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Cruise Control update 

- added support for Cruise Control in HOVERCAR variant
- updated the shortBeep function, didn't like the beeping sound :)
This commit is contained in:
EmanuelFeru 2020-10-20 19:54:38 +02:00
parent 4991a15a5e
commit 4fbf2549c9
4 changed files with 58 additions and 39 deletions
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1
Inc/config.h
View File

@ -402,6 +402,7 @@
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// Extra functionality
// #define CRUISE_CONTROL_SUPPORT // [-] Flag to enable Cruise Control support. Activation/Deactivation is done by sideboard button or Brake pedal press.
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
// #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode.
// #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released).

1
Inc/util.h
View File

@ -72,6 +72,7 @@ void saveConfig(void);
int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
void standstillHold(int16_t *speedCmd);
void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
void cruiseControl(uint8_t button);
// Poweroff Functions
void poweroff(void);

3
Src/main.c
View File

@ -224,7 +224,8 @@ int main(void) {
}
if (cmd1 > 30) { // If Brake pedal (cmd1) is pressed, bring to 0 also the Throttle pedal (cmd2) to avoid "Double pedal" driving
cmd2 = (int16_t)((cmd2 * speedBlend) >> 15);
cmd2 = (int16_t)((cmd2 * speedBlend) >> 15);
cruiseControl((uint8_t)rtP_Left.b_cruiseCtrlEna); // Cruise control deactivated by Brake pedal if it was active
}
#endif

92
Src/util.c
View File

@ -186,13 +186,6 @@ static uint32_t command_len = sizeof(command);
#endif
#endif
#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
static uint8_t sensor1_prev; // holds the previous sensor1 state
static uint8_t sensor2_prev; // holds the previous sensor2 state
static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
static uint8_t sensor2_index; // holds the press index number for sensor2, when used as a button
#endif
#if defined(SUPPORT_BUTTONS) || defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
static uint8_t button1; // Blue
static uint8_t button2; // Green
@ -390,12 +383,12 @@ void shortBeep(uint8_t freq) {
void shortBeepMany(uint8_t cnt, int8_t dir) {
if (dir >= 0) { // increasing tone
for(uint8_t i = cnt; i > 0; i--) {
shortBeep(i + 2);
for(uint8_t i = 2*cnt; i >= 2; i=i-2) {
shortBeep(i + 3);
}
} else { // decreasing tone
for(uint8_t i = 0; i < cnt; i++) {
shortBeep(i + 2);
for(uint8_t i = 2; i <= 2*cnt; i=i+2) {
shortBeep(i + 3);
}
}
}
@ -648,6 +641,30 @@ void electricBrake(uint16_t speedBlend, uint8_t reverseDir) {
#endif
}
/*
* Cruise Control Function
* This function activates/deactivates cruise control.
*
* Input: button (as a pulse)
* Output: none
*/
void cruiseControl(uint8_t button) {
#ifdef CRUISE_CONTROL_SUPPORT
if (button && !rtP_Left.b_cruiseCtrlEna) { // Cruise control activated
rtP_Left.n_cruiseMotTgt = rtY_Left.n_mot;
rtP_Right.n_cruiseMotTgt = rtY_Right.n_mot;
rtP_Left.b_cruiseCtrlEna = 1;
rtP_Right.b_cruiseCtrlEna = 1;
shortBeepMany(2, 1); // 200 ms beep delay. Acts as a debounce also.
} else if (button && rtP_Left.b_cruiseCtrlEna) { // Cruise control deactivated
rtP_Left.b_cruiseCtrlEna = 0;
rtP_Right.b_cruiseCtrlEna = 0;
shortBeepMany(2, -1);
}
#endif
}
/* =========================== Poweroff Functions =========================== */
@ -869,17 +886,7 @@ void readCommand(void) {
}
#if defined(CRUISE_CONTROL_SUPPORT) && (defined(SUPPORT_BUTTONS) || defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT))
if (button1 && !rtP_Left.b_cruiseCtrlEna) { // Cruise control activated
rtP_Left.n_cruiseMotTgt = rtY_Left.n_mot;
rtP_Right.n_cruiseMotTgt = rtY_Right.n_mot;
rtP_Left.b_cruiseCtrlEna = 1;
rtP_Right.b_cruiseCtrlEna = 1;
shortBeepMany(2, 1); // 200 ms beep delay. Acts as a debounce also.
} else if (button1 && rtP_Left.b_cruiseCtrlEna) { // Cruise control deactivated
rtP_Left.b_cruiseCtrlEna = 0;
rtP_Right.b_cruiseCtrlEna = 0;
shortBeepMany(2, -1);
}
cruiseControl(button1); // Cruise control activation/deactivation
#endif
}
@ -1199,6 +1206,7 @@ void sideboardLeds(uint8_t *leds) {
*/
void sideboardSensors(uint8_t sensors) {
#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
static uint8_t sensor1_prev, sensor2_prev;
uint8_t sensor1_rising_edge, sensor2_rising_edge;
sensor1_rising_edge = (sensors & SENSOR1_SET) && !sensor1_prev;
sensor2_rising_edge = (sensors & SENSOR2_SET) && !sensor2_prev;
@ -1206,6 +1214,7 @@ void sideboardSensors(uint8_t sensors) {
sensor2_prev = sensors & SENSOR2_SET;
// Control MODE and Control Type Handling: use Sensor1 as push button
static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
if (sensor1_rising_edge) {
sensor1_index++;
if (sensor1_index > 4) { sensor1_index = 0; }
@ -1234,23 +1243,30 @@ void sideboardSensors(uint8_t sensors) {
}
// Field Weakening: use Sensor2 as push button
if (sensor2_rising_edge) {
sensor2_index++;
if (sensor2_index > 1) { sensor2_index = 0; }
switch (sensor2_index) {
case 0: // FW Disabled
rtP_Left.b_fieldWeakEna = 0;
rtP_Right.b_fieldWeakEna = 0;
Input_Lim_Init();
break;
case 1: // FW Enabled
rtP_Left.b_fieldWeakEna = 1;
rtP_Right.b_fieldWeakEna = 1;
Input_Lim_Init();
break;
#ifdef CRUISE_CONTROL_SUPPORT
if (sensor2_rising_edge) {
cruiseControl(sensor2_rising_edge);
}
shortBeepMany(sensor2_index + 1, 1);
}
#else
static uint8_t sensor2_index; // holds the press index number for sensor2, when used as a button
if (sensor2_rising_edge) {
sensor2_index++;
if (sensor2_index > 1) { sensor2_index = 0; }
switch (sensor2_index) {
case 0: // FW Disabled
rtP_Left.b_fieldWeakEna = 0;
rtP_Right.b_fieldWeakEna = 0;
Input_Lim_Init();
break;
case 1: // FW Enabled
rtP_Left.b_fieldWeakEna = 1;
rtP_Right.b_fieldWeakEna = 1;
Input_Lim_Init();
break;
}
shortBeepMany(sensor2_index + 1, 1);
}
#endif // CRUISE_CONTROL_SUPPORT
#endif
}