Added Motor-Test-Mode: Sweep motors slowly forward and backward without any input.
Better config-validation. Fixed board temperature calculation and serial output when speed > 50.
This commit is contained in:
parent
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50
Inc/config.h
50
Inc/config.h
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@ -47,7 +47,7 @@
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#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#define DEBUG_BAUD 115200 // UART baud rate
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//#define DEBUG_SERIAL_SERVOTERM
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//#define DEBUG_SERIAL_SERVOTERM // Software for plotting graphs: https://github.com/STMBL/Servoterm-app
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#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
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// ############################### INPUT ###############################
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@ -58,13 +58,13 @@
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// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }
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// ###### CONTROL VIA RC REMOTE ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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// left sensor board cable. Channel 1: steering, Channel 2: speed. Use a very short cable!
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//#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
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//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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// ###### CONTROL VIA TWO POTENTIOMETERS ######
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// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>. turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN. turn to maximum position and repeat it for ADC?_MAX. make, flash and test it.
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#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2!
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//#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2!
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#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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@ -74,6 +74,11 @@
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// left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups. use original nunchuck. most clones does not work very well.
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//#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
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// ###### MOTOR TEST MODE ######
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// slowly move both wheels forward and backward, ignoring all inputs
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#define CONTROL_MOTOR_TEST
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#define CONTROL_MOTOR_TEST_MAX_SPEED 300 // sweep slowly from -MAX_SPEED to MAX_SPEED (0 - 1000)
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// ############################### DRIVING BEHAVIOR ###############################
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// inputs:
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@ -149,6 +154,41 @@ else {\
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#error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
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#endif
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#if defined CONTROL_PPM && defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_ADC || defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_NUNCHUCK
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#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
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#ifdef CONTROL_SERIAL_USART2
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_PPM
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_ADC
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_NUNCHUCK
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_MOTOR_TEST
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifndef CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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19
Src/main.c
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Src/main.c
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@ -67,6 +67,9 @@ extern volatile uint32_t timeout; // global variable for timeout
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extern float batteryVoltage; // global variable for battery voltage
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uint32_t inactivity_timeout_counter;
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uint32_t main_loop_counter;
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int32_t motor_test_direction = 1;
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extern uint8_t nunchuck_data[6];
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#ifdef CONTROL_PPM
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@ -77,7 +80,9 @@ int milli_vel_error_sum = 0;
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void poweroff() {
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#ifndef CONTROL_MOTOR_TEST
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if (abs(speed) < 20) {
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#endif
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buzzerPattern = 0;
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enable = 0;
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for (int i = 0; i < 8; i++) {
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@ -86,7 +91,9 @@ void poweroff() {
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}
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
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while(1) {}
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#ifndef CONTROL_MOTOR_TEST
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}
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#endif
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}
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@ -218,6 +225,14 @@ int main(void) {
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timeout = 0;
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#endif
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#ifdef CONTROL_MOTOR_TEST
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// if (main_loop_counter % 2 == 0) {
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if (motor_test_direction == 1) cmd2 += 1;
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else cmd2 -= 1;
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if (abs(cmd2) > CONTROL_MOTOR_TEST_MAX_SPEED) motor_test_direction = -motor_test_direction;
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// }
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timeout = 0;
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#endif
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// ####### LOW-PASS FILTER #######
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steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
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lastSpeedR = speedR;
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if (inactivity_timeout_counter % 25 == 0) {
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if (main_loop_counter % 25 == 0) {
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// ####### CALC BOARD TEMPERATURE #######
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board_temp_adc_filtered = board_temp_adc_filtered * 0.99 + (float)adc_buffer.temp * 0.01;
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board_temp_deg_c = ((float)TEMP_CAL_HIGH_DEG_C - (float)TEMP_CAL_LOW_DEG_C) / ((float)TEMP_CAL_HIGH_ADC - (float)TEMP_CAL_LOW_ADC) * (board_temp_adc_filtered - (float)TEMP_CAL_LOW_ADC) + (float)TEMP_CAL_LOW_DEG_C;
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if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms
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poweroff();
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}
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main_loop_counter += 1;
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}
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}
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834
build/hover.hex
834
build/hover.hex
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|
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Reference in New Issue