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hoverboard-firmware-hack-serial-esc
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fixed serial debug output, backward beep and low bat beeps work now together, low bat beeps can now be disabled, added inactivity timeout

This commit is contained in:
larsm 2018-07-25 12:54:13 +02:00
parent 2932480274
commit 612dce68ea
5 changed files with 280 additions and 254 deletions
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20
Inc/config.h
View File

@ -6,23 +6,29 @@
#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 32 // PWM deadtime
#define DC_CUR_LIMIT 15 // Motor DC current limit in amps. it does not disable motors, it is a soft current limit. #define DC_CUR_LIMIT 15 // DC current limit in amps per motor. so 15 means it will draw 30A out of your battery. it does not disable motors, it is a soft current limit.
// Battery voltage calibration: connect power source. use multimeter to measure real voltage and write it to BAT_CALIB_REAL_VOLTAGE. watch UART on one of the sensor board cables. write value nr 4 to BAT_CALIB_ADC. make and flash firmware. you can verify voltage on UART debug value 5 (devide it by 100.0 to get calibrated voltage). #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.
// Battery voltage calibration: connect power source. use multimeter to measure real voltage and write it to BAT_CALIB_REAL_VOLTAGE. enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII (and disconnect and disable CONTROL_NUNCHUCK) and watch UART on right sensor board cable. write value nr 5 to BAT_CALIB_ADC. make and flash firmware. you can verify voltage on UART debug value 6 (devide it by 100.0 to get calibrated voltage).
#define BAT_CALIB_REAL_VOLTAGE 42.0 // input voltage measured by multimeter #define BAT_CALIB_REAL_VOLTAGE 42.0 // input voltage measured by multimeter
#define BAT_CALIB_ADC 1667 // adc-value measured by mainboard (value nr 4 on UART debug output) #define BAT_CALIB_ADC 1667 // adc-value measured by mainboard (value nr 4 on UART debug output)
#define BAT_NUMBER_OF_CELLS 10 // normal Hoverboard battery: 10s #define BAT_NUMBER_OF_CELLS 12 // normal Hoverboard battery: 10s
#define BAT_LOW_LVL1_ENABLE 0 // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL1 3.6 // gently beeps at this voltage level. [V/cell] #define BAT_LOW_LVL1 3.6 // gently beeps at this voltage level. [V/cell]
#define BAT_LOW_LVL2_ENABLE 1 // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL2 3.5 // your battery is almost empty. Charge now! [V/cell] #define BAT_LOW_LVL2 3.5 // your battery is almost empty. Charge now! [V/cell]
#define BAT_LOW_DEAD 3.37 // undervoltage lockout. [V/cell] #define BAT_LOW_DEAD 3.37 // undervoltage lockout. [V/cell]
#define INACTIVITY_TIMEOUT 8 // minutes of not driving until poweroff. it is not very precise.
// ################################################################################ // ################################################################################
//#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck) is used! //#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck) is used!
#define DEBUG_BAUD 115200 // UART baud rate #define DEBUG_BAUD 115200 // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM //#define DEBUG_SERIAL_SERVOTERM
//#define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r" #define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
//#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! //#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry #define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry
@ -40,7 +46,7 @@
//#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.
// ###### CONTROL VIA TWO POTENTIOMETERS ###### // ###### CONTROL VIA TWO POTENTIOMETERS ######
// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V), watch UART on the right sensor board cable. the first 2 values are ADC1 and ADC2. write minimum and maximum poti position-values to ADC?_MIN and ADC?_MAX. // ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII (and disconnect and disable CONTROL_NUNCHUCK) and watch UART on right sensor board cable. value1 == ADC1 and value2 == ADC2. write minimum and maximum poti position-values to ADC?_MIN and ADC?_MAX.
//#define CONTROL_ADC // use ADC as input. disable DEBUG_SERIAL_USART2! //#define CONTROL_ADC // use ADC as input. disable DEBUG_SERIAL_USART2!
//#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095) //#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
//#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095) //#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
@ -64,7 +70,7 @@
// - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400 // - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400
#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues. #define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues.
#define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to 1.0 #define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to ~2.0?
#define STEER_COEFFICIENT 0.5 // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0 #define STEER_COEFFICIENT 0.5 // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
//#define INVERT_R_DIRECTION //#define INVERT_R_DIRECTION
//#define INVERT_L_DIRECTION //#define INVERT_L_DIRECTION
@ -108,7 +114,7 @@ else {\
weakl = 0;\ weakl = 0;\
weakr = 0; weakr = 0;
// #define BEEPS_BACKWARD #define BEEPS_BACKWARD 1 // 0 or 1
// ################################################################################ // ################################################################################

12
Src/bldc.c
View File

@ -165,18 +165,6 @@ void DMA1_Channel1_IRQHandler() {
batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.001; batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.001;
} }
#ifdef BEEPS_BACKWARD
if (speed < -50 && enable == 1) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (enable == 1) {
buzzerFreq = 0;
buzzerPattern = 1;
}
#endif
//disable PWM when current limit is reached (current chopping) //disable PWM when current limit is reached (current chopping)
if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) { if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE; LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;

4
Src/comms.c
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@ -25,7 +25,7 @@ void setScopeChannel(uint8_t ch, int16_t val) {
} }
void consoleScope() { void consoleScope() {
#ifdef DEBUG_SERIAL_SERVOTERM #if defined DEBUG_SERIAL_SERVOTERM && defined DEBUG_SERIAL_USART3
uart_buf[0] = 0xff; uart_buf[0] = 0xff;
uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255); uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255); uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255);
@ -45,7 +45,7 @@ void consoleScope() {
} }
#endif #endif
#ifdef DEBUG_SERIAL_ASCII #if defined DEBUG_SERIAL_ASCII && defined DEBUG_SERIAL_USART3
memset(uart_buf, 0, sizeof(uart_buf)); memset(uart_buf, 0, sizeof(uart_buf));
sprintf(uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]); sprintf(uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);

35
Src/main.c
View File

@ -67,6 +67,8 @@ extern uint8_t enable; // global variable for motor enable
extern volatile uint32_t timeout; // global variable for timeout extern volatile uint32_t timeout; // global variable for timeout
extern float batteryVoltage; // global variable for battery voltage extern float batteryVoltage; // global variable for battery voltage
uint32_t inactivity_timeout_counter;
extern uint8_t nunchuck_data[6]; extern uint8_t nunchuck_data[6];
#ifdef CONTROL_PPM #ifdef CONTROL_PPM
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1]; extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
@ -162,7 +164,7 @@ int main(void) {
enable = 1; // enable motors enable = 1; // enable motors
while(1) { while(1) {
HAL_Delay(5); HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
#ifdef CONTROL_NUNCHUCK #ifdef CONTROL_NUNCHUCK
Nunchuck_Read(); Nunchuck_Read();
@ -211,6 +213,7 @@ int main(void) {
// ####### DEBUG SERIAL OUT ####### // ####### DEBUG SERIAL OUT #######
if (inactivity_timeout_counter % 10 == 0) {
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
setScopeChannel(0, (int)adc_buffer.l_tx2); // 1: ADC1 setScopeChannel(0, (int)adc_buffer.l_tx2); // 1: ADC1
setScopeChannel(1, (int)adc_buffer.l_rx2); // 2: ADC2 setScopeChannel(1, (int)adc_buffer.l_rx2); // 2: ADC2
@ -222,6 +225,7 @@ int main(void) {
// setScopeChannel(6, (int)); // 7: // setScopeChannel(6, (int)); // 7:
// setScopeChannel(7, (int)); // 8: // setScopeChannel(7, (int)); // 8:
consoleScope(); consoleScope();
}
#ifdef ADDITIONAL_CODE #ifdef ADDITIONAL_CODE
@ -263,13 +267,16 @@ int main(void) {
// ####### BATTERY VOLTAGE ####### // ####### BATTERY VOLTAGE #######
if (batteryVoltage < ((float)BAT_LOW_LVL1 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS)) { if (BEEPS_BACKWARD && speed < -50) { // backward beep
buzzerFreq = 5;
buzzerPattern = 1;
} else if (batteryVoltage < ((float)BAT_LOW_LVL1 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS) && BAT_LOW_LVL1_ENABLE) { // low bat 1: slow beep
buzzerFreq = 5; buzzerFreq = 5;
buzzerPattern = 42; buzzerPattern = 42;
} else if (batteryVoltage < ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS)) { } else if (batteryVoltage < ((float)BAT_LOW_LVL2 * (float)BAT_NUMBER_OF_CELLS) && batteryVoltage > ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS) && BAT_LOW_LVL2_ENABLE) { // low bat 2: fast beep
buzzerFreq = 5; buzzerFreq = 5;
buzzerPattern = 6; buzzerPattern = 6;
} else if (batteryVoltage < ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS)) { } else if (batteryVoltage < ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS) && abs(speed) < 20) { // low bat 3: power off
buzzerPattern = 0; buzzerPattern = 0;
enable = 0; enable = 0;
for (int i = 0; i < 8; i++) { for (int i = 0; i < 8; i++) {
@ -278,10 +285,28 @@ int main(void) {
} }
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0); HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {} while(1) {}
} else { } else { // do not beep
buzzerFreq = 0; buzzerFreq = 0;
buzzerPattern = 0; buzzerPattern = 0;
} }
// ####### INACTIVITY TIMEOUT #######
if (abs(speedL) > 50 || abs(speedR) > 50) {
inactivity_timeout_counter = 0;
} else {
inactivity_timeout_counter ++;
}
if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms
buzzerPattern = 0;
enable = 0;
for (int i = 0; i < 8; i++) {
buzzerFreq = i;
HAL_Delay(100);
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {}
}
} }
} }

437
build/hover.hex
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@ -1,23 +1,23 @@
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@ -32,8 +32,8 @@
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