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change pinout for teensy41

This commit is contained in:
interfisch 2024-06-26 20:41:11 +02:00
parent c3382cbe3c
commit 959ec20490
11 changed files with 233 additions and 389 deletions
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306
Bobbycar_wiring/Bobbycar_wiring.kicad_sch
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@ -3125,10 +3125,6 @@
(stroke (width 0) (type default) (color 0 0 0 0)) (stroke (width 0) (type default) (color 0 0 0 0))
(uuid 322a7fce-26c4-4bb5-ba5a-1688f26585cf) (uuid 322a7fce-26c4-4bb5-ba5a-1688f26585cf)
) )
(wire (pts (xy 185.42 68.58) (xy 185.42 82.55))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 32551a79-b842-47a9-8e23-7783a840e131)
)
(wire (pts (xy 299.72 154.305) (xy 299.72 153.035)) (wire (pts (xy 299.72 154.305) (xy 299.72 153.035))
(stroke (width 0) (type default) (color 0 0 0 0)) (stroke (width 0) (type default) (color 0 0 0 0))
(uuid 32c7feaa-ff37-42f1-980c-fc6579887918) (uuid 32c7feaa-ff37-42f1-980c-fc6579887918)
@ -3352,10 +3348,6 @@
(stroke (width 0) (type default) (color 0 0 0 0)) (stroke (width 0) (type default) (color 0 0 0 0))
(uuid 5a1c01fb-cf82-4e17-9a62-00e0a3adba47) (uuid 5a1c01fb-cf82-4e17-9a62-00e0a3adba47)
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(wire (pts (xy 182.88 68.58) (xy 182.88 80.01))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 5ae7ec9d-f872-4d2d-a4c4-ccac7b92dc87)
)
(wire (pts (xy 94.615 113.03) (xy 90.805 113.03)) (wire (pts (xy 94.615 113.03) (xy 90.805 113.03))
(stroke (width 0) (type default) (color 0 0 0 0)) (stroke (width 0) (type default) (color 0 0 0 0))
(uuid 5b15d041-2d51-4c90-8164-397806011835) (uuid 5b15d041-2d51-4c90-8164-397806011835)
@ -4026,10 +4018,6 @@
(stroke (width 0) (type default) (color 0 0 0 0)) (stroke (width 0) (type default) (color 0 0 0 0))
(uuid e30feb4a-fbf6-4daf-98b5-732517c38662) (uuid e30feb4a-fbf6-4daf-98b5-732517c38662)
) )
(wire (pts (xy 185.42 82.55) (xy 215.9 82.55))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid e35c1c41-213f-461a-8eff-66b6400073a4)
)
(wire (pts (xy 102.87 86.36) (xy 111.76 86.36)) (wire (pts (xy 102.87 86.36) (xy 111.76 86.36))
(stroke (width 0) (type default) (color 0 0 0 0)) (stroke (width 0) (type default) (color 0 0 0 0))
(uuid e3c6fee2-2f3b-4d3b-a99d-87431781a1a5) (uuid e3c6fee2-2f3b-4d3b-a99d-87431781a1a5)
@ -4128,10 +4116,6 @@
(stroke (width 0) (type default) (color 0 0 0 0)) (stroke (width 0) (type default) (color 0 0 0 0))
(uuid fef0d373-95f7-4933-b208-332f2be98120) (uuid fef0d373-95f7-4933-b208-332f2be98120)
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(wire (pts (xy 182.88 80.01) (xy 215.9 80.01))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid ffd247f5-5f20-465f-8dc6-c034df16c203)
)
(text "40A AGU Fuse" (at 79.375 41.91 180) (text "40A AGU Fuse" (at 79.375 41.91 180)
(effects (font (size 1.27 1.27)) (justify right bottom)) (effects (font (size 1.27 1.27)) (justify right bottom))
@ -4174,7 +4158,7 @@
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 2db910a0-b943-40b4-b81f-068ba5265f56) (uuid 2db910a0-b943-40b4-b81f-068ba5265f56)
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(text "red" (at 95.25 171.45 90) (text "red" (at 95.25 191.77 90)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 358757e3-e4fa-4400-84f1-d961c8f598ae) (uuid 358757e3-e4fa-4400-84f1-d961c8f598ae)
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@ -4190,7 +4174,7 @@
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 42ff012d-5eb7-42b9-bb45-415cf26799c6) (uuid 42ff012d-5eb7-42b9-bb45-415cf26799c6)
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(text "Yellow" (at 90.17 170.815 90) (text "Yellow" (at 90.17 194.945 90)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 44035e53-ff94-45ad-801f-55a1ce042a0d) (uuid 44035e53-ff94-45ad-801f-55a1ce042a0d)
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@ -4206,7 +4190,7 @@
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 552aa453-5cf8-4fda-9a74-7b6ed84d3d66) (uuid 552aa453-5cf8-4fda-9a74-7b6ed84d3d66)
) )
(text "TODO ändern an Kabeln:\nKabel mit DS1820 auf 3 Pol ändern" (text "TODO ändern an Kabeln:\nKabel mit DS1820 auf 3 Pol ändern\n\nKabel LED Ring WS2812 auf 3 Pol ändern"
(at 311.15 196.85 0) (at 311.15 196.85 0)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
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@ -4223,6 +4207,10 @@
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 88cb65f4-7e9e-44eb-8692-3b6e2e788a94) (uuid 88cb65f4-7e9e-44eb-8692-3b6e2e788a94)
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(text "White\nOrange\nBlack" (at 161.29 145.415 180)
(effects (font (size 1.5 1.5)) (justify right bottom))
(uuid 88ce1684-f25f-4d8b-975e-d112df52ed8c)
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(text "Blue" (at 185.42 151.13 90) (text "Blue" (at 185.42 151.13 90)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 96de0051-7945-413a-9219-1ab367546962) (uuid 96de0051-7945-413a-9219-1ab367546962)
@ -4247,7 +4235,7 @@
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid ca5b6af8-ca05-4338-b852-b51f2b49b1db) (uuid ca5b6af8-ca05-4338-b852-b51f2b49b1db)
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(text "White/Blue" (at 92.71 173.355 90) (text "Green" (at 92.71 194.31 90)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid cee2f43a-7d22-4585-a857-73949bd17a9d) (uuid cee2f43a-7d22-4585-a857-73949bd17a9d)
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@ -4271,7 +4259,7 @@
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid e97b5984-9f0f-43a4-9b8a-838eef4cceb2) (uuid e97b5984-9f0f-43a4-9b8a-838eef4cceb2)
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(text "black" (at 87.63 170.815 90) (text "black" (at 87.63 194.31 90)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid fc03b48b-b580-43df-a800-152783c84131) (uuid fc03b48b-b580-43df-a800-152783c84131)
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@ -4292,10 +4280,18 @@
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(uuid 7d39d336-0246-4c5d-bf4c-8e789280199d) (uuid 7d39d336-0246-4c5d-bf4c-8e789280199d)
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(label "LED_START" (at 205.74 74.93 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 80b38a21-c577-4f53-94c9-757b9b1a4d08)
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(label "GND" (at 227.33 31.75 0) (label "GND" (at 227.33 31.75 0)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 935057d5-6882-4c15-9a35-54677912ba12) (uuid 935057d5-6882-4c15-9a35-54677912ba12)
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(label "FANS" (at 207.01 85.09 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 97103575-cccf-4c60-8d00-f8136bf0ab37)
)
(label "WS2812_DataIn" (at 180.34 41.275 90) (label "WS2812_DataIn" (at 180.34 41.275 90)
(effects (font (size 1.27 1.27)) (justify left bottom)) (effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 992f95a4-a9cd-4c20-af2a-77abc7bc8964) (uuid 992f95a4-a9cd-4c20-af2a-77abc7bc8964)
@ -4465,10 +4461,10 @@
(property "Datasheet" "" (id 3) (at 76.835 134.62 0) (property "Datasheet" "" (id 3) (at 76.835 134.62 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
) )
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae80)) (pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae83))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae80)) (pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae83))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae80)) (pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae83))
(pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae80)) (pin "~" (uuid 289d2381-c24d-462b-86ba-5805292aae83))
) )
(symbol (lib_id "Bobbycar_components:powerlatch") (at 50.165 133.35 0) (unit 1) (symbol (lib_id "Bobbycar_components:powerlatch") (at 50.165 133.35 0) (unit 1)
@ -4482,13 +4478,13 @@
(property "Datasheet" "" (id 3) (at 50.165 133.35 0) (property "Datasheet" "" (id 3) (at 50.165 133.35 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
) )
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f89)) (pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f8f))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f89)) (pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f8f))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f89)) (pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f8f))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f89)) (pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f8f))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f89)) (pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f8f))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f89)) (pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f8f))
(pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f89)) (pin "~" (uuid 7672a6d3-c089-44dd-b44a-004517620f8f))
) )
(symbol (lib_id "Switch:SW_Push_SPDT") (at 44.45 99.06 0) (unit 1) (symbol (lib_id "Switch:SW_Push_SPDT") (at 44.45 99.06 0) (unit 1)
@ -4617,8 +4613,8 @@
(property "Datasheet" "" (id 3) (at 58.42 33.02 0) (property "Datasheet" "" (id 3) (at 58.42 33.02 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e83a)) (pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e83b))
(pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e83a)) (pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e83b))
) )
(symbol (lib_id "Bobbycar_components:xt60_male") (at 55.88 50.8 90) (unit 1) (symbol (lib_id "Bobbycar_components:xt60_male") (at 55.88 50.8 90) (unit 1)
@ -4636,8 +4632,8 @@
(property "Datasheet" "" (id 3) (at 58.42 52.07 0) (property "Datasheet" "" (id 3) (at 58.42 52.07 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a24)) (pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a25))
(pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a24)) (pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a25))
) )
(symbol (lib_id "Bobbycar_components:xt60_female") (at 81.915 31.75 270) (mirror x) (unit 1) (symbol (lib_id "Bobbycar_components:xt60_female") (at 81.915 31.75 270) (mirror x) (unit 1)
@ -4651,8 +4647,8 @@
(property "Datasheet" "" (id 3) (at 81.915 31.75 0) (property "Datasheet" "" (id 3) (at 81.915 31.75 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663ac)) (pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663ad))
(pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663ac)) (pin "~" (uuid abfe2d16-5c1c-42e5-a5b8-7ee7611663ad))
) )
(symbol (lib_id "Bobbycar_components:xt60_female") (at 81.915 50.8 270) (mirror x) (unit 1) (symbol (lib_id "Bobbycar_components:xt60_female") (at 81.915 50.8 270) (mirror x) (unit 1)
@ -4666,8 +4662,8 @@
(property "Datasheet" "" (id 3) (at 81.915 50.8 0) (property "Datasheet" "" (id 3) (at 81.915 50.8 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b89)) (pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b8a))
(pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b89)) (pin "~" (uuid 87069b1b-beb7-4ccb-b34c-3dbae8f09b8a))
) )
(symbol (lib_id "Bobbycar_components:xt90antispark_female") (at 106.045 40.64 270) (unit 1) (symbol (lib_id "Bobbycar_components:xt90antispark_female") (at 106.045 40.64 270) (unit 1)
@ -4685,8 +4681,8 @@
(property "Datasheet" "" (id 3) (at 106.045 40.64 0) (property "Datasheet" "" (id 3) (at 106.045 40.64 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
) )
(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5f1)) (pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5f2))
(pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5f1)) (pin "~" (uuid 47077c27-146a-406e-a83a-e467ee31c5f2))
) )
(symbol (lib_id "Bobbycar_components:xt90_male") (at 137.795 40.64 90) (mirror x) (unit 1) (symbol (lib_id "Bobbycar_components:xt90_male") (at 137.795 40.64 90) (mirror x) (unit 1)
@ -4700,8 +4696,8 @@
(property "Datasheet" "" (id 3) (at 137.795 40.64 0) (property "Datasheet" "" (id 3) (at 137.795 40.64 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd82290549)) (pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229054a))
(pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd82290549)) (pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229054a))
) )
(symbol (lib_id "Connector_Generic:Conn_01x04") (at 90.17 180.975 90) (mirror x) (unit 1) (symbol (lib_id "Connector_Generic:Conn_01x04") (at 90.17 180.975 90) (mirror x) (unit 1)
@ -4740,8 +4736,8 @@
(property "Datasheet" "" (id 3) (at 22.86 105.41 0) (property "Datasheet" "" (id 3) (at 22.86 105.41 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77b9)) (pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ba))
(pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77b9)) (pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ba))
) )
(symbol (lib_id "Bobbycar_components:xt30_female") (at 22.86 81.28 0) (mirror x) (unit 1) (symbol (lib_id "Bobbycar_components:xt30_female") (at 22.86 81.28 0) (mirror x) (unit 1)
@ -4759,8 +4755,8 @@
(property "Datasheet" "" (id 3) (at 22.86 81.28 0) (property "Datasheet" "" (id 3) (at 22.86 81.28 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc06a)) (pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc06b))
(pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc06a)) (pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc06b))
) )
(symbol (lib_id "Bobbycar_wiring-rescue:LED_Dual_2pin-Device") (at 44.45 86.36 0) (unit 1) (symbol (lib_id "Bobbycar_wiring-rescue:LED_Dual_2pin-Device") (at 44.45 86.36 0) (unit 1)
@ -4827,8 +4823,8 @@
(property "Datasheet" "" (id 3) (at 26.67 31.75 0) (property "Datasheet" "" (id 3) (at 26.67 31.75 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77c4)) (pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77c5))
(pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77c4)) (pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77c5))
) )
(symbol (lib_id "Bobbycar_components:xt60_female") (at 26.67 50.8 270) (mirror x) (unit 1) (symbol (lib_id "Bobbycar_components:xt60_female") (at 26.67 50.8 270) (mirror x) (unit 1)
@ -4842,8 +4838,8 @@
(property "Datasheet" "" (id 3) (at 26.67 50.8 0) (property "Datasheet" "" (id 3) (at 26.67 50.8 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec95)) (pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec96))
(pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec95)) (pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec96))
) )
(symbol (lib_id "Device:R") (at 156.845 118.745 0) (unit 1) (symbol (lib_id "Device:R") (at 156.845 118.745 0) (unit 1)
@ -4888,7 +4884,7 @@
(symbol (lib_id "power:GNDD") (at 187.96 115.57 0) (mirror y) (unit 1) (symbol (lib_id "power:GNDD") (at 187.96 115.57 0) (mirror y) (unit 1)
(in_bom yes) (on_board yes) (fields_autoplaced) (in_bom yes) (on_board yes) (fields_autoplaced)
(uuid 06741e47-43c5-40fd-8d39-f3e84103a985) (uuid 06741e47-43c5-40fd-8d39-f3e84103a985)
(property "Reference" "#PWR?" (id 0) (at 187.96 121.92 0) (property "Reference" "#PWR02" (id 0) (at 187.96 121.92 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
) )
(property "Value" "GNDD" (id 1) (at 184.785 116.6494 0) (property "Value" "GNDD" (id 1) (at 184.785 116.6494 0)
@ -4922,7 +4918,7 @@
(symbol (lib_id "power:GNDD") (at 299.72 154.305 0) (unit 1) (symbol (lib_id "power:GNDD") (at 299.72 154.305 0) (unit 1)
(in_bom yes) (on_board yes) (fields_autoplaced) (in_bom yes) (on_board yes) (fields_autoplaced)
(uuid 09595db2-fb32-4098-af22-b458971ec9ee) (uuid 09595db2-fb32-4098-af22-b458971ec9ee)
(property "Reference" "#PWR?" (id 0) (at 299.72 160.655 0) (property "Reference" "#PWR010" (id 0) (at 299.72 160.655 0)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
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(symbol (lib_id "power:+3V3") (at 287.655 90.17 0) (unit 1) (symbol (lib_id "power:+3V3") (at 287.655 90.17 0) (unit 1)
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@ -5212,7 +5208,7 @@
(symbol (lib_id "Connector:Conn_01x04_Female") (at 90.17 184.15 90) (unit 1) (symbol (lib_id "Connector:Conn_01x04_Female") (at 90.17 184.15 90) (unit 1)
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(property "Value" "i2c_steering_wheel" (id 1) (at 104.775 183.515 90)) (property "Value" "i2c_steering_wheel" (id 1) (at 104.775 183.515 90))
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(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
@ -5318,7 +5314,7 @@
(symbol (lib_id "Connector:Conn_01x04_Male") (at 182.245 113.03 0) (mirror x) (unit 1) (symbol (lib_id "Connector:Conn_01x04_Male") (at 182.245 113.03 0) (mirror x) (unit 1)
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@ -5339,7 +5335,7 @@
(symbol (lib_id "power:+3V3") (at 215.9 22.225 0) (unit 1) (symbol (lib_id "power:+3V3") (at 215.9 22.225 0) (unit 1)
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(symbol (lib_id "Connector:Conn_01x03_Male") (at 168.275 142.875 0) (unit 1) (symbol (lib_id "Connector:Conn_01x03_Male") (at 168.275 142.875 0) (unit 1)
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@ -5600,7 +5578,7 @@
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@ -5632,6 +5610,22 @@
(pin "4" (uuid 4ffe744e-c6ee-4501-b1d6-9b4105ae0170)) (pin "4" (uuid 4ffe744e-c6ee-4501-b1d6-9b4105ae0170))
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@ -5974,7 +5968,7 @@
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@ -6064,7 +6058,7 @@
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@ -6093,6 +6087,22 @@
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(pin "1" (uuid 50b62069-b4c4-46ef-b5cc-ce630fc26ab1)) (pin "1" (uuid 50b62069-b4c4-46ef-b5cc-ce630fc26ab1))
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(property "Footprint" "Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical" (id 2) (at 292.1 162.56 0) (property "Footprint" "Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical" (id 2) (at 292.1 162.56 0)
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(symbol (lib_id "Connector:Conn_01x04_Male") (at 293.37 95.25 180) (unit 1) (symbol (lib_id "Connector:Conn_01x04_Male") (at 293.37 95.25 180) (unit 1)
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(reference "#PWR010") (unit 1) (value "GNDD") (footprint "")
)
(path "/8e2e1cd6-f038-44ed-9946-b412ea146e45"
(reference "#PWR011") (unit 1) (value "+5V") (footprint "")
)
(path "/17bbe4ce-9503-4041-ad73-c8128abff18a" (path "/17bbe4ce-9503-4041-ad73-c8128abff18a"
(reference "#PWR0101") (unit 1) (value "+3V3") (footprint "") (reference "#PWR0101") (unit 1) (value "+3V3") (footprint "")
) )
@ -6503,33 +6518,6 @@
(path "/63ed4210-07d8-473f-b760-9d266fc78857" (path "/63ed4210-07d8-473f-b760-9d266fc78857"
(reference "#PWR0132") (unit 1) (value "+3V3") (footprint "") (reference "#PWR0132") (unit 1) (value "+3V3") (footprint "")
) )
(path "/06741e47-43c5-40fd-8d39-f3e84103a985"
(reference "#PWR?") (unit 1) (value "GNDD") (footprint "")
)
(path "/09595db2-fb32-4098-af22-b458971ec9ee"
(reference "#PWR?") (unit 1) (value "GNDD") (footprint "")
)
(path "/1c8e9331-a789-42ff-9d2c-d4b235c358d3"
(reference "#PWR?") (unit 1) (value "+3V3") (footprint "")
)
(path "/295edbb3-d523-4737-a699-2160c5b466f0"
(reference "#PWR?") (unit 1) (value "+3V3") (footprint "")
)
(path "/452df52e-5d4a-40bf-8600-9e922379eb26"
(reference "#PWR?") (unit 1) (value "+3V3") (footprint "")
)
(path "/7504748d-0fe1-4243-b1ad-5dda39e5c465"
(reference "#PWR?") (unit 1) (value "+3V3") (footprint "")
)
(path "/8e2e1cd6-f038-44ed-9946-b412ea146e45"
(reference "#PWR?") (unit 1) (value "+5V") (footprint "")
)
(path "/9ef625a9-6f03-434f-86cc-d1f77d7e126c"
(reference "#PWR?") (unit 1) (value "GNDD") (footprint "")
)
(path "/ee2c37ad-eb4e-4e52-8f02-d34b21702553"
(reference "#PWR?") (unit 1) (value "+3V3") (footprint "")
)
