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hoverboard-firmware-hack-foc-serial-esc
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Merge pull request #113 from larsmm/master 

printf support and improvements
This commit is contained in:
EmanuelFeru 2020-12-10 20:05:55 +01:00 committed by GitHub
parent 3fcae4fc8b 164219c942
commit ae3f041ae6
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GPG Key ID: 4AEE18F83AFDEB23
11 changed files with 958 additions and 269 deletions
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110
Arduino/hoverserial/hoverserial.ino
View File

@ -23,15 +23,15 @@
// ******************************************************************* // *******************************************************************
// ########################## DEFINES ########################## // ########################## DEFINES ##########################
#define HOVER_SERIAL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard) #define HOVER_SERIAL_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 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 START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
#define TIME_SEND 100 // [ms] Sending time interval #define TIME_SEND 100 // [ms] Sending time interval
#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing #define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable) // #define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
#include <SoftwareSerial.h> #include <SoftwareSerial.h>
SoftwareSerial HoverSerial(2,3); // RX, TX SoftwareSerial HoverSerial(2,3); // RX, TX
// Global variables // Global variables
uint8_t idx = 0; // Index for new data pointer uint8_t idx = 0; // Index for new data pointer
@ -41,7 +41,7 @@ byte incomingByte;
byte incomingBytePrev; byte incomingBytePrev;
typedef struct{ typedef struct{
uint16_t start; uint16_t start;
int16_t steer; int16_t steer;
int16_t speed; int16_t speed;
uint16_t checksum; uint16_t checksum;
@ -50,12 +50,12 @@ SerialCommand Command;
typedef struct{ typedef struct{
uint16_t start; uint16_t start;
int16_t cmd1; int16_t cmd1;
int16_t cmd2; int16_t cmd2;
int16_t speedR_meas; int16_t speedR_meas;
int16_t speedL_meas; int16_t speedL_meas;
int16_t batVoltage; int16_t batVoltage;
int16_t boardTemp; int16_t boardTemp;
uint16_t cmdLed; uint16_t cmdLed;
uint16_t checksum; uint16_t checksum;
} SerialFeedback; } SerialFeedback;
@ -88,59 +88,59 @@ void Send(int16_t uSteer, int16_t uSpeed)
// ########################## RECEIVE ########################## // ########################## RECEIVE ##########################
void Receive() void Receive()
{ {
// Check for new data availability in the Serial buffer // Check for new data availability in the Serial buffer
if (HoverSerial.available()) { if (HoverSerial.available()) {
incomingByte = HoverSerial.read(); // Read the incoming byte incomingByte = HoverSerial.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
} }
else { else {
return; return;
} }
// If DEBUG_RX is defined print all incoming bytes // If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX #ifdef DEBUG_RX
Serial.print(incomingByte); Serial.print(incomingByte);
return; return;
#endif #endif
// Copy received data // Copy received data
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
p = (byte *)&NewFeedback; p = (byte *)&NewFeedback;
*p++ = incomingBytePrev; *p++ = incomingBytePrev;
*p++ = incomingByte; *p++ = incomingByte;
idx = 2; idx = 2;
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data } else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
*p++ = incomingByte; *p++ = incomingByte;
idx++; idx++;
} }
// Check if we reached the end of the package // Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) { if (idx == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed); ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
// Check validity of the new data // Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) { if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data // Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Print data to built-in Serial // Print data to built-in Serial
Serial.print("1: "); Serial.print(Feedback.cmd1); Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2); Serial.print(" 2: "); Serial.print(Feedback.cmd2);
Serial.print(" 3: "); Serial.print(Feedback.speedR_meas); Serial.print(" 3: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 4: "); Serial.print(Feedback.speedL_meas); Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 5: "); Serial.print(Feedback.batVoltage); Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
Serial.print(" 6: "); Serial.print(Feedback.boardTemp); Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
Serial.print(" 7: "); Serial.println(Feedback.cmdLed); Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
} else { } else {
Serial.println("Non-valid data skipped"); Serial.println("Non-valid data skipped");
} }
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle) idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
} }
// Update previous states // Update previous states
incomingBytePrev = incomingByte; incomingBytePrev = incomingByte;
} }
// ########################## LOOP ########################## // ########################## LOOP ##########################

74
Inc/config.h
View File

@ -34,6 +34,7 @@
#endif #endif
#define TIMEOUT 20 // number of wrong / missing input commands before emergency off #define TIMEOUT 20 // number of wrong / missing input commands before emergency off
#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc #define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
// ADC conversion time definitions // ADC conversion time definitions
#define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5) #define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5)
@ -123,7 +124,7 @@
- button1 and button2: digital input values. 0 or 1 - 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 - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
Outputs: Outputs:
- speedR and speedL: normal driving INPUT_MIN to INPUT_MAX - cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX
*/ */
#define COM_CTRL 0 // [-] Commutation Control Type #define COM_CTRL 0 // [-] Commutation Control Type
#define SIN_CTRL 1 // [-] Sinusoidal Control Type #define SIN_CTRL 1 // [-] Sinusoidal Control Type
@ -204,38 +205,30 @@
* Be careful not to use the red wire of the cable. 15v will destroy everything. * Be careful not to use the red wire of the cable. 15v will destroy everything.
* If you are using VARIANT_NUNCHUK, disable it temporarily. * If you are using VARIANT_NUNCHUK, disable it temporarily.
* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2 * enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
* and DEBUG_SERIAL_ASCII use asearial terminal.
* *
* *
* DEBUG_SERIAL_ASCII output is: * DEBUG_SERIAL_ASCII output is:
* // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n" * // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
* *
* 1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS * in1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
* 2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS * in2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
* 3: (int16_t)speedR); output command: [-1000, 1000] * cmdL: (int16_t)speedL); output command: [-1000, 1000]
* 4: (int16_t)speedL); output command: [-1000, 1000] * cmdR: (int16_t)speedR); output command: [-1000, 1000]
* 5: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard * BatADC: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
* 6: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration * BatV: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
* 7: (int16_t)board_temp_adcFilt); for board temperature calibration * TempADC: (int16_t)board_temp_adcFilt); for board temperature calibration
* 8: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration * Temp: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration
* *
*/ */
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! // #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#if defined(VARIANT_ADC) // #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#endif
#ifndef VARIANT_TRANSPOTTER
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII
#endif
// ########################### END OF DEBUG SERIAL ############################ // ########################### END OF DEBUG SERIAL ############################
// ############################### DEBUG LCD ############################### // ############################### DEBUG LCD ###############################
//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable // #define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
// ########################### END OF DEBUG LCD ############################ // ########################### END OF DEBUG LCD ############################
@ -243,27 +236,40 @@
// ################################# VARIANT_ADC SETTINGS ############################ // ################################# VARIANT_ADC SETTINGS ############################
#ifdef VARIANT_ADC #ifdef VARIANT_ADC
/* CONTROL VIA TWO POTENTIOMETERS /* CONTROL VIA TWO POTENTIOMETERS
* ADC-calibration to cover the full poti-range: * Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire!)
* Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>. *
* Turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN * Auto-calibration of the ADC Limit to finds the Minimum, Maximum, and Middle for the ADC input
* Turn the potis to maximum position, write value 1 to ADC1_MAX and value 2 to ADC2_MAX * Procedure:
* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID * - press the power button for more than 5 sec and release after the beep sound
* Make, flash and test it. * - move the potentiometers freely to the min and max limits repeatedly
* - release potentiometers to the resting postion
* - press the power button to confirm or wait for the 20 sec timeout
* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
*
* After calibration you can optionally write the values to the following defines
* Procedure:
* - connect gnd, rx and tx of a usb-uart converter in 3.3V mode to the right sensor board cable (do NOT use the red 15V wire!)
* - readout values using a serial terminal in 115200 baud rate
* - turn the potis to minimum position, write value 1 to INPUT1_MIN and value 2 to INPUT2_MIN
* - turn the potis to maximum position, write value 1 to INPUT1_MAX and value 2 to INPUT2_MAX
* - for middle resting potis: Let the potis in the middle resting position, write value 1 to INPUT1_MID and value 2 to INPUT2_MID
*/ */
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken #define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values #define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect #define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095) #define INPUT1_MIN 0 // min ADC1-value while poti at min-position (0 - 4095)
#define INPUT1_MID 0 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX) #define INPUT1_MID 0 // mid ADC1-value while poti at mid-position (INPUT1_MIN - INPUT1_MAX)
#define INPUT1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095) #define INPUT1_MAX 4095 // max ADC1-value while poti at max-position (0 - 4095)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect #define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095) #define INPUT2_MIN 0 // min ADC2-value while poti at min-position (0 - 4095)
#define INPUT2_MID 0 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX) #define INPUT2_MID 0 // mid ADC2-value while poti at mid-position (INPUT2_MIN - INPUT2_MAX)
#define INPUT2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095) #define INPUT2_MAX 4095 // max ADC2-value while poti at max-position (0 - 4095)
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2! // #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! // #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#endif #endif
@ -281,13 +287,13 @@
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect #define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect #define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0) #define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000) #define INPUT2_MAX 1000 // (0 - 1000)

4
Inc/defines.h
View File

@ -183,6 +183,10 @@
#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x))) #define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min)) #define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
#if defined(PRINTF_FLOAT_SUPPORT) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)) && defined(__GNUC__)
asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
#endif
typedef struct { typedef struct {
uint16_t dcr; uint16_t dcr;

217
MDK-ARM/mainboard-hack.uvoptx
View File

@ -75,7 +75,7 @@
<OPTFL> <OPTFL>
<tvExp>1</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget> <IsCurrentTarget>0</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>18</CpuCode> <CpuCode>18</CpuCode>
<DebugOpt> <DebugOpt>
@ -1398,6 +1398,159 @@
</TargetOption> </TargetOption>
</Target> </Target>
<Target>
<TargetName>VARIANT_SKATEBOARD</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>8000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>0</BeepAtEnd>
<RunSim>0</RunSim>
<RunTarget>1</RunTarget>
<RunAbUc>0</RunAbUc>
</OPTTT>
<OPTHX>
<HexSelection>1</HexSelection>
<FlashByte>65535</FlashByte>
<HexRangeLowAddress>0</HexRangeLowAddress>
<HexRangeHighAddress>0</HexRangeHighAddress>
<HexOffset>0</HexOffset>
</OPTHX>
<OPTLEX>
<PageWidth>79</PageWidth>
<PageLength>66</PageLength>
<TabStop>8</TabStop>
<ListingPath>.\Listing\</ListingPath>
</OPTLEX>
<ListingPage>
<CreateCListing>1</CreateCListing>
<CreateAListing>1</CreateAListing>
<CreateLListing>1</CreateLListing>
<CreateIListing>0</CreateIListing>
<AsmCond>1</AsmCond>
<AsmSymb>1</AsmSymb>
<AsmXref>0</AsmXref>
<CCond>1</CCond>
<CCode>0</CCode>
<CListInc>0</CListInc>
<CSymb>0</CSymb>
<LinkerCodeListing>0</LinkerCodeListing>
</ListingPage>
<OPTXL>
<LMap>1</LMap>
<LComments>1</LComments>
<LGenerateSymbols>1</LGenerateSymbols>
<LLibSym>1</LLibSym>
<LLines>1</LLines>
<LLocSym>1</LLocSym>
<LPubSym>1</LPubSym>
<LXref>0</LXref>
<LExpSel>0</LExpSel>
</OPTXL>
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
<sLdApp>1</sLdApp>
<sGomain>1</sGomain>
<sRbreak>1</sRbreak>
<sRwatch>1</sRwatch>
<sRmem>1</sRmem>
<sRfunc>1</sRfunc>
<sRbox>1</sRbox>
<tLdApp>1</tLdApp>
<tGomain>1</tGomain>
<tRbreak>1</tRbreak>
<tRwatch>1</tRwatch>
<tRmem>1</tRmem>
<tRfunc>0</tRfunc>
<tRbox>1</tRbox>
<tRtrace>1</tRtrace>
<sRSysVw>1</sRSysVw>
<tRSysVw>1</tRSysVw>
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<nTsel>5</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
<sDlgPa></sDlgPa>
<sIfile></sIfile>
<tDll></tDll>
<tDllPa></tDllPa>
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U -O206 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM))</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
<DebugFlag>
<trace>0</trace>
<periodic>0</periodic>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
<aPa>0</aPa>
<viewmode>0</viewmode>
<vrSel>0</vrSel>
<aSym>0</aSym>
<aTbox>0</aTbox>
<AscS1>0</AscS1>
<AscS2>0</AscS2>
<AscS3>0</AscS3>
<aSer3>0</aSer3>
<eProf>0</eProf>
<aLa>0</aLa>
<aPa1>0</aPa1>
<AscS4>0</AscS4>
<aSer4>0</aSer4>
<StkLoc>0</StkLoc>
<TrcWin>0</TrcWin>
<newCpu>0</newCpu>
<uProt>0</uProt>
</DebugFlag>
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
<bLintAuto>0</bLintAuto>
<bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags>
<pMisraName></pMisraName>
<pszMrule></pszMrule>
<pSingCmds></pSingCmds>
<pMultCmds></pMultCmds>
<DebugDescription>
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585
MDK-ARM/mainboard-hack.uvprojx
View File

