interfisch
/
hoverboard-firmware-hack-foc-serial-esc
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #11 from pinguinpfleger/master 

added PPM and Nunchuck as variant. unifyed variant naming
This commit is contained in:
EmanuelFeru 2020-01-07 18:13:26 +01:00 committed by GitHub
parent 641fd0bd76 a3b6e40fa2
commit bdb3b00a6d
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 183 additions and 80 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
.travis.yml
View File

@ -1,14 +1,15 @@
notifications: notifications:
email: true email: true
sudo: false os: linux
matrix: jobs:
fast_finish: true fast_finish: true
include: include:
- name: make (gcc-arm-none-eabi-7) - name: make (gcc-arm-none-eabi-7)
script: make script: make
env: VARIANT=VARIANT_ADC
language: c language: c
addons: addons:
apt: apt:
@ -27,6 +28,7 @@ matrix:
- name: make (gcc-arm-none-eabi-5) - name: make (gcc-arm-none-eabi-5)
script: make script: make
env: VARIANT=VARIANT_ADC
language: c language: c
addons: addons:
apt: apt:
@ -44,7 +46,7 @@ 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 HOVERCAR -e TRANSPOTTER script: platformio run
language: python language: python
python: python:
- "2.7" - "2.7"

70
Inc/config.h
View File

@ -3,18 +3,24 @@
// ############################### DEFINE FIRMWARE VARIANT ############################### // ############################### DEFINE FIRMWARE VARIANT ###############################
// For variant selection, check platformio.ini // For variant selection, check platformio.ini
// For any particular needs, feel free to change this file according to your needs. // or define the desired build variant here if you want to use make
// Select the VARIANT_ADC as default variant, in case NO variant is defined #if !defined(PLATFORMIO)
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(HOVERCAR) && !defined(TRANSPOTTER) //#define VARIANT_ADC // Variant for control via ADC input
#define VARIANT_ADC //#define VARIANT_USART3 // Variant for Serial control via USART3 input
//#define VARIANT_NUNCHUCK // Variant for Nunchuck controlled vehicle build
//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
//#define VARIANT_HOVERCAR // Variant for HOVERCAR build
//#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
#endif #endif
// For any particular needs, feel free to change this file according to your needs.
// ############################### 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 48 // PWM deadtime #define DEAD_TIME 48 // PWM deadtime
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
#define DELAY_IN_MAIN_LOOP 2 #define DELAY_IN_MAIN_LOOP 2
#else #else
#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing. #define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
@ -92,9 +98,9 @@
// ############################### SERIAL DEBUG ############################### // ############################### SERIAL DEBUG ###############################
#ifndef TRANSPOTTER #ifndef VARIANT_TRANSPOTTER
//#define DEBUG_SERIAL_SERVOTERM //#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" //#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
#endif #endif
@ -109,7 +115,7 @@
#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) || defined(HOVERCAR) #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 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!
@ -135,10 +141,12 @@
#define UART_DMA_CHANNEL DMA1_Channel2 #define UART_DMA_CHANNEL DMA1_Channel2
#endif #endif
#ifdef VARIANT_PPM
// ###### CONTROL VIA RC REMOTE ###### // ###### CONTROL VIA RC REMOTE ######
// left sensor board cable. Channel 1: steering, Channel 2: speed. // left sensor board cable. Channel 1: steering, Channel 2: speed.
//#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2! #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. #define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
#endif
// ###### CONTROL VIA TWO POTENTIOMETERS ###### // ###### CONTROL VIA TWO POTENTIOMETERS ######
/* ADC-calibration to cover the full poti-range: /* ADC-calibration to cover the full poti-range:
@ -162,7 +170,7 @@
#define ADC2_MID 2048 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX) #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) #define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
#endif #endif
#ifdef HOVERCAR #ifdef VARIANT_HOVERCAR
#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 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_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_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
@ -173,14 +181,16 @@
#define ADC2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095) #define ADC2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095)
#endif #endif
#ifdef VARIANT_NUNCHUCK
// ###### CONTROL VIA NINTENDO NUNCHUCK ###### // ###### CONTROL VIA NINTENDO NUNCHUCK ######
/* left sensor board cable. /* left sensor board cable.
* keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, * keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck,
* use the right one of the 2 types of nunchucks, add i2c pullups. * use the right one of the 2 types of nunchucks, add i2c pullups.
* use original nunchuck. most clones does not work very well. * use original nunchuck. most clones does not work very well.
* Recommendation: Nunchuck Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
*/ */
// #define CONTROL_NUNCHUCK // use nunchuck as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3! #define CONTROL_NUNCHUCK // use nunchuck as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
#endif
// ############################### MOTOR CONTROL ######################### // ############################### MOTOR CONTROL #########################
// Control selections // Control selections
@ -246,10 +256,12 @@
#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
#ifndef VARIANT_NUNCHUCK
#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].
#endif
// ################################# DEFAULT SETTINGS ############################ // ################################# DEFAULT SETTINGS ############################
#if !defined(HOVERCAR) && !defined(TRANSPOTTER) #if !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUCK)
// 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).
@ -260,8 +272,8 @@
#define INVERT_L_DIRECTION #define INVERT_L_DIRECTION
#endif #endif
// ################################# HOVERCAR SETTINGS ############################ // ################################# VARIANT_HOVERCAR SETTINGS ############################
#ifdef HOVERCAR #ifdef VARIANT_HOVERCAR
#define SPEED_COEFFICIENT 16384 // 1.0f #define SPEED_COEFFICIENT 16384 // 1.0f
#define STEER_COEFFICIENT 0 // 0.0f #define STEER_COEFFICIENT 0 // 0.0f
@ -269,8 +281,8 @@
// #define INVERT_L_DIRECTION // #define INVERT_L_DIRECTION
#endif #endif
// ################################# TRANSPOTTER SETTINGS ############################ // ################################# VARIANT_TRANSPOTTER SETTINGS ############################
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
#define CONTROL_GAMETRAK #define CONTROL_GAMETRAK
#define SUPPORT_LCD #define SUPPORT_LCD
#define SUPPORT_NUNCHUCK #define SUPPORT_NUNCHUCK
@ -288,19 +300,27 @@
#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 #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 #endif
// ################################# VARIANT_NUNCHUCK SETTINGS ############################
#ifdef VARIANT_NUNCHUCK
// # ARMCHAIR #
#define FILTER 3276 // 0.05f
#define SPEED_COEFFICIENT 8192 // 0.5f
#define STEER_COEFFICIENT 62259 // -0.2f
#endif
// ################################# SIMPLE BOBBYCAR ################################# // ################################# SIMPLE BOBBYCAR #################################
// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar // for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
// #define FILTER 6553 // 0.1f // #define FILTER 6553 // 0.1f
// #define SPEED_COEFFICIENT 49152 // -1.0f // #define SPEED_COEFFICIENT 49152 // -1.0f
// #define STEER_COEFFICIENT 0 // 0.0f // #define STEER_COEFFICIENT 0 // 0.0f
// ################################# ARMCHAIR #################################
// #define FILTER 3276 // 0.05f
// #define SPEED_COEFFICIENT 8192 // 0.5f
// #define STEER_COEFFICIENT 62259 // -0.2f
// ############################### VALIDATE SETTINGS ############################### // ############################### VALIDATE SETTINGS ###############################
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUCK) && !defined(VARIANT_PPM)
#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
#endif
#if defined(CONTROL_SERIAL_USART2) && defined(CONTROL_SERIAL_USART3) #if defined(CONTROL_SERIAL_USART2) && defined(CONTROL_SERIAL_USART3)
#error CONTROL_SERIAL_USART2 and CONTROL_SERIAL_USART3 not allowed, choose one. #error CONTROL_SERIAL_USART2 and CONTROL_SERIAL_USART3 not allowed, choose one.
#endif #endif
@ -350,3 +370,7 @@
#warning ADC2 Protection NOT possible! Adjust the ADC thresholds. #warning ADC2 Protection NOT possible! Adjust the ADC thresholds.
#undef ADC_PROTECT_ENA #undef ADC_PROTECT_ENA
#endif #endif
#if defined(CONTROL_PPM) && !defined(PPM_NUM_CHANNELS)
#error Total number of PPM channels needs to be set
#endif

4
Inc/defines.h
View File

@ -174,8 +174,10 @@ void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t
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); void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
// Define I2C and Nunchuck functions // Define I2C, Nunchuck, PPM functions
void I2C_Init(void); void I2C_Init(void);
void Nunchuck_Init(void); void Nunchuck_Init(void);
void Nunchuck_Read(void); void Nunchuck_Read(void);
uint8_t Nunchuck_Ping(void); uint8_t Nunchuck_Ping(void);
void PPM_Init(void);
void PPM_ISR_Callback(void);