(path "/970dd28f-31ef-478f-a970-8ccde72756aa" (path "/970dd28f-31ef-478f-a970-8ccde72756aa"
(reference "BT1") (unit 1) (value "3V") (footprint "Battery:BatteryHolder_Keystone_1058_1x2032") (reference "BT1") (unit 1) (value "3V") (footprint "Battery:BatteryHolder_Keystone_1058_1x2032")
) )
@ -6549,7 +6537,7 @@
(reference "C5") (unit 1) (value "100nF") (footprint "") (reference "C5") (unit 1) (value "100nF") (footprint "")
) )
(path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/20c59adb-e41f-4fe1-b356-0762bed65b70" (path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/20c59adb-e41f-4fe1-b356-0762bed65b70"
(reference "C?") (unit 1) (value "100nF") (footprint "") (reference "C6") (unit 1) (value "100nF") (footprint "")
) )
(path "/00000000-0000-0000-0000-00005df36553" (path "/00000000-0000-0000-0000-00005df36553"
(reference "D1") (unit 1) (value "POWERLED") (footprint "") (reference "D1") (unit 1) (value "POWERLED") (footprint "")
@ -6641,11 +6629,11 @@
(path "/848d2835-2ae7-4588-a43f-542ecd1149b3" (path "/848d2835-2ae7-4588-a43f-542ecd1149b3"
(reference "J19") (unit 1) (value "I2C") (footprint "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical") (reference "J19") (unit 1) (value "I2C") (footprint "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical")
) )
(path "/d72f9dce-da31-4e9a-9bd1-f31f0fbaefc7" (path "/33608df4-41d1-4381-8d4b-bce430aaeb0f"
(reference "J21") (unit 1) (value "LED") (footprint "") (reference "J20") (unit 1) (value "i2c_steering_wheel") (footprint "")
) )
(path "/4bd42f9e-5f27-4b96-970b-d15afedbd1e2" (path "/b262b802-37a3-42be-85d9-a67a53bb7641"
(reference "J22") (unit 1) (value "LED") (footprint "Connector_JST:JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical") (reference "J22") (unit 1) (value "Temp") (footprint "")
) )
(path "/3d200879-e508-42c8-871e-c01cb537c9c8" (path "/3d200879-e508-42c8-871e-c01cb537c9c8"
(reference "J23") (unit 1) (value "Fan") (footprint "") (reference "J23") (unit 1) (value "Fan") (footprint "")
@ -6662,6 +6650,15 @@
(path "/681d79c7-18bf-4681-af44-d9bc71db3cdf" (path "/681d79c7-18bf-4681-af44-d9bc71db3cdf"
(reference "J27") (unit 1) (value "SPI_A0") (footprint "Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical") (reference "J27") (unit 1) (value "SPI_A0") (footprint "Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical")
) )
(path "/6db3c282-28d1-4a1a-8fd3-ab0bdeb886d7"
(reference "J28") (unit 1) (value "Temp") (footprint "")
)
(path "/7d97133f-4db9-47e9-80f1-cb86fe8cf8a5"
(reference "J29") (unit 1) (value "LED") (footprint "Connector_JST:JST_XH_B5B-XH-A_1x03_P2.50mm_Vertical")
)
(path "/43c12589-0e00-4a1e-bcd5-a7461f5bff47"
(reference "J30") (unit 1) (value "Aux2") (footprint "")
)
(path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/96ffb255-80d6-4ce3-b617-72493a9d317b" (path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/96ffb255-80d6-4ce3-b617-72493a9d317b"
(reference "J31") (unit 1) (value "I2C Display") (footprint "") (reference "J31") (unit 1) (value "I2C Display") (footprint "")
) )
@ -6674,23 +6671,14 @@
(path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/6f79def4-5293-44c7-b802-8b041dc05b19" (path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/6f79def4-5293-44c7-b802-8b041dc05b19"
(reference "J34") (unit 1) (value "Brake Hall") (footprint "") (reference "J34") (unit 1) (value "Brake Hall") (footprint "")
) )
(path "/33608df4-41d1-4381-8d4b-bce430aaeb0f"
(reference "J?") (unit 1) (value "i2c_steering_wheel") (footprint "")
)
(path "/43c12589-0e00-4a1e-bcd5-a7461f5bff47"
(reference "J?") (unit 1) (value "Aux2") (footprint "")
)
(path "/6db3c282-28d1-4a1a-8fd3-ab0bdeb886d7"
(reference "J?") (unit 1) (value "Temp") (footprint "")
)
(path "/b262b802-37a3-42be-85d9-a67a53bb7641"
(reference "J?") (unit 1) (value "Temp") (footprint "")
)
(path "/df46d972-4382-4d7f-885c-960b6b323220" (path "/df46d972-4382-4d7f-885c-960b6b323220"
(reference "J?") (unit 1) (value "Serial8") (footprint "Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical") (reference "J35") (unit 1) (value "Serial8") (footprint "Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical")
) )
(path "/e972a83f-9d8f-433b-926a-68ffa3d75a78" (path "/e972a83f-9d8f-433b-926a-68ffa3d75a78"
(reference "J?") (unit 1) (value "Aux1") (footprint "") (reference "J36") (unit 1) (value "Aux1") (footprint "")
)
(path "/ce7b4aaa-8bab-4e81-93e1-b3d13beec723"
(reference "J?") (unit 1) (value "LED") (footprint "")
) )
(path "/cda57f29-e09c-4cd2-82df-d69b76217973" (path "/cda57f29-e09c-4cd2-82df-d69b76217973"
(reference "JP1") (unit 1) (value "3V3 5V") (footprint "Jumper:SolderJumper-3_P1.3mm_Open_RoundedPad1.0x1.5mm") (reference "JP1") (unit 1) (value "3V3 5V") (footprint "Jumper:SolderJumper-3_P1.3mm_Open_RoundedPad1.0x1.5mm")
@ -6699,7 +6687,7 @@
(reference "JP2") (unit 1) (value "solderjumper_addr") (footprint "") (reference "JP2") (unit 1) (value "solderjumper_addr") (footprint "")
) )
(path "/cbaefaf4-9f47-4ce5-85b3-4cb2f8002a97" (path "/cbaefaf4-9f47-4ce5-85b3-4cb2f8002a97"
(reference "JP?") (unit 1) (value "3V3 5V") (footprint "Jumper:SolderJumper-3_P1.3mm_Open_RoundedPad1.0x1.5mm") (reference "JP3") (unit 1) (value "3V3 5V") (footprint "Jumper:SolderJumper-3_P1.3mm_Open_RoundedPad1.0x1.5mm")
) )
(path "/2ee34c54-8618-4144-bca8-a0f51698fabe" (path "/2ee34c54-8618-4144-bca8-a0f51698fabe"
(reference "M1") (unit 1) (value "Fan_ESC") (footprint "") (reference "M1") (unit 1) (value "Fan_ESC") (footprint "")
@ -6773,6 +6761,9 @@
(path "/00000000-0000-0000-0000-00005dece90e" (path "/00000000-0000-0000-0000-00005dece90e"
(reference "U2") (unit 1) (value "StepDown") (footprint "") (reference "U2") (unit 1) (value "StepDown") (footprint "")
) )
(path "/aaf8e245-015e-43a3-8519-ae6c9fda87bf"
(reference "U3") (unit 1) (value "Teensy4.1") (footprint "")
)
(path "/01b04aab-8171-4a7b-a8ce-0c1c7877b6c2" (path "/01b04aab-8171-4a7b-a8ce-0c1c7877b6c2"
(reference "U5") (unit 1) (value "DS18B20") (footprint "Package_TO_SOT_THT:TO-92_Inline") (reference "U5") (unit 1) (value "DS18B20") (footprint "Package_TO_SOT_THT:TO-92_Inline")
) )
@ -6785,8 +6776,5 @@
(path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/a6f31ae1-ecaf-4ba5-88d2-2e3902ecf97e" (path "/68ad52e4-bfd9-401d-b7c4-72d9de89d81d/a6f31ae1-ecaf-4ba5-88d2-2e3902ecf97e"
(reference "U8") (unit 1) (value "ADS1115IDGS") (footprint "Package_SO:TSSOP-10_3x3mm_P0.5mm") (reference "U8") (unit 1) (value "ADS1115IDGS") (footprint "Package_SO:TSSOP-10_3x3mm_P0.5mm")
) )
(path "/aaf8e245-015e-43a3-8519-ae6c9fda87bf"
(reference "U?") (unit 1) (value "Teensy4.1") (footprint "")
)
) )
) )

2
Bobbycar_wiring/steering_wheel_wiring.kicad_sch
View File

@ -1165,7 +1165,7 @@
(symbol (lib_id "Device:C") (at 70.485 38.1 0) (unit 1) (symbol (lib_id "Device:C") (at 70.485 38.1 0) (unit 1)
(in_bom yes) (on_board yes) (fields_autoplaced) (in_bom yes) (on_board yes) (fields_autoplaced)
(uuid 20c59adb-e41f-4fe1-b356-0762bed65b70) (uuid 20c59adb-e41f-4fe1-b356-0762bed65b70)
(property "Reference" "C?" (id 0) (at 74.295 36.8299 0) (property "Reference" "C6" (id 0) (at 74.295 36.8299 0)
(effects (font (size 1.27 1.27)) (justify left)) (effects (font (size 1.27 1.27)) (justify left))
) )
(property "Value" "100nF" (id 1) (at 74.295 39.3699 0) (property "Value" "100nF" (id 1) (at 74.295 39.3699 0)

77
controller_teensy/.vscode/c_cpp_properties.json vendored
View File

@ -10,21 +10,22 @@
"includePath": [ "includePath": [
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/include", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/include",
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/src", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SD/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/OneWire", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit NeoPixel", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/Adafruit NeoPixel",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit SSD1306", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/Adafruit GFX Library",
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit GFX Library", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/Adafruit BusIO",
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit BusIO",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPI", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPI",
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/ADS1X15", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/ADS1X15",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire/utility", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire/utility",
"/home/fisch/.platformio/packages/framework-arduinoteensy/cores/teensy3", "/home/fisch/.platformio/packages/framework-arduinoteensy/cores/teensy4",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ADC", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ADC",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AccelStepper/src", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AccelStepper/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_NeoPixel", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_NeoPixel",
@ -44,8 +45,8 @@
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DmxSimple", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DmxSimple",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DogLcd", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DogLcd",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EEPROM", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EEPROM",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransfer", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransfer/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransferI2C", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransferI2C/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder/utility", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder/utility",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Entropy", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Entropy",
@ -87,13 +88,11 @@
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ping", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ping",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PulsePosition", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PulsePosition",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/QuadEncoder", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/QuadEncoder",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RA8875", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RA8875/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RadioHead", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RadioHead",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ResponsiveAnalogRead/src", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ResponsiveAnalogRead/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SD/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPIFlash", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPIFlash",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ST7735_t3", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ST7735_t3/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SerialFlash", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SerialFlash",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Servo", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Servo",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ShiftPWM", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ShiftPWM",
@ -126,21 +125,22 @@
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/DallasTemperature", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
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"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit NeoPixel", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/Adafruit NeoPixel",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit BusIO",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPI", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPI",
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/ADS1X15", "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/ADS1X15",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire/utility", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire/utility",
"/home/fisch/.platformio/packages/framework-arduinoteensy/cores/teensy3", "/home/fisch/.platformio/packages/framework-arduinoteensy/cores/teensy4",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ADC", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ADC",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AccelStepper/src", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AccelStepper/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_NeoPixel", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_NeoPixel",
@ -160,8 +160,8 @@
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DmxSimple", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DmxSimple",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DogLcd", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DogLcd",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EEPROM", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EEPROM",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransfer", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransfer/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransferI2C", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransferI2C/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder/utility", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder/utility",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Entropy", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Entropy",
@ -203,13 +203,11 @@
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ping", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ping",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PulsePosition", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PulsePosition",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/QuadEncoder", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/QuadEncoder",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RA8875", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RA8875/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RadioHead", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RadioHead",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ResponsiveAnalogRead/src", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ResponsiveAnalogRead/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SD/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPIFlash", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPIFlash",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ST7735_t3", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ST7735_t3/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SerialFlash", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SerialFlash",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Servo", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Servo",
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ShiftPWM", "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ShiftPWM",
@ -239,23 +237,24 @@
] ]
}, },
"defines": [ "defines": [
"PLATFORMIO=60111", "PLATFORMIO=60115",
"__MK20DX256__", "__IMXRT1062__",
"ARDUINO_TEENSY31", "ARDUINO_TEENSY41",
"USB_SERIAL_HID", "USB_SERIAL_HID",
"ARDUINO=10805", "ARDUINO=10805",
"TEENSYDUINO=156", "TEENSYDUINO=159",
"CORE_TEENSY", "CORE_TEENSY",
"F_CPU=72000000L", "F_CPU=600000000",
"LAYOUT_US_ENGLISH", "LAYOUT_US_ENGLISH",
"" ""
], ],
"cppStandard": "gnu++14", "cppStandard": "gnu++17",
"compilerPath": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin/arm-none-eabi-gcc", "compilerPath": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi-teensy/bin/arm-none-eabi-gcc",
"compilerArgs": [ "compilerArgs": [
"-mthumb", "-mthumb",
"-mcpu=cortex-m4", "-mcpu=cortex-m7",
"-mno-unaligned-access", "-mfloat-abi=hard",
"-mfpu=fpv5-d16",
"" ""
] ]
} }

29
controller_teensy/.vscode/launch.json vendored
View File

@ -1,9 +1,9 @@
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY // AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
// //
// PIO Unified Debugger // PlatformIO Debugging Solution
// //
// Documentation: https://docs.platformio.org/page/plus/debugging.html // Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html // Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
{ {
"version": "0.2.0", "version": "0.2.0",
@ -12,11 +12,10 @@
"type": "platformio-debug", "type": "platformio-debug",
"request": "launch", "request": "launch",
"name": "PIO Debug", "name": "PIO Debug",
"executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy31/firmware.elf", "executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy41/firmware.elf",
"projectEnvName": "teensy31", "projectEnvName": "teensy41",
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin", "toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi-teensy/bin",
"internalConsoleOptions": "openOnSessionStart", "internalConsoleOptions": "openOnSessionStart",
"svdPath": "/home/fisch/.platformio/platforms/teensy/misc/svd/MK20D5.svd",
"preLaunchTask": { "preLaunchTask": {
"type": "PlatformIO", "type": "PlatformIO",
"task": "Pre-Debug" "task": "Pre-Debug"
@ -26,21 +25,19 @@
"type": "platformio-debug", "type": "platformio-debug",
"request": "launch", "request": "launch",
"name": "PIO Debug (skip Pre-Debug)", "name": "PIO Debug (skip Pre-Debug)",
"executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy31/firmware.elf", "executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy41/firmware.elf",
"projectEnvName": "teensy31", "projectEnvName": "teensy41",
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin", "toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi-teensy/bin",
"internalConsoleOptions": "openOnSessionStart", "internalConsoleOptions": "openOnSessionStart"
"svdPath": "/home/fisch/.platformio/platforms/teensy/misc/svd/MK20D5.svd"
}, },
{ {
"type": "platformio-debug", "type": "platformio-debug",
"request": "launch", "request": "launch",
"name": "PIO Debug (without uploading)", "name": "PIO Debug (without uploading)",
"executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy31/firmware.elf", "executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy41/firmware.elf",
"projectEnvName": "teensy31", "projectEnvName": "teensy41",
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin", "toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi-teensy/bin",
"internalConsoleOptions": "openOnSessionStart", "internalConsoleOptions": "openOnSessionStart",
"svdPath": "/home/fisch/.platformio/platforms/teensy/misc/svd/MK20D5.svd",
"loadMode": "manual" "loadMode": "manual"
} }
] ]

10
controller_teensy/include/definitions.h
View File

@ -26,7 +26,7 @@ bool log_header_written = false;
//bool controllerRear_connected=false; //bool controllerRear_connected=false;
bool controllers_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_min = 420; //better a bit too high than too low
//const uint16_t calib_throttle_max = 790; //const uint16_t calib_throttle_max = 790;
const uint16_t failsafe_throttle_min_A = 4900; //if adc value falls below this failsafe is triggered. const uint16_t failsafe_throttle_min_A = 4900; //if adc value falls below this failsafe is triggered.
@ -41,7 +41,7 @@ const uint16_t throttleCurvePerMM_A[] = {11800,11130,10300,9990,9650,9470,9370,9
const bool throttleCurvePerMM_A_Descending=true; //set true if corresponding array is descending const bool throttleCurvePerMM_A_Descending=true; //set true if corresponding array is descending
const uint16_t throttleCurvePerMM_B[] = {6200,6700,7420,7710,8030,8200,8310,8440,8560,8640,8740,8840,8990,9130,9330,9630,9900,10440,10990}; //adc values for every unit (mm) of linear travel const uint16_t throttleCurvePerMM_B[] = {6200,6700,7420,7710,8030,8200,8310,8440,8560,8640,8740,8840,8990,9130,9330,9630,9900,10440,10990}; //adc values for every unit (mm) of linear travel
const bool throttleCurvePerMM_B_Descending=false; //set true if corresponding array is descending const bool throttleCurvePerMM_B_Descending=false; //set true if corresponding array is descending
#define PIN_BRAKE A8
const uint16_t calib_brake_min = 7000; //better a bit too high than too low const uint16_t calib_brake_min = 7000; //better a bit too high than too low
const uint16_t calib_brake_max = 11000; const uint16_t calib_brake_max = 11000;
const uint16_t failsafe_brake_min = 4000; //if adc value falls below this failsafe is triggered const uint16_t failsafe_brake_min = 4000; //if adc value falls below this failsafe is triggered
@ -110,13 +110,11 @@ int16_t throttle_max=1000; //maximum allowed set speed. used for scaling and lim
bool reverse_enabled=false; bool reverse_enabled=false;
unsigned long last_notidle=0; //not rolling to fast, no pedal pressed unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
#define PIN_START A9 #define PIN_PWRBUTTON 40 //PWRBUTTON
#define PIN_LED_START 2 //Enginge start led #define PIN_LED_START 2 //Enginge start led
#define PIN_LATCH_ENABLE A6 #define PIN_LATCH_ENABLE 41
#define PIN_MODE_LEDG 4
#define PIN_MODE_LEDR 5
#define PIN_FAN 6 //Output High=Fans on #define PIN_FAN 6 //Output High=Fans on

14
controller_teensy/include/logging.h
View File

@ -3,10 +3,10 @@
// SD Card Logging // SD Card Logging
#include <SPI.h> //SCK=13, MISO=12, MOSI=11 #include <SPI.h>
#include <SD.h> //Format sd cart with FAT or FAT16 #include <SD.h> //Format sd cart with FAT or FAT16. FAT32 for >1GB Cards on Teensy4.1
#define SDCHIPSELECT 14 //#define SDCHIPSELECT 14
boolean datalogging=true; boolean datalogging=true;
String datalogging_filename="UNKNOWN.txt"; String datalogging_filename="UNKNOWN.txt";
@ -18,7 +18,7 @@ void writeLogComment(unsigned long time, String msg);
bool initLogging() { bool initLogging() {
Serial.print("Initializing SD card..."); Serial.print("Initializing SD card...");
// see if the card is present and can be initialized: // see if the card is present and can be initialized:
if (!SD.begin(SDCHIPSELECT)) { if (!SD.begin(BUILTIN_SDCARD)) {
Serial.println("Card failed, or not present"); Serial.println("Card failed, or not present");
display.println(F("SD Init Fail!")); display.display(); display.println(F("SD Init Fail!")); display.display();
datalogging=false; //disable logging datalogging=false; //disable logging
@ -32,7 +32,7 @@ bool initLogging() {
char buffer[6]; char buffer[6];
sprintf(buffer, "%04d", filenumber); sprintf(buffer, "%04d", filenumber);
datalogging_filename="LOG_"+String(buffer)+".TXT"; datalogging_filename="LOG_"+String(buffer)+".TXT";
while(SD.exists(datalogging_filename) && filenumber<10000) { while(SD.exists(datalogging_filename.c_str()) && filenumber<10000) {
Serial.print(datalogging_filename); Serial.println(" exists"); Serial.print(datalogging_filename); Serial.println(" exists");
filenumber++; filenumber++;
sprintf(buffer, "%04d", filenumber); sprintf(buffer, "%04d", filenumber);
@ -57,7 +57,7 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
{ {
last_datalogging_write=loopmillis; last_datalogging_write=loopmillis;
File dataFile = SD.open(datalogging_filename, FILE_WRITE); File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);
if (dataFile) { // if the file is available, write to it if (dataFile) { // if the file is available, write to it
@ -117,7 +117,7 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
void writeLogComment(unsigned long time, String msg) { void writeLogComment(unsigned long time, String msg) {
//SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println(); //SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println();
if (datalogging) { if (datalogging) {
File dataFile = SD.open(datalogging_filename, FILE_WRITE); File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);
if (dataFile) { // if the file is available, write to it if (dataFile) { // if the file is available, write to it
dataFile.print("#"); dataFile.print("#");

