EFeru/hoverboard-firmware-hack-SIN
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UPD: more universal codebase for different vehicles

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This commit is contained in:
Niklas Fauth
2018-04-09 21:43:59 +02:00
parent 69a14c52a9
commit de8957536c
6 changed files with 1211 additions and 1455 deletions
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95
Src/main.c
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@@ -25,15 +25,21 @@
void SystemClock_Config(void);
extern float adccmd1;
extern float adccmd2;
int cmd1;
int cmd2;
int cmd3;
int steer;
int speed;
extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
#ifdef CONTROL_PPM
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
#endif
extern volatile int pwml;
extern volatile int pwmr;
@@ -110,8 +116,6 @@ int main(void) {
Nunchuck_Init();
#endif
enable = 1;
while(1) {
@@ -119,62 +123,51 @@ int main(void) {
#ifdef CONTROL_NUNCHUCK
Nunchuck_Read();
adccmd1 = adccmd1 * 0.9 + (float)nunchuck_data[0] * 0.1;
adccmd2 = adccmd2 * 0.9 + (float)nunchuck_data[1] * 0.1;
setScopeChannel(0, adccmd1);
setScopeChannel(1, adccmd2);
setScopeChannel(2, (int)nunchuck_data[5] & 1);
setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1);
cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000);
cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000);
//uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
//uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
timeout = 0;
#endif
#ifdef CONTROL_PPM
speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
//pwmr = speedR;
//pwml = speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
//setScopeChannel(0, (int)pwmrl);
//setScopeChannel(1, (int)speedL);
cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, -1000, 1000);
cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, -1000, 1000);
#endif
#ifdef CONTROL_ADC
//adccmd1 = adccmd1 * 0.9 + (float)adc_buffer.l_rx2 * 0.1; // throttle
adccmd2 = adccmd2 * 0.9 + (float)adc_buffer.l_tx2 * 0.1; // button
cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35;
//uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
pwmrl = pwmrl * 0.9 + (CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35) * 0.1 * direction;
// pwmrl has to be 0-1000 (or negative when driving backwards)
setScopeChannel(0, (int)adccmd1);
setScopeChannel(1, (int)adccmd2);
// adccmd2 = button, ranges 0 in idle and 4096 when pressed
if (adccmd2 > 2000 && pwmrl < 300) { // driving backwards at low speeds
direction = -0.2;
} else {
direction = 1;
}
if (adccmd2 > 2000 && pwmrl > 700) { // field weakening at high speeds
weakl = pwmrl - 600; // weak should never exceed 400 or 450 MAX!!
weakr = pwmrl - 600;
} else {
weakl = 0;
weakr = 0;
}
if (pwml < 1000) {
pwml +=1;
}
pwml = pwmrl;
pwmr = -pwmrl;
timeout = 0;
#endif
// ####### LOW-PASS FILTER #######
speed = speed * (1.0 - FILTER) + cmd1 * FILTER;
steer = steer * (1.0 - FILTER) + cmd2 * FILTER;
setScopeChannel(0, (int)speed);
setScopeChannel(1, (int)steer);
// ####### MIXER #######
speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000);
speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
setScopeChannel(2, (int)speedR);
setScopeChannel(3, (int)speedL);
// ####### SET OUTPUTS #######
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
pwmr = speedR;
pwml = speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
// ####### LOG TO CONSOLE #######
consoleScope();
timeout=0;