prettified config.h
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Inc/config.h
583
Inc/config.h
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@ -1,10 +1,11 @@
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#pragma once
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#include "stm32f1xx_hal.h"
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// ############################### DEFINE FIRMWARE VARIANT ###############################
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// For variant selection, check platformio.ini
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// or define the desired build variant here if you want to use make
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// ############################### GENERAL SETTINGS ###############################
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// For variant selection, check platformio.ini
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// or define the desired build variant here if you want to use make in console
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// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_NUNCHUK"
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// Only one at a time, choose wisely ;-)
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#if !defined(PLATFORMIO)
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//#define VARIANT_ADC // Variant for control via ADC input
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//#define VARIANT_USART // Variant for Serial control via USART3 input
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@ -15,11 +16,287 @@
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//#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
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#endif
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// For any particular needs, feel free to change this file according to your needs.
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#define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise.
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// ########################### END OF GENERAL SETTINGS ############################
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// ############################### BATTERY ###############################
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/* Battery voltage calibration: connect power source.
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* see How to calibrate.
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* Write debug output value nr 5 to BAT_CALIB_ADC. make and flash firmware.
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* Then you can verify voltage on debug output value 6 (to get calibrated voltage multiplied by 100).
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*/
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#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
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#define BAT_CALIB_REAL_VOLTAGE 3970 // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
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#define BAT_CALIB_ADC 1492 // adc-value measured by mainboard (value nr 5 on UART debug output)
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#define BAT_CELLS 10 // battery number of cells. Normal Hoverboard battery: 10s
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#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
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#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
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#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
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// ######################## END OF BATTERY ###############################
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// ############################### TEMPERATURE ###############################
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/* Board overheat detection: the sensor is inside the STM/GD chip.
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* It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!
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* Let your board cool down.
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* see <How to calibrate.
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* 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.
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* Write debug output 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.
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* Enable warning and/or poweroff and make and flash firmware.
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*/
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#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
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#define TEMP_CAL_LOW_ADC 1655 // temperature 1: ADC value
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#define TEMP_CAL_LOW_DEG_C 358 // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
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#define TEMP_CAL_HIGH_ADC 1588 // temperature 2: ADC value
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#define TEMP_CAL_HIGH_DEG_C 489 // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
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#define TEMP_WARNING 600 // annoying fast beeps [°C * 10]. Here 60.0 °C
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#define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
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#define TEMP_POWEROFF 650 // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
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// ######################## END OF TEMPERATURE ###############################
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// ############################### DEBUG SERIAL ###############################
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/* Connect GND and RX of a 3.3v uart-usb adapter to the left (USART2) or right sensor board cable (USART3)
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* Be careful not to use the red wire of the cable. 15v will destroye evrything.
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* If you are using VARIANT_NUNCHUK, disable it temporarily.
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* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
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* and DEBUG_SERIAL_ASCII use asearial terminal.
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*
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*
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* DEBUG_SERIAL_ASCII output is:
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* // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
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*
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* 1: (int16_t)adc_buffer.l_tx2); ADC1
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* 2: (int16_t)adc_buffer.l_rx2); ADC2
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* 3: (int16_t)speedR); output command: [-1000, 1000]
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* 4: (int16_t)speedL); output command: [-1000, 1000]
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* 5: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
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* 6: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
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* 7: (int16_t)board_temp_adcFilt); for board temperature calibration
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* 8: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
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*
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*/
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// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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#ifndef VARIANT_TRANSPOTTER
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//#define DEBUG_SERIAL_SERVOTERM
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//#define DEBUG_SERIAL_ASCII
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#endif
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// ########################### END OF DEBUG SERIAL ############################
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// ############################### DEBUG LCD ###############################
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//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
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// ########################### END OF DEBUG LCD ############################
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// ############################## VARIANT DEFAULT SETTINGS ############################
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/* Default settings will be applied at the end of this config file if not set before
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* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
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* Value of COEFFICIENT is in fixdt(1,16,14)
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* If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
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* If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
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*/
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#define DEFAULT_FILTER 6553 // Default for FILTER 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#define DEFAULT_SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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#define DEFAULT_STEER_COEFFICIENT 8192 // Defualt for STEER_COEFFICIENT 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
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// ######################### END OF VARIANT DEFAULT SETTINGS ##########################
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// ################################# VARIANT_ADC SETTINGS ############################
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#ifdef VARIANT_ADC
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/* CONTROL VIA TWO POTENTIOMETERS
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* ADC-calibration to cover the full poti-range:
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* 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>.
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* Turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN
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* Turn the potis to maximum position, write value 1 to ADC1_MAX and value 2 to ADC2_MAX
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* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
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* Make, flash and test it.
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*/
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#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
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// #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
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#define ADC_PROTECT_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
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#define ADC_PROTECT_THRESH 400 // ADC Protection threshold below/above the MIN/MAX ADC values
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// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
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#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define ADC1_MID 2048 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
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#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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// #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
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#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define ADC2_MID 2048 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
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#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
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#endif
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// ############################# END OF VARIANT_ADC SETTINGS #########################
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// ############################ VARIANT_USART SETTINGS ############################
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#ifdef VARIANT_USART
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// #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
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// #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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//#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
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//#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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#endif
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// ######################## END OF VARIANT_USART SETTINGS #########################
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// ################################# VARIANT_NUNCHUK SETTINGS ############################
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#ifdef VARIANT_NUNCHUK
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/* left sensor board cable. USART3
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* keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuk,
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* use the right one of the 2 types of nunchuks, add i2c pullups.
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* use original nunchuk. most clones does not work very well.
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* Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
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*/
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#define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
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// # maybe good for ARMCHAIR #
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#define FILTER 3276 // 0.05f
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#define SPEED_COEFFICIENT 8192 // 0.5f
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#define STEER_COEFFICIENT 62259 // -0.2f
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#endif
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// ############################# END OF VARIANT_NUNCHUK SETTINGS #########################
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// ################################# VARIANT_PPM SETTINGS ##############################
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#ifdef VARIANT_PPM
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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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* https://gist.github.com/peterpoetzi/1b63a4a844162196613871767189bd05
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*/
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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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#endif
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// ############################# END OF VARIANT_PPM SETTINGS ############################
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// ################################# VARIANT_IBUS SETTINGS ##############################
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#ifdef VARIANT_IBUS
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/* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL
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* Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed.
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*/
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#define CONTROL_IBUS // use IBUS as input
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#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
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#define IBUS_LENGTH 0x20
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#define IBUS_COMMAND 0x40
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#undef USART2_BAUD
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#define USART2_BAUD 115200
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#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#endif
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// ############################# END OF VARIANT_IBUS SETTINGS ############################
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// ############################ VARIANT_HOVERCAR SETTINGS ############################
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#ifdef VARIANT_HOVERCAR
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#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
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#define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
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#define ADC_PROTECT_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
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#define ADC_PROTECT_THRESH 400 // ADC Protection threshold below/above the MIN/MAX ADC values
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#define ADC1_MIN 1000 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define ADC1_MAX 2500 // max ADC1-value while poti at maximum-position (0 - 4095)
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#define ADC2_MIN 500 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define ADC2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095)
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#define SPEED_COEFFICIENT 16384 // 1.0f
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#define STEER_COEFFICIENT 0 // 0.0f
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//#define INVERT_R_DIRECTION // Invert rotation of right motor
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//#define INVERT_L_DIRECTION // Invert rotation of left motor
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#endif
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// ######################## END OF VARIANT_HOVERCAR SETTINGS #########################
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// ################################# VARIANT_TRANSPOTTER SETTINGS ############################
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//TODO ADD VALIDATION
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#ifdef VARIANT_TRANSPOTTER
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#define CONTROL_GAMETRAK
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//#define SUPPORT_LCD
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//#define SUPPORT_NUNCHUK
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#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
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//#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
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#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
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// during nunchuk control (only relevant when activated)
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#define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0?
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#define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
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#endif
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// ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
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// ############################### MOTOR CONTROL #########################
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/* GENERAL NOTES:
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* 1. The parameters are over-writing the default motor parameters. For all the available parameters check BLDC_controller_data.c
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* 2. The parameters are represented in fixed point data type for a more efficient code execution
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* 3. For calibrating the fixed-point parameters use the Fixed-Point Viewer tool (see <https://github.com/EmanuelFeru/FixedPointViewer>)
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* 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
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* 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code.
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* The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge
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*
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* NOTES Field Weakening / Phase Advance:
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* 1. The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively)
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* 2. The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
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* 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
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Inputs:
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- cmd1 and cmd2: analog normalized input values. INPUT_MIN to INPUT_MAX
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- button1 and button2: digital input values. 0 or 1
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- adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
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Outputs:
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- speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
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*/
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// Control selections
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#define CTRL_TYP_SEL 2 // [-] Control type selection: 0 = Commutation , 1 = Sinusoidal, 2 = FOC Field Oriented Control (default)
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#define CTRL_MOD_REQ 1 // [-] Control mode request: 0 = Open mode, 1 = VOLTAGE mode (default), 2 = SPEED mode, 3 = TORQUE mode. Note: SPEED and TORQUE modes are only available for FOC!
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#define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
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// Limitation settings
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#define I_MOT_MAX 15 // [A] Maximum motor current limit
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#define I_DC_MAX 17 // [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)
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#define N_MOT_MAX 1000 // [rpm] Maximum motor speed limit
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// Field Weakening / Phase Advance
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#define FIELD_WEAK_ENA 0 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
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#define FIELD_WEAK_MAX 5 // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed.
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#define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
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#define FIELD_WEAK_HI 1500 // [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
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#define FIELD_WEAK_LO 1000 // [-] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
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// Data checks - Do NOT touch
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#if (FIELD_WEAK_ENA == 0)
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#undef FIELD_WEAK_HI
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#define FIELD_WEAK_HI 1000 // [-] This prevents the input target going beyond 1000 when Field Weakening is not enabled
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#endif
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#define INPUT_MAX MAX( 1000, FIELD_WEAK_HI) // [-] Defines the Input target maximum limitation
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#define INPUT_MIN MIN(-1000,-FIELD_WEAK_HI) // [-] Defines the Input target minimum limitation
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#define INPUT_MID INPUT_MAX / 2
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// Multiple tap detection: default DOUBLE Tap (4 pulses)
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#define MULTIPLE_TAP_NR 2 * 2 // [-] Define tap number: MULTIPLE_TAP_NR = number_of_taps * 2, number_of_taps = 1 (for single taping), 2 (for double tapping), 3 (for triple tapping), etc...
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#define MULTIPLE_TAP_HI 600 // [-] Multiple tap detection High hysteresis threshold
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#define MULTIPLE_TAP_LO 200 // [-] Multiple tap detection Low hysteresis threshold
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#define MULTIPLE_TAP_TIMEOUT 2000 // [ms] Multiple tap detection Timeout period. The taps need to happen within this time window to be accepted.
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// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
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#define RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
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// ########################### END OF MOTOR CONTROL ########################
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// ############################### DO-NOT-TOUCH SETTINGS ###############################
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define PWM_FREQ 16000 // PWM frequency in Hz / is also used for buzzer
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#define DEAD_TIME 48 // PWM deadtime
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#ifdef VARIANT_TRANSPOTTER
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#define DELAY_IN_MAIN_LOOP 2
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@ -49,106 +326,26 @@
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// ADC Total conversion time: this will be used to offset TIM8 in advance of TIM1 to align the Phase current ADC measurement
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// 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 nunchuk, 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 3970 // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300
|
||||
#define BAT_CALIB_ADC 1492 // 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
|
||||
// ########################### END OF DO-NOT-TOUCH SETTINGS ############################
|
||||
|
||||
|
||||
/* 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 ###############################
|
||||
|
||||
#ifndef VARIANT_TRANSPOTTER
|
||||
//#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"
|
||||
// ########################### UART SETIINGS ############################
|
||||
#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
|
||||
#define START_FRAME 0xAAAA // [-] Start frame definition for serial commands
|
||||
#define SERIAL_TIMEOUT 160 // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec
|
||||
#endif
|
||||
|
||||
|
||||
// ############################### INPUT ###############################
|
||||
|
||||
// ###### CONTROL VIA UART (serial) ######
|
||||
#define START_FRAME 0xAAAA // [-] Start frame definition for serial commands
|
||||
#define SERIAL_TIMEOUT 160 // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec
|
||||
|
||||
#define USART2_BAUD 38400 // UART2 baud rate (long wired cable)
|
||||
#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
|
||||
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
|
||||
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
|
||||
|
||||
#if defined(VARIANT_ADC) || defined(VARIANT_HOVERCAR)
|
||||
// #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
|
||||
// #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
|
||||
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
|
||||
|
||||
// #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!
|
||||
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
|
||||
#elif defined(VARIANT_USART)
|
||||
// #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
|
||||
// #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
|
||||
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
|
||||
|
||||
#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!
|
||||
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
|
||||
#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
|
||||
#ifndef USART2_BAUD
|
||||
#define USART2_BAUD 38400 // UART2 baud rate (long wired cable)
|
||||
#endif
|
||||
#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
|
||||
#endif
|
||||
|
||||
// ###### CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL ######
|
||||
/* Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed. */
|
||||
#ifdef VARIANT_IBUS
|
||||
#define CONTROL_IBUS // use IBUS as input
|
||||
#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
|
||||
#define IBUS_LENGTH 0x20
|
||||
#define IBUS_COMMAND 0x40
|
||||
|
||||
#undef USART2_BAUD
|
||||
#define USART2_BAUD 115200
|
||||
#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
|
||||
#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
|
||||
#if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
|
||||
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
|
||||
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
|
||||
#define UART_DMA_CHANNEL DMA1_Channel7
|
||||
#endif
|
||||
|
|
@ -156,184 +353,26 @@
|
|||
#if defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
|
||||
#define UART_DMA_CHANNEL DMA1_Channel2
|
||||
#endif
|
||||
// ########################### UART SETIINGS ############################
|
||||
|
||||
// ###### CONTROL VIA RC REMOTE ######
|
||||
#ifdef VARIANT_PPM
|
||||
// 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.
|
||||
|
||||
|
||||
// ############################### APPLY DEFAULT SETTINGS ###############################
|
||||
#ifndef SPEED_COEFFICIENT
|
||||
#define SPEED_COEFFICIENT DEFAULT_SPEED_COEFFICIENT
|
||||
#endif
|
||||
|
||||
// ###### 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 the potis to maximum position, write value 1 to ADC1_MAX and value 2 to ADC2_MAX
|
||||
* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
|
||||
* Make, flash and test it.
|
||||
*/
|
||||
#ifdef VARIANT_ADC
|
||||
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
|
||||
// #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
|
||||
#define ADC_PROTECT_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
|
||||
#define ADC_PROTECT_THRESH 400 // ADC Protection threshold below/above the MIN/MAX ADC values
|
||||
// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
|
||||
#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
|
||||
#define ADC1_MID 2048 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
|
||||
#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
|
||||
// #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
|
||||
#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
|
||||
#define ADC2_MID 2048 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
|
||||
#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
|
||||
#ifndef STEER_COEFFICIENT
|
||||
#define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT
|
||||
#endif
|
||||
#ifdef VARIANT_HOVERCAR
|
||||
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
|
||||
#define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
|
||||
#define ADC_PROTECT_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
|
||||
#define ADC_PROTECT_THRESH 400 // ADC Protection threshold below/above the MIN/MAX ADC values
|
||||
#define ADC1_MIN 1000 // min ADC1-value while poti at minimum-position (0 - 4095)
|
||||
#define ADC1_MAX 2500 // max ADC1-value while poti at maximum-position (0 - 4095)
|
||||
#define ADC2_MIN 500 // min ADC2-value while poti at minimum-position (0 - 4095)
|
||||
#define ADC2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095)
|
||||
#ifndef FILTER
|
||||
#define FILTER DEFAULT_FILTER
|
||||
#endif
|
||||
|
||||
#ifdef VARIANT_NUNCHUK
|
||||
// ###### CONTROL VIA NINTENDO NUNCHUK ######
|
||||
/* left sensor board cable.
|
||||
* keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuk,
|
||||
* use the right one of the 2 types of nunchuks, add i2c pullups.
|
||||
* use original nunchuk. most clones does not work very well.
|
||||
* Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
|
||||
*/
|
||||
#define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
|
||||
#endif
|
||||
|
||||
// ############################### MOTOR CONTROL #########################
|
||||
// Control selections
|
||||
#define CTRL_TYP_SEL 2 // [-] Control type selection: 0 = Commutation , 1 = Sinusoidal, 2 = 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. Note: SPEED and TORQUE modes are only available for FOC!
|
||||
#define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
|
||||
|
||||
// Limitation settings
|
||||
#define I_MOT_MAX 15 // [A] Maximum motor current limit
|
||||
#define I_DC_MAX 17 // [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 1000 // [rpm] Maximum motor speed limit
|
||||
|
||||
// Field Weakening / Phase Advance
|
||||
#define FIELD_WEAK_ENA 0 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
|
||||
#define FIELD_WEAK_MAX 5 // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed.
|
||||
#define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
|
||||
#define FIELD_WEAK_HI 1500 // [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
|
||||
#define FIELD_WEAK_LO 1000 // [-] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
|
||||
|
||||
// Data checks - Do NOT touch
|
||||
#if (FIELD_WEAK_ENA == 0)
|
||||
#undef FIELD_WEAK_HI
|
||||
#define FIELD_WEAK_HI 1000 // [-] This prevents the input target going beyond 1000 when Field Weakening is not enabled
|
||||
#endif
|
||||
#define INPUT_MAX MAX( 1000, FIELD_WEAK_HI) // [-] Defines the Input target maximum limitation
|
||||
#define INPUT_MIN MIN(-1000,-FIELD_WEAK_HI) // [-] Defines the Input target minimum limitation
|
||||
#define INPUT_MID INPUT_MAX / 2
|
||||
|
||||
/* 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. The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge
|
||||
*
|
||||
* NOTES Field Weakening / Phase Advance:
|
||||
* 1. The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively)
|
||||
* 2. The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
|
||||
* 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
|
||||
*/
|
||||
// ########################### END OF APPLY DEFAULT SETTING ############################
|
||||
|
||||
|
||||
// ############################### DRIVING BEHAVIOR ###############################
|
||||
|
||||
/* Inputs:
|
||||
* - cmd1 and cmd2: analog normalized input values. INPUT_MIN to INPUT_MAX
|
||||
* - 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
|
||||
*/
|
||||
|
||||
// Beep in Reverse
|
||||
#define BEEPS_BACKWARD 1 // 0 or 1
|
||||
|
||||
// Multiple tap detection: default DOUBLE Tap (4 pulses)
|
||||
#define MULTIPLE_TAP_NR 2 * 2 // [-] Define tap number: MULTIPLE_TAP_NR = number_of_taps * 2, number_of_taps = 1 (for single taping), 2 (for double tapping), 3 (for triple tapping), etc...
|
||||
#define MULTIPLE_TAP_HI 600 // [-] Multiple tap detection High hysteresis threshold
|
||||
#define MULTIPLE_TAP_LO 200 // [-] Multiple tap detection Low hysteresis threshold
|
||||
#define MULTIPLE_TAP_TIMEOUT 2000 // [ms] Multiple tap detection Timeout period. The taps need to happen within this time window to be accepted.
|
||||
|
||||
// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
|
||||
#define RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
|
||||
|
||||
// Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
|
||||
#ifndef VARIANT_NUNCHUK
|
||||
#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
|
||||
#endif
|
||||
|
||||
// ################################# DEFAULT SETTINGS ############################
|
||||
#if !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUK)
|
||||
// Value of COEFFICIENT is in fixdt(1,16,14)
|
||||
// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
|
||||
// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
|
||||
#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 * 2^14. If you do not want any steering, set it to 0.
|
||||
|
||||
#define INVERT_R_DIRECTION
|
||||
#define INVERT_L_DIRECTION
|
||||
#endif
|
||||
|
||||
// ################################# VARIANT_HOVERCAR SETTINGS ############################
|
||||
#ifdef VARIANT_HOVERCAR
|
||||
#define SPEED_COEFFICIENT 16384 // 1.0f
|
||||
#define STEER_COEFFICIENT 0 // 0.0f
|
||||
|
||||
// #define INVERT_R_DIRECTION
|
||||
// #define INVERT_L_DIRECTION
|
||||
#endif
|
||||
|
||||
// ################################# VARIANT_TRANSPOTTER SETTINGS ############################
|
||||
#ifdef VARIANT_TRANSPOTTER
|
||||
#define CONTROL_GAMETRAK
|
||||
#define SUPPORT_LCD
|
||||
#define SUPPORT_NUNCHUK
|
||||
|
||||
#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
|
||||
//#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
|
||||
|
||||
#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
|
||||
|
||||
#define INVERT_R_DIRECTION // Invert right motor
|
||||
#define INVERT_L_DIRECTION // Invert left motor
|
||||
|
||||
// during nunchuk control (only relevant when activated)
|
||||
#define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0?
|
||||
#define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
|
||||
#endif
|
||||
|
||||
// ################################# VARIANT_NUNCHUK SETTINGS ############################
|
||||
#ifdef VARIANT_NUNCHUK
|
||||
// # ARMCHAIR #
|
||||
#define FILTER 3276 // 0.05f
|
||||
#define SPEED_COEFFICIENT 8192 // 0.5f
|
||||
#define STEER_COEFFICIENT 62259 // -0.2f
|
||||
|
||||
#endif
|
||||
|
||||
// ################################# 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
|
||||
|
||||
// ############################### VALIDATE SETTINGS ###############################
|
||||
|
||||
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM)&& !defined(VARIANT_IBUS)
|
||||
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) &&t !defined(VARIANT_IBUS) && !defined(DEBUG_SERIAL_USART3) && !defined(DEBUG_SERIAL_USART2)
|
||||
#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
|
||||
#endif
|
||||
|
||||
|
|
@ -389,4 +428,6 @@
|
|||
|
||||
#if defined(CONTROL_PPM) && !defined(PPM_NUM_CHANNELS)
|
||||
#error Total number of PPM channels needs to be set
|
||||
#endif
|
||||
#endif
|
||||
// ############################# END OF VALIDATE SETTINGS ############################
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue