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# hoverboard-firmware-hack-FOC
[![Build Status](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
[![Build Status](https://app.travis-ci.com/EFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://app.travis-ci.com/EFeru/hoverboard-firmware-hack-FOC)
[![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
[![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_SM.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url)
@ -23,11 +23,11 @@ Table of Contents
* [Contributions](#contributions)
#### For the hoverboard sideboard firmware, see the following repositories:
- [hoverboard-sideboard-hack-GD](https://github.com/EmanuelFeru/hoverboard-sideboard-hack-GD)
- [hoverboard-sideboard-hack-STM](https://github.com/EmanuelFeru/hoverboard-sideboard-hack-STM)
- [hoverboard-sideboard-hack-GD](https://github.com/EFeru/hoverboard-sideboard-hack-GD)
- [hoverboard-sideboard-hack-STM](https://github.com/EFeru/hoverboard-sideboard-hack-STM)
#### For the FOC controller design, see the following repository:
- [bldc-motor-control-FOC](https://github.com/EmanuelFeru/bldc-motor-control-FOC)
- [bldc-motor-control-FOC](https://github.com/EFeru/bldc-motor-control-FOC)
#### Videos:
<table>
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### Parameters
- All the calibratable motor parameters can be found in the 'BLDC_controller_data.c'. I provided you with an already calibrated controller, but if you feel like fine tuning it feel free to do so
- The parameters are represented in Fixed-point data type for a more efficient code execution
- For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EmanuelFeru/FixedPointViewer) tool
- The controller parameters are given in [this table](https://github.com/EmanuelFeru/bldc-motor-control-FOC/blob/master/02_Figures/paramTable.png)
- For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EFeru/FixedPointViewer) tool
- The controller parameters are given in [this table](https://github.com/EFeru/bldc-motor-control-FOC/blob/master/02_Figures/paramTable.png)
---
@ -110,7 +110,7 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p
- **VARIANT_PPM**: RC remote control with PPM Sum signal.
- **VARIANT_PWM**: RC remote control with PWM signal.
- **VARIANT_IBUS**: RC remote control with Flysky iBUS protocol connected to the Left sensor cable.
- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR wiki](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/Variant-HOVERCAR).
- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR wiki](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-HOVERCAR).
- **VARIANT_HOVERBOARD**: The mainboard reads the two sideboards data. The sideboards need to be flashed with the hacked version. The balancing controller is **not** yet implemented.
- **VARIANT_TRANSPOTTER**: This is for transpotter build, which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
- **VARIANT_SKATEBOARD**: This is for skateboard build, controlled using an RC remote with PWM signal connected to the right sensor cable.
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Right to the STM32, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your SWD programmer, like the ST-Link found on many STM devboards.
If you have never flashed your sideboard before, the MCU is probably locked. To unlock the flash, check-out the wiki page [How to Unlock MCU flash](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/How-to-Unlock-MCU-flash).
If you have never flashed your sideboard before, the MCU is probably locked. To unlock the flash, check-out the wiki page [How to Unlock MCU flash](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/How-to-Unlock-MCU-flash).
Do not power the mainboard from the 3.3V of your programmer! This has already killed multiple mainboards.
@ -242,7 +242,7 @@ Most robust way for input is to use the ADC and potis. It works well even on 1m
---
## Diagnostics
The errors reported by the board are in the form of audible beeps:
- **1 beep (low pitch)**: Motor error (see [possible causes](https://github.com/EmanuelFeru/bldc-motor-control-FOC#diagnostics))
- **1 beep (low pitch)**: Motor error (see [possible causes](https://github.com/EFeru/bldc-motor-control-FOC#diagnostics))
- **2 beeps (low pitch)**: ADC timeout
- **3 beeps (low pitch)**: Serial communication timeout
- **4 beeps (low pitch)**: General timeout (PPM, PWM, Nunchuk)
@ -278,7 +278,7 @@ For a more detailed troubleshooting connect an [FTDI Serial adapter](https://s.c
---
## Stargazers
[![Stargazers over time](https://starchart.cc/EmanuelFeru/hoverboard-firmware-hack-FOC.svg)](https://starchart.cc/EmanuelFeru/hoverboard-firmware-hack-FOC)
[![Stargazers over time](https://starchart.cc/EFeru/hoverboard-firmware-hack-FOC.svg)](https://starchart.cc/EFeru/hoverboard-firmware-hack-FOC)
---
## Contributions