bobbycar/controller_teensy/include/definitions.h

#ifndef _DEFINITIONS_H
#define _DEFINITIONS_H


// ########################## DEFINES ##########################
#define SERIAL_CONTROL_BAUD   115200       // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define SERIAL_BAUD         115200      // [-] Baud rate for built-in Serial (used for the Serial Monitor)
#define START_FRAME         0xABCD       // [-] Start frme definition for reliable serial communication

#define SERIAL_LOG_BAUD 115200 // baud rate for logging output
bool log_update=true;
unsigned long last_log_send=0;

#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
#define LOGMININTERVAL 20 //minimum interval (ms) to send logs
#define LOGMAXINTERVAL 10000  //maximum time (ms) after which data is send

#define WRITE_HEADER_TIME 400  //just before FEEDBACKRECEIVETIMEOUT, so header gets written before error comments
bool log_header_written = false;


#define FEEDBACKRECEIVETIMEOUT 500

bool controllerFront_connected=false;
bool controllerRear_connected=false;
bool controllers_connected=false;

#define PIN_THROTTLE A7
//const uint16_t calib_throttle_min = 420; //better a bit too high than too low
//const uint16_t calib_throttle_max = 790;
const uint16_t failsafe_throttle_min = 4900; //if adc value falls below this failsafe is triggered. old 20
const uint16_t failsafe_throttle_max = 14000; //if adc value goes above this failsafe is triggered. old 1000
//const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9823,9877,9932,9978,10032,10087,10169,10278,10451,10697,11061,11579,11898,11952}; //adc values for every unit (mm) of linear travel
#define PIN_BRAKE A8
const uint16_t calib_brake_min = 2000;//better a bit too high than too low
const uint16_t calib_brake_max = 11000;
const uint16_t failsafe_brake_min = 700; //if adc value falls below this failsafe is triggered
const uint16_t failsafe_brake_max = 13000; //if adc value goes above this failsafe is triggered

uint16_t ads_throttle_A_raw=0;
uint16_t ads_throttle_B_raw=0;
uint16_t ads_brake_raw=failsafe_brake_min;
uint16_t ads_control_raw=0;

int16_t throttle_pos=0;
int16_t brake_pos=0;


#define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
#define ADCREADPERIOD 10
#define BUTTONREADPERIOD 20
unsigned long last_adsread=0; //needed for failcheck
uint16_t throttle_raw=failsafe_throttle_min;  //start at min so that failsafe is not triggered
#define THROTTLE_ADC_FILTER 0.15 //higher value = faster response
uint16_t brake_raw=failsafe_brake_min;  //start at min so that failsafe is not triggered
#define ADC_OUTOFRANGE_TIME 100
unsigned long throttle_ok_time=0;
unsigned long brake_ok_time=0;
bool error_throttle_outofrange=false;
bool error_brake_outofrange=false;
bool error_ads_max_read_interval=false;

#define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward
#define REVERSE_SPEED 0.25 //reverse driving speed //0 to 1

#define NORMAL_MAX_ACCELERATION_RATE 10000
#define SLOW_MAX_ACCELERATION_RATE 500
int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second


float meanSpeedms=0;
float trip=0; //trip distance in meters
float wheelcircumference=0.5278; //wheel diameter in m. 8.4cm radius -> 0.084m*2*Pi

float currentConsumed=0; //Ah


//Driving parameters
int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
float startbrakecurrent=3; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
float startbrakecurrent_offset=0.1; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading

bool reverse_enabled=false;
unsigned long last_notidle=0; //not rolling to fast, no pedal pressed

#define PIN_START A9
#define PIN_LED_START 2 //Enginge start led

#define PIN_LATCH_ENABLE A6

#define PIN_MODE_SWITCH 3
#define PIN_MODE_LEDG 4
#define PIN_MODE_LEDR 5



unsigned long last_send = 0;
unsigned long last_receive = 0;

float filtered_currentAll=0;

int16_t cmd_send=0;
int16_t last_cmd_send=0;

uint8_t speedmode=0;
#define SPEEDMODE_SLOW 1
#define SPEEDMODE_NORMAL 0


unsigned long button_start_lastchange=0;
bool button_start_state=false;
#define LONG_PRESS_ARMING_TIME 2000
#define DEBOUNCE_TIME 50

bool armed = false; //cmd output values forced to 0 if false



#define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
#define CURRENT_MEANVALUECOUNT 20 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used

#define DISPLAYUPDATEPERIOD 100

#endif