interfisch
/
hoverboard-firmware-hack-foc-serial-esc
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Test print log

This commit is contained in:
Candas1 2020-11-14 19:30:38 +01:00
parent 11ab848103
commit f962d16cd6
5 changed files with 82 additions and 66 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Inc/comms.h
View File

@ -28,6 +28,7 @@
void setScopeChannel(uint8_t ch, int16_t val); void setScopeChannel(uint8_t ch, int16_t val);
void consoleScope(void); void consoleScope(void);
void consoleLog(char *message); void consoleLog(char *message);
void print( const char * format, ... );
#endif #endif

26
Src/comms.c
View File

@ -1,4 +1,5 @@
#include <stdio.h> #include <stdio.h>
#include <stdarg.h>
#include <string.h> #include <string.h>
#include "stm32f1xx_hal.h" #include "stm32f1xx_hal.h"
#include "defines.h" #include "defines.h"
@ -79,3 +80,28 @@ void consoleLog(char *message)
#endif #endif
#endif #endif
} }
void print( const char * format, ... )
{
va_list args;
va_start (args, format);
static volatile uint8_t buffer[100];
int strLength;
strLength = vsprintf((char *)(uintptr_t)buffer,format, args);
#ifdef DEBUG_SERIAL_USART2
while(__HAL_DMA_GET_COUNTER(huart2.hdmatx) > 0) {
HAL_Delay(1);
}
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)buffer, strLength);
#endif
#ifdef DEBUG_SERIAL_USART3
while(__HAL_DMA_GET_COUNTER(huart3.hdmatx) > 0) {
HAL_Delay(1);
}
HAL_UART_Transmit_DMA(&huart3, (uint8_t *)buffer, strLength);
#endif
va_end (args);
}

8
Src/main.c
View File

@ -62,8 +62,8 @@ extern ExtY rtY_Right; /* External outputs */
extern int16_t cmd1; // normalized input value. -1000 to 1000 extern int16_t cmd1; // normalized input value. -1000 to 1000
extern int16_t cmd2; // normalized input value. -1000 to 1000 extern int16_t cmd2; // normalized input value. -1000 to 1000
extern int16_t cmd1_in; // normalized input value. -1000 to 1000 extern int16_t input1; // Non normalized input value
extern int16_t cmd2_in; // normalized input value. -1000 to 1000 extern int16_t input2; // Non normalized input value
extern int16_t speedAvg; // Average measured speed extern int16_t speedAvg; // Average measured speed
extern int16_t speedAvgAbs; // Average measured speed in absolute extern int16_t speedAvgAbs; // Average measured speed in absolute
@ -409,8 +409,8 @@ int main(void) {
// ####### DEBUG SERIAL OUT ####### // ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3) #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
setScopeChannel(0, (int16_t)cmd1_in); // 1: ADC1 setScopeChannel(0, (int16_t)input1); // 1: ADC1
setScopeChannel(1, (int16_t)cmd2_in); // 2: ADC2 setScopeChannel(1, (int16_t)input2); // 2: ADC2
setScopeChannel(2, (int16_t)cmd1); //speedR); // 3: 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(3, (int16_t)cmd2); //speedL); // 4: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration

111
Src/util.c
View File

@ -88,8 +88,8 @@ ExtY rtY_Right; /* External outputs */
int16_t cmd1; // normalized input value. -1000 to 1000 int16_t cmd1; // normalized input value. -1000 to 1000
int16_t cmd2; // normalized input value. -1000 to 1000 int16_t cmd2; // normalized input value. -1000 to 1000
int16_t cmd1_in; // normalized input value. -1000 to 1000 int16_t input1; // Non normalized input value
int16_t cmd2_in; // normalized input value. -1000 to 1000 int16_t input2; // Non normalized input value
int16_t speedAvg; // average measured speed int16_t speedAvg; // average measured speed
int16_t speedAvgAbs; // average measured speed in absolute int16_t speedAvgAbs; // average measured speed in absolute
@ -437,8 +437,8 @@ void adcCalibLim(void) {
readInput(); readInput();
// Inititalization: MIN = a high values, MAX = a low value, // Inititalization: MIN = a high values, MAX = a low value,
int32_t input1_fixdt = cmd1_in << 16; int32_t input1_fixdt = input1 << 16;
int32_t input2_fixdt = cmd2_in << 16; int32_t input2_fixdt = input2 << 16;
uint16_t input_cal_timeout = 0; uint16_t input_cal_timeout = 0;
int16_t INPUT1_MIN_temp = INPUT1_MAX; int16_t INPUT1_MIN_temp = INPUT1_MAX;
int16_t INPUT1_MID_temp = 0; int16_t INPUT1_MID_temp = 0;
@ -452,8 +452,8 @@ void adcCalibLim(void) {
// Extract MIN, MAX and MID from ADC while the power button is not pressed // Extract MIN, MAX and MID from ADC while the power button is not pressed
while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) { // 20 sec timeout while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) { // 20 sec timeout
readInput(); readInput();
filtLowPass32(cmd1_in, FILTER, &input1_fixdt); filtLowPass32(input1, FILTER, &input1_fixdt);
filtLowPass32(cmd2_in, FILTER, &input2_fixdt); filtLowPass32(input2, FILTER, &input2_fixdt);
INPUT1_MID_temp = (int16_t)CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX); // convert fixed-point to integer 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); INPUT2_MID_temp = (int16_t)CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
@ -464,8 +464,6 @@ void adcCalibLim(void) {
HAL_Delay(5); HAL_Delay(5);
} }
HAL_Delay(10);
uint16_t input_margin = 0; uint16_t input_margin = 0;
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
input_margin = 100; input_margin = 100;
@ -491,7 +489,7 @@ void adcCalibLim(void) {
HAL_Delay(10); HAL_Delay(10);
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
if ( (INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){ if ( ((int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
consoleLog(" and protected"); consoleLog(" and protected");
} }
#endif #endif
@ -523,31 +521,19 @@ void adcCalibLim(void) {
HAL_Delay(10); HAL_Delay(10);
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
if ( (INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){ if ( ((int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
consoleLog(" and protected"); consoleLog(" and protected");
} }
#endif #endif
input_cal_valid = 1; input_cal_valid = 1;
} }
HAL_Delay(10); print("\n");
consoleLog("\n"); print("Saved limits\n");
HAL_Delay(10); print("INPUT1_MIN:%i INPUT1_MID:%i INPUT1_MAX:%i\n", (int16_t)INPUT1_MIN_CAL,(int16_t)INPUT1_MID_CAL,(int16_t)INPUT1_MAX_CAL);
consoleLog("Saved limits\n"); print("INPUT2_MIN:%i INPUT2_MID:%i INPUT2_MAX:%i\n", (int16_t)INPUT2_MIN_CAL,(int16_t)INPUT2_MID_CAL,(int16_t)INPUT2_MAX_CAL);
HAL_Delay(10); print("OK\n");
setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
setScopeChannel(1, (int16_t)INPUT1_MID_CAL);
setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
setScopeChannel(3, (int16_t)0);
setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
setScopeChannel(5, (int16_t)INPUT2_MID_CAL);
setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
setScopeChannel(7, (int16_t)0);
consoleScope();
HAL_Delay(20);
consoleLog("OK\n");
#endif #endif
} }
@ -568,8 +554,8 @@ void updateCurSpdLim(void) {
consoleLog("Torque and Speed limits update started...\n"); consoleLog("Torque and Speed limits update started...\n");
int32_t input1_fixdt = cmd1_in << 16; int32_t input1_fixdt = input1 << 16;
int32_t input2_fixdt = cmd2_in << 16; int32_t input2_fixdt = input2 << 16;
uint16_t cur_spd_timeout = 0; uint16_t cur_spd_timeout = 0;
uint16_t cur_factor; // fixdt(0,16,16) uint16_t cur_factor; // fixdt(0,16,16)
uint16_t spd_factor; // fixdt(0,16,16) uint16_t spd_factor; // fixdt(0,16,16)
@ -577,21 +563,26 @@ void updateCurSpdLim(void) {
// Wait for the power button press // Wait for the power button press
while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) { // 10 sec timeout while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) { // 10 sec timeout
readInput(); readInput();
filtLowPass32(cmd1_in, FILTER, &input1_fixdt); filtLowPass32(input1, FILTER, &input1_fixdt);
filtLowPass32(cmd2_in, FILTER, &input2_fixdt); filtLowPass32(input2, FILTER, &input2_fixdt);
HAL_Delay(5); HAL_Delay(5);
} }
// Calculate scaling factors // Calculate scaling factors
cur_factor = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535); // ADC1, MIN_cur(10%) = 1.5 A cur_factor = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535); // ADC1, MIN_cur(10%) = 1.5 A
spd_factor = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535); // ADC2, MIN_spd(5%) = 50 rpm spd_factor = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535); // ADC2, MIN_spd(5%) = 50 rpm
// Update maximum limits
rtP_Left.i_max = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4) if (INPUT1_TYPE != 0){
rtP_Left.n_max = (int16_t)((N_MOT_MAX * spd_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4) // Update current limit
rtP_Right.i_max = rtP_Left.i_max; rtP_Right.i_max = rtP_Left.i_max = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
rtP_Right.n_max = rtP_Left.n_max; cur_spd_valid = 1;
}
HAL_Delay(10); if (INPUT2_TYPE != 0){
// Update speed limit
rtP_Right.n_max = rtP_Left.n_max = (int16_t)((N_MOT_MAX * spd_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
cur_spd_valid = 1;
}
