170 lines
5.1 KiB
C
170 lines
5.1 KiB
C
/*
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
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* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "stm32f1xx_hal.h"
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#define LEFT_HALL_U_PIN GPIO_PIN_5
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#define LEFT_HALL_V_PIN GPIO_PIN_6
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#define LEFT_HALL_W_PIN GPIO_PIN_7
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#define LEFT_HALL_U_PORT GPIOB
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#define LEFT_HALL_V_PORT GPIOB
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#define LEFT_HALL_W_PORT GPIOB
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#define RIGHT_HALL_U_PIN GPIO_PIN_10
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#define RIGHT_HALL_V_PIN GPIO_PIN_11
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#define RIGHT_HALL_W_PIN GPIO_PIN_12
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#define RIGHT_HALL_U_PORT GPIOC
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#define RIGHT_HALL_V_PORT GPIOC
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#define RIGHT_HALL_W_PORT GPIOC
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#define LEFT_TIM TIM8
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#define LEFT_TIM_U CCR1
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#define LEFT_TIM_UH_PIN GPIO_PIN_6
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#define LEFT_TIM_UH_PORT GPIOC
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#define LEFT_TIM_UL_PIN GPIO_PIN_7
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#define LEFT_TIM_UL_PORT GPIOA
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#define LEFT_TIM_V CCR2
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#define LEFT_TIM_VH_PIN GPIO_PIN_7
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#define LEFT_TIM_VH_PORT GPIOC
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#define LEFT_TIM_VL_PIN GPIO_PIN_0
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#define LEFT_TIM_VL_PORT GPIOB
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#define LEFT_TIM_W CCR3
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#define LEFT_TIM_WH_PIN GPIO_PIN_8
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#define LEFT_TIM_WH_PORT GPIOC
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#define LEFT_TIM_WL_PIN GPIO_PIN_1
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#define LEFT_TIM_WL_PORT GPIOB
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#define RIGHT_TIM TIM1
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#define RIGHT_TIM_U CCR1
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#define RIGHT_TIM_UH_PIN GPIO_PIN_8
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#define RIGHT_TIM_UH_PORT GPIOA
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#define RIGHT_TIM_UL_PIN GPIO_PIN_13
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#define RIGHT_TIM_UL_PORT GPIOB
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#define RIGHT_TIM_V CCR2
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#define RIGHT_TIM_VH_PIN GPIO_PIN_9
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#define RIGHT_TIM_VH_PORT GPIOA
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#define RIGHT_TIM_VL_PIN GPIO_PIN_14
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#define RIGHT_TIM_VL_PORT GPIOB
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#define RIGHT_TIM_W CCR3
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#define RIGHT_TIM_WH_PIN GPIO_PIN_10
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#define RIGHT_TIM_WH_PORT GPIOA
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#define RIGHT_TIM_WL_PIN GPIO_PIN_15
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#define RIGHT_TIM_WL_PORT GPIOB
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// #define LEFT_DC_CUR_ADC ADC1
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// #define LEFT_U_CUR_ADC ADC1
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// #define LEFT_V_CUR_ADC ADC1
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#define LEFT_DC_CUR_PIN GPIO_PIN_0
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#define LEFT_U_CUR_PIN GPIO_PIN_0
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#define LEFT_V_CUR_PIN GPIO_PIN_3
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#define LEFT_DC_CUR_PORT GPIOC
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#define LEFT_U_CUR_PORT GPIOA
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#define LEFT_V_CUR_PORT GPIOC
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// #define RIGHT_DC_CUR_ADC ADC2
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// #define RIGHT_U_CUR_ADC ADC2
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// #define RIGHT_V_CUR_ADC ADC2
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#define RIGHT_DC_CUR_PIN GPIO_PIN_1
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#define RIGHT_U_CUR_PIN GPIO_PIN_4
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#define RIGHT_V_CUR_PIN GPIO_PIN_5
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#define RIGHT_DC_CUR_PORT GPIOC
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#define RIGHT_U_CUR_PORT GPIOC
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#define RIGHT_V_CUR_PORT GPIOC
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// #define DCLINK_ADC ADC3
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// #define DCLINK_CHANNEL
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#define DCLINK_PIN GPIO_PIN_2
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#define DCLINK_PORT GPIOC
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// #define DCLINK_PULLUP 30000
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// #define DCLINK_PULLDOWN 1000
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#define LED_PIN GPIO_PIN_2
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#define LED_PORT GPIOB
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#define BUZZER_PIN GPIO_PIN_4
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#define BUZZER_PORT GPIOA
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#define SWITCH_PIN GPIO_PIN_1
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#define SWITCH_PORT GPIOA
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#define OFF_PIN GPIO_PIN_5
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#define OFF_PORT GPIOA
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#define BUTTON_PIN GPIO_PIN_1
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#define BUTTON_PORT GPIOA
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#define CHARGER_PIN GPIO_PIN_12
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#define CHARGER_PORT GPIOA
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#define DELAY_TIM_FREQUENCY_US 1000000
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#define MILLI_R (R * 1000)
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#define MILLI_PSI (PSI * 1000)
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#define MILLI_V (V * 1000)
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#define NO 0
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#define YES 1
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#define ABS(a) (((a) < 0) ? -(a) : (a))
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#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
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#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
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#define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))
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#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
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#define DEG(a) ((a)*M_PI / 180.0f)
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#define RAD(a) ((a)*180.0f / M_PI)
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#define SIGN(a) (((a) < 0.0f) ? (-1.0f) : (((a) > 0.0f) ? (1.0f) : (0.0f)))
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#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
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#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
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#define MIN(a, b) (((a) < (b)) ? (a) : (b))
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#define MAX(a, b) (((a) > (b)) ? (a) : (b))
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#define MIN3(a, b, c) MIN(a, MIN(b, c))
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#define MAX3(a, b, c) MAX(a, MAX(b, c))
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typedef struct {
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uint16_t dcr;
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uint16_t dcl;
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uint16_t rl1;
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uint16_t rl2;
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uint16_t rr1;
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uint16_t rr2;
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uint16_t batt1;
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uint16_t l_tx2;
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uint16_t temp;
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uint16_t l_rx2;
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} adc_buf_t;
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// Define low-pass filter functions. Implementation is in main.c
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void filtLowPass16(int16_t u, uint16_t coef, int16_t *y);
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void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
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void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
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void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
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// Define I2C and Nunchuck functions
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void I2C_Init(void);
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void Nunchuck_Init(void);
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void Nunchuck_Read(void);
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uint8_t Nunchuck_Ping(void); |