2
controller_teensy/include/temperature.h
View File

@ -11,7 +11,7 @@ float temp_ESCRear;
DeviceAddress thermometerAir={0x28,0xFF,0x64,0x0E,0x74,0x7E,0xFE,0x23}; //IC with three markings 28FF640E747EFE23 DeviceAddress thermometerAir={0x28,0xFF,0x64,0x0E,0x74,0x7E,0xFE,0x23}; //IC with three markings 28FF640E747EFE23
float temp_Air; float temp_Air;
#define ONE_WIRE_BUS A2 //GPIO pin #define ONE_WIRE_BUS 24 //GPIO pin
#define TEMPERATURE_PRECISION 12 //max is 12 #define TEMPERATURE_PRECISION 12 //max is 12
#define READINTERVAL_DS18B20 5000 //ms #define READINTERVAL_DS18B20 5000 //ms

8
controller_teensy/platformio.ini
View File

@ -10,7 +10,7 @@
[platformio] [platformio]
default_envs = teensy31 default_envs = teensy41
; Set/override default options for each "[env:***]" ; Set/override default options for each "[env:***]"
[env] [env]
@ -24,7 +24,6 @@ build_flags =
lib_deps = lib_deps =
robtillaart/ADS1X15@^0.3.9 robtillaart/ADS1X15@^0.3.9
adafruit/Adafruit SSD1306@^2.5.7 adafruit/Adafruit SSD1306@^2.5.7
arduino-libraries/SD@^1.2.4
https://github.com/adafruit/Adafruit_NeoPixel https://github.com/adafruit/Adafruit_NeoPixel
https://github.com/milesburton/Arduino-Temperature-Control-Library/ https://github.com/milesburton/Arduino-Temperature-Control-Library/
@ -37,3 +36,8 @@ board = teensy31
[env:teensy40] [env:teensy40]
platform = teensy platform = teensy
board = teensy40 board = teensy40
[env:teensy41]
platform = teensy@5.0.0
board = teensy41

168
controller_teensy/src/main.cpp
View File

@ -29,21 +29,16 @@ String getLogFilename();
ESCSerialComm escFront(Serial2); ESCSerialComm escFront(Serial7);
ESCSerialComm escRear(Serial3); ESCSerialComm escRear(Serial2);
//Serial1 = TX1=1, RX1=0
//Serial2 = TX2=10, RX2=9
//Serial3 = TX3=8, RX3=7
ADS1115 ADS(0x48);
ADS1115 ADS(0x48, &Wire); //Pins: https://www.pjrc.com/teensy/td_libs_Wire.html
/* /*
Connections: Serial Hoverboard Colors
Tennsy Pin, Pin Name, Connected to RX (Green) connect to TX on Teensy
10, Tx2, Hoverboard RX(Green) TX (Blue) connect to RX on Teensy
9, Rx2, Hoverboard TX(Blue)
8, Tx3, Hoverboard RX(Green)
7, Rx3, Hoverboard TX(Blue)
*/ */
@ -77,9 +72,8 @@ void setup()
//Serial2.begin(SERIAL_CONTROL_BAUD); //control, TX2=10, RX2=9 //Serial2.begin(SERIAL_CONTROL_BAUD); //control, TX2=10, RX2=9
//Serial3.begin(SERIAL_CONTROL_BAUD); //control, TX3=8, RX3=7 //Serial3.begin(SERIAL_CONTROL_BAUD); //control, TX3=8, RX3=7
pinMode(PIN_THROTTLE, INPUT);
pinMode(PIN_BRAKE, INPUT); pinMode(PIN_PWRBUTTON, INPUT_PULLUP); //Pressed=High
pinMode(PIN_START, INPUT_PULLUP); //Pressed=High
pinMode(PIN_LED_START, OUTPUT); //Active High pinMode(PIN_LED_START, OUTPUT); //Active High
@ -87,11 +81,6 @@ void setup()
digitalWrite(PIN_FAN,HIGH); //Turn fan on during startup for debugging purposes digitalWrite(PIN_FAN,HIGH); //Turn fan on during startup for debugging purposes
//TODO: remove mode button things
pinMode(PIN_MODE_LEDG, OUTPUT); //Active Low
digitalWrite(PIN_MODE_LEDG,LOW);
pinMode(PIN_MODE_LEDR, OUTPUT); //Active Low
digitalWrite(PIN_MODE_LEDR,LOW);
pinMode(PIN_LATCH_ENABLE, OUTPUT); pinMode(PIN_LATCH_ENABLE, OUTPUT);
digitalWrite(PIN_LATCH_ENABLE,HIGH); //latch on digitalWrite(PIN_LATCH_ENABLE,HIGH); //latch on
@ -138,6 +127,7 @@ void setup()
// also set ADSREADPERIOD to at least the read interval // also set ADSREADPERIOD to at least the read interval
ADS.requestADC(0); //Start requesting a channel ADS.requestADC(0); //Start requesting a channel
led_simpeProgress(6,true); led_simpeProgress(6,true);
writeLogComment((unsigned long)millis(), "ADS1115 Initialized");
} }
delay(10); delay(10);
for (uint8_t i=0;i<4;i++){ //read all channels once to have adc readings ready in first loop (to prevent premature failsafe) for (uint8_t i=0;i<4;i++){ //read all channels once to have adc readings ready in first loop (to prevent premature failsafe)
@ -400,6 +390,7 @@ void readADS() { //sequentially read ads and write to variable
break; break;
case 3: //Buttons case 3: //Buttons
ads_control_raw=ads_val; ads_control_raw=ads_val;
Serial.print("ADS="); Serial.print(ads_throttle_A_raw); Serial.print(" \t"); Serial.print(ads_throttle_B_raw); Serial.print(" \t"); Serial.print(ads_brake_raw); Serial.print(" \t"); Serial.println(ads_control_raw);
break; break;
} }
@ -457,38 +448,6 @@ void readADC() {
throttle_pos=constrain(throttlebreak_pos,0,1000); throttle_pos=constrain(throttlebreak_pos,0,1000);
brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
//throttlemax=750 - cmd ist aber 543
//throttlemax=250 - cmd ist aber 117
//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
/*
if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
if (speedmode!=SPEEDMODE_SLOW) {
speedmode=SPEEDMODE_SLOW;
max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
if (loopmillis>WRITE_HEADER_TIME) {
//writeLogComment(Serial1,loopmillis, "Mode switched to SPEEDMODE_SLOW");
}
}
}else{ //button not pushed in
if (speedmode!=SPEEDMODE_NORMAL) {
speedmode=SPEEDMODE_NORMAL;
max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
if (loopmillis>WRITE_HEADER_TIME) {
//writeLogComment(Serial1,loopmillis, "Mode switched to SPEEDMODE_NORMAL");
}
}
}
*/
/*
if (speedmode==SPEEDMODE_SLOW) {
throttle_pos/=2;
}
*/
} }
@ -626,100 +585,6 @@ void calculateSetSpeed(unsigned long timediff){
log_update=true; log_update=true;
} }
/*
void sendCMD() { //TODO: remove complete function because replaced by calculateSetSpeed()
// ## FOR REFERENCE:
//int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
//int16_t brake_cmdreduce_proportional=100; //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
int16_t brake_pos_expo = (int16_t)(pow((brake_pos/1000.0),2)*1000);
float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*SENDPERIOD/1000)); //reduce cmd value every cycle
float freewheel_current=startbrakecurrent_offset-brake_pos_expo*brakepedal_current_multiplier; //above which driving current cmd send will be reduced more. increase value to decrease breaking. values <0 increases breaking above freewheeling
float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average)
motorparamsFront.filtered_curL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
motorparamsFront.filtered_curR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
motorparamsRear.filtered_curL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
motorparamsRear.filtered_curR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
float filtered_currentFront=max(motorparamsFront.filtered_curL,motorparamsFront.filtered_curR);
float filtered_currentRear=max(motorparamsRear.filtered_curL,motorparamsRear.filtered_curR);
filtered_currentAll=max(filtered_currentFront,filtered_currentRear); //positive value is current Drawn from battery. negative value is braking current
if (throttle_pos>=last_cmd_send) { //accelerating
cmd_send += constrain(throttle_pos-cmd_send,0,max_acceleration_rate*SENDPERIOD/1000); //if throttle higher than last applied value, apply throttle directly
}else{ //freewheeling or braking
if (filtered_currentAll>freewheel_current) { //drive current too high
cmd_send-= max(0, (filtered_currentAll-freewheel_current)*freewheel_break_factor*(SENDPERIOD/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
}
cmd_send-=max(minimum_constant_cmd_reduce,cmdreduce_constant); //reduce slowly anyways
}
cmd_send=constrain(cmd_send,0,1000);
last_cmd_send=cmd_send;
int16_t cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,1000); //brake "ducking"
if (reverse_enabled) {
cmd_send_toMotor-=brake_pos*REVERSE_SPEED;
}
if (!controllers_connected || !armed) { //controllers not connected or not armed
cmd_send=0;
cmd_send_toMotor=0; //safety off
}
//apply throttle command to all motors
motorparamsFront.cmdL=cmd_send_toMotor;
motorparamsFront.cmdR=cmd_send_toMotor;
motorparamsRear.cmdL=cmd_send_toMotor;
motorparamsRear.cmdR=cmd_send_toMotor;
if (controllers_connected) {
SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
log_update=true;
//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
}//else if(loopmillis>last_log_send+LOGMININTERVAL){
// //Serial.print(throttle_raw); Serial.println();
// Serial.print(linearizeThrottle(throttle_raw)); Serial.println();
// last_log_send=loopmillis;
//}
}*/
/*
void checkLog() { //TODO: remove
if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){ //write header for log file after logger booted up
writeLogInfo(Serial1);
writeLogHeader(Serial1);
log_header_written=true;
}
if (log_header_written && ( (log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) ) {
last_log_send=loopmillis;
log_update=false;
writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);
}
}
*/
@ -732,13 +597,6 @@ void leds() {
} }
if (speedmode==SPEEDMODE_SLOW) {
digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
digitalWrite(PIN_MODE_LEDR,HIGH);
}else if (speedmode==SPEEDMODE_NORMAL) {
digitalWrite(PIN_MODE_LEDG,HIGH);
digitalWrite(PIN_MODE_LEDR,LOW); //Red
}
} }
void readButtons() { void readButtons() {
@ -749,10 +607,10 @@ void readButtons() {
bool last_button_start_state=button_start_state; bool last_button_start_state=button_start_state;
if (loopmillis > button_start_lastchange+DEBOUNCE_TIME) { //wait some time after last change if (loopmillis > button_start_lastchange+DEBOUNCE_TIME) { //wait some time after last change
if (digitalRead(PIN_START) && !button_start_state) { //start engine button pressed and was not pressed before if (digitalRead(PIN_PWRBUTTON) && !button_start_state) { //start engine button pressed and was not pressed before
button_start_state=true; //pressed button_start_state=true; //pressed
button_start_lastchange=loopmillis; //save time for debouncing button_start_lastchange=loopmillis; //save time for debouncing
}else if (!digitalRead(PIN_START) && button_start_state) { //released an was pressed before }else if (!digitalRead(PIN_PWRBUTTON) && button_start_state) { //released an was pressed before
button_start_state=false; // not pressed button_start_state=false; // not pressed
button_start_lastchange=loopmillis; //save time for debouncing button_start_lastchange=loopmillis; //save time for debouncing
} }

2
hoverboard-firmware-hack-foc-serial-esc

@ -1 +1 @@
Subproject commit c454e90d42054948485ffe226a3071b71778ab1c Subproject commit 64b76cf2ed3955bef7aa8a6e63ec2ca14fb62f9c

2
logdata_visualization/logdata_visualization.pde
View File

@ -2,7 +2,7 @@ import processing.serial.*;
int vis_textsize=12; //copy from Visualization class int vis_textsize=12; //copy from Visualization class
String logfile_name="/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/logdata_visualization/logfixer/20211004_171509.csv"; String logfile_name="/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/logdata_visualization/sonstige_fahrten/20220828_154604.csv";
int columnCount=20; int columnCount=20;
boolean useSerial=false; //false=read from csv log, true=read from serial port boolean useSerial=false; //false=read from csv log, true=read from serial port