lucysrausch/hoverboard-firmware-hack
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added lots of comments; added some validation to config.h; improved adc-input: added min and max adc-values, added poti calibration, added adc-values to debug-output; added support for a second button connected to adc2; added INVERT_R_DIRECTION and INVERT_L_DIRECTION; updated readme

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larsm
2018-05-27 22:16:52 +02:00
parent 057407ae24
commit 88b26123c2
3 changed files with 103 additions and 41 deletions
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77
Inc/config.h
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@@ -6,45 +6,64 @@
#define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime
#define DC_CUR_LIMIT 15 // Motor DC current limit in amps
#define DC_CUR_LIMIT 15 // Motor DC current limit in amps. it does not disable motors, it is a soft current limit.
#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
#define BAT_LOW_DEAD 31.0 // undervoltage lockout
#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level. ~3.6V/cell
#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now! ~3.3V/cell
#define BAT_LOW_DEAD 31.0 // undervoltage lockout. ~3.1V/cell
// ################################################################################
#define DEBUG_SERIAL_USART2
//#define DEBUG_SERIAL_USART3
#define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM 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_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII
//#define DEBUG_I2C_LCD
#define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r"
#define TIMEOUT 5 //number of wrong / missing commands before emergency off
//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
#define TIMEOUT 5 // number of wrong / missing commands before emergency off
// ################################################################################
// ###### CONTROL VIA RC REMOTE ######
//#define CONTROL_PPM // use PPM CONTROL_PPM
//#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive
// left sensor board cable. Channel 1: steering, Channel 2: speed.
//#define CONTROL_PPM // use PPM-Sum as input. disable DEBUG_SERIAL_USART2!
//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
// ###### CONTROL VIA TWO POTENTIOMETERS ######
// #define CONTROL_ADC
// 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.
//#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_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
//#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
//#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
// ###### CONTROL VIA NINTENDO NUNCHUCK ######
#define CONTROL_NUNCHUCK
// left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups.
#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
// ################################################################################
// ###### DRIVING BEHAVIOR ######
#define FILTER 0.1
#define SPEED_COEFFICIENT 0.5
#define STEER_COEFFICIENT 0.5
//Turno boost at high speeds while button1 is pressed:
// inputs:
// - cmd1 and cmd2: analog normalized input values. -1000 to 1000
// - button1 and button2: digital input values. 0 or 1
// - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
// outputs:
// - speedR and speedL: normal driving -1000 to 1000
// - 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 SPEED_COEFFICIENT 0.5 // higher value == stronger. 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_L_DIRECTION
//Turbo boost at high speeds while button1 is pressed:
//#define ADDITIONAL_CODE \
if (button1 && speed > 700) { /* field weakening at high speeds */ \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = cmd1 - 700; } \
else { \
@@ -57,7 +76,7 @@ else { \
// #define STEER_COEFFICIENT 0
// #define ADDITIONAL_CODE \
if (button1 && speedR < 300) { \
if (button1 && speedR < 300) { /* drive backwards */ \
speedR = speedR * -0.2f; \
speedL = speedL * -0.2f; } \
else { \
@@ -82,3 +101,23 @@ else {\
weakr = 0;
// #define BEEPS_BACKWARD
// ################################################################################
// validate settings (do not touch this):
#if defined DEBUG_SERIAL_USART2 && defined CONTROL_ADC
#error CONTROL_ADC and DEBUG_SERIAL_USART2 not allowed. use DEBUG_SERIAL_USART3 instead.
#endif
#if defined DEBUG_SERIAL_USART2 && defined CONTROL_PPM
#error CONTROL_PPM and DEBUG_SERIAL_USART2 not allowed. use DEBUG_SERIAL_USART3 instead.
#endif
#if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
#error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. use DEBUG_SERIAL_USART2 instead.
#endif
#if defined CONTROL_PPM && defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_ADC || defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_NUNCHUCK
#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
#endif