feedc0de/bobbycar-controller-firmware
1
0
Fork 0
Code Issues 8 Pull Requests 5 Actions Packages Projects Releases Wiki Activity

Cleanups

Browse Source
This commit is contained in:
0xFEEDC0DE64
2021-05-23 17:43:44 +02:00
parent facbbcf798
commit d27eb54fe3
2 changed files with 59 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
config.h
View File

@@ -44,13 +44,7 @@
#define BAT_CALIB_REAL_VOLTAGE 3970 // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300 #define BAT_CALIB_REAL_VOLTAGE 3970 // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300
#define BAT_CALIB_ADC 1492 // 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 12 // 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_LVL2_ENABLE 1 // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL1 (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // gently beeps at this voltage level. [V*100/cell]. In this case 3.60 V/cell
#define BAT_LOW_LVL2 (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
#define BAT_LOW_DEAD (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell
/* Board overheat detection: the sensor is inside the STM/GD chip. /* Board overheat detection: the sensor is inside the STM/GD chip.
* It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration! * It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!

109
main.cpp
View File

@@ -1565,36 +1565,43 @@ void applyIncomingCanMessage()
switch (header.StdId) switch (header.StdId)
{ {
using namespace bobbycar::can; using namespace bobbycar::can;
case MotorController<isBackBoard, false>::Command::Enable: left.enable = *((bool *)buf); break; case MotorController<isBackBoard, false>::Command::Enable: left .enable = *((bool *)buf); break;
case MotorController<isBackBoard, true>::Command::Enable: right.enable = *((bool *)buf); break; case MotorController<isBackBoard, true> ::Command::Enable: right.enable = *((bool *)buf); break;
case MotorController<isBackBoard, false>::Command::InpTgt: timeoutCntLeft = 0; left.rtU.r_inpTgt = *((int16_t*)buf); break; case MotorController<isBackBoard, false>::Command::InpTgt: left. rtU.r_inpTgt = *((int16_t*)buf); timeoutCntLeft = 0; break;
case MotorController<isBackBoard, true>::Command::InpTgt: timeoutCntRight = 0; right.rtU.r_inpTgt = *((int16_t*)buf); break; case MotorController<isBackBoard, true> ::Command::InpTgt: right.rtU.r_inpTgt = *((int16_t*)buf); timeoutCntRight = 0; break;
case MotorController<isBackBoard, false>::Command::CtrlTyp: left.rtP.z_ctrlTypSel = *((uint8_t*)buf); break; case MotorController<isBackBoard, false>::Command::CtrlTyp: left .rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::CtrlTyp: right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break; case MotorController<isBackBoard, true> ::Command::CtrlTyp: right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::CtrlMod: left.rtU.z_ctrlModReq = *((uint8_t*)buf); break; case MotorController<isBackBoard, false>::Command::CtrlMod: left .rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::CtrlMod: right.rtU.z_ctrlModReq = *((uint8_t*)buf); break; case MotorController<isBackBoard, true> ::Command::CtrlMod: right.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::IMotMax: left.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break; case MotorController<isBackBoard, false>::Command::IMotMax: left .rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true>::Command::IMotMax: right.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break; case MotorController<isBackBoard, true> ::Command::IMotMax: right.