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Implemented HOVERCAR variant 

Major:
- created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2)
- implemented "Double tapping" on Brake pedal to engage Reverse driving
- implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving
- implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA
- updated error handling: in case of major error the motors will be disabled for improved safety

Minor:
- fixed bug on low-pass filter for not reaching exact "0" value
- calibrated the ADC Battery voltage reading
- other minor visual updates
This commit is contained in:
EmanuelFeru 2019-12-31 13:35:01 +01:00
parent 183776ceb2
commit b4b23bbe9b
22 changed files with 389 additions and 193 deletions
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2
.travis.yml
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@ -44,7 +44,7 @@ matrix:
before_script: arm-none-eabi-gcc --version before_script: arm-none-eabi-gcc --version
- name: platformio - name: platformio
script: platformio run -e VARIANT_ADC -e VARIANT_USART3 -e TRANSPOTTER script: platformio run -e VARIANT_ADC -e VARIANT_USART3 -e HOVERCAR -e TRANSPOTTER
language: python language: python
python: python:
- "2.7" - "2.7"

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01_Matlab/01_Libraries/01_Controller/BLDC_controller_Lib.slx
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01_Matlab/03_CreateParamTable/tableParamType.xlsx
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01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx
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6
01_Matlab/init_model.m
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@ -89,9 +89,9 @@ cf_currFilt = 0.12; % [%] Current filter coefficient [0, 1]. Lower v
%% F02_Diagnostics %% F02_Diagnostics
b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default) b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
t_errQual = 0.6 * f_ctrl/3; % [s] Error qualification time t_errQual = 0.24 * f_ctrl/3; % [s] Error qualification time
t_errDequal = 2.0 * f_ctrl/3; % [s] Error dequalification time t_errDequal = 1.80 * f_ctrl/3; % [s] Error dequalification time
r_errInpTgtThres = 400; % [-] Error input target threshold (for "Blocked motor" detection) r_errInpTgtThres = 600; % [-] Error input target threshold (for "Blocked motor" detection)
%% F03_Control_Mode_Manager %% F03_Control_Mode_Manager
dV_openRate = 1000 / (f_ctrl/3);% [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate) dV_openRate = 1000 / (f_ctrl/3);% [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate)

8
Inc/BLDC_controller.h
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@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1249 * Model version : 1.1256
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Thu Dec 12 20:22:31 2019 * C/C++ source code generated on : Mon Dec 30 21:36:12 2019
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex
@ -43,7 +43,7 @@ typedef struct {
/* Block signals and states (auto storage) for system '<S41>/Low_Pass_Filter' */ /* Block signals and states (auto storage) for system '<S41>/Low_Pass_Filter' */
typedef struct { typedef struct {
int16_T UnitDelay3_DSTATE[2]; /* '<S50>/UnitDelay3' */ int32_T UnitDelay1_DSTATE[2]; /* '<S50>/UnitDelay1' */
} DW_Low_Pass_Filter; } DW_Low_Pass_Filter;
/* Block signals and states (auto storage) for system '<S73>/I_backCalc_fixdt' */ /* Block signals and states (auto storage) for system '<S73>/I_backCalc_fixdt' */
@ -85,7 +85,7 @@ typedef struct {
int32_T Divide1; /* '<S71>/Divide1' */ int32_T Divide1; /* '<S71>/Divide1' */
int32_T UnitDelay_DSTATE; /* '<S36>/UnitDelay' */ int32_T UnitDelay_DSTATE; /* '<S36>/UnitDelay' */
int16_T Gain4[3]; /* '<S43>/Gain4' */ int16_T Gain4[3]; /* '<S43>/Gain4' */
int16_T Sum1[2]; /* '<S50>/Sum1' */ int16_T DataTypeConversion[2]; /* '<S50>/Data Type Conversion' */
int16_T z_counterRawPrev; /* '<S15>/z_counterRawPrev' */ int16_T z_counterRawPrev; /* '<S15>/z_counterRawPrev' */
int16_T Merge1; /* '<S29>/Merge1' */ int16_T Merge1; /* '<S29>/Merge1' */
int16_T Divide3; /* '<S5>/Divide3' */ int16_T Divide3; /* '<S5>/Divide3' */

76
Inc/config.h
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@ -6,14 +6,14 @@
// For any particular needs, feel free to change this file according to your needs. // For any particular needs, feel free to change this file according to your needs.
// Select the VARIANT_ADC as default variant, in case NO variant is defined // Select the VARIANT_ADC as default variant, in case NO variant is defined
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(TRANSPOTTER) #if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(HOVERCAR) && !defined(TRANSPOTTER)
#define VARIANT_ADC #define VARIANT_ADC
#endif #endif
// ############################### DO-NOT-TOUCH SETTINGS ############################### // ############################### DO-NOT-TOUCH SETTINGS ###############################
#define PWM_FREQ 16000 // PWM frequency in Hz #define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime #define DEAD_TIME 48 // PWM deadtime
#ifdef TRANSPOTTER #ifdef TRANSPOTTER
#define DELAY_IN_MAIN_LOOP 2 #define DELAY_IN_MAIN_LOOP 2
#else #else
@ -55,8 +55,8 @@
* Then you can verify voltage on value 6 (to get calibrated voltage multiplied by 100). * 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_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_REAL_VOLTAGE 3970 // 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_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_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_LVL1_ENABLE 0 // to beep or not to beep, 1 or 0
@ -109,7 +109,7 @@
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable) #define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B #define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#if defined(VARIANT_ADC) #if defined(VARIANT_ADC) || defined(HOVERCAR)
// #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino // #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 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 DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
@ -149,15 +149,28 @@
* Make, flash and test it. * Make, flash and test it.
*/ */
#ifdef VARIANT_ADC #ifdef VARIANT_ADC
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti // #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 ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095) #define ADC_PROTECT_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX) #define ADC_PROTECT_THRESH 400 // ADC Protection threshold below/above the MIN/MAX ADC values
#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095) // #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
// #define ADC2_MID_POT // ADC2 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 ADC2_MIN 0 // min ADC2-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 ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX) #define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
#define ADC2_MAX 4095 // max ADC2-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)
#endif
#ifdef 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)
#endif #endif
// ###### CONTROL VIA NINTENDO NUNCHUCK ###### // ###### CONTROL VIA NINTENDO NUNCHUCK ######
@ -221,16 +234,22 @@
*/ */
// Beep in Reverse // Beep in Reverse
#define BEEPS_BACKWARD 0 // 0 or 1 #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 // 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) #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 // Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0]. #define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
// ################################# DEFAULT SETTINGS ############################ // ################################# DEFAULT SETTINGS ############################
#ifndef TRANSPOTTER #if !defined(HOVERCAR) && !defined(TRANSPOTTER)
// Value of COEFFICIENT is in fixdt(1,16,14) // 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 = VAL_floatingPoint * 2^14
// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14). // If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
@ -241,6 +260,15 @@
#define INVERT_L_DIRECTION #define INVERT_L_DIRECTION
#endif #endif
// ################################# HOVERCAR SETTINGS ############################
#ifdef HOVERCAR
#define SPEED_COEFFICIENT 16384 // 1.0f
#define STEER_COEFFICIENT 0 // 0.0f
// #define INVERT_R_DIRECTION
// #define INVERT_L_DIRECTION
#endif
// ################################# TRANSPOTTER SETTINGS ############################ // ################################# TRANSPOTTER SETTINGS ############################
#ifdef TRANSPOTTER #ifdef TRANSPOTTER
#define CONTROL_GAMETRAK #define CONTROL_GAMETRAK
@ -252,7 +280,7 @@
#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction. #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_R_DIRECTION // Invert right motor
#define INVERT_L_DIRECTION // Invert left motor #define INVERT_L_DIRECTION // Invert left motor
// during nunchuck control (only relevant when activated) // during nunchuck control (only relevant when activated)
@ -312,3 +340,13 @@
#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) #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. #error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
#endif #endif
#if defined(ADC_PROTECT_ENA) && ((ADC1_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC1_MAX + ADC_PROTECT_THRESH) >= 4096)
#warning ADC1 Protection NOT possible! Adjust the ADC thresholds.
#undef ADC_PROTECT_ENA
#endif
#if defined(ADC_PROTECT_ENA) && ((ADC2_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC2_MAX + ADC_PROTECT_THRESH) >= 4096)
#warning ADC2 Protection NOT possible! Adjust the ADC thresholds.
#undef ADC_PROTECT_ENA
#endif