9
Makefile
View File

@ -56,6 +56,7 @@ startup_stm32f103xe.s
# binaries # binaries
####################################### #######################################
PREFIX = arm-none-eabi- PREFIX = arm-none-eabi-
#PREFIX = gcc-arm-none-eabi-7/bin/arm-none-eabi-
CC = $(PREFIX)gcc CC = $(PREFIX)gcc
AS = $(PREFIX)gcc -x assembler-with-cpp AS = $(PREFIX)gcc -x assembler-with-cpp
CP = $(PREFIX)objcopy CP = $(PREFIX)objcopy
@ -110,10 +111,16 @@ ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2 CFLAGS += -g -gdwarf-2
endif endif
# Generate dependency information # Generate dependency information
CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)"
# Choose variant from env var
# make -e VARIANT=VARIANT_ADC
ifneq ($(VARIANT), )
CFLAGS += -D $(VARIANT)
endif
####################################### #######################################
# LDFLAGS # LDFLAGS

30
README.md
View File

@ -25,17 +25,17 @@ The main firmware architecture includes:
- **FOC Algorithm**: implements the FOC strategy - **FOC Algorithm**: implements the FOC strategy
- **Control Type Manager**: Manages the transition between Commutation, Sinusoidal, and FOC control type - **Control Type Manager**: Manages the transition between Commutation, Sinusoidal, and FOC control type
![Firmware architecture](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FW_architecture.png) ![Firmware architecture](/docs/pictures/FW_architecture.png)
The FOC algorithm architecture is illustrated in the figure below: The FOC algorithm architecture is illustrated in the figure below:
![FOC algorithm](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FOC_algorithm.png) ![FOC algorithm](/docs/pictures/FOC_algorithm.png)
In this firmware 3 control types are available: In this firmware 3 control types are available:
- Commutation - Commutation
- SIN (Sinusoidal) - SIN (Sinusoidal)
- FOC (Field Oriented Control) - FOC (Field Oriented Control)
![Schematic representation of the available control methods](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/01_Matlab/02_Figures/control_methods.png) ![Schematic representation of the available control methods](/01_Matlab/02_Figures/control_methods.png)
Demo videos: Demo videos:
@ -48,13 +48,13 @@ Demo videos:
[►Video: HOVERCAR demo](https://drive.google.com/open?id=18IvRJVdQSsjTg1I0Wedlg19e0FuDjfdS) [►Video: HOVERCAR demo](https://drive.google.com/open?id=18IvRJVdQSsjTg1I0Wedlg19e0FuDjfdS)
![Hoverboard wheel](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/hoverboard_wheel.JPG) ![Hoverboard wheel](/docs/pictures/hoverboard_wheel.JPG)
--- ---
## General Notes ## General Notes
- The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab). - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](/01_Matlab).
- A [webview](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab/BLDC_controller_ert_rtw/html/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. - A [webview](/01_Matlab/BLDC_controller_ert_rtw/html/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.
### Field Weakening / Phase Advance ### Field Weakening / Phase Advance
@ -62,7 +62,7 @@ Demo videos:
- 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) - 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)
- The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI - The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
- The figure below shows different possible calibrations for Field Weakening / Phase Advance - The figure below shows different possible calibrations for Field Weakening / Phase Advance
![Field Weakening](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FieldWeakening.png) ![Field Weakening](/docs/pictures/FieldWeakening.png)
- If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast! - If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
@ -72,7 +72,7 @@ Demo videos:
- For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EmanuelFeru/FixedPointViewer) tool - For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EmanuelFeru/FixedPointViewer) tool
- The parameters data Fixed-point types are given in the following table: - The parameters data Fixed-point types are given in the following table:
![Parameters table](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/paramTable.png) ![Parameters table](/docs/pictures/paramTable.png)
### Diagnostics ### Diagnostics
@ -146,16 +146,20 @@ Nunchuck not working: Use the right one of the 2 types of nunchucks. Use i2c pul
Nunchuck or PPM working bad: The i2c bus and PPM signal are very sensitive to emv distortions of the motor controller. They get stronger the faster you are. Keep cables short, use shielded cable, use ferrits, stabilize voltage in nunchuck or reviever, add i2c pullups. To many errors leads to very high accelerations which triggers the protection board within the battery to shut everything down. Nunchuck or PPM working bad: The i2c bus and PPM signal are very sensitive to emv distortions of the motor controller. They get stronger the faster you are. Keep cables short, use shielded cable, use ferrits, stabilize voltage in nunchuck or reviever, add i2c pullups. To many errors leads to very high accelerations which triggers the protection board within the battery to shut everything down.
Recommendation: Nunchuck Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
Most robust way for input is to use the ADC and potis. It works well even on 1m unshielded cable. Solder ~100k Ohm resistors between ADC-inputs and gnd directly on the mainboard. Use potis as pullups to 3.3V. Most robust way for input is to use the ADC and potis. It works well even on 1m unshielded cable. Solder ~100k Ohm resistors between ADC-inputs and gnd directly on the mainboard. Use potis as pullups to 3.3V.
--- ---
## Examples ## Example variants
This firmware offers currently 4 variants (selectable in platformio.ino): This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) and / or [/Inc/config.h](/Inc/config.h)):
- **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired) - **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
- **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. - **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](/02_Arduino/hoverserial) as an example sketch.
- **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. - **VARIANT_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). - **VARIANT_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).
- **VARIANT_NUNCHUCK**: Wii Nunchuck offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
- **VARIANT_PPM**: This is when you want to use a RC remote control with PPM Sum singnal
Of course the firmware can be further customized for other needs or projects. Of course the firmware can be further customized for other needs or projects.

