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Inc/config.h
26
Inc/config.h
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@ -8,7 +8,7 @@
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#if !defined(PLATFORMIO)
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//#define VARIANT_ADC // Variant for control via ADC input
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//#define VARIANT_USART // Variant for Serial control via USART3 input
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//#define VARIANT_ NUNCHUK // Variant for Nunchuk controlled vehicle build
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//#define VARIANT_NUNCHUK // Variant for Nunchuk controlled vehicle build
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//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
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//#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS
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//#define VARIANT_HOVERCAR // Variant for HOVERCAR build
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@ -197,7 +197,7 @@
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#define ADC2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095)
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#endif
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#ifdef VARIANT_ NUNCHUK
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#ifdef VARIANT_NUNCHUK
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// ###### CONTROL VIA NINTENDO NUNCHUK ######
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/* left sensor board cable.
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* keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuk,
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@ -205,7 +205,7 @@
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* use original nunchuk. most clones does not work very well.
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* Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
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*/
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#define CONTROL_ NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
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#define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
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#endif
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// ############################### MOTOR CONTROL #########################
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@ -272,12 +272,12 @@
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#define RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
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// Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
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#ifndef VARIANT_ NUNCHUK
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#ifndef VARIANT_NUNCHUK
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#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#endif
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// ################################# DEFAULT SETTINGS ############################
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#if !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_ NUNCHUK)
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#if !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUK)
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// Value of COEFFICIENT is in fixdt(1,16,14)
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// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
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// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
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@ -301,7 +301,7 @@
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#ifdef VARIANT_TRANSPOTTER
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#define CONTROL_GAMETRAK
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#define SUPPORT_LCD
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#define SUPPORT_ NUNCHUK
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#define SUPPORT_NUNCHUK
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#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
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//#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
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@ -316,8 +316,8 @@
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#define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
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#endif
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// ################################# VARIANT_ NUNCHUK SETTINGS ############################
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#ifdef VARIANT_ NUNCHUK
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// ################################# VARIANT_NUNCHUK SETTINGS ############################
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#ifdef VARIANT_NUNCHUK
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// # ARMCHAIR #
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#define FILTER 3276 // 0.05f
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#define SPEED_COEFFICIENT 8192 // 0.5f
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@ -333,7 +333,7 @@
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// ############################### VALIDATE SETTINGS ###############################
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#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_ NUNCHUK) && !defined(VARIANT_PPM)&& !defined(VARIANT_IBUS)
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#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM)&& !defined(VARIANT_IBUS)
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#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
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#endif
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#error CONTROL_PPM and SERIAL_USART2 not allowed. It is on the same cable.
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#endif
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#if (defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3)) && defined(CONTROL_ NUNCHUK)
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#error CONTROL_ NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable.
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#if (defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3)) && defined(CONTROL_NUNCHUK)
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#error CONTROL_NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if (defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3)) && defined(DEBUG_I2C_LCD)
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#error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PPM) && defined(CONTROL_ADC) && defined(CONTROL_ NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_ADC) || defined(CONTROL_ADC) && defined(CONTROL_ NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_ NUNCHUK)
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#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_ NUNCHUK.
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#if defined(CONTROL_PPM) && defined(CONTROL_ADC) && defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_ADC) || defined(CONTROL_ADC) && defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_NUNCHUK)
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#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUK.
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#endif
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#if defined(ADC_PROTECT_ENA) && ((ADC1_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC1_MAX + ADC_PROTECT_THRESH) >= 4096)
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@ -156,7 +156,7 @@ Most robust way for input is to use the ADC and potis. It works well even on 1m
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This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) and / or [/Inc/config.h](/Inc/config.h)):
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- **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
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- **VARIANT_USART**: 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.
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- **VARIANT_ NUNCHUK**: Wii Nunchuk offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
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- **VARIANT_NUNCHUK**: Wii Nunchuk offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
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- **VARIANT_PPM**: This is when you want to use a RC remote control with PPM Sum signal
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- **VARIANT_IBUS**: This is when you want to use a RC remote control with Flysky IBUS protocol connected to the Left sensor cable.
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- **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.
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@ -146,7 +146,7 @@ typedef struct{
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static SerialFeedback Feedback;
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#endif
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#if defined(CONTROL_ NUNCHUK) || defined(SUPPORT_ NUNCHUK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
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#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
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static uint8_t button1, button2;
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#endif
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PPM_Init();
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#endif
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#ifdef CONTROL_ NUNCHUK
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#ifdef CONTROL_NUNCHUK
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I2C_Init();
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Nunchuk_Init();
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#endif
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}
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#endif
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#if defined(CONTROL_ NUNCHUK) || defined(SUPPORT_ NUNCHUK)
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#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
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if (nunchuk_connected != 0) {
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Nunchuk_Read();
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cmd1 = CLAMP((nunchuk_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuk joystick readings range 30 - 230
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poweroff();
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}
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#ifdef SUPPORT_ NUNCHUK
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#ifdef SUPPORT_NUNCHUK
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if (counter % 500 == 0) {
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if (nunchuk_connected == 0 && enable == 0) {
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if (Nunchuk_Ping()) {
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/* USER CODE END SysTick_IRQn 1 */
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}
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#ifdef CONTROL_ NUNCHUK
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#ifdef CONTROL_NUNCHUK
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extern I2C_HandleTypeDef hi2c2;
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void I2C1_EV_IRQHandler(void)
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{
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;
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;default_envs = VARIANT_ADC ; Variant for control via ADC input
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;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input
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;default_envs = VARIANT_ NUNCHUK ; Variant for Nunchuk controlled vehicle build
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;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
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;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
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;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS
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;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
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;================================================================
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[env:VARIANT_ NUNCHUK]
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[env:VARIANT_NUNCHUK]
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platform = ststm32
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framework = stm32cube
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board = genericSTM32F103RC
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-Wl,-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_ NUNCHUK
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-D VARIANT_NUNCHUK
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-D PLATFORMIO
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;================================================================
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