15
Inc/defines.h
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@ -136,7 +136,7 @@
#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to)))) #define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
#define DEG(a) ((a)*M_PI / 180.0f) #define DEG(a) ((a)*M_PI / 180.0f)
#define RAD(a) ((a)*180.0f / M_PI) #define RAD(a) ((a)*180.0f / M_PI)
#define SIGN(a) (((a) < 0.0f) ? (-1.0f) : (((a) > 0.0f) ? (1.0f) : (0.0f))) #define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x))) #define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f) #define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
#define MIN(a, b) (((a) < (b)) ? (a) : (b)) #define MIN(a, b) (((a) < (b)) ? (a) : (b))
@ -157,15 +157,22 @@ typedef struct {
uint16_t l_rx2; uint16_t l_rx2;
} adc_buf_t; } adc_buf_t;
typedef struct {
uint32_t t_timePrev;
uint8_t z_pulseCntPrev;
uint8_t b_hysteresis;
uint8_t b_multipleTap;
} MultipleTap;
// Define Beep functions // Define Beep functions
void longBeep(uint8_t freq); void longBeep(uint8_t freq);
void shortBeep(uint8_t freq); void shortBeep(uint8_t freq);
// Define low-pass filter functions. Implementation is in main.c // Define additional functions. Implementation is in main.c
void filtLowPass16(int16_t u, uint16_t coef, int16_t *y); void filtLowPass32(int16_t u, uint16_t coef, int32_t *y);
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL); void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y); void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
// Define I2C and Nunchuck functions // Define I2C and Nunchuck functions
void I2C_Init(void); void I2C_Init(void);

4
Inc/rtwtypes.h
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@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1249 * Model version : 1.1256
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Thu Dec 12 20:22:31 2019 * C/C++ source code generated on : Mon Dec 30 21:36:12 2019
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex

11
README.md
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@ -149,10 +149,13 @@ Most robust way for input is to use the ADC and potis. It works well even on 1m
--- ---
## Examples ## Examples
Have a look at the config.h in the Inc directory. That's where you configure to firmware to match your project. This firmware offers currently 4 variants (selectable in platformio.ino):
Currently supported: Wii Nunchuck, analog potentiometer and PPM-Sum signal from a RC remote. - **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
A good example of control via UART, eg. from an Arduino or raspberryPi, can be found here: - **VARIANT_USART3**: In this variant the motors are controlled via Serial protocol on USART3 Right sensor cable (short wired). The commands can be sent from an Arduino. Check out the [hoverserial.ino](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/02_Arduino/hoverserial) as an example sketch.
https://github.com/p-h-a-i-l/hoverboard-firmware-hack - **HOVERCAR**: In this variant the motors are controlled by two pedals Brake and Throttle. Reverse is engaged by double tapping on the Brake pedal at standstill.
- **TRANSPOTTER**: This build is for Transpotter which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
Of course the firmware can be further customized for other needs or projects.
--- ---
## Acknowledgements ## Acknowledgements

115
Src/BLDC_controller.c
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@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1249 * Model version : 1.1256
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Thu Dec 12 20:22:31 2019 * C/C++ source code generated on : Mon Dec 30 21:36:12 2019
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex
@ -354,41 +354,66 @@ void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
/* System reset for atomic system: '<S41>/Low_Pass_Filter' */ /* System reset for atomic system: '<S41>/Low_Pass_Filter' */
void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW) void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW)
{ {
/* InitializeConditions for UnitDelay: '<S50>/UnitDelay3' */ /* InitializeConditions for UnitDelay: '<S50>/UnitDelay1' */
localDW->UnitDelay3_DSTATE[0] = 0; localDW->UnitDelay1_DSTATE[0] = 0;
localDW->UnitDelay3_DSTATE[1] = 0; localDW->UnitDelay1_DSTATE[1] = 0;
} }
/* Output and update for atomic system: '<S41>/Low_Pass_Filter' */ /* Output and update for atomic system: '<S41>/Low_Pass_Filter' */
void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2], void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2],
DW_Low_Pass_Filter *localDW) DW_Low_Pass_Filter *localDW)
{ {
uint16_T rtb_Sum5; int32_T rtb_Sum3_g;
/* Sum: '<S50>/Sum5' */ /* Sum: '<S50>/Sum2' incorporates:
rtb_Sum5 = (uint16_T)(65535U - rtu_coef); * UnitDelay: '<S50>/UnitDelay1'
/* Sum: '<S50>/Sum1' incorporates:
* Product: '<S50>/Divide1'
* Product: '<S50>/Divide2'
* UnitDelay: '<S50>/UnitDelay3'
*/ */
rty_y[0] = (int16_T)(((rtu_u[0] * rtu_coef) >> 16) + rtb_Sum3_g = rtu_u[0] - (localDW->UnitDelay1_DSTATE[0] >> 16);
((localDW->UnitDelay3_DSTATE[0] * rtb_Sum5) >> 16)); if (rtb_Sum3_g > 32767) {
rtb_Sum3_g = 32767;
} else {
if (rtb_Sum3_g < -32768) {
rtb_Sum3_g = -32768;
}
}
/* Update for UnitDelay: '<S50>/UnitDelay3' */ /* Sum: '<S50>/Sum3' incorporates:
localDW->UnitDelay3_DSTATE[0] = rty_y[0]; * Product: '<S50>/Divide3'
* Sum: '<S50>/Sum2'
/* Sum: '<S50>/Sum1' incorporates: * UnitDelay: '<S50>/UnitDelay1'
* Product: '<S50>/Divide1'
* Product: '<S50>/Divide2'
* UnitDelay: '<S50>/UnitDelay3'
*/ */
rty_y[1] = (int16_T)(((rtu_u[1] * rtu_coef) >> 16) + rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[0];
((localDW->UnitDelay3_DSTATE[1] * rtb_Sum5) >> 16));
/* Update for UnitDelay: '<S50>/UnitDelay3' */ /* DataTypeConversion: '<S50>/Data Type Conversion' */
localDW->UnitDelay3_DSTATE[1] = rty_y[1]; rty_y[0] = (int16_T)(rtb_Sum3_g >> 16);
/* Update for UnitDelay: '<S50>/UnitDelay1' */
localDW->UnitDelay1_DSTATE[0] = rtb_Sum3_g;
/* Sum: '<S50>/Sum2' incorporates:
* UnitDelay: '<S50>/UnitDelay1'
*/
rtb_Sum3_g = rtu_u[1] - (localDW->UnitDelay1_DSTATE[1] >> 16);
if (rtb_Sum3_g > 32767) {
rtb_Sum3_g = 32767;
} else {
if (rtb_Sum3_g < -32768) {
rtb_Sum3_g = -32768;
}
}
/* Sum: '<S50>/Sum3' incorporates:
* Product: '<S50>/Divide3'
* Sum: '<S50>/Sum2'
* UnitDelay: '<S50>/UnitDelay1'
*/
rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[1];
/* DataTypeConversion: '<S50>/Data Type Conversion' */
rty_y[1] = (int16_T)(rtb_Sum3_g >> 16);
/* Update for UnitDelay: '<S50>/UnitDelay1' */
localDW->UnitDelay1_DSTATE[1] = rtb_Sum3_g;
} }
/* /*
@ -1502,10 +1527,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* Disable for If: '<S6>/If2' */ /* Disable for If: '<S6>/If2' */
if (rtDW->If2_ActiveSubsystem_a == 0) { if (rtDW->If2_ActiveSubsystem_a == 0) {
/* Disable for Outport: '<S41>/iq' */ /* Disable for Outport: '<S41>/iq' */
rtDW->Sum1[0] = 0; rtDW->DataTypeConversion[0] = 0;
/* Disable for Outport: '<S41>/id' */ /* Disable for Outport: '<S41>/id' */
rtDW->Sum1[1] = 0; rtDW->DataTypeConversion[1] = 0;
} }
rtDW->If2_ActiveSubsystem_a = -1; rtDW->If2_ActiveSubsystem_a = -1;
@ -1518,10 +1543,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
rtDW->Gain4[2] = 0; rtDW->Gain4[2] = 0;
/* Disable for Outport: '<S6>/r_devSignal1' */ /* Disable for Outport: '<S6>/r_devSignal1' */
rtDW->Sum1[0] = 0; rtDW->DataTypeConversion[0] = 0;
/* Disable for Outport: '<S6>/r_devSignal2' */ /* Disable for Outport: '<S6>/r_devSignal2' */
rtDW->Sum1[1] = 0; rtDW->DataTypeConversion[1] = 0;
} }
if (UnitDelay3 == 0) { if (UnitDelay3 == 0) {
@ -1639,10 +1664,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
rtDW->If2_ActiveSubsystem_a = UnitDelay3; rtDW->If2_ActiveSubsystem_a = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) { if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for Outport: '<S41>/iq' */ /* Disable for Outport: '<S41>/iq' */
rtDW->Sum1[0] = 0; rtDW->DataTypeConversion[0] = 0;
/* Disable for Outport: '<S41>/id' */ /* Disable for Outport: '<S41>/id' */
rtDW->Sum1[1] = 0; rtDW->DataTypeConversion[1] = 0;
} }
if (UnitDelay3 == 0) { if (UnitDelay3 == 0) {
@ -1715,7 +1740,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* Outputs for Atomic SubSystem: '<S41>/Low_Pass_Filter' */ /* Outputs for Atomic SubSystem: '<S41>/Low_Pass_Filter' */
Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, rtP->cf_currFilt, Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, rtP->cf_currFilt,
rtDW->Sum1, &rtDW->Low_Pass_Filter_m); rtDW->DataTypeConversion, &rtDW->Low_Pass_Filter_m);
/* End of Outputs for SubSystem: '<S41>/Low_Pass_Filter' */ /* End of Outputs for SubSystem: '<S41>/Low_Pass_Filter' */
@ -1805,10 +1830,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
switch (rtDW->z_ctrlMod) { switch (rtDW->z_ctrlMod) {
case 1: case 1:
/* Abs: '<S6>/Abs5' */ /* Abs: '<S6>/Abs5' */
if (rtDW->Sum1[0] < 0) { if (rtDW->DataTypeConversion[0] < 0) {
rtb_Merge_f_idx_1 = (int16_T)-rtDW->Sum1[0]; rtb_Merge_f_idx_1 = (int16_T)-rtDW->DataTypeConversion[0];
} else { } else {
rtb_Merge_f_idx_1 = rtDW->Sum1[0]; rtb_Merge_f_idx_1 = rtDW->DataTypeConversion[0];
} }
/* End of Abs: '<S6>/Abs5' */ /* End of Abs: '<S6>/Abs5' */
@ -1843,13 +1868,13 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* RelationalOperator: '<S74>/UpperRelop' * RelationalOperator: '<S74>/UpperRelop'
* Switch: '<S74>/Switch' * Switch: '<S74>/Switch'
*/ */
if (rtDW->Sum1[0] > rtDW->Divide1_a) { if (rtDW->DataTypeConversion[0] > rtDW->Divide1_a) {
rtb_Merge_f_idx_1 = rtDW->Divide1_a; rtb_Merge_f_idx_1 = rtDW->Divide1_a;
} else if (rtDW->Sum1[0] < rtDW->Gain1) { } else if (rtDW->DataTypeConversion[0] < rtDW->Gain1) {
/* Switch: '<S74>/Switch' */ /* Switch: '<S74>/Switch' */
rtb_Merge_f_idx_1 = rtDW->Gain1; rtb_Merge_f_idx_1 = rtDW->Gain1;
} else { } else {
rtb_Merge_f_idx_1 = rtDW->Sum1[0]; rtb_Merge_f_idx_1 = rtDW->DataTypeConversion[0];
} }
/* End of Switch: '<S74>/Switch2' */ /* End of Switch: '<S74>/Switch2' */
@ -1858,8 +1883,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Constant: '<S71>/cf_iqKiLimProt' * Constant: '<S71>/cf_iqKiLimProt'
* Sum: '<S71>/Sum3' * Sum: '<S71>/Sum3'
*/ */
rtDW->Divide1 = (int16_T)(rtb_Merge_f_idx_1 - rtDW->Sum1[0]) * rtDW->Divide1 = (int16_T)(rtb_Merge_f_idx_1 - rtDW->DataTypeConversion[0])
rtP->cf_iqKiLimProt; * rtP->cf_iqKiLimProt;
/* End of Outputs for SubSystem: '<S45>/Speed_Mode_Protection' */ /* End of Outputs for SubSystem: '<S45>/Speed_Mode_Protection' */
break; break;
@ -1924,7 +1949,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Switch: '<S66>/Switch2' */ /* End of Switch: '<S66>/Switch2' */
/* Sum: '<S54>/Sum3' */ /* Sum: '<S54>/Sum3' */
rtb_Gain3 = rtb_toNegative - rtDW->Sum1[1]; rtb_Gain3 = rtb_toNegative - rtDW->DataTypeConversion[1];
if (rtb_Gain3 > 32767) { if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767; rtb_Gain3 = 32767;
} else { } else {
@ -2055,7 +2080,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Switch: '<S61>/Switch2' */ /* End of Switch: '<S61>/Switch2' */
/* Sum: '<S53>/Sum2' */ /* Sum: '<S53>/Sum2' */
rtb_Gain3 = rtb_Merge_f_idx_1 - rtDW->Sum1[0]; rtb_Gain3 = rtb_Merge_f_idx_1 - rtDW->DataTypeConversion[0];
if (rtb_Gain3 > 32767) { if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767; rtb_Gain3 = 32767;
} else { } else {
@ -2476,12 +2501,12 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* Outport: '<Root>/r_devSignal1' incorporates: /* Outport: '<Root>/r_devSignal1' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion4' * DataTypeConversion: '<S1>/Data Type Conversion4'
*/ */
rtY->r_devSignal1 = (int16_T)(rtDW->Sum1[0] >> 4); rtY->r_devSignal1 = (int16_T)(rtDW->DataTypeConversion[0] >> 4);
/* Outport: '<Root>/r_devSignal2' incorporates: /* Outport: '<Root>/r_devSignal2' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion5' * DataTypeConversion: '<S1>/Data Type Conversion5'
*/ */
rtY->r_devSignal2 = (int16_T)(rtDW->Sum1[1] >> 4); rtY->r_devSignal2 = (int16_T)(rtDW->DataTypeConversion[1] >> 4);
/* End of Outputs for SubSystem: '<Root>/BLDC_controller' */ /* End of Outputs for SubSystem: '<Root>/BLDC_controller' */
} }

10
Src/BLDC_controller_data.c
View File

@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1249 * Model version : 1.1256
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Thu Dec 12 20:22:31 2019 * C/C++ source code generated on : Mon Dec 30 21:36:12 2019
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex
@ -184,12 +184,12 @@ P rtP_Left = {
/* Variable: t_errDequal /* Variable: t_errDequal
* Referenced by: '<S3>/t_errDequal' * Referenced by: '<S3>/t_errDequal'
*/ */
10667U, 9600U,
/* Variable: t_errQual /* Variable: t_errQual
* Referenced by: '<S3>/t_errQual' * Referenced by: '<S3>/t_errQual'
*/ */
3200U, 1280U,
/* Variable: Vd_max /* Variable: Vd_max
* Referenced by: * Referenced by:
@ -266,7 +266,7 @@ P rtP_Left = {
/* Variable: r_errInpTgtThres /* Variable: r_errInpTgtThres
* Referenced by: '<S3>/r_errInpTgtThres' * Referenced by: '<S3>/r_errInpTgtThres'
*/ */
6400, 9600,
/* Variable: r_fieldWeakHi /* Variable: r_fieldWeakHi
* Referenced by: '<S5>/r_fieldWeakHi' * Referenced by: '<S5>/r_fieldWeakHi'

6
Src/bldc.c
View File

@ -78,7 +78,7 @@ static int16_t offsetdcl = 2000;
static int16_t offsetdcr = 2000; static int16_t offsetdcr = 2000;
int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE; int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
static int16_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 4; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point static int32_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 20; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
// ================================= // =================================
// DMA interrupt frequency =~ 16 kHz // DMA interrupt frequency =~ 16 kHz
@ -101,8 +101,8 @@ void DMA1_Channel1_IRQHandler(void) {
} }
if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time -> not any more, everything converted to fixed-point if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time -> not any more, everything converted to fixed-point
filtLowPass16(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt); filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
batVoltage = batVoltageFixdt >> 4; // convert fixed-point to integer batVoltage = (int16_t)(batVoltageFixdt >> 20); // convert fixed-point to integer
} }
// Get Left motor currents // Get Left motor currents

301
Src/main.c
View File

@ -99,6 +99,11 @@ extern I2C_HandleTypeDef hi2c2;
uint8_t nunchuck_connected = 1; uint8_t nunchuck_connected = 1;
#endif #endif
#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
#endif
static uint8_t timeoutFlagADC = 0; // Timeout Flag for for ADC Protection: 0 = OK, 1 = Problem detected (line disconnected or wrong ADC data)
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3) #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
typedef struct{ typedef struct{
uint16_t start; uint16_t start;
@ -107,9 +112,9 @@ typedef struct{
uint16_t checksum; uint16_t checksum;
} Serialcommand; } Serialcommand;
static volatile Serialcommand command; static volatile Serialcommand command;
static int16_t timeoutCnt = 0; // Timeout counter for Rx Serial command static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
#endif #endif
static uint8_t timeoutFlag = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data) static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#if defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3) #if defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
typedef struct{ typedef struct{
@ -126,7 +131,7 @@ typedef struct{
} SerialFeedback; } SerialFeedback;
static SerialFeedback Feedback; static SerialFeedback Feedback;
#endif #endif
static uint8_t serialSendCounter; // serial send counter static uint8_t serialSendCnt; // serial send counter
#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC) #if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
static uint8_t button1, button2; static uint8_t button1, button2;
@ -139,11 +144,16 @@ static int cmd2; // normalized input value. -1000 to 1000
static int16_t speed; // local variable for speed. -1000 to 1000 static int16_t speed; // local variable for speed. -1000 to 1000
#ifndef TRANSPOTTER #ifndef TRANSPOTTER
static int16_t steer; // local variable for steering. -1000 to 1000 static int16_t steer; // local variable for steering. -1000 to 1000
static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter
static int16_t speedFixdt; // local fixed-point variable for speed low-pass filter
static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
static int32_t steerFixdt; // local fixed-point variable for steering low-pass filter
static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter
#endif #endif
#ifdef HOVERCAR
static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal
#endif
static int16_t speedAvg; // average measured speed
static int16_t speedAvgAbs; // average measured speed in absolute
extern volatile int pwml; // global variable for pwm left. -1000 to 1000 extern volatile int pwml; // global variable for pwm left. -1000 to 1000
extern volatile int pwmr; // global variable for pwm right. -1000 to 1000 extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
@ -217,8 +227,6 @@ int main(void) {
// ############################################################################### // ###############################################################################
/* Set BLDC controller parameters */ /* Set BLDC controller parameters */
rtP_Right = rtP_Left; // Copy the Left motor parameters to the Right motor parameters
rtP_Left.b_selPhaABCurrMeas = 1; // Left motor measured current phases = {iA, iB} -> do NOT change rtP_Left.b_selPhaABCurrMeas = 1; // Left motor measured current phases = {iA, iB} -> do NOT change
rtP_Left.z_ctrlTypSel = CTRL_TYP_SEL; rtP_Left.z_ctrlTypSel = CTRL_TYP_SEL;
rtP_Left.b_diagEna = DIAG_ENA; rtP_Left.b_diagEna = DIAG_ENA;
@ -230,16 +238,8 @@ int main(void) {
rtP_Left.r_fieldWeakHi = FIELD_WEAK_HI << 4; // fixdt(1,16,4) rtP_Left.r_fieldWeakHi = FIELD_WEAK_HI << 4; // fixdt(1,16,4)
rtP_Left.r_fieldWeakLo = FIELD_WEAK_LO << 4; // fixdt(1,16,4) rtP_Left.r_fieldWeakLo = FIELD_WEAK_LO << 4; // fixdt(1,16,4)
rtP_Right = rtP_Left; // Copy the Left motor parameters to the Right motor parameters
rtP_Right.b_selPhaABCurrMeas = 0; // Left motor measured current phases = {iB, iC} -> do NOT change rtP_Right.b_selPhaABCurrMeas = 0; // Left motor measured current phases = {iB, iC} -> do NOT change
rtP_Right.z_ctrlTypSel = CTRL_TYP_SEL;
rtP_Right.b_diagEna = DIAG_ENA;
rtP_Right.i_max = (I_MOT_MAX * A2BIT_CONV) << 4; // fixdt(1,16,4)
rtP_Right.n_max = N_MOT_MAX << 4; // fixdt(1,16,4)
rtP_Right.b_fieldWeakEna = FIELD_WEAK_ENA;
rtP_Right.id_fieldWeakMax = (FIELD_WEAK_MAX * A2BIT_CONV) << 4; // fixdt(1,16,4)
rtP_Right.a_phaAdvMax = PHASE_ADV_MAX << 4; // fixdt(1,16,4)
rtP_Right.r_fieldWeakHi = FIELD_WEAK_HI << 4; // fixdt(1,16,4)
rtP_Right.r_fieldWeakLo = FIELD_WEAK_LO << 4; // fixdt(1,16,4)
/* Pack LEFT motor data into RTM */ /* Pack LEFT motor data into RTM */
rtM_Left->defaultParam = &rtP_Left; rtM_Left->defaultParam = &rtP_Left;
@ -355,7 +355,7 @@ int main(void) {
int16_t lastSpeedL = 0, lastSpeedR = 0; int16_t lastSpeedL = 0, lastSpeedR = 0;
int16_t speedL = 0, speedR = 0; int16_t speedL = 0, speedR = 0;
int16_t board_temp_adcFixdt = adc_buffer.temp << 4; // Fixed-point filter output initialized with current ADC converted to fixed-point int32_t board_temp_adcFixdt = adc_buffer.temp << 20; // Fixed-point filter output initialized with current ADC converted to fixed-point
int16_t board_temp_adcFilt = adc_buffer.temp; int16_t board_temp_adcFilt = adc_buffer.temp;
int16_t board_temp_deg_c; int16_t board_temp_deg_c;
@ -409,12 +409,11 @@ int main(void) {
} }
if (distance - (int)(setDistance * 1345) > -300) { if (distance - (int)(setDistance * 1345) > -300) {
#ifdef INVERT_R_DIRECTION #ifdef INVERT_R_DIRECTION
pwmr = -speedR;
#endif
#ifndef INVERT_R_DIRECTION
pwmr = speedR; pwmr = speedR;
#endif #endif
#ifndef INVERT_R_DIRECTION
pwmr = -speedR;
#endif
#ifdef INVERT_L_DIRECTION #ifdef INVERT_L_DIRECTION
pwml = -speedL; pwml = -speedL;
#endif #endif
@ -472,7 +471,32 @@ int main(void) {
-CLAMP((ADC2_MID - adc_buffer.l_rx2) * INPUT_MAX / (ADC2_MID - ADC2_MIN), 0, INPUT_MAX); // ADC2 -CLAMP((ADC2_MID - adc_buffer.l_rx2) * INPUT_MAX / (ADC2_MID - ADC2_MIN), 0, INPUT_MAX); // ADC2
#else #else
cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN) * INPUT_MAX / (ADC2_MAX - ADC2_MIN), 0, INPUT_MAX); // ADC2 cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN) * INPUT_MAX / (ADC2_MAX - ADC2_MIN), 0, INPUT_MAX); // ADC2
#endif #endif
#ifdef ADC_PROTECT_ENA
if (adc_buffer.l_tx2 >= (ADC1_MIN - ADC_PROTECT_THRESH) && adc_buffer.l_tx2 <= (ADC1_MAX + ADC_PROTECT_THRESH) &&
adc_buffer.l_rx2 >= (ADC2_MIN - ADC_PROTECT_THRESH) && adc_buffer.l_rx2 <= (ADC2_MAX + ADC_PROTECT_THRESH)) {
if (timeoutFlagADC) { // Check for previous timeout flag
if (timeoutCntADC-- <= 0) // Timeout de-qualification
timeoutFlagADC = 0; // Timeout flag cleared
} else {
timeoutCntADC = 0; // Reset the timeout counter
}
} else {
if (timeoutCntADC++ >= ADC_PROTECT_TIMEOUT) { // Timeout qualification
timeoutFlagADC = 1; // Timeout detected
timeoutCntADC = ADC_PROTECT_TIMEOUT; // Limit timout counter value
}
}
if (timeoutFlagADC) { // In case of timeout bring the system to a Safe State
ctrlModReq = 0; // OPEN_MODE request. This will bring the motor power to 0 in a controlled way
cmd1 = 0;
cmd2 = 0;
} else {
ctrlModReq = ctrlModReqRaw; // Follow the Mode request
}
#endif
// use ADCs as button inputs: // use ADCs as button inputs:
button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1 button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1
@ -485,19 +509,19 @@ int main(void) {
// Handle received data validity, timeout and fix out-of-sync if necessary // Handle received data validity, timeout and fix out-of-sync if necessary
if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) { if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
if (timeoutFlag) { // Check for previous timeout flag if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCnt-- <= 0) // Timeout de-qualification if (timeoutCntSerial-- <= 0) // Timeout de-qualification
timeoutFlag = 0; // Timeout flag cleared timeoutFlagSerial = 0; // Timeout flag cleared
} else { } else {
cmd1 = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX); cmd1 = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX); cmd2 = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);
command.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle command.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCnt = 0; // Reset the timeout counter timeoutCntSerial = 0; // Reset the timeout counter
} }
} else { } else {
if (timeoutCnt++ >= SERIAL_TIMEOUT) { // Timeout qualification if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlag = 1; // Timeout detected timeoutFlagSerial = 1; // Timeout detected
timeoutCnt = SERIAL_TIMEOUT; // Limit timout counter value timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
} }
// Check the received Start Frame. If it is NOT OK, most probably we are out-of-sync. // Check the received Start Frame. If it is NOT OK, most probably we are out-of-sync.
// Try to re-sync by reseting the DMA // Try to re-sync by reseting the DMA
@ -507,7 +531,7 @@ int main(void) {
} }
} }
if (timeoutFlag) { // In case of timeout bring the system to a Safe State if (timeoutFlagSerial) { // In case of timeout bring the system to a Safe State
ctrlModReq = 0; // OPEN_MODE request. This will bring the motor power to 0 in a controlled way ctrlModReq = 0; // OPEN_MODE request. This will bring the motor power to 0 in a controlled way
cmd1 = 0; cmd1 = 0;
cmd2 = 0; cmd2 = 0;
@ -518,26 +542,76 @@ int main(void) {
#endif #endif
// Calculate measured average speed. The minus sign (-) is beacause motors spin in opposite directions
#if !defined(INVERT_L_DIRECTION) && !defined(INVERT_R_DIRECTION)
speedAvg = ( rtY_Left.n_mot - rtY_Right.n_mot) / 2;
#elif !defined(INVERT_L_DIRECTION) && defined(INVERT_R_DIRECTION)
speedAvg = ( rtY_Left.n_mot + rtY_Right.n_mot) / 2;
#elif defined(INVERT_L_DIRECTION) && !defined(INVERT_R_DIRECTION)
speedAvg = (-rtY_Left.n_mot - rtY_Right.n_mot) / 2;
#elif defined(INVERT_L_DIRECTION) && defined(INVERT_R_DIRECTION)
speedAvg = (-rtY_Left.n_mot + rtY_Right.n_mot) / 2;
#endif
// Handle the case when SPEED_COEFFICIENT sign is negative (which is when most significant bit is 1)
if ((SPEED_COEFFICIENT & (1 << 16)) >> 16) {
speedAvg = -speedAvg;
}
speedAvgAbs = abs(speedAvg);
#ifndef TRANSPOTTER #ifndef TRANSPOTTER
// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) ####### // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){ if (enable == 0 && (!errCode_Left && !errCode_Right) && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
shortBeep(6); // make 2 beeps indicating the motor enable shortBeep(6); // make 2 beeps indicating the motor enable
shortBeep(4); HAL_Delay(100); shortBeep(4); HAL_Delay(100);
enable = 1; // enable motors enable = 1; // enable motors
} }
// ####### HOVERCAR #######
#ifdef HOVERCAR
// Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
uint16_t speedBlend;
speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,30,90) - 30) << 15) / 60); // speedBlend [0,1] is within [30 rpm, 90rpm]
// Check if Hovercar is physically close to standstill to enable Double tap detection on Brake pedal for Reverse functionality
if (speedAvgAbs < 20) {
multipleTapDet(cmd1, HAL_GetTick(), &MultipleTapBreak); // Break pedal in this case is "cmd1" variable
}
// If Brake pedal (cmd1) is pressed, bring to 0 also the Throttle pedal (cmd2) to avoid "Double pedal" driving
if (cmd1 > 20) {
cmd2 = (int16_t)((cmd2 * speedBlend) >> 15);
}
// Make sure the Brake pedal is opposite to the direction of motion AND it goes to 0 as we reach standstill (to avoid Reverse driving by Brake pedal)
if (speedAvg > 0) {
cmd1 = (int16_t)((-cmd1 * speedBlend) >> 15);
} else {
cmd1 = (int16_t)(( cmd1 * speedBlend) >> 15);
}
#endif
// ####### LOW-PASS FILTER ####### // ####### LOW-PASS FILTER #######
rateLimiter16(cmd1, RATE, &steerRateFixdt); rateLimiter16(cmd1, RATE, &steerRateFixdt);
rateLimiter16(cmd2, RATE, &speedRateFixdt); rateLimiter16(cmd2, RATE, &speedRateFixdt);
filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt); filtLowPass32(steerRateFixdt >> 4, FILTER, &steerFixdt);
filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt); filtLowPass32(speedRateFixdt >> 4, FILTER, &speedFixdt);
steer = steerFixdt >> 4; // convert fixed-point to integer steer = (int16_t)(steerFixdt >> 20); // convert fixed-point to integer
speed = speedFixdt >> 4; // convert fixed-point to integer speed = (int16_t)(speedFixdt >> 20); // convert fixed-point to integer
// ####### HOVERCAR #######
#ifdef HOVERCAR
if (!MultipleTapBreak.b_multipleTap) { // Check driving direction
speed = steer + speed; // Forward driving
} else {
speed = steer - speed; // Reverse driving
}
#endif
// ####### MIXER ####### // ####### MIXER #######
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000); // speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000); // speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above mixerFcn(speed << 4, steer << 4, &speedR, &speedL); // This function implements the equations above
#ifdef ADDITIONAL_CODE #ifdef ADDITIONAL_CODE
ADDITIONAL_CODE; ADDITIONAL_CODE;
@ -637,13 +711,13 @@ int main(void) {
// ####### CALC BOARD TEMPERATURE ####### // ####### CALC BOARD TEMPERATURE #######
filtLowPass16(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt); filtLowPass32(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
board_temp_adcFilt = board_temp_adcFixdt >> 4; // convert fixed-point to integer board_temp_adcFilt = (int16_t)(board_temp_adcFixdt >> 20); // convert fixed-point to integer
board_temp_deg_c = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C; board_temp_deg_c = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
serialSendCounter++; // Increment the counter serialSendCnt++; // Increment the counter
if (serialSendCounter > 20) { // Send data every 100 ms = 20 * 5 ms, where 5 ms is approximately the main loop duration if (serialSendCnt > 20) { // Send data every 100 ms = 20 * 5 ms, where 5 ms is approximately the main loop duration
serialSendCounter = 0; // Reset the counter serialSendCnt = 0; // Reset the counter
// ####### DEBUG SERIAL OUT ####### // ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3) #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
@ -651,8 +725,8 @@ int main(void) {
setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1 setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1
setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2 setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2
#endif #endif
setScopeChannel(2, (int16_t)speedR); // 1: output command: [-1000, 1000] setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 2: output command: [-1000, 1000] setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
@ -696,25 +770,29 @@ int main(void) {
// ####### BEEP AND EMERGENCY POWEROFF ####### // ####### BEEP AND EMERGENCY POWEROFF #######
if ((TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && abs(speed) < 20) || (batVoltage < BAT_LOW_DEAD && abs(speed) < 20)) { // poweroff before mainboard burns OR low bat 3 if (errCode_Left || errCode_Right) { // disable motors and beep in case of Motor error - fast beep
enable = 0;
buzzerFreq = 8;
buzzerPattern = 1;
} else if ((TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && speedAvgAbs < 20) || (batVoltage < BAT_LOW_DEAD && speedAvgAbs < 20)) { // poweroff before mainboard burns OR low bat 3
poweroff(); poweroff();
} else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // beep if mainboard gets hot } else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // beep if mainboard gets hot
buzzerFreq = 4; buzzerFreq = 4;
buzzerPattern = 1; buzzerPattern = 1;
} else if (batVoltage < BAT_LOW_LVL1 && batVoltage >= BAT_LOW_LVL2 && BAT_LOW_LVL1_ENABLE) { // low bat 1: slow beep } else if (batVoltage < BAT_LOW_LVL1 && batVoltage >= BAT_LOW_LVL2 && BAT_LOW_LVL1_ENABLE) { // low bat 1: slow beep
buzzerFreq = 5; buzzerFreq = 5;
buzzerPattern = 42; buzzerPattern = 42;
} else if (batVoltage < BAT_LOW_LVL2 && batVoltage >= BAT_LOW_DEAD && BAT_LOW_LVL2_ENABLE) { // low bat 2: fast beep } else if (batVoltage < BAT_LOW_LVL2 && batVoltage >= BAT_LOW_DEAD && BAT_LOW_LVL2_ENABLE) { // low bat 2: fast beep
buzzerFreq = 5; buzzerFreq = 5;
buzzerPattern = 6; buzzerPattern = 6;
} else if (errCode_Left || errCode_Right || timeoutFlag) { // beep in case of Motor error or serial timeout - fast beep } else if (timeoutFlagADC || timeoutFlagSerial) { // beep in case of ADC or Serial timeout - fast beep
buzzerFreq = 12; buzzerFreq = 24;
buzzerPattern = 1; buzzerPattern = 1;
} else if (BEEPS_BACKWARD && speed < -50) { // backward beep } else if (BEEPS_BACKWARD && speed < -50 && speedAvg < 0) { // backward beep
buzzerFreq = 5; buzzerFreq = 5;
buzzerPattern = 1; buzzerPattern = 1;
} else { // do not beep } else { // do not beep
buzzerFreq = 0; buzzerFreq = 0;
buzzerPattern = 0; buzzerPattern = 0;
} }
@ -752,67 +830,27 @@ void shortBeep(uint8_t freq){
} }
// =========================================================== // ===========================================================
/* Low pass filter fixed-point 16 bits: fixdt(1,16,4) /* Low pass filter fixed-point 32 bits: fixdt(1,32,20)
* Max: 2047.9375 * Max: 2047.9375
* Min: -2048 * Min: -2048
* Res: 0.0625 * Res: 0.0625
* *
* Inputs: u = int16 * Inputs: u = int16
* Outputs: y = fixdt(1,16,4) * Outputs: y = fixdt(1,32,20)
* Parameters: coef = fixdt(0,16,16) = [0,65535U] * Parameters: coef = fixdt(0,16,16) = [0,65535U]
* *
* Example: * Example:
* If coef = 0.8 (in floating point), then coef = 0.8 * 2^16 = 52429 (in fixed-point) * If coef = 0.8 (in floating point), then coef = 0.8 * 2^16 = 52429 (in fixed-point)
* filtLowPass16(u, 52429, &y); * filtLowPass16(u, 52429, &y);
* yint = y >> 4; // the integer output is the fixed-point ouput shifted by 4 bits * yint = (int16_t)(y >> 20); // the integer output is the fixed-point ouput shifted by 20 bits
*/ */
void filtLowPass16(int16_t u, uint16_t coef, int16_t *y) void filtLowPass32(int16_t u, uint16_t coef, int32_t *y)
{ {
int32_t tmp; int32_t tmp;
tmp = (((int16_t)(u << 4) * coef) >> 16) + tmp = (int16_t)(u << 4) - (*y >> 16);
(((int32_t)(65535U - coef) * (*y)) >> 16); tmp = CLAMP(tmp, -32768, 32767); // Overflow protection
*y = coef * tmp + (*y);
// Overflow protection
tmp = CLAMP(tmp, -32768, 32767);
*y = (int16_t)tmp;
}
// ===========================================================
/* Low pass filter fixed-point 32 bits: fixdt(1,32,16)
* Max: 32767.99998474121
* Min: -32768
* Res: 1.52587890625e-5
*
* Inputs: u = int32
* Outputs: y = fixdt(1,32,16)
* Parameters: coef = fixdt(0,16,16) = [0,65535U]
*
* Example:
* If coef = 0.8 (in floating point), then coef = 0.8 * 2^16 = 52429 (in fixed-point)
* filtLowPass16(u, 52429, &y);
* yint = y >> 16; // the integer output is the fixed-point ouput shifted by 16 bits
*/
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y)
{
int32_t q0;
int32_t q1;
int32_t tmp;
q0 = (int32_t)(((int64_t)(u << 16) * coef) >> 16);
q1 = (int32_t)(((int64_t)(65535U - coef) * (*y)) >> 16);
// Overflow protection
if ((q0 < 0) && (q1 < MIN_int32_T - q0)) {
tmp = MIN_int32_T;
} else if ((q0 > 0) && (q1 > MAX_int32_T - q0)) {
tmp = MAX_int32_T;
} else {
tmp = q0 + q1;
}
*y = tmp;
} }
// =========================================================== // ===========================================================
@ -866,6 +904,67 @@ void rateLimiter16(int16_t u, int16_t rate, int16_t *y)
*y = q0 + *y; *y = q0 + *y;
} }
// ===========================================================
/* multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x)
* This function detects multiple tap presses, such as double tapping, triple tapping, etc.
* Inputs: u = int16_t (input signal); timeNow = uint32_t (current time)
* Outputs: x->b_multipleTap (get the output here)
*/
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x)
{
uint8_t b_timeout;
uint8_t b_hyst;
uint8_t b_pulse;
uint8_t z_pulseCnt;
uint8_t z_pulseCntRst;
uint32_t t_time;
// Detect hysteresis
if (x->b_hysteresis) {
b_hyst = (u > MULTIPLE_TAP_LO);
} else {
b_hyst = (u > MULTIPLE_TAP_HI);
}
// Detect pulse
b_pulse = (b_hyst != x->b_hysteresis);
// Save time when first pulse is detected
if (b_hyst && b_pulse && (x->z_pulseCntPrev == 0)) {
t_time = timeNow;
} else {
t_time = x->t_timePrev;
}
// Create timeout boolean
b_timeout = (timeNow - t_time > MULTIPLE_TAP_TIMEOUT);
// Create pulse counter
if ((!b_hyst) && (x->z_pulseCntPrev == 0)) {
z_pulseCnt = 0U;
} else {
z_pulseCnt = b_pulse;
}
// Reset counter if we detected complete tap presses OR there is a timeout
if ((x->z_pulseCntPrev >= MULTIPLE_TAP_NR) || b_timeout) {
z_pulseCntRst = 0U;
} else {
z_pulseCntRst = x->z_pulseCntPrev;
}
z_pulseCnt = z_pulseCnt + z_pulseCntRst;
// Check if complete tap presses are detected AND no timeout
if ((z_pulseCnt >= MULTIPLE_TAP_NR) && (!b_timeout)) {
x->b_multipleTap = !x->b_multipleTap; // Toggle output
}
// Update states
x->z_pulseCntPrev = z_pulseCnt;
x->b_hysteresis = b_hyst;
x->t_timePrev = t_time;
}
// =========================================================== // ===========================================================
/** System Clock Configuration /** System Clock Configuration

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platformio.ini
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@ -6,9 +6,10 @@ include_dir = Inc
src_dir = Src src_dir = Src
;=================== VARIANT SELECTION ========================== ;=================== VARIANT SELECTION ==========================
default_envs = VARIANT_ADC ; Variant for control via ADC input default_envs = VARIANT_ADC ; Variant for control via ADC input
;default_envs = VARIANT_USART3 ; Variant for Serial control via USART3 input ;default_envs = VARIANT_USART3 ; Variant for Serial control via USART3 input
;default_envs = TRANSPOTTER ; Variant for TRANSPOTTER build https://github.com/Jan--Henrik/transpOtterNG ;default_envs = HOVERCAR ; Variant for HOVERCAR build
;default_envs = TRANSPOTTER ; Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
;================================================================ ;================================================================
[env:VARIANT_ADC] [env:VARIANT_ADC]
@ -31,6 +32,7 @@ build_flags =
-Wl,-lm -Wl,-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys # -Wl,-lnosys
-D VARIANT_ADC
[env:VARIANT_USART3] [env:VARIANT_USART3]
platform = ststm32 platform = ststm32
@ -54,6 +56,28 @@ build_flags =
# -Wl,-lnosys # -Wl,-lnosys
-D VARIANT_USART3 -D VARIANT_USART3
[env:HOVERCAR]
platform = ststm32
framework = stm32cube
board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
build_flags =
-I${PROJECT_DIR}/inc/
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D HOVERCAR
[env:TRANSPOTTER] [env:TRANSPOTTER]
platform = ststm32 platform = ststm32
framework = stm32cube framework = stm32cube