Merge pull request #84 from EmanuelFeru/variant-skateboard-PWM
Variant skateboard pwm
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EmanuelFeru
GitHub
commit
b1f7c4c296
49
Inc/config.h
49
Inc/config.h
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@ -19,6 +19,7 @@
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//#define VARIANT_HOVERCAR // Variant for HOVERCAR build
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//#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build
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//#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
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//#define VARIANT_SKATEBOARD // Variant for SKATEBOARD build
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#endif
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// ########################### END OF VARIANT SELECTION ############################
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@ -323,11 +324,6 @@
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*/
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#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
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// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define PWM_CH1_MAX 1000 // (0 - 1000)
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@ -341,8 +337,13 @@
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// #define INVERT_L_DIRECTION
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#endif
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// ############################# END OF VARIANT_PPM SETTINGS ############################
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// ############################# END OF VARIANT_PWM SETTINGS ############################
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@ -432,6 +433,40 @@
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// ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
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// ################################# VARIANT_SKATEBOARD SETTINGS ##############################
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#ifdef VARIANT_SKATEBOARD
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/* ###### CONTROL VIA RC REMOTE ######
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* right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver.
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* Channel 1: steering, Channel 2: speed.
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*/
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#undef CTRL_MOD_REQ
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#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
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// #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
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#define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
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#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define PWM_CH1_MAX 1000 // (0 - 1000)
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#define PWM_CH1_MIN -1000 // (-1000 - 0)
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#define PWM_CH2_MAX 700 // (0 - 1000)
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#define PWM_CH2_MIN -800 // (-1000 - 0)
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#define PWM_CH2_OUT_MIN -400 // (-1000 - 0) Change this value to adjust the braking amount
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#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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#define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
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#define INVERT_R_DIRECTION
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#define INVERT_L_DIRECTION
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#endif
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// ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
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// ########################### UART SETIINGS ############################
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#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
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@ -473,7 +508,7 @@
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// ############################### VALIDATE SETTINGS ###############################
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#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
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!defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
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!defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_SKATEBOARD)
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#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
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#endif
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@ -125,6 +125,7 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p
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- **VARIANT_HOVERCAR**: In this variant the motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR video](https://www.youtube.com/watch?v=IgHCcj0NgWQ&t=).
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- **VARIANT_HOVERBOARD**: In this variant the mainboard reads the sideboards data. The sideboards need to be flashed with the hacked version. Only balancing controller is still to be implemented.
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- **VARIANT_TRANSPOTTER**: This build is for transpotter which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
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- **VARIANT_SKATEBOARD**: This is for skateboard build, controlled using an RC remote with PWM signal connected to the right sensor cable.
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Of course the firmware can be further customized for other needs or projects.
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12
Src/main.c
12
Src/main.c
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@ -213,7 +213,7 @@ int main(void) {
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}
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// ####### VARIANT_HOVERCAR #######
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#if defined(VARIANT_HOVERCAR) || defined(ELECTRIC_BRAKE_ENABLE)
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#if defined(VARIANT_HOVERCAR) || defined(VARIANT_SKATEBOARD) || defined(ELECTRIC_BRAKE_ENABLE)
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uint16_t speedBlend; // Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
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speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,10,60) - 10) << 15) / 50); // speedBlend [0,1] is within [10 rpm, 60rpm]
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#endif
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@ -240,6 +240,16 @@ int main(void) {
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}
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#endif
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#ifdef VARIANT_SKATEBOARD
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if (cmd2 < 0) { // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
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if (speedAvg > 0) { // Make sure the braking is opposite to the direction of motion
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cmd2 = (int16_t)(( cmd2 * speedBlend) >> 15);
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} else {
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cmd2 = (int16_t)((-cmd2 * speedBlend) >> 15);
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}
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}
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#endif
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// ####### LOW-PASS FILTER #######
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rateLimiter16(cmd1, RATE, &steerRateFixdt);
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rateLimiter16(cmd2, RATE, &speedRateFixdt);
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@ -751,7 +751,11 @@ void readCommand(void) {
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#if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
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cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
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#if !defined(VARIANT_SKATEBOARD)
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cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
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#else
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cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, PWM_CH2_OUT_MIN, INPUT_MAX);
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#endif
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#if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
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button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
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button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
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@ -18,6 +18,7 @@ src_dir = Src
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;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
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;default_envs = VARIANT_HOVERBOARD ; Variant for HOVERBOARD
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;default_envs = VARIANT_TRANSPOTTER ; Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
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;default_envs = VARIANT_SKATEBOARD ; Variant for SKATEBOARD build controlled via RC-Remotes with PWM signal
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;================================================================
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;================================================================
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@ -208,3 +209,23 @@ build_flags =
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-D VARIANT_TRANSPOTTER
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;================================================================
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[env:VARIANT_SKATEBOARD]
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platform = ststm32
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framework = stm32cube
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board = genericSTM32F103RC
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debug_tool = stlink
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upload_protocol = stlink
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_SKATEBOARD
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;================================================================
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