consoleLog("Saved limits\n"); consoleLog("Saved limits\n");
HAL_Delay(10); HAL_Delay(10);
setScopeChannel(0, (int16_t)input1_fixdt); setScopeChannel(0, (int16_t)input1_fixdt);
@ -603,11 +594,9 @@ void updateCurSpdLim(void) {
setScopeChannel(6, (int16_t)rtP_Right.n_max); setScopeChannel(6, (int16_t)rtP_Right.n_max);
setScopeChannel(7, (int16_t)0); setScopeChannel(7, (int16_t)0);
consoleScope(); consoleScope();
HAL_Delay(20); HAL_Delay(20);
cur_spd_valid = 1;
consoleLog("OK\n"); consoleLog("OK\n");
#endif #endif
} }
@ -816,8 +805,8 @@ void readInput(void) {
#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
if (nunchuk_connected != 0) { if (nunchuk_connected != 0) {
Nunchuk_Read(); Nunchuk_Read();
cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255 input1 = (nunchuk_data[0] - 127) * 8; // X axis 0-255
cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255 input2 = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
#ifdef SUPPORT_BUTTONS #ifdef SUPPORT_BUTTONS
button1 = (uint8_t)nunchuk_data[5] & 1; button1 = (uint8_t)nunchuk_data[5] & 1;
@ -827,8 +816,8 @@ void readInput(void) {
#endif #endif
#if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT) #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
cmd1_in = (ppm_captured_value[0] - 500) * 2; input1 = (ppm_captured_value[0] - 500) * 2;
cmd2_in = (ppm_captured_value[1] - 500) * 2; input2 = (ppm_captured_value[1] - 500) * 2;
#ifdef SUPPORT_BUTTONS #ifdef SUPPORT_BUTTONS
button1 = ppm_captured_value[5] > 500; button1 = ppm_captured_value[5] > 500;
button2 = 0; button2 = 0;
@ -836,14 +825,14 @@ void readInput(void) {
#endif #endif
#if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT) #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
cmd1_in = (pwm_captured_ch1_value - 500) * 2; input1 = (pwm_captured_ch1_value - 500) * 2;
cmd2_in = (pwm_captured_ch2_value - 500) * 2; input2 = (pwm_captured_ch2_value - 500) * 2;
#endif #endif
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
// ADC values range: 0-4095, see ADC-calibration in config.h // ADC values range: 0-4095, see ADC-calibration in config.h
cmd1_in = adc_buffer.l_tx2; input1 = adc_buffer.l_tx2;
cmd2_in = adc_buffer.l_rx2; input2 = adc_buffer.l_rx2;
#endif #endif
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3) #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
@ -852,12 +841,12 @@ void readInput(void) {
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) { for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000 ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
} }
cmd1_in = (ibus_captured_value[0] - 500) * 2; input1 = (ibus_captured_value[0] - 500) * 2;
cmd2_in = (ibus_captured_value[1] - 500) * 2; input2 = (ibus_captured_value[1] - 500) * 2;
#else #else
if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) { if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
cmd1_in = command.steer; input1 = command.steer;
cmd2_in = command.speed; input2 = command.speed;
} }
#endif #endif
timeoutCnt = 0; timeoutCnt = 0;
@ -871,8 +860,8 @@ void readCommand(void) {
readInput(); readInput();
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
// If input1 or Input2 is either below MIN - Threshold or above MAX + Threshold, ADC protection timeout // If input1 or Input2 is either below MIN - Threshold or above MAX + Threshold, ADC protection timeout
if ((IN_RANGE(cmd1_in,INPUT1_MIN_CAL - ADC_PROTECT_THRESH,INPUT1_MAX_CAL + ADC_PROTECT_THRESH)) && if ((IN_RANGE(input1,(int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH,(int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH)) &&
(IN_RANGE(cmd1_in,INPUT2_MIN_CAL - ADC_PROTECT_THRESH,INPUT2_MAX_CAL + ADC_PROTECT_THRESH))){ (IN_RANGE(input2,(int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH,(int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH))){
if (timeoutFlagADC) { // Check for previous timeout flag if (timeoutFlagADC) { // Check for previous timeout flag
if (timeoutCntADC-- <= 0) // Timeout de-qualification if (timeoutCntADC-- <= 0) // Timeout de-qualification
timeoutFlagADC = 0; // Timeout flag cleared timeoutFlagADC = 0; // Timeout flag cleared
@ -912,10 +901,10 @@ void readCommand(void) {
cmd1 = 0; cmd1 = 0;
break; break;
case 1: // Input1 is a normal pot case 1: // Input1 is a normal pot
cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1 cmd1 = CLAMP(MAP( input1 , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
break; break;
case 2: // Input1 is a mid resting pot case 2: // Input1 is a mid resting pot
cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX); cmd1 = addDeadBand(input1, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
break; break;
default: default:
cmd1 = 0; cmd1 = 0;
@ -928,17 +917,17 @@ void readCommand(void) {
cmd2 = 0; cmd2 = 0;
break; break;
case 1: // Input2 is a normal pot case 1: // Input2 is a normal pot
cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2 cmd2 = CLAMP(MAP( input2 , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
break; break;
case 2: // Input2 is a mid resting pot case 2: // Input2 is a mid resting pot
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX); cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
break; break;
default: default:
cmd2 = 0; cmd2 = 0;
break; break;
} }
#else #else
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX); cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
#endif #endif
#endif #endif

2
platformio.ini
View File

@ -11,7 +11,7 @@ src_dir = Src
; ;
;default_envs = VARIANT_ADC ; Variant for control via ADC input ;default_envs = VARIANT_ADC ; Variant for control via ADC input
;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input ;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input
;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal ;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
;default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal ;default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal
;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS ;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS