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port controller bluepill to platformio

This commit is contained in:
interfisch 2020-06-07 01:31:45 +02:00
parent 4aeff69a7e
commit e6b7d70563
11 changed files with 1415 additions and 9 deletions
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33
controller/controller.ino
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@ -11,7 +11,7 @@
// RX(green) is A10 , TX (blue) ist A9 (3v3 level) // RX(green) is A10 , TX (blue) ist A9 (3v3 level)
//to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately //to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately
//set boot0 back to 0 to run program on powerup //set boot0 back to 0 to run proPIN_GAMETRAK_VERTICALgram on powerup
// ########################## DEFINES ########################## // ########################## DEFINES ##########################
#define SERIAL_CONTROL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard) #define SERIAL_CONTROL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
@ -233,7 +233,19 @@ void loop() {
SendSerial1(out_speedRL,out_speedRR); //Rear SendSerial1(out_speedRL,out_speedRR); //Rear
} }
if (currentmode==on) { if (currentmode==on) {
Serial.print("lastData1="); Serial.print(loopmillis-lastValidDataSerial1_time); Serial.print(", lastData2=");Serial.print(loopmillis-lastValidDataSerial2_time); Serial.print(", speedFL="); Serial.println(out_speedFL); /*Serial.print("lastData1="); Serial.print(loopmillis-lastValidDataSerial1_time); Serial.print(", lastData2=");Serial.print(loopmillis-lastValidDataSerial2_time);
Serial.print(", speedFL="); Serial.print(out_speedFL);
float _current = (Feedback1.curL_DC+Feedback1.curR_DC+Feedback2.curL_DC+Feedback2.curR_DC)/4.0 / 50;
Serial.print(", current="); Serial.print(_current);*/
float _current = (Feedback1.curL_DC+Feedback1.curR_DC+Feedback2.curL_DC+Feedback2.curR_DC)/4.0 / 50;
Serial.print(Feedback1.curL_DC); Serial.print(", "); //1 is rear
Serial.print(Feedback1.curR_DC); Serial.print(", ");
Serial.print(Feedback2.curL_DC); Serial.print(", "); //2 is front
Serial.print(Feedback2.curR_DC);
Serial.print(", mean="); Serial.print(_current);
Serial.println();
} }
} }
@ -483,16 +495,21 @@ void loop_on() {
int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
*/ */
int16_t speedvalue = (out_speedFL+out_speedFR+out_speedRL+out_speedRR)/4; //generate last speedvalue from individual motor speeds int16_t speedvalue = (out_speedFL+out_speedFR+out_speedRL+out_speedRR)/4; //generate last speedvalue from individual motor speeds
uint16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed); uint16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed);
int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
int16_t combthrottlevalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque int16_t combthrottlevalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
int16_t combthrottlevalue_positive = max(0,combthrottlevalue); //only positive int16_t combthrottlevalue_positive = max((int16_t)0,combthrottlevalue); //only positive
#define CURRENTBRAKE_P 2.0 //proportional brake when throttle is lower than current speed. Depends on LOOPTIME #define CURRENTBRAKE_P 5.0 //proportional brake when throttle is lower than current speed. Depends on LOOPTIME
#define BRAKE_P 0.1 //speed-=brakevalue*brake_p . depends on LOOPTIME #define BRAKE_P 0.02 //speed-=brakevalue*brake_p . depends on LOOPTIME
//serial2 is Front. serial1 is Rear //serial2 is Front. serial1 is Rear
float _current = (Feedback1.curL_DC+Feedback1.curR_DC+Feedback2.curL_DC+Feedback2.curR_DC)/4.0 / A2BIT_CONV; float _current = (Feedback1.curL_DC+Feedback1.curR_DC+Feedback2.curL_DC+Feedback2.curR_DC)/4.0 / A2BIT_CONV;
@ -501,14 +518,16 @@ void loop_on() {
speedvalue = combthrottlevalue_positive; speedvalue = combthrottlevalue_positive;
}else{ //throttle lever is lower than current set speedvalue }else{ //throttle lever is lower than current set speedvalue
if (_current > 0) { //is consuming current when it shouldnt if (_current > 0) { //is consuming current when it shouldnt
speedvalue = max( speedvalue-_current*CURRENTBRAKE_P ,combthrottlevalue_positive); //not lower than throttlevalue speedvalue = max( (int16_t)(speedvalue-_current*CURRENTBRAKE_P) ,combthrottlevalue_positive); //not lower than throttlevalue
} }
} }
if (combthrottlevalue<0){ //throttle off and brake pressed if (combthrottlevalue<0){ //throttle off and brake pressed
speedvalue= max(speedvalue + combthrottlevalue*BRAKE_P,0); //not negative = not backwards speedvalue= max((int16_t)(speedvalue + combthrottlevalue*BRAKE_P),(int16_t)0); //not negative = not backwards
} }
speedvalue = throttlevalue; //TEST OVERRIDE
out_speedFL=speedvalue; out_speedFL=speedvalue;
out_speedFR=speedvalue; out_speedFR=speedvalue;
out_speedRL=speedvalue; out_speedRL=speedvalue;

1
controller_pio/.gitignore vendored Normal file
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@ -0,0 +1 @@
.pio

67
controller_pio/.travis.yml Normal file
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@ -0,0 +1,67 @@
# Continuous Integration (CI) is the practice, in software
# engineering, of merging all developer working copies with a shared mainline
# several times a day < https://docs.platformio.org/page/ci/index.html >
#
# Documentation:
#
# * Travis CI Embedded Builds with PlatformIO
# < https://docs.travis-ci.com/user/integration/platformio/ >
#
# * PlatformIO integration with Travis CI
# < https://docs.platformio.org/page/ci/travis.html >
#
# * User Guide for `platformio ci` command
# < https://docs.platformio.org/page/userguide/cmd_ci.html >
#
#
# Please choose one of the following templates (proposed below) and uncomment
# it (remove "# " before each line) or use own configuration according to the
# Travis CI documentation (see above).
#
#
# Template #1: General project. Test it using existing `platformio.ini`.
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio run
#
# Template #2: The project is intended to be used as a library with examples.
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# env:
# - PLATFORMIO_CI_SRC=path/to/test/file.c
# - PLATFORMIO_CI_SRC=examples/file.ino
# - PLATFORMIO_CI_SRC=path/to/test/directory
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

142
controller_pio/.vscode/c_cpp_properties.json vendored Normal file
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@ -0,0 +1,142 @@
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7
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@ -0,0 +1,7 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}

34
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@ -0,0 +1,34 @@
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
// PIO Unified Debugger
//
// Documentation: https://docs.platformio.org/page/plus/debugging.html
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controller_pio/include/README Normal file
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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:genericSTM32F103C8]
platform = ststm32
board = genericSTM32F103C8
framework = arduino
upload_protocol = serial
monitor_speed = 115200

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This directory is intended for PIO Unit Testing and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PIO Unit Testing:
- https://docs.platformio.org/page/plus/unit-testing.html