hoverboard-firmware-hack-foc-serial-esc/Inc/config.h

#pragma once
#include "stm32f1xx_hal.h"

// ############################### DO-NOT-TOUCH SETTINGS ###############################

#define PWM_FREQ            16000     // PWM frequency in Hz
#define DEAD_TIME              32     // PWM deadtime
#define DELAY_IN_MAIN_LOOP      5     // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
#define TIMEOUT                 5     // number of wrong / missing input commands before emergency off
#define A2BIT_CONV             50     // bits per A on ADC. Example: 50 = 1 A, 100 = 2 A, etc

// ADC conversion time definitions
#define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)
#define ADC_CONV_TIME_7C5       (20)  //Total ADC clock cycles / conversion = (  7.5+12.5)
#define ADC_CONV_TIME_13C5      (26)  //Total ADC clock cycles / conversion = ( 13.5+12.5)
#define ADC_CONV_TIME_28C5      (41)  //Total ADC clock cycles / conversion = ( 28.5+12.5)
#define ADC_CONV_TIME_41C5      (54)  //Total ADC clock cycles / conversion = ( 41.5+12.5)
#define ADC_CONV_TIME_55C5      (68)  //Total ADC clock cycles / conversion = ( 55.5+12.5)
#define ADC_CONV_TIME_71C5      (84)  //Total ADC clock cycles / conversion = ( 71.5+12.5)
#define ADC_CONV_TIME_239C5     (252) //Total ADC clock cycles / conversion = (239.5+12.5)

// This settings influences the actual sample-time. Only use definitions above
// This parameter needs to be the same as the ADC conversion for Current Phase of the FIRST Motor in setup.c
#define ADC_CONV_CLOCK_CYCLES   (ADC_CONV_TIME_7C5)

// Set the configured ADC divider. This parameter needs to be the same ADC divider as PeriphClkInit.AdcClockSelection (see main.c)
#define ADC_CLOCK_DIV           (4)

// ADC Total conversion time: this will be used to offset TIM8 in advance of TIM1 to align the Phase current ADC measurement
// This parameter is used in setup.c
#define ADC_TOTAL_CONV_TIME     (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV

// ############################### GENERAL ###############################

/* How to calibrate: connect GND and RX of a 3.3v uart-usb adapter to the right sensor board cable
 * Be careful not to use the red wire of the cable. 15v will destroye verything.).
 * If you are using nunchuck, disable it temporarily. enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII use asearial terminal.
 */

/* Battery voltage calibration: connect power source. see <How to calibrate>.
 * Write value nr 5 to BAT_CALIB_ADC. make and flash firmware.
 * Then you can verify voltage on value 6 (to get calibrated voltage multiplied by 100).
 */
#define BAT_FILT_COEF           655       // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
#define BAT_CALIB_REAL_VOLTAGE  4300      // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
#define BAT_CALIB_ADC           1704      // adc-value measured by mainboard (value nr 5 on UART debug output)

#define BAT_CELLS               10        // battery number of cells. Normal Hoverboard battery: 10s
#define BAT_LOW_LVL1_ENABLE     0         // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL2_ENABLE     1         // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL1            (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // gently beeps at this voltage level. [V*100/cell]. In this case 3.60 V/cell
#define BAT_LOW_LVL2            (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
#define BAT_LOW_DEAD            (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell


/* Board overheat detection: the sensor is inside the STM/GD chip.
 * It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!
 * Let your board cool down. see <How to calibrate>.
 * Get the real temp of the chip by thermo cam or another temp-sensor taped on top of the chip and write it to TEMP_CAL_LOW_DEG_C.
 * Write debug value 8 to TEMP_CAL_LOW_ADC. drive around to warm up the board. it should be at least 20°C warmer. repeat it for the HIGH-values.
 * Enable warning and/or poweroff and make and flash firmware.
 */
#define TEMP_FILT_COEF          655       // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
#define TEMP_CAL_LOW_ADC        1655      // temperature 1: ADC value
#define TEMP_CAL_LOW_DEG_C      358       // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
#define TEMP_CAL_HIGH_ADC       1588      // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C     489       // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
#define TEMP_WARNING_ENABLE     0         // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
#define TEMP_WARNING            600       // annoying fast beeps [°C * 10].  Here 60.0 °C
#define TEMP_POWEROFF_ENABLE    0         // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
#define TEMP_POWEROFF           650       // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C

#define INACTIVITY_TIMEOUT      8         // minutes of not driving until poweroff. it is not very precise.

// ############################### LCD DEBUG ###############################

//#define DEBUG_I2C_LCD             // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable

// ############################### SERIAL DEBUG ###############################

#define DEBUG_SERIAL_USART3         // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#define DEBUG_BAUD       115200     // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII          // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"

// ############################### INPUT ###############################

// ###### CONTROL VIA UART (serial) ######
//#define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
#define CONTROL_BAUD       19200      // control via usart from eg an Arduino or raspberry
// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }

// ###### 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.

// ###### CONTROL VIA TWO POTENTIOMETERS ######
/* 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.
 */
#define CONTROL_ADC           // use ADC as input. disable CONTROL_SERIAL_USART2!
#define ADC1_MIN 0            // min ADC1-value while poti at minimum-position (0 - 4095)
#define ADC1_MAX 4095         // max ADC1-value while poti at maximum-position (0 - 4095)
#define ADC2_MIN 0            // min ADC2-value while poti at minimum-position (0 - 4095)
#define ADC2_MAX 4095         // max ADC2-value while poti at maximum-position (0 - 4095)

// ###### CONTROL VIA NINTENDO NUNCHUCK ######
/* 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.
 */
// #define CONTROL_NUNCHUCK            // use nunchuck as input. disable DEBUG_SERIAL_USART3!


// ############################### MOTOR CONTROL (overwrite) #########################
#define CTRL_TYP_SEL    1                       // [-] Control type selection: 0 = Commutation , 1 = FOC Field Oriented Control (default)
#define CTRL_MOD_REQ    1                       // [-] Control mode request: 0 = Open mode, 1 = Voltage mode (default), 2 = Speed mode, 3 = Torque mode
#define DIAG_ENA        1                       // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
#define FIELD_WEAK_ENA  0                       // [-] Field Weakening enable flag: 0 = Disabled (default), 1 = Enabled
#define I_MOT_MAX       (15 * A2BIT_CONV) << 4  // [A] Maximum motor current limit (Change only the first number, the rest is needed for fixed-point conversion)
#define I_DC_MAX        (17 * A2BIT_CONV)       // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A )
#define N_MOT_MAX       800 << 4                // [rpm] Maximum motor speed (change only the first number, the rest is needed for fixed-point conversion)


/* GENERAL NOTES:
 * 1. The above parameters are over-writing the default motor parameters. For all the available parameters check BLDC_controller_data.c
 * 2. The parameters are represented in fixed point data type for a more efficient code execution
 * 3. For calibrating the fixed-point parameters use the Fixed-Point Viewer tool (see <https://github.com/EmanuelFeru/FixedPointViewer>)
 * 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
 * 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code
 *
 * NOTES Field weakening:
 * 1. In BLDC_controller_data.c you can find the field weakening Map as a function of speed: MAP = id_fieldWeak_M1, XAXIS = n_fieldWeak_XA
 * 2. The default calibration was experimentally calibrated to my particular needs
 * 3. If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast!
 * 4. During the recalibration make sure the speed values in XAXIS are equally spaced for a correct Map interpolation.
 */


// ############################### DRIVING BEHAVIOR ###############################

/* Inputs:
 * - cmd1 and cmd2: analog normalized input values. -1000 to 1000
 * - 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 -1000 to 1000 
 */

// Value of FILTER is in fixdt(0,16,16)
// VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6554 = 0.1 * 2^16
#define FILTER              6553  // 0.1f [-] lower value == softer filter [0, 65535] = [ 0.0 - 1.0].

// Value of COEFFICIENT is in fixdt(1,16,14)
// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^15
// If VAL_floatingPoint < 0,  VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^15).
#define SPEED_COEFFICIENT   16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 
#define STEER_COEFFICIENT   8192  // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case  8192 = 0.5 * 2^15. If you do not want any steering, set it to 0. 

#define INVERT_R_DIRECTION
#define INVERT_L_DIRECTION
#define BEEPS_BACKWARD      0     // 0 or 1

// ###### SIMPLE BOBBYCAR ######
// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
// #define FILTER             6553    //  0.1f 
// #define SPEED_COEFFICIENT  49152   // -1.0f
// #define STEER_COEFFICIENT  0       //  0.0f

// ###### ARMCHAIR ######
// #define FILTER             3276    //  0.05f
// #define SPEED_COEFFICIENT  8192    //  0.5f
// #define STEER_COEFFICIENT  62259   // -0.2f

// ############################### VALIDATE SETTINGS ###############################

#if defined CONTROL_SERIAL_USART2 && defined CONTROL_ADC
  #error CONTROL_ADC and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
#endif

#if defined CONTROL_SERIAL_USART2 && defined CONTROL_PPM
  #error CONTROL_PPM and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
#endif

#if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
  #error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
#endif

#if defined DEBUG_SERIAL_USART3 && defined DEBUG_I2C_LCD
  #error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
#endif

#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
  #error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
#endif