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Implemented HOVERCAR variant

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Major:
- created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2)
- implemented "Double tapping" on Brake pedal to engage Reverse driving
- implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving
- implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA
- updated error handling: in case of major error the motors will be disabled for improved safety

Minor:
- fixed bug on low-pass filter for not reaching exact "0" value
- calibrated the ADC Battery voltage reading
- other minor visual updates
This commit is contained in:
EmanuelFeru
2019-12-31 13:35:01 +01:00
parent 183776ceb2
commit b4b23bbe9b
22 changed files with 389 additions and 193 deletions
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15
Inc/defines.h
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@@ -136,7 +136,7 @@
#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
#define DEG(a) ((a)*M_PI / 180.0f)
#define RAD(a) ((a)*180.0f / M_PI)
#define SIGN(a) (((a) < 0.0f) ? (-1.0f) : (((a) > 0.0f) ? (1.0f) : (0.0f)))
#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
#define MIN(a, b) (((a) < (b)) ? (a) : (b))
@@ -157,15 +157,22 @@ typedef struct {
uint16_t l_rx2;
} adc_buf_t;
typedef struct {
uint32_t t_timePrev;
uint8_t z_pulseCntPrev;
uint8_t b_hysteresis;
uint8_t b_multipleTap;
} MultipleTap;
// Define Beep functions
void longBeep(uint8_t freq);
void shortBeep(uint8_t freq);
// Define low-pass filter functions. Implementation is in main.c
void filtLowPass16(int16_t u, uint16_t coef, int16_t *y);
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
// Define additional functions. Implementation is in main.c
void filtLowPass32(int16_t u, uint16_t coef, int32_t *y);
void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
// Define I2C and Nunchuck functions
void I2C_Init(void);