36
Src/main.c
View File

@ -31,7 +31,7 @@
#include "hd44780.h" #include "hd44780.h"
#endif #endif
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
#include "eeprom.h" #include "eeprom.h"
#endif #endif
@ -71,7 +71,8 @@ extern volatile adc_buf_t adc_buffer;
LCD_PCF8574_HandleTypeDef lcd; LCD_PCF8574_HandleTypeDef lcd;
#endif #endif
extern I2C_HandleTypeDef hi2c2; extern I2C_HandleTypeDef hi2c2;
#ifndef TRANSPOTTER #if defined(CONTROL_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) \
|| defined(CONTROL_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart3;
static UART_HandleTypeDef huart; static UART_HandleTypeDef huart;
@ -81,7 +82,7 @@ extern I2C_HandleTypeDef hi2c2;
extern uint8_t LCDerrorFlag; extern uint8_t LCDerrorFlag;
#endif #endif
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
uint8_t nunchuck_connected = 0; uint8_t nunchuck_connected = 0;
float steering; float steering;
int feedforward; int feedforward;
@ -142,14 +143,14 @@ uint8_t ctrlModReq = CTRL_MOD_REQ; // Final control mode request
static int cmd1; // normalized input value. -1000 to 1000 static int cmd1; // normalized input value. -1000 to 1000
static int cmd2; // normalized input value. -1000 to 1000 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 VARIANT_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 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 steerFixdt; // local fixed-point variable for steering low-pass filter
static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter
#endif #endif
#ifdef HOVERCAR #ifdef VARIANT_HOVERCAR
static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal
#endif #endif
static int16_t speedAvg; // average measured speed static int16_t speedAvg; // average measured speed
@ -267,7 +268,7 @@ int main(void) {
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
int lastDistance = 0; int lastDistance = 0;
enable = 1; enable = 1;
uint8_t checkRemote = 0; uint8_t checkRemote = 0;
@ -324,7 +325,7 @@ int main(void) {
LCD_ClearDisplay(&lcd); LCD_ClearDisplay(&lcd);
HAL_Delay(5); HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 0); LCD_SetLocation(&lcd, 0, 0);
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
LCD_WriteString(&lcd, "TranspOtter V2.1"); LCD_WriteString(&lcd, "TranspOtter V2.1");
#else #else
LCD_WriteString(&lcd, "Hover V2.0"); LCD_WriteString(&lcd, "Hover V2.0");
@ -333,7 +334,7 @@ int main(void) {
LCD_WriteString(&lcd, "Initializing..."); LCD_WriteString(&lcd, "Initializing...");
#endif #endif
#if defined(TRANSPOTTER) && defined(SUPPORT_LCD) #if defined(VARIANT_TRANSPOTTER) && defined(SUPPORT_LCD)
LCD_ClearDisplay(&lcd); LCD_ClearDisplay(&lcd);
HAL_Delay(5); HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 1); LCD_SetLocation(&lcd, 0, 1);
@ -363,7 +364,7 @@ int main(void) {
while(1) { while(1) {
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0; enable = 0;
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
@ -454,7 +455,8 @@ int main(void) {
cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
button1 = ppm_captured_value[5] > INPUT_MID; button1 = ppm_captured_value[5] > INPUT_MID;
float scale = ppm_captured_value[2] / 1000.0f; button2 = 0;
// float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed
#endif #endif
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
@ -559,7 +561,7 @@ int main(void) {
} }
speedAvgAbs = abs(speedAvg); speedAvgAbs = abs(speedAvg);
#ifndef TRANSPOTTER #ifndef VARIANT_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 && (!errCode_Left && !errCode_Right) && (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
@ -567,8 +569,8 @@ int main(void) {
enable = 1; // enable motors enable = 1; // enable motors
} }
// ####### HOVERCAR ####### // ####### VARIANT_HOVERCAR #######
#ifdef HOVERCAR #ifdef VARIANT_HOVERCAR
// Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15) // Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
uint16_t speedBlend; uint16_t speedBlend;
speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,30,90) - 30) << 15) / 60); // speedBlend [0,1] is within [30 rpm, 90rpm] speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,30,90) - 30) << 15) / 60); // speedBlend [0,1] is within [30 rpm, 90rpm]
@ -599,8 +601,8 @@ int main(void) {
steer = (int16_t)(steerFixdt >> 20); // convert fixed-point to integer steer = (int16_t)(steerFixdt >> 20); // convert fixed-point to integer
speed = (int16_t)(speedFixdt >> 20); // convert fixed-point to integer speed = (int16_t)(speedFixdt >> 20); // convert fixed-point to integer
// ####### HOVERCAR ####### // ####### VARIANT_HOVERCAR #######
#ifdef HOVERCAR #ifdef VARIANT_HOVERCAR
if (!MultipleTapBreak.b_multipleTap) { // Check driving direction if (!MultipleTapBreak.b_multipleTap) { // Check driving direction
speed = steer + speed; // Forward driving speed = steer + speed; // Forward driving
} else { } else {
@ -636,7 +638,7 @@ int main(void) {
lastSpeedL = speedL; lastSpeedL = speedL;
lastSpeedR = speedR; lastSpeedR = speedR;
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
if (timeout > TIMEOUT) { if (timeout > TIMEOUT) {
pwml = 0; pwml = 0;
pwmr = 0; pwmr = 0;
@ -809,7 +811,7 @@ int main(void) {
} }
} }
#ifdef TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
void saveConfig() { void saveConfig() {
HAL_FLASH_Unlock(); HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0], saveValue); EE_WriteVariable(VirtAddVarTab[0], saveValue);

1
Src/stm32f1xx_it.c
View File

@ -34,6 +34,7 @@
#include "stm32f1xx_hal.h" #include "stm32f1xx_hal.h"
#include "stm32f1xx.h" #include "stm32f1xx.h"
#include "stm32f1xx_it.h" #include "stm32f1xx_it.h"
#include "defines.h"
#include "config.h" #include "config.h"
extern DMA_HandleTypeDef hdma_i2c2_rx; extern DMA_HandleTypeDef hdma_i2c2_rx;

75
platformio.ini
View File

@ -6,10 +6,17 @@ include_dir = Inc
src_dir = Src src_dir = Src
;=================== VARIANT SELECTION ========================== ;=================== VARIANT SELECTION ==========================
default_envs = VARIANT_ADC ; Variant for control via ADC input ;
; Choose one or all variants get built
;
;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 = HOVERCAR ; Variant for HOVERCAR build ;default_envs = VARIANT_NUNCHUCK ; Variant for Nunchuck controlled vehicle 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 ;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
;default_envs = VARIANT_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]
@ -33,6 +40,9 @@ build_flags =
-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 -D VARIANT_ADC
-D PALTFORMIO
;================================================================
[env:VARIANT_USART3] [env:VARIANT_USART3]
platform = ststm32 platform = ststm32
@ -55,8 +65,53 @@ build_flags =
-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_USART3 -D VARIANT_USART3
-D PALTFORMIO
[env:HOVERCAR] ;================================================================
[env:VARIANT_NUNCHUCK]
platform = ststm32
framework = stm32cube
board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
build_flags =
-I${PROJECT_DIR}/inc/
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_NUNCHUCK
-D PALTFORMIO
;================================================================
[env:VARIANT_PPM]
platform = ststm32
framework = stm32cube
board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
build_flags =
-I${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 VARIANT_PPM
-D PALTFORMIO
;================================================================
[env:VARIANT_HOVERCAR]
platform = ststm32 platform = ststm32
framework = stm32cube framework = stm32cube
board = genericSTM32F103RC board = genericSTM32F103RC
@ -76,9 +131,12 @@ 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 HOVERCAR -D VARIANT_HOVERCAR
-D PALTFORMIO
[env:TRANSPOTTER] ;================================================================
[env:VARIANT_TRANSPOTTER]
platform = ststm32 platform = ststm32
framework = stm32cube framework = stm32cube
board = genericSTM32F103RC board = genericSTM32F103RC
@ -94,4 +152,7 @@ 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 TRANSPOTTER -D VARIANT_TRANSPOTTER
-D PALTFORMIO
;================================================================