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::IDcMax: left.iDcMax = *((uint8_t*)buf); break; case MotorController<isBackBoard, false>::Command::IDcMax: left .iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::IDcMax: right.iDcMax = *((uint8_t*)buf); break; case MotorController<isBackBoard, true> ::Command::IDcMax: right.iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::NMotMax: left.rtP.n_max = *((uint16_t*)buf) << 4; break; case MotorController<isBackBoard, false>::Command::NMotMax: left .rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true>::Command::NMotMax: right.rtP.n_max = *((uint16_t*)buf) << 4; break; case MotorController<isBackBoard, true> ::Command::NMotMax: right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break; case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true>::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break; case MotorController<isBackBoard, true> ::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break; case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left .rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true>::Command::PhaseAdvMax: right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break; case MotorController<isBackBoard, true> ::Command::PhaseAdvMax: right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left.rtP.b_cruiseCtrlEna = *((bool*)buf); break; case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf); break;
case MotorController<isBackBoard, true>::Command::CruiseCtrlEna: right.rtP.b_cruiseCtrlEna = *((bool*)buf); break; case MotorController<isBackBoard, true> ::Command::CruiseCtrlEna: right.rtP.b_cruiseCtrlEna = *((bool*)buf); break;
case MotorController<isBackBoard, false>::Command::CruiseMotTgt: left.rtP.n_cruiseMotTgt = *((int16_T*)buf); break; case MotorController<isBackBoard, false>::Command::CruiseMotTgt: left .rtP.n_cruiseMotTgt = *((int16_T*)buf); break;
case MotorController<isBackBoard, true>::Command::CruiseMotTgt: right.rtP.n_cruiseMotTgt = *((int16_T*)buf); break; case MotorController<isBackBoard, true> ::Command::CruiseMotTgt: right.rtP.n_cruiseMotTgt = *((int16_T*)buf); break;
case MotorController<isBackBoard, false>::Command::BuzzerFreq: buzzer.freq = *((uint8_t*)buf); break; case MotorController<isBackBoard, false>::Command::BuzzerFreq:
case MotorController<isBackBoard, true>::Command::BuzzerFreq: buzzer.freq = *((uint8_t*)buf); break; case MotorController<isBackBoard, true> ::Command::BuzzerFreq: buzzer.freq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::BuzzerPattern: buzzer.pattern = *((uint8_t*)buf); break; case MotorController<isBackBoard, false>::Command::BuzzerPattern:
case MotorController<isBackBoard, true>::Command::BuzzerPattern: buzzer.pattern = *((uint8_t*)buf); break; case MotorController<isBackBoard, true> ::Command::BuzzerPattern: buzzer.pattern = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::Led: break; case MotorController<isBackBoard, false>::Command::Led:
case MotorController<isBackBoard, true>::Command::Led: break; case MotorController<isBackBoard, true> ::Command::Led:
case MotorController<isBackBoard, false>::Command::Poweroff: break; HAL_GPIO_WritePin(LED_PORT, LED_PIN, *((bool*)buf) ? GPIO_PIN_SET : GPIO_PIN_RESET);
case MotorController<isBackBoard, true>::Command::Poweroff: break; break;
case MotorController<isBackBoard, false>::Command::Poweroff:
case MotorController<isBackBoard, true>::Command::Poweroff:
#ifdef FEATURE_BUTTON
if (*((bool*)buf))
poweroff();
#endif
break;
default: default:
#ifndef CAN_LOG_UNKNOWN_ADDR #ifndef CAN_LOG_UNKNOWN_ADDR
if constexpr (false) if constexpr (false)
@@ -1609,7 +1616,7 @@ void applyIncomingCanMessage()
header.StdId&64?'1':'0', header.StdId&64?'1':'0',
header.StdId&32?'1':'0', header.StdId&32?'1':'0',
header.StdId&16?'1':'0', header.StdId&16?'1':'0',
header.StdId&8?' 1':'0', header.StdId&8?'1':'0',
header.StdId&4?'1':'0', header.StdId&4?'1':'0',
header.StdId&2?'1':'0', header.StdId&2?'1':'0',
@@ -1662,28 +1669,28 @@ void sendCanFeedback()
switch (whichToSend++) switch (whichToSend++)
{ {
using namespace bobbycar::can; using namespace bobbycar::can;
case 0: send(MotorController<isBackBoard, false>::Feedback::DcLink, left. rtU.i_DCLink); break; case 0: send(MotorController<isBackBoard, false>::Feedback::DcLink, left. rtU.i_DCLink); break;
case 1: send(MotorController<isBackBoard, true>::Feedback::DcLink, right.rtU.i_DCLink); break; case 1: send(MotorController<isBackBoard, true>:: Feedback::DcLink, right.rtU.i_DCLink); break;
case 2: send(MotorController<isBackBoard, false>::Feedback::Speed, left. rtY.n_mot); break; case 2: send(MotorController<isBackBoard, false>::Feedback::Speed, left. rtY.n_mot); break;
case 3: send(MotorController<isBackBoard, true>::Feedback::Speed, right.rtY.n_mot); break; case 3: send(MotorController<isBackBoard, true>:: Feedback::Speed, right.rtY.n_mot); break;
case 4: send(MotorController<isBackBoard, false>::Feedback::Error, left. rtY.z_errCode); break; case 4: send(MotorController<isBackBoard, false>::Feedback::Error, left. rtY.z_errCode); break;
case 5: send(MotorController<isBackBoard, true>::Feedback::Error, right.rtY.z_errCode); break; case 5: send(MotorController<isBackBoard, true>:: Feedback::Error, right.rtY.z_errCode); break;
case 6: send(MotorController<isBackBoard, false>::Feedback::Angle, left. rtY.a_elecAngle); break; case 6: send(MotorController<isBackBoard, false>::Feedback::Angle, left. rtY.a_elecAngle); break;
case 7: send(MotorController<isBackBoard, true>::Feedback::Angle, right.rtY.a_elecAngle); break; case 7: send(MotorController<isBackBoard, true>:: Feedback::Angle, right.rtY.a_elecAngle); break;
case 8: send(MotorController<isBackBoard, false>::Feedback::DcPhaA, left. rtY.DC_phaA); break; case 8: send(MotorController<isBackBoard, false>::Feedback::DcPhaA, left. rtY.DC_phaA); break;
case 9: send(MotorController<isBackBoard, true>::Feedback::DcPhaA, right.rtY.DC_phaA); break; case 9: send(MotorController<isBackBoard, true>:: Feedback::DcPhaA, right.rtY.DC_phaA); break;
case 10: send(MotorController<isBackBoard, false>::Feedback::DcPhaB, left. rtY.DC_phaB); break; case 10: send(MotorController<isBackBoard, false>::Feedback::DcPhaB, left. rtY.DC_phaB); break;
case 11: send(MotorController<isBackBoard, true>::Feedback::DcPhaB, right.rtY.DC_phaB); break; case 11: send(MotorController<isBackBoard, true>:: Feedback::DcPhaB, right.rtY.DC_phaB); break;
case 12: send(MotorController<isBackBoard, false>::Feedback::DcPhaC, left. rtY.DC_phaC); break; case 12: send(MotorController<isBackBoard, false>::Feedback::DcPhaC, left. rtY.DC_phaC); break;
case 13: send(MotorController<isBackBoard, true>::Feedback::DcPhaC, right.rtY.DC_phaC); break; case 13: send(MotorController<isBackBoard, true>:: Feedback::DcPhaC, right.rtY.DC_phaC); break;
case 14: send(MotorController<isBackBoard, false>::Feedback::Chops, left. chops.exchange(0)); break; case 14: send(MotorController<isBackBoard, false>::Feedback::Chops, left. chops.exchange(0)); break;
case 15: send(MotorController<isBackBoard, true>::Feedback::Chops, right.chops.exchange(0)); break; case 15: send(MotorController<isBackBoard, true>:: Feedback::Chops, right.chops.exchange(0)); break;
case 16: send(MotorController<isBackBoard, false>::Feedback::Hall, left.hallBits()); break; case 16: send(MotorController<isBackBoard, false>::Feedback::Hall, left.hallBits()); break;
case 17: send(MotorController<isBackBoard, true>::Feedback::Hall, right.hallBits()); break; case 17: send(MotorController<isBackBoard, true>:: Feedback::Hall, right.hallBits()); break;
case 18: send(MotorController<isBackBoard, false>::Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break; case 18: send(MotorController<isBackBoard, false>::Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case 19: send(MotorController<isBackBoard, true>::Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break; case 19: send(MotorController<isBackBoard, true>:: Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case 20: send(MotorController<isBackBoard, false>::Feedback::Temp, board_temp_deg_c); break; case 20: send(MotorController<isBackBoard, false>::Feedback::Temp, board_temp_deg_c); break;
case 21: send(MotorController<isBackBoard, true>::Feedback::Temp, board_temp_deg_c); whichToSend = 0; break; case 21: send(MotorController<isBackBoard, true>:: Feedback::Temp, board_temp_deg_c); whichToSend = 0; break;
default: myPrintf("unreachable"); default: myPrintf("unreachable");
} }
} }