@ -404,11 +404,6 @@
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<nStopB1X>0</nStopB1X>
<nStopB2X>0</nStopB2X>
</BeforeMake>
<AfterMake>
<RunUserProg1>1</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name>$K\ARM\ARMCC\bin\fromelf.exe --bin --output=.\Objects\@L.bin !L</UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>0</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString>
</TargetCommonOption>
<CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>0</AlwaysBuild>
<GenerateAssemblyFile>0</GenerateAssemblyFile>
<AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg>
</CommonProperty>
<DllOption>
<SimDllName>SARMCM3.DLL</SimDllName>
<SimDllArguments>-REMAP</SimDllArguments>
<SimDlgDll>DCM.DLL</SimDlgDll>
<SimDlgDllArguments>-pCM3</SimDlgDllArguments>
<TargetDllName>SARMCM3.DLL</TargetDllName>
<TargetDllArguments></TargetDllArguments>
<TargetDlgDll>TCM.DLL</TargetDlgDll>
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
</DllOption>
<DebugOption>
<OPTHX>
<HexSelection>1</HexSelection>
<HexRangeLowAddress>0</HexRangeLowAddress>
<HexRangeHighAddress>0</HexRangeHighAddress>
<HexOffset>0</HexOffset>
<Oh166RecLen>16</Oh166RecLen>
</OPTHX>
</DebugOption>
<Utilities>
<Flash1>
<UseTargetDll>1</UseTargetDll>
<UseExternalTool>0</UseExternalTool>
<RunIndependent>0</RunIndependent>
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
<Capability>1</Capability>
<DriverSelection>4096</DriverSelection>
</Flash1>
<bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3>
<Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst>
</Utilities>
<TargetArmAds>
<ArmAdsMisc>
<GenerateListings>0</GenerateListings>
<asHll>1</asHll>
<asAsm>1</asAsm>
<asMacX>1</asMacX>
<asSyms>1</asSyms>
<asFals>1</asFals>
<asDbgD>1</asDbgD>
<asForm>1</asForm>
<ldLst>0</ldLst>
<ldmm>1</ldmm>
<ldXref>1</ldXref>
<BigEnd>0</BigEnd>
<AdsALst>1</AdsALst>
<AdsACrf>1</AdsACrf>
<AdsANop>0</AdsANop>
<AdsANot>0</AdsANot>
<AdsLLst>1</AdsLLst>
<AdsLmap>1</AdsLmap>
<AdsLcgr>1</AdsLcgr>
<AdsLsym>1</AdsLsym>
<AdsLszi>1</AdsLszi>
<AdsLtoi>1</AdsLtoi>
<AdsLsun>1</AdsLsun>
<AdsLven>1</AdsLven>
<AdsLsxf>1</AdsLsxf>
<RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M3"</AdsCpuType>
<RvctDeviceName></RvctDeviceName>
<mOS>0</mOS>
<uocRom>0</uocRom>
<uocRam>0</uocRam>
<hadIROM>1</hadIROM>
<hadIRAM>1</hadIRAM>
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>0</RvdsVP>
<hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
<useUlib>1</useUlib>
<EndSel>0</EndSel>
<uLtcg>0</uLtcg>
<nSecure>0</nSecure>
<RoSelD>3</RoSelD>
<RwSelD>3</RwSelD>
<CodeSel>0</CodeSel>
<OptFeed>0</OptFeed>
<NoZi1>0</NoZi1>
<NoZi2>0</NoZi2>
<NoZi3>0</NoZi3>
<NoZi4>0</NoZi4>
<NoZi5>0</NoZi5>
<Ro1Chk>0</Ro1Chk>
<Ro2Chk>0</Ro2Chk>
<Ro3Chk>0</Ro3Chk>
<Ir1Chk>1</Ir1Chk>
<Ir2Chk>0</Ir2Chk>
<Ra1Chk>0</Ra1Chk>
<Ra2Chk>0</Ra2Chk>
<Ra3Chk>0</Ra3Chk>
<Im1Chk>1</Im1Chk>
<Im2Chk>0</Im2Chk>
<OnChipMemories>
<Ocm1>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm1>
<Ocm2>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm2>
<Ocm3>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm3>
<Ocm4>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm4>
<Ocm5>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm5>
<Ocm6>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm6>
<IRAM>
<Type>0</Type>
<StartAddress>0x20000000</StartAddress>
<Size>0xc000</Size>
</IRAM>
<IROM>
<Type>1</Type>
<StartAddress>0x8000000</StartAddress>
<Size>0x40000</Size>
</IROM>
<XRAM>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</XRAM>
<OCR_RVCT1>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT1>
<OCR_RVCT2>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT2>
<OCR_RVCT3>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT3>
<OCR_RVCT4>
<Type>1</Type>
<StartAddress>0x8000000</StartAddress>
<Size>0x40000</Size>
</OCR_RVCT4>
<OCR_RVCT5>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT5>
<OCR_RVCT6>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT6>
<OCR_RVCT7>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT7>
<OCR_RVCT8>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT8>
<OCR_RVCT9>
<Type>0</Type>
<StartAddress>0x20000000</StartAddress>
<Size>0xc000</Size>
</OCR_RVCT9>
<OCR_RVCT10>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT10>
</OnChipMemories>
<RvctStartVector></RvctStartVector>
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>4</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
<Strict>0</Strict>
<EnumInt>0</EnumInt>
<PlainCh>0</PlainCh>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<wLevel>2</wLevel>
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<useXO>0</useXO>
<v6Lang>1</v6Lang>
<v6LangP>1</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xE,VARIANT_SKATEBOARD</Define>
<Undefine></Undefine>
<IncludePath>..\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include</IncludePath>
</VariousControls>
</Cads>
<Aads>
<interw>1</interw>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<thumb>0</thumb>
<SplitLS>0</SplitLS>
<SwStkChk>0</SwStkChk>
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Aads>
<LDads>
<umfTarg>1</umfTarg>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange>0x08000000</TextAddressRange>
<DataAddressRange>0x20000000</DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc></Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
</LDads>
</TargetArmAds>
</TargetOption>
<Groups>
<Group>
<GroupName>Startup</GroupName>
<Files>
<File>
<FileName>startup_stm32f103xe.s</FileName>
<FileType>2</FileType>
<FilePath>.\startup_stm32f103xe.s</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Src</GroupName>
<Files>
<File>
<FileName>bldc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\bldc.c</FilePath>
</File>
<File>
<FileName>BLDC_controller.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller.c</FilePath>
</File>
<File>
<FileName>BLDC_controller_data.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
</File> </File>
<File> <File>
<FileName>control.c</FileName> <FileName>control.c</FileName>
@ -5379,6 +5879,7 @@
<targetInfo name="VARIANT_NUNCHUK"/> <targetInfo name="VARIANT_NUNCHUK"/>
<targetInfo name="VARIANT_PPM"/> <targetInfo name="VARIANT_PPM"/>
<targetInfo name="VARIANT_PWM"/> <targetInfo name="VARIANT_PWM"/>
<targetInfo name="VARIANT_SKATEBOARD"/>
<targetInfo name="VARIANT_TRANSPOTTER"/> <targetInfo name="VARIANT_TRANSPOTTER"/>
<targetInfo name="VARIANT_USART"/> <targetInfo name="VARIANT_USART"/>
</targetInfos> </targetInfos>

1
Makefile
View File

@ -44,7 +44,6 @@ Src/bldc.c \
Src/eeprom.c \ Src/eeprom.c \
Src/hd44780.c \ Src/hd44780.c \
Src/pcf8574.c \ Src/pcf8574.c \
Src/comms.c \
Src/stm32f1xx_it.c \ Src/stm32f1xx_it.c \
Src/BLDC_controller_data.c \ Src/BLDC_controller_data.c \
Src/BLDC_controller.c Src/BLDC_controller.c

66
Src/main.c
View File

@ -20,13 +20,13 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdio.h>
#include <stdlib.h> // for abs() #include <stdlib.h> // for abs()
#include "stm32f1xx_hal.h" #include "stm32f1xx_hal.h"
#include "defines.h" #include "defines.h"
#include "setup.h" #include "setup.h"
#include "config.h" #include "config.h"
#include "util.h" #include "util.h"
#include "comms.h"
#include "BLDC_controller.h" /* BLDC's header file */ #include "BLDC_controller.h" /* BLDC's header file */
#include "rtwtypes.h" #include "rtwtypes.h"
@ -52,6 +52,8 @@ extern volatile adc_buf_t adc_buffer;
extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart3;
volatile uint8_t uart_buf[200];
// Matlab defines - from auto-code generation // Matlab defines - from auto-code generation
//--------------- //---------------
extern P rtP_Left; /* Block parameters (auto storage) */ extern P rtP_Left; /* Block parameters (auto storage) */
@ -188,8 +190,8 @@ int main(void) {
poweronMelody(); poweronMelody();
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
int16_t speedL = 0, speedR = 0; int16_t cmdL = 0, cmdR = 0;
int16_t lastSpeedL = 0, lastSpeedR = 0; int16_t lastCmdL = 0, lastCmdR = 0;
int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point
int16_t board_temp_adcFilt = adc_buffer.temp; int16_t board_temp_adcFilt = adc_buffer.temp;
@ -209,7 +211,9 @@ int main(void) {
beepShort(4); HAL_Delay(100); beepShort(4); HAL_Delay(100);
steerFixdt = speedFixdt = 0; // reset filters steerFixdt = speedFixdt = 0; // reset filters
enable = 1; // enable motors enable = 1; // enable motors
consoleLog("-- Motors enabled --\r\n"); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("-- Motors enabled --\r\n");
#endif
} }
// ####### VARIANT_HOVERCAR ####### // ####### VARIANT_HOVERCAR #######
@ -273,21 +277,21 @@ int main(void) {
#endif #endif
// ####### MIXER ####### // ####### MIXER #######
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA); // cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA); // cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
mixerFcn(speed << 4, steer << 4, &speedR, &speedL); // This function implements the equations above mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above
// ####### SET OUTPUTS (if the target change is less than +/- 100) ####### // ####### SET OUTPUTS (if the target change is less than +/- 100) #######
if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100)) { if ((cmdL > lastCmdL-100 && cmdL < lastCmdL+100) && (cmdR > lastCmdR-100 && cmdR < lastCmdR+100)) {
#ifdef INVERT_R_DIRECTION #ifdef INVERT_R_DIRECTION
pwmr = speedR; pwmr = cmdR;
#else #else
pwmr = -speedR; pwmr = -cmdR;
#endif #endif
#ifdef INVERT_L_DIRECTION #ifdef INVERT_L_DIRECTION
pwml = -speedL; pwml = -cmdL;
#else #else
pwml = speedL; pwml = cmdL;
#endif #endif
} }
#endif #endif
@ -298,22 +302,22 @@ int main(void) {
distanceErr = distance - (int)(setDistance * 1345); distanceErr = distance - (int)(setDistance * 1345);
if (nunchuk_connected == 0) { if (nunchuk_connected == 0) {
speedL = speedL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f); cmdL = cmdL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
speedR = speedR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f); cmdR = cmdR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) { if ((cmdL < lastCmdL + 50 && cmdL > lastCmdL - 50) && (cmdR < lastCmdR + 50 && cmdR > lastCmdR - 50)) {
if (distanceErr > 0) { if (distanceErr > 0) {
enable = 1; enable = 1;
} }
if (distanceErr > -300) { if (distanceErr > -300) {
#ifdef INVERT_R_DIRECTION #ifdef INVERT_R_DIRECTION
pwmr = speedR; pwmr = cmdR;
#else #else
pwmr = -speedR; pwmr = -cmdR;
#endif #endif
#ifdef INVERT_L_DIRECTION #ifdef INVERT_L_DIRECTION
pwml = -speedL; pwml = -cmdL;
#else #else
pwml = speedL; pwml = cmdL;
#endif #endif
if (checkRemote) { if (checkRemote) {
@ -407,15 +411,15 @@ int main(void) {
// ####### DEBUG SERIAL OUT ####### // ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3) #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
setScopeChannel(0, (int16_t)input1); // 1: INPUT1 printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
setScopeChannel(1, (int16_t)input2); // 2: INPUT2 input1, // 1: INPUT1
setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000] input2, // 2: INPUT2
setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000] cmdL, // 3: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration cmdR, // 4: output command: [-1000, 1000]
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration adc_buffer.batt1, // 5: for battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration board_temp_adcFilt, // 7: for board temperature calibration
consoleScope(); board_temp_deg_c); // 8: for verifying board temperature calibration
} }
#endif #endif
@ -482,7 +486,7 @@ int main(void) {
// ####### INACTIVITY TIMEOUT ####### // ####### INACTIVITY TIMEOUT #######
if (abs(speedL) > 50 || abs(speedR) > 50) { if (abs(cmdL) > 50 || abs(cmdR) > 50) {
inactivity_timeout_counter = 0; inactivity_timeout_counter = 0;
} else { } else {
inactivity_timeout_counter++; inactivity_timeout_counter++;
@ -493,8 +497,8 @@ int main(void) {
// HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN // HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
// Update main loop states // Update main loop states
lastSpeedL = speedL; lastCmdL = cmdL;
lastSpeedR = speedR; lastCmdR = cmdR;
main_loop_counter++; main_loop_counter++;
timeoutCnt++; timeoutCnt++;
} }

148
Src/util.c
View File

@ -18,13 +18,13 @@
*/ */
// Includes // Includes
#include <stdio.h>
#include <stdlib.h> // for abs() #include <stdlib.h> // for abs()
#include <string.h> #include <string.h>
#include "stm32f1xx_hal.h" #include "stm32f1xx_hal.h"
#include "defines.h" #include "defines.h"
#include "setup.h" #include "setup.h"
#include "config.h" #include "config.h"
#include "comms.h"
#include "eeprom.h" #include "eeprom.h"
#include "util.h" #include "util.h"
#include "BLDC_controller.h" #include "BLDC_controller.h"
@ -133,13 +133,13 @@ static int16_t INPUT_MIN; // [-] Input target minimum limitation
static uint8_t cur_spd_valid = 0; static uint8_t cur_spd_valid = 0;
static uint8_t inp_cal_valid = 0; static uint8_t inp_cal_valid = 0;
static uint16_t INPUT1_TYP_CAL = INPUT1_TYPE; static uint16_t INPUT1_TYP_CAL = INPUT1_TYPE;
static uint16_t INPUT1_MIN_CAL = INPUT1_MIN; static int16_t INPUT1_MIN_CAL = INPUT1_MIN;
static uint16_t INPUT1_MID_CAL = INPUT1_MID; static int16_t INPUT1_MID_CAL = INPUT1_MID;
static uint16_t INPUT1_MAX_CAL = INPUT1_MAX; static int16_t INPUT1_MAX_CAL = INPUT1_MAX;
static uint16_t INPUT2_TYP_CAL = INPUT2_TYPE; static uint16_t INPUT2_TYP_CAL = INPUT2_TYPE;
static uint16_t INPUT2_MIN_CAL = INPUT2_MIN; static int16_t INPUT2_MIN_CAL = INPUT2_MIN;
static uint16_t INPUT2_MID_CAL = INPUT2_MID; static int16_t INPUT2_MID_CAL = INPUT2_MID;
static uint16_t INPUT2_MAX_CAL = INPUT2_MAX; static int16_t INPUT2_MAX_CAL = INPUT2_MAX;
#endif #endif
#if defined(CONTROL_ADC) #if defined(CONTROL_ADC)
@ -198,6 +198,34 @@ static uint8_t cruiseCtrlAcv = 0;
static uint8_t standstillAcv = 0; static uint8_t standstillAcv = 0;
#endif #endif
/* =========================== Retargeting printf =========================== */
/* retarget the C library printf function to the USART */
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE {
#if defined(DEBUG_SERIAL_USART2)
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
#elif defined(DEBUG_SERIAL_USART3)
HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, 1000);
#endif
return ch;
}
#ifdef __GNUC__
int _write(int file, char *data, int len) {
int i;
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
return len;
}
#endif
#endif
/* =========================== Initialization Functions =========================== */ /* =========================== Initialization Functions =========================== */
void BLDC_Init(void) { void BLDC_Init(void) {
@ -280,13 +308,13 @@ void Input_Init(void) {
EE_ReadVariable(VirtAddVarTab[0], &writeCheck); EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
if (writeCheck == FLASH_WRITE_KEY) { if (writeCheck == FLASH_WRITE_KEY) {
EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL); EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL);
EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MIN_CAL); EE_ReadVariable(VirtAddVarTab[2] , (uint16_t *)(intptr_t)INPUT1_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL); EE_ReadVariable(VirtAddVarTab[3] , (uint16_t *)(intptr_t)INPUT1_MID_CAL);
EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MAX_CAL); EE_ReadVariable(VirtAddVarTab[4] , (uint16_t *)(intptr_t)INPUT1_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL); EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL);
EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MIN_CAL); EE_ReadVariable(VirtAddVarTab[6] , (uint16_t *)(intptr_t)INPUT2_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MID_CAL); EE_ReadVariable(VirtAddVarTab[7] , (uint16_t *)(intptr_t)INPUT2_MID_CAL);
EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MAX_CAL); EE_ReadVariable(VirtAddVarTab[8] , (uint16_t *)(intptr_t)INPUT2_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[9] , &i_max); EE_ReadVariable(VirtAddVarTab[9] , &i_max);
EE_ReadVariable(VirtAddVarTab[10], &n_max); EE_ReadVariable(VirtAddVarTab[10], &n_max);
rtP_Left.i_max = i_max; rtP_Left.i_max = i_max;
@ -465,31 +493,34 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
int16_t threshold = 200; int16_t threshold = 200;
#endif #endif
HAL_Delay(10);
if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) { if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) {
type = 0; type = 0;
consoleLog("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
#endif
} else { } else {
if ((min / threshold) == (mid / threshold)){ if ((min / threshold) == (mid / threshold)){
type = 1; type = 1;
consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("a normal pot"); // MIN and MID are close, it's a normal pot
#endif
} else { } else {
type = 2; type = 2;
consoleLog("Input is a mid-resting pot"); // it's a mid resting pot #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("a mid-resting pot"); // it's a mid resting pot
#endif
} }
HAL_Delay(10);
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) { if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
consoleLog(" and protected"); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf(" AND protected");
#endif
beepLong(2); // Indicate protection by a beep beepLong(2); // Indicate protection by a beep
} }
#endif #endif
} }
HAL_Delay(10);
consoleLog("\r\n");
HAL_Delay(10);
return type; return type;
} }
@ -501,6 +532,7 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
* - move the potentiometers freely to the min and max limits repeatedly * - move the potentiometers freely to the min and max limits repeatedly
* - release potentiometers to the resting postion * - release potentiometers to the resting postion
* - press the power button to confirm or wait for the 20 sec timeout * - press the power button to confirm or wait for the 20 sec timeout
* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
*/ */
void adcCalibLim(void) { void adcCalibLim(void) {
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
@ -508,7 +540,10 @@ void adcCalibLim(void) {
} }
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Input calibration started...\r\n");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Input calibration started...\r\n");
#endif
readInput(); readInput();
// Inititalization: MIN = a high value, MAX = a low value // Inititalization: MIN = a high value, MAX = a low value
@ -537,39 +572,47 @@ void adcCalibLim(void) {
HAL_Delay(5); HAL_Delay(5);
} }
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Input1 is ");
#endif
INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp); INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto) if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN; INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
INPUT1_MID_CAL = INPUT1_MID_temp; INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN; INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
consoleLog("Input1 OK\r\n"); HAL_Delay(10); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..OK\r\n");
#endif
} else { } else {
INPUT1_TYP_CAL = 0; // Disable input INPUT1_TYP_CAL = 0; // Disable input
consoleLog("Input1 Fail\r\n"); HAL_Delay(10); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..NOK\r\n");
#endif
} }
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Input2 is ");
#endif
INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp); INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto) if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN; INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
INPUT2_MID_CAL = INPUT2_MID_temp; INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN; INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
consoleLog("Input2 OK\r\n"); HAL_Delay(10); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..OK\r\n");
#endif
} else { } else {
INPUT2_TYP_CAL = 0; // Disable input INPUT2_TYP_CAL = 0; // Disable input
consoleLog("Input2 Fail\r\n"); HAL_Delay(10); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("..NOK\r\n");
#endif
} }
inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
consoleLog("Limits: "); HAL_Delay(10); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
setScopeChannel(0, (int16_t)INPUT1_TYP_CAL); printf("Limits Input1: TYP:%i MIN:%i MID:%i MAX:%i\r\nLimits Input2: TYP:%i MIN:%i MID:%i MAX:%i\r\n",
setScopeChannel(1, (int16_t)INPUT1_MIN_CAL); INPUT1_TYP_CAL, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL,
setScopeChannel(2, (int16_t)INPUT1_MID_CAL); INPUT2_TYP_CAL, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
setScopeChannel(3, (int16_t)INPUT1_MAX_CAL); #endif
setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
consoleScope();
#endif #endif
} }
/* /*
@ -585,7 +628,10 @@ void updateCurSpdLim(void) {
} }
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Torque and Speed limits update started...\r\n");
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("Torque and Speed limits update started...\r\n");
#endif
int32_t input1_fixdt = input1 << 16; int32_t input1_fixdt = input1 << 16;
int32_t input2_fixdt = input2 << 16; int32_t input2_fixdt = input2 << 16;
@ -617,17 +663,11 @@ void updateCurSpdLim(void) {
cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown
} }
consoleLog("Limits: "); HAL_Delay(10); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
setScopeChannel(0, (int16_t)cur_spd_valid); // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed // cur_spd_valid: 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
setScopeChannel(1, (int16_t)input1_fixdt); printf("Limits (%i)\r\nCurrent: fixdt:%li factor%i i_max:%i \r\nSpeed: fixdt:%li factor:%i n_max:%i\r\n",
setScopeChannel(2, (int16_t)cur_factor); cur_spd_valid, input1_fixdt, cur_factor, rtP_Left.i_max, input2_fixdt, spd_factor, rtP_Left.n_max);
setScopeChannel(3, (int16_t)rtP_Left.i_max); #endif
setScopeChannel(4, (int16_t)0);
setScopeChannel(5, (int16_t)input2_fixdt);
setScopeChannel(6, (int16_t)spd_factor);
setScopeChannel(7, (int16_t)rtP_Left.n_max);
consoleScope();
#endif #endif
} }
@ -760,7 +800,9 @@ void cruiseControl(uint8_t button) {
void poweroff(void) { void poweroff(void) {
enable = 0; enable = 0;
consoleLog("-- Motors disabled --\r\n"); #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
printf("-- Motors disabled --\r\n");
#endif
buzzerCount = 0; // prevent interraction with beep counter buzzerCount = 0; // prevent interraction with beep counter
buzzerPattern = 0; buzzerPattern = 0;
for (int i = 0; i < 8; i++) { for (int i = 0; i < 8; i++) {
@ -1117,7 +1159,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
{ {
for (; len > 0; len--, userCommand++) { for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
consoleLog("-- Command received --\r\n"); printf("Command = %c\r\n", *userCommand);
// handle_input(*userCommand); // -> Create this function to handle the user commands // handle_input(*userCommand); // -> Create this function to handle the user commands
} }
} }

0
Src/comms.c → docs/recycle/comms.c
View File

0
Inc/comms.h → docs/recycle/comms.h
View File

10
platformio.ini
View File

@ -54,7 +54,7 @@ upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct) ; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5 monitor_port = COM5
monitor_speed = 38400 monitor_speed = 115200
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
@ -146,10 +146,6 @@ board = genericSTM32F103RC
debug_tool = stlink debug_tool = stlink
upload_protocol = stlink upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
@ -168,10 +164,6 @@ board = genericSTM32F103RC
debug_tool = stlink debug_tool = stlink
upload_protocol = stlink upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE