FileName>BLDC_controller_data.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
@ -5379,6 +5879,7 @@
<targetInfo name="VARIANT_NUNCHUK"/>
<targetInfo name="VARIANT_PPM"/>
<targetInfo name="VARIANT_PWM"/>
<targetInfo name="VARIANT_SKATEBOARD"/>
<targetInfo name="VARIANT_TRANSPOTTER"/>
<targetInfo name="VARIANT_USART"/>
</targetInfos>

1
Makefile
View File

@ -44,7 +44,6 @@ Src/bldc.c \
Src/eeprom.c \
Src/hd44780.c \
Src/pcf8574.c \
Src/comms.c \
Src/stm32f1xx_it.c \
Src/BLDC_controller_data.c \
Src/BLDC_controller.c

56
Src/main.c
View File

@ -27,7 +27,6 @@
#include "setup.h"
#include "config.h"
#include "util.h"
#include "comms.h"
#include "BLDC_controller.h" /* BLDC's header file */
#include "rtwtypes.h"
@ -191,8 +190,8 @@ int main(void) {
poweronMelody();
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
int16_t speedL = 0, speedR = 0;
int16_t lastSpeedL = 0, lastSpeedR = 0;
int16_t cmdL = 0, cmdR = 0;
int16_t lastCmdL = 0, lastCmdR = 0;
int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point
int16_t board_temp_adcFilt = adc_buffer.temp;
@ -212,7 +211,9 @@ int main(void) {
beepShort(4); HAL_Delay(100);
steerFixdt = speedFixdt = 0; // reset filters
enable = 1; // enable motors
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("-- Motors enabled --\r\n");
#endif
}
// ####### VARIANT_HOVERCAR #######
@ -276,21 +277,21 @@ int main(void) {
#endif
// ####### MIXER #######
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
mixerFcn(speed << 4, steer << 4, &speedR, &speedL); // This function implements the equations above
// cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
// cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above
// ####### SET OUTPUTS (if the target change is less than +/- 100) #######
if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100)) {
if ((cmdL > lastCmdL-100 && cmdL < lastCmdL+100) && (cmdR > lastCmdR-100 && cmdR < lastCmdR+100)) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
pwmr = cmdR;
#else
pwmr = -speedR;
pwmr = -cmdR;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
pwml = -cmdL;
#else
pwml = speedL;
pwml = cmdL;
#endif
}
#endif
@ -301,22 +302,22 @@ int main(void) {
distanceErr = distance - (int)(setDistance * 1345);
if (nunchuk_connected == 0) {
speedL = speedL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
speedR = speedR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
cmdL = cmdL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
cmdR = cmdR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
if ((cmdL < lastCmdL + 50 && cmdL > lastCmdL - 50) && (cmdR < lastCmdR + 50 && cmdR > lastCmdR - 50)) {
if (distanceErr > 0) {
enable = 1;
}
if (distanceErr > -300) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
pwmr = cmdR;
#else
pwmr = -speedR;
pwmr = -cmdR;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
pwml = -cmdL;
#else
pwml = speedL;
pwml = cmdL;
#endif
if (checkRemote) {
@ -410,11 +411,11 @@ int main(void) {
// ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
printf("in1:%i in2:%i spdL:%i spdR:%i adcBat:%i BatV:%i adcTemp:%i Temp:%i\r\n",
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
input1, // 1: INPUT1
input2, // 2: INPUT2
speedL, // 3: output command: [-1000, 1000]
speedR, // 4: output command: [-1000, 1000]
cmdL, // 3: output command: [-1000, 1000]
cmdR, // 4: output command: [-1000, 1000]
adc_buffer.batt1, // 5: for battery voltage calibration
batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
board_temp_adcFilt, // 7: for board temperature calibration
@ -463,25 +464,18 @@ int main(void) {
} else if (rtY_Left.z_errCode || rtY_Right.z_errCode) { // 1 beep (low pitch): Motor error, disable motors
enable = 0;
beepCount(1, 24, 1);
printf("#ErrL: %i ErrR: %i\r\n", rtY_Left.z_errCode, rtY_Right.z_errCode);
} else if (timeoutFlagADC) { // 2 beeps (low pitch): ADC timeout
beepCount(2, 24, 1);
printf("#ADC timeout\r\n");
} else if (timeoutFlagSerial) { // 3 beeps (low pitch): Serial timeout
beepCount(3, 24, 1);
printf("#Serial timeout\r\n");
} else if (timeoutCnt > TIMEOUT) { // 4 beeps (low pitch): General timeout (PPM, PWM, Nunchuck)
beepCount(4, 24, 1);
printf("#General timeout\r\n");
} else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // 5 beeps (low pitch): Mainboard temperature warning
beepCount(5, 24, 1);
printf("#STM32 hot: %i\r\n", board_temp_deg_c);
} else if (BAT_LVL1_ENABLE && batVoltage < BAT_LVL1) { // 1 beep fast (medium pitch): Low bat 1
beepCount(0, 10, 6);
printf("#Battery empty: %i\r\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
} else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) { // 1 beep slow (medium pitch): Low bat 2
beepCount(0, 10, 30);
printf("#Battery empty: %i\r\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
} else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // 1 beep fast (high pitch): Backward spinning motors
beepCount(0, 5, 1);
backwardDrive = 1;
@ -492,7 +486,7 @@ int main(void) {
// ####### INACTIVITY TIMEOUT #######
if (abs(speedL) > 50 || abs(speedR) > 50) {
if (abs(cmdL) > 50 || abs(cmdR) > 50) {
inactivity_timeout_counter = 0;
} else {
inactivity_timeout_counter++;
@ -503,8 +497,8 @@ int main(void) {
// HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
// Update main loop states
lastSpeedL = speedL;
lastSpeedR = speedR;
lastCmdL = cmdL;
lastCmdR = cmdR;
main_loop_counter++;
timeoutCnt++;
}

105
Src/util.c
View File

@ -133,13 +133,13 @@ static int16_t INPUT_MIN; // [-] Input target minimum limitation
static uint8_t cur_spd_valid = 0;
static uint8_t inp_cal_valid = 0;
static uint16_t INPUT1_TYP_CAL = INPUT1_TYPE;
static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
static uint16_t INPUT1_MID_CAL = INPUT1_MID;
static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
static int16_t INPUT1_MIN_CAL = INPUT1_MIN;
static int16_t INPUT1_MID_CAL = INPUT1_MID;
static int16_t INPUT1_MAX_CAL = INPUT1_MAX;
static uint16_t INPUT2_TYP_CAL = INPUT2_TYPE;
static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
static uint16_t INPUT2_MID_CAL = INPUT2_MID;
static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
static int16_t INPUT2_MIN_CAL = INPUT2_MIN;
static int16_t INPUT2_MID_CAL = INPUT2_MID;
static int16_t INPUT2_MAX_CAL = INPUT2_MAX;
#endif
#if defined(CONTROL_ADC)
@ -198,6 +198,34 @@ static uint8_t cruiseCtrlAcv = 0;
static uint8_t standstillAcv = 0;
#endif
/* =========================== Retargeting printf =========================== */
/* retarget the C library printf function to the USART */
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE {
#if defined(DEBUG_SERIAL_USART2)
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
#elif defined(DEBUG_SERIAL_USART3)
HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, 1000);
#endif
return ch;
}
#ifdef __GNUC__
int _write(int file, char *data, int len) {
int i;
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
return len;
}
#endif
#endif
/* =========================== Initialization Functions =========================== */
void BLDC_Init(void) {
@ -280,13 +308,13 @@ void Input_Init(void) {
EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
if (writeCheck == FLASH_WRITE_KEY) {
EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL);
EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[2] , (uint16_t *)(intptr_t)INPUT1_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[3] , (uint16_t *)(intptr_t)INPUT1_MID_CAL);
EE_ReadVariable(VirtAddVarTab[4] , (uint16_t *)(intptr_t)INPUT1_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL);
EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MID_CAL);
EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[6] , (uint16_t *)(intptr_t)INPUT2_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[7] , (uint16_t *)(intptr_t)INPUT2_MID_CAL);
EE_ReadVariable(VirtAddVarTab[8] , (uint16_t *)(intptr_t)INPUT2_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[9] , &i_max);
EE_ReadVariable(VirtAddVarTab[10], &n_max);
rtP_Left.i_max = i_max;
@ -465,31 +493,34 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
int16_t threshold = 200;
#endif
HAL_Delay(10);
if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) {
type = 0;
printf("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
#endif
} else {
if ((min / threshold) == (mid / threshold)){
type = 1;
printf("Input is a normal pot"); // MIN and MID are close, it's a normal pot
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("a normal pot"); // MIN and MID are close, it's a normal pot
#endif
} else {
type = 2;
printf("Input is a mid-resting pot"); // it's a mid resting pot
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("a mid-resting pot"); // it's a mid resting pot
#endif
}
HAL_Delay(10);
#ifdef CONTROL_ADC
if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
printf(" and protected");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf(" AND protected");
#endif
beepLong(2); // Indicate protection by a beep
}
#endif
}
HAL_Delay(10);
printf("\r\n");
HAL_Delay(10);
return type;
}
@ -509,7 +540,10 @@ void adcCalibLim(void) {
}
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Input calibration started...\r\n");
#endif
readInput();
// Inititalization: MIN = a high value, MAX = a low value
@ -538,32 +572,44 @@ void adcCalibLim(void) {
HAL_Delay(5);
}
printf("Input1 is ");
INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
printf("Input1 OK\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..OK\r\n");
#endif
} else {
INPUT1_TYP_CAL = 0; // Disable input
printf("Input1 Fail\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..NOK\r\n");
#endif
}
printf("Input2 is ");
INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_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)
INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
printf("Input2 OK\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..OK\r\n");
#endif
} else {
INPUT2_TYP_CAL = 0; // Disable input
printf("Input2 Fail\r\n"); HAL_Delay(10);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..NOK\r\n");
#endif
}
inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Limits Input1: TYP:%i MIN:%i MID:%i MAX:%i\r\nLimits Input2: TYP:%i MIN:%i MID:%i MAX:%i\r\n",
INPUT1_TYP_CAL, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL,
INPUT2_TYP_CAL, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
#endif
#endif
}
/*
* Update Maximum Motor Current Limit (via ADC1) and Maximum Speed Limit (via ADC2)
@ -578,7 +624,10 @@ void updateCurSpdLim(void) {
}
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Torque and Speed limits update started...\r\n");
#endif
int32_t input1_fixdt = input1 << 16;
int32_t input2_fixdt = input2 << 16;
@ -610,10 +659,12 @@ void updateCurSpdLim(void) {
cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown
}
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
// cur_spd_valid: 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
printf("Limits (%i)\r\nCurrent: fixdt:%li factor%i i_max:%i \r\nSpeed: fixdt:%li factor:%i n_max:%i\r\n",
cur_spd_valid, input1_fixdt, cur_factor, rtP_Left.i_max, input2_fixdt, spd_factor, rtP_Left.n_max);
#endif
#endif
}
/*
@ -745,7 +796,9 @@ void cruiseControl(uint8_t button) {
void poweroff(void) {
enable = 0;
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("-- Motors disabled --\r\n");
#endif
buzzerCount = 0; // prevent interraction with beep counter
buzzerPattern = 0;
for (int i = 0; i < 8; i++) {

25
Src/comms.c → docs/recycle/comms.c
View File

@ -13,31 +13,6 @@ static volatile uint8_t uart_buf[100];
static volatile int16_t ch_buf[8];
//volatile char char_buf[300];
/* retarget the C library printf function to the USART */
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE {
#if defined(DEBUG_SERIAL_USART2)
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
#elif defined(DEBUG_SERIAL_USART3)
HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, 1000);
#endif
return ch;
}
#ifdef __GNUC__
int _write(int file, char *data, int len) {
int i;
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
return len;
}
#endif
#endif
void setScopeChannel(uint8_t ch, int16_t val) {
ch_buf[ch] = val;
}

0
Inc/comms.h → docs/recycle/comms.h
View File

20
platformio.ini
View File

@ -37,7 +37,6 @@ monitor_speed = 115200
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -55,12 +54,11 @@ upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
monitor_speed = 115200
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -79,7 +77,6 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -98,7 +95,6 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -117,7 +113,6 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -136,7 +131,6 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -152,14 +146,9 @@ 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 =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -175,14 +164,9 @@ 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 =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -201,7 +185,6 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
@ -221,7 +204,6 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm