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hoverboard-firmware-hack-FOC
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Merge branch 'master' into master

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EmanuelFeru 5 years ago committed by GitHub
parent 18ac2bc224 3fcae4fc8b
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14 changed files with 236 additions and 203 deletions
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12
Inc/config.h
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@ -292,13 +292,13 @@
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
#define 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)
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#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 INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
@ -425,8 +425,8 @@
#undef USART3_BAUD
#define USART3_BAUD 115200
#define CONTROL_SERIAL_USART3 // left sensor board cable, disable if ADC or PPM is used!
#define FEEDBACK_SERIAL_USART3 // left sensor board cable, disable if ADC or PPM is used!
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if ADC or PPM is used!
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if ADC or PPM is used!
#ifdef CONTROL_SERIAL_USART3
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
@ -577,13 +577,13 @@
#endif
#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
#ifndef USART2_BAUD
#define USART2_BAUD 38400 // UART2 baud rate (long wired cable)
#define USART2_BAUD 115200 // UART2 baud rate (long wired cable)
#endif
#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#endif
#if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
#ifndef USART3_BAUD
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
#define USART3_BAUD 115200 // UART3 baud rate (short wired cable)
#endif
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#endif

25
Inc/defines.h
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@ -209,14 +209,23 @@ void PWM_ISR_CH1_Callback(void);
void PWM_ISR_CH2_Callback(void);
// Sideboard definitions
#define LED1_SET (0x01)
#define LED2_SET (0x02)
#define LED3_SET (0x04)
#define LED4_SET (0x08)
#define LED5_SET (0x10)
#define SENSOR1_SET (0x01)
#define SENSOR2_SET (0x02)
#define SENSOR_MPU (0x04)
#define LED1_SET (0x01)
#define LED2_SET (0x02)
#define LED3_SET (0x04)
#define LED4_SET (0x08)
#define LED5_SET (0x10)
#define SENSOR1_SET (0x01)
#define SENSOR2_SET (0x02)
#define SENSOR_MPU (0x04)
// RC iBUS switch definitions. Flysky FS-i6S has SW1, SW4 - 2 positions; SW2, SW3 - 3 positions
#define SW1_SET (0x0100) // 0000 0001 0000 0000
#define SW2_SET1 (0x0200) // 0000 0010 0000 0000
#define SW2_SET2 (0x0400) // 0000 0100 0000 0000
#define SW3_SET1 (0x0800) // 0000 1000 0000 0000
#define SW3_SET2 (0x1000) // 0001 0000 0000 0000
#define SW4_SET (0x2000) // 0010 0000 0000 0000
#endif // DEFINES_H

36
Inc/util.h
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@ -26,31 +26,32 @@
// Rx Structures USART
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
#ifdef CONTROL_IBUS
#ifdef CONTROL_IBUS
typedef struct{
uint8_t start;
uint8_t type;
uint8_t channels[IBUS_NUM_CHANNELS*2];
uint8_t checksuml;
uint8_t checksumh;
uint8_t checksumh;
} SerialCommand;
#else
typedef struct{
uint16_t start;
uint16_t start;
int16_t steer;
int16_t speed;
uint16_t checksum;
uint16_t checksum;
} SerialCommand;
#endif
#endif
#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
typedef struct{
uint16_t start;
int16_t roll;
int16_t pitch;
int16_t yaw;
uint16_t sensors;
uint16_t checksum;
uint16_t start;
int16_t pitch; // Angle
int16_t dPitch; // Angle derivative
int16_t cmd1; // RC Channel 1
int16_t cmd2; // RC Channel 2
uint16_t sensors; // RC Switches and Optical sideboard sensors
uint16_t checksum;
} SerialSideboard;
#endif
@ -62,9 +63,10 @@ void UART_DisableRxErrors(UART_HandleTypeDef *huart);
// General Functions
void poweronMelody(void);
void shortBeep(uint8_t freq);
void shortBeepMany(uint8_t cnt, int8_t dir);
void longBeep(uint8_t freq);
void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern);
void beepLong(uint8_t freq);
void beepShort(uint8_t freq);
void beepShortMany(uint8_t cnt, int8_t dir);
void calcAvgSpeed(void);
int addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
int checkInputType(int16_t min, int16_t mid, int16_t max);
@ -105,10 +107,10 @@ void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t
// Multiple Tap Function
typedef struct {
uint32_t t_timePrev;
uint8_t z_pulseCntPrev;
uint8_t b_hysteresis;
uint8_t b_multipleTap;
uint32_t t_timePrev;
uint8_t z_pulseCntPrev;
uint8_t b_hysteresis;
uint8_t b_multipleTap;
} MultipleTap;
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);

85
README.md
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@ -7,15 +7,42 @@ This repository implements Field Oriented Control (FOC) for stock hoverboards. C
- reduced noise and vibrations
- smooth torque output and improved motor efficiency. Thus, lower energy consumption
- field weakening to increase maximum speed range
Table of Contents
=======================
* [Hardware](#hardware)
* [FOC Firmware](#foc-firmware)
* [Example Variants ](#example-variants)
* [Flashing](#flashing)
* [Troubleshooting](#troubleshooting)
* [Diagnostics](#diagnostics)
* [Projects and Links](#projects-and-links)
* [Contributions](#contributions)
#### For the hoverboard sideboard firmware, see the following repositories:
- [hoverboard-sideboard-hack-GD](https://github.com/EmanuelFeru/hoverboard-sideboard-hack-GD)
- [hoverboard-sideboard-hack-STM](https://github.com/EmanuelFeru/hoverboard-sideboard-hack-STM)
#### For the FOC controller design, see the following repository:
- [bldc-motor-control-FOC](https://github.com/EmanuelFeru/bldc-motor-control-FOC)
#### Videos:
<table>
<tr>
<td><a href="https://youtu.be/IgHCcj0NgWQ" title="Hovercar" rel="noopener"><img src="/docs/pictures/videos_preview/hovercar_intro.png"></a></td>
<td><a href="https://youtu.be/gtyqtc37r10" title="Cruise Control functionality" rel="noopener"><img src="/docs/pictures/videos_preview/cruise_control.png"></a></td>
<td><a href="https://youtu.be/jadD0M1VBoc" title="Hovercar pedal functionality" rel="noopener"><img src="/docs/pictures/videos_preview/hovercar_pedals.png"></a></td>
</tr>
<tr>
<td><a href="https://youtu.be/UnlbMrCkjnE" title="Commutation vs. FOC (constant speed)" rel="noopener"><img src="/docs/pictures/videos_preview/com_foc_const.png"></a></td>
<td><a href="https://youtu.be/V-_L2w10wZk" title="Commutation vs. FOC (variable speed)" rel="noopener"><img src="/docs/pictures/videos_preview/com_foc_var.png"></a></td>
<td><a href="https://youtu.be/tVj_lpsRirA" title="Reliable Serial Communication" rel="noopener"><img src="/docs/pictures/videos_preview/serial_com.png"></a></td>
</tr>
</table>
---
## Hardware
@ -74,39 +101,19 @@ In all FOC control modes, the controller features maximum motor speed and maximu
- The controller parameters are given in [this table](https://github.com/EmanuelFeru/bldc-motor-control-FOC/blob/master/02_Figures/paramTable.png)
### Diagnostics
Each motor is constantly monitored for errors. These errors are:
- **Error 001**: Hall sensor not connected
- **Error 002**: Hall sensor short circuit
- **Error 004**: Motor NOT able to spin (Possible causes: motor phase disconnected, MOSFET defective, operational Amplifier defective, motor blocked)
The error codes above are reported for each motor in the variables **rtY_Left.z_errCode** and **rtY_Right.z_errCode** for Left motor (long wired motor) and Right motor (short wired motor), respectively. In case of error, the motor power is reduced to 0, while an audible (fast beep) can be heard to notify the user.
### Demo Videos
[►Video: HOVERCAR](https://www.youtube.com/watch?v=IgHCcj0NgWQ&t=)
[►Video: Commutation vs Advanced control (constant speed)](https://drive.google.com/open?id=1vC_kEkp2LE2lAaMCJcmK4z2m3jrPUoBD)
[►Video: Commutation vs Advanced control (variable speed)](https://drive.google.com/open?id=1rrQ4k5VLhhAWXQzDSCar_SmEdsbM-hq2)
[►Video: Reliable Serial Communication demo](https://drive.google.com/open?id=1mUM-p7SE6gmyTH7zhDHy5DUyczXvmy5d)
---
## Example Variants
This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) or [config.h](/Inc/config.h)):
- **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
- **VARIANT_USART**: In this variant the motors are controlled via serial protocol (e.g. on USART3 right sensor cable, the short wired cable). The commands can be sent from an Arduino. Check out the [hoverserial.ino](/Arduino/hoverserial) as an example sketch.
- **VARIANT_ADC**: The motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
- **VARIANT_USART**: The motors are controlled via serial protocol (e.g. on USART3 right sensor cable, the short wired cable). The commands can be sent from an Arduino. Check out the [hoverserial.ino](/Arduino/hoverserial) as an example sketch.
- **VARIANT_NUNCHUK**: Wii Nunchuk offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
- **VARIANT_PPM**: This is when you want to use an RC remote control with PPM Sum signal.
- **VARIANT_PWM**: This is when you want to use an RC remote control with PWM signal.
- **VARIANT_IBUS**: This is when you want to use an RC remote control with Flysky IBUS protocol connected to the Left sensor cable.
- **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=).
- **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.
- **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).
- **VARIANT_PPM**: RC remote control with PPM Sum signal.
- **VARIANT_PWM**: RC remote control with PWM signal.
- **VARIANT_IBUS**: RC remote control with Flysky iBUS protocol connected to the Left sensor cable.
- **VARIANT_HOVERCAR**: 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=).
- **VARIANT_HOVERBOARD**: The mainboard reads the two sideboards data. The sideboards need to be flashed with the hacked version. The balancing controller is **not** yet implemented.
- **VARIANT_TRANSPOTTER**: This is for transpotter build, 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).
- **VARIANT_SKATEBOARD**: This is for skateboard build, controlled using an RC remote with PWM signal connected to the right sensor cable.
Of course the firmware can be further customized for other needs or projects.
@ -193,6 +200,7 @@ platformio run –target upload -e VARIANT_####
```
If you have set default_envs in [platformio.ini](/platformio.ini) you can ommit -e parameter
---
## Troubleshooting
First, check that power is connected and voltage is >36V while flashing.
@ -209,10 +217,25 @@ Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard
Most robust way for input is to use the ADC and potis. It works well even on 1m unshielded cable. Solder ~100k Ohm resistors between ADC-inputs and gnd directly on the mainboard. Use potis as pullups to 3.3V.
---
## Diagnostics
The errors reported by the board are in the form of audible beeps:
- **1 beep (low pitch)**: Motor error (see [possible causes](https://github.com/EmanuelFeru/bldc-motor-control-FOC#diagnostics))
- **2 beeps (low pitch)**: ADC timeout
- **3 beeps (low pitch)**: Serial communication timeout
- **4 beeps (low pitch)**: General timeout (PPM, PWM, Nunchuck)
- **5 beeps (low pitch)**: Mainboard temperature warning
- **1 beep slow (medium pitch)**: Low battery voltage < 36V
- **1 beep fast (medium pitch)**: Low battery voltage < 35V
- **1 beep fast (high pitch)**: Backward spinning motors
For a more detailed troubleshooting connect an [FTDI Serial adapter](https://s.click.aliexpress.com/e/_AqPOBr) or a [Bluetooth module](https://s.click.aliexpress.com/e/_A4gkMD) to the DEBUG_SERIAL cable (Left or Right) and monitor the output data using the [Hoverboard Web Serial Control](https://candas1.github.io/Hoverboard-Web-Serial-Control/) tool developed by [Candas](https://github.com/Candas1/).
---
## Projects and Links
- **Original firmware:** [https://github.com/NiklasFauth/hoverboard-firmware-hack](https://github.com/NiklasFauth/hoverboard-firmware-hack)
- **[Candas](https://github.com/Candas1/) Hoverboard Web Serial Control:** [https://candas1.github.io/Hoverboard-Web-Serial-Control/](https://candas1.github.io/Hoverboard-Web-Serial-Control/)
- **[RoboDurden's](https://github.com/RoboDurden) online compiler:** [https://pionierland.de/hoverhack/](https://pionierland.de/hoverhack/)
- **Hoverboard hack for AT32F403RCT6 mainboards:** [https://github.com/cloidnerux/hoverboard-firmware-hack](https://github.com/cloidnerux/hoverboard-firmware-hack)
- **Hoverboard hack for split mainboards:** [https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2](https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2)

18
Src/bldc.c
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@ -59,7 +59,10 @@ extern volatile adc_buf_t adc_buffer;
uint8_t buzzerFreq = 0;
uint8_t buzzerPattern = 0;
uint8_t buzzerCount = 0;
static uint32_t buzzerTimer = 0;
static uint8_t buzzerPrev = 0;
static uint8_t buzzerIdx = 0;
uint8_t enable = 0; // initially motors are disabled for SAFETY
static uint8_t enableFin = 0;
@ -97,7 +100,7 @@ void DMA1_Channel1_IRQHandler(void) {
return;
}
if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time -> not any more, everything converted to fixed-point
if (buzzerTimer % 1000 == 0) { // Filter battery voltage at a slower sampling rate
filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
batVoltage = (int16_t)(batVoltageFixdt >> 16); // convert fixed-point to integer
}
@ -126,14 +129,21 @@ void DMA1_Channel1_IRQHandler(void) {
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
}
//create square wave for buzzer
// Create square wave for buzzer
buzzerTimer++;
if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) {
if (buzzerTimer % buzzerFreq == 0) {
if (buzzerPrev == 0) {
buzzerPrev = 1;
if (++buzzerIdx > (buzzerCount + 2)) { // pause 2 periods
buzzerIdx = 1;
}
}
if (buzzerTimer % buzzerFreq == 0 && (buzzerIdx <= buzzerCount || buzzerCount == 0)) {
HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
}
} else {
} else if (buzzerPrev) {
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET);
buzzerPrev = 0;
}
// ############################### MOTOR CONTROL ###############################

71
Src/main.c
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@ -75,9 +75,6 @@ extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0
extern volatile int pwml; // global variable for pwm left. -1000 to 1000
extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
extern uint8_t buzzerFreq; // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t enable; // global variable for motor enable
extern int16_t batVoltage; // global variable for battery voltage
@ -115,7 +112,7 @@ typedef struct{
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
uint16_t cmdLed;
uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback;
static SerialFeedback Feedback;
@ -181,13 +178,13 @@ int main(void) {
MX_ADC1_Init();
MX_ADC2_Init();
BLDC_Init(); // BLDC Controller Init
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_SET); // Activate Latch
Input_Lim_Init(); // Input Limitations Init
Input_Init(); // Input Init
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_SET);
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
HAL_ADC_Start(&hadc2);
poweronMelody();
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
@ -213,8 +210,8 @@ int main(void) {
#ifndef VARIANT_TRANSPOTTER
// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
if (enable == 0 && (!rtY_Left.z_errCode && !rtY_Right.z_errCode) && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
shortBeep(6); // make 2 beeps indicating the motor enable
shortBeep(4); HAL_Delay(100);
beepShort(6); // make 2 beeps indicating the motor enable
beepShort(4); HAL_Delay(100);
steerFixdt = speedFixdt = 0; // reset filters
enable = 1; // enable motors
printf("# -- Motors enabled --\n");
@ -353,7 +350,7 @@ int main(void) {
if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
enable = 0;
longBeep(5);
beepLong(5);
#ifdef SUPPORT_LCD
LCD_ClearDisplay(&lcd);
HAL_Delay(5);
@ -467,37 +464,33 @@ int main(void) {
if (board_temp_deg_c >= TEMP_POWEROFF) printf("# Error: STM32 overtemp: %4.1f°C: power off\n", board_temp_deg_c / 10.0);
if (batVoltage < BAT_DEAD) printf("# Battery empty: %4.2fV: power off\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
poweroff();
} else if (rtY_Left.z_errCode || rtY_Right.z_errCode) { // disable motors and beep in case of Motor error - fast beep
enable = 0;
if (rtY_Left.z_errCode && main_loop_counter % 50 == 0) printf("# Warning: rtY_Left.z_errCode: %i\n", rtY_Left.z_errCode);
if (rtY_Right.z_errCode && main_loop_counter % 50 == 0) printf("# Warning: rtY_Right.z_errCode: %i\n", rtY_Right.z_errCode);
buzzerFreq = 8;
buzzerPattern = 1;
} else if (timeoutFlagADC || timeoutFlagSerial || timeoutCnt > TIMEOUT) { // beep in case of ADC timeout, Serial timeout or General timeout - fast beep
if (timeoutFlagADC && main_loop_counter % 50 == 0) printf("# Warning: ADC timeout\n");
if (timeoutFlagSerial && main_loop_counter % 50 == 0) printf("# Warning: Serial timeout\n");
if (timeoutCnt > TIMEOUT && main_loop_counter % 50 == 0) printf("# Warning: General timeout\n");
buzzerFreq = 24;
buzzerPattern = 1;
} else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // beep if mainboard gets hot
if (main_loop_counter % 50 == 0) printf("# Warning: STM32 is getting hot: %4.1f°C\n", board_temp_deg_c / 10.0);
buzzerFreq = 4;
buzzerPattern = 1;
} else if (BAT_LVL1_ENABLE && batVoltage < BAT_LVL1) { // low bat 1: fast beep
if (main_loop_counter % 50 == 0) printf("# Warning: Battery is getting empty 1: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
buzzerFreq = 5;
buzzerPattern = 6;
} else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) { // low bat 2: slow beep
if (main_loop_counter % 50 == 0) printf("# Warning: Battery is getting empty 2: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
buzzerFreq = 5;
buzzerPattern = 42;
} else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // backward beep
buzzerFreq = 5;
buzzerPattern = 1;
} else if (rtY_Left.z_errCode || rtY_Right.z_errCode) { // 1 beep (low pitch): Motor error, disable motors
enable = 0;
beepCount(1, 24, 1);
printf("# Warning: Left_err: %i Right_err: %i\n", rtY_Left.z_errCode);
} else if (timeoutFlagADC) { // 2 beeps (low pitch): ADC timeout
beepCount(2, 24, 1);
printf("# Warning: ADC timeout\n");
} else if (timeoutFlagSerial) { // 3 beeps (low pitch): Serial timeout
beepCount(3, 24, 1);
printf("# Warning: Serial timeout\n");
} else if (timeoutCnt > TIMEOUT) { // 4 beeps (low pitch): General timeout (PPM, PWM, Nunchuck)
beepCount(4, 24, 1);
printf("# Warning: General timeout\n");
} else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // 5 beeps (low pitch): Mainboard temperature warning
beepCount(5, 24, 1);
printf("# Warning: STM32 is getting hot: %4.1f°C\n", board_temp_deg_c / 10.0);
} else if (BAT_LVL1_ENABLE && batVoltage < BAT_LVL1) { // 1 beep fast (medium pitch): Low bat 1
beepCount(0, 10, 6);
printf("# Warning: Battery is getting empty 1: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
} else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) { // 1 beep slow (medium pitch): Low bat 2
beepCount(0, 10, 30);
printf("# Warning: Battery is getting empty 2: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
} else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // 1 beep fast (high pitch): Backward spinning motors
beepCount(0, 5, 1);
backwardDrive = 1;
} else { // do not beep
buzzerFreq = 0;
buzzerPattern = 0;
beepCount(0, 0, 0);
backwardDrive = 0;
}

100
Src/util.c
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@ -45,6 +45,7 @@ extern UART_HandleTypeDef huart3;
extern int16_t batVoltage;
extern uint8_t backwardDrive;
extern uint8_t buzzerCount; // global variable for the buzzer counts. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerFreq; // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
@ -368,37 +369,46 @@ void UART_DisableRxErrors(UART_HandleTypeDef *huart)
/* =========================== General Functions =========================== */
void poweronMelody(void) {
for (int i = 8; i >= 0; i--) {
buzzerFreq = (uint8_t)i;
HAL_Delay(100);
}
buzzerFreq = 0;
buzzerCount = 0; // prevent interraction with beep counter
for (int i = 8; i >= 0; i--) {
buzzerFreq = (uint8_t)i;
HAL_Delay(100);
}
buzzerFreq = 0;
}
void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern) {
buzzerCount = cnt;
buzzerFreq = freq;
buzzerPattern = pattern;
}
void beepLong(uint8_t freq) {
buzzerCount = 0; // prevent interraction with beep counter
buzzerFreq = freq;
HAL_Delay(500);
buzzerFreq = 0;
}
void shortBeep(uint8_t freq) {
void beepShort(uint8_t freq) {
buzzerCount = 0; // prevent interraction with beep counter
buzzerFreq = freq;
HAL_Delay(100);
buzzerFreq = 0;
}
void shortBeepMany(uint8_t cnt, int8_t dir) {
void beepShortMany(uint8_t cnt, int8_t dir) {
if (dir >= 0) { // increasing tone
for(uint8_t i = 2*cnt; i >= 2; i=i-2) {
shortBeep(i + 3);
beepShort(i + 3);
}
} else { // decreasing tone
for(uint8_t i = 2; i <= 2*cnt; i=i+2) {
shortBeep(i + 3);
beepShort(i + 3);
}
}
}
void longBeep(uint8_t freq) {
buzzerFreq = freq;
HAL_Delay(500);
buzzerFreq = 0;
}
void calcAvgSpeed(void) {
// Calculate measured average speed. The minus sign (-) is because motors spin in opposite directions
#if !defined(INVERT_L_DIRECTION) && !defined(INVERT_R_DIRECTION)
@ -470,7 +480,7 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
#ifdef CONTROL_ADC
if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
printf(" and protected");
longBeep(2); // Indicate protection by a beep
beepLong(2); // Indicate protection by a beep
}
#endif
}
@ -498,10 +508,7 @@ void adcCalibLim(void) {
}
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
printf("# Input calibration started...\n");
printf("# move the potentiometers freely to the min and max limits repeatedly\n");
printf("# release potentiometers to the resting postion\n");
printf("# press the power button to confirm or wait for the 20 sec timeout\n");
printf("Input calibration started...\r\n");
readInput();
// Inititalization: MIN = a high value, MAX = a low value
@ -535,10 +542,10 @@ void adcCalibLim(void) {
INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
printf("# Input1 OK\n"); HAL_Delay(10);
printf("# Input1 OK\r\n"); HAL_Delay(10);
} else {
INPUT1_TYP_CAL = 0; // Disable input
printf("# Input1 Fail\n"); HAL_Delay(10);
printf("# Input1 Fail\r\n"); HAL_Delay(10);
}
INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
@ -546,10 +553,10 @@ void adcCalibLim(void) {
INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
printf("# Input2 OK\n"); HAL_Delay(10);
printf("# Input2 OK\r\n"); HAL_Delay(10);
} else {
INPUT2_TYP_CAL = 0; // Disable input
printf("# Input2 Fail\n"); HAL_Delay(10);
printf("# Input2 Fail\r\n"); HAL_Delay(10);
}
inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
printf("# Limits: INPUT1_TYP_CAL:%i INPUT1_MIN_CAL:%i INPUT1_MID_CAL:%i INPUT1_MAX_CAL:%i INPUT2_TYP_CAL:%i INPUT2_MIN_CAL:%i INPUT2_MID_CAL:%i INPUT2_MAX_CAL:%i\n",
@ -569,9 +576,7 @@ void updateCurSpdLim(void) {
}
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
printf("# Torque and Speed limits update started...\n");
printf("# move and hold the pots to a desired limit position for Current and Speed\n");
printf("# press the power button to confirm or wait for the 10 sec timeout\n");
printf("Torque and Speed limits update started...\r\n");
int32_t input1_fixdt = input1 << 16;
int32_t input2_fixdt = input2 << 16;
@ -737,16 +742,17 @@ void cruiseControl(uint8_t button) {
/* =========================== Poweroff Functions =========================== */
void poweroff(void) {
buzzerPattern = 0;
enable = 0;
printf("# -- Motors disabled --\n");
enable = 0;
printf("-- Motors disabled --\r\n");
buzzerCount = 0; // prevent interraction with beep counter
buzzerPattern = 0;
for (int i = 0; i < 8; i++) {
buzzerFreq = (uint8_t)i;
HAL_Delay(100);
}
buzzerFreq = (uint8_t)i;
HAL_Delay(100);
}
saveConfig();
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
while(1) {}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
while(1) {}
}
@ -757,19 +763,19 @@ void poweroffPressCheck(void) {
uint16_t cnt_press = 0;
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
HAL_Delay(10);
if (cnt_press++ == 5 * 100) { shortBeep(5); }
if (cnt_press++ == 5 * 100) { beepShort(5); }
}
if (cnt_press >= 5 * 100) { // Check if press is more than 5 sec
HAL_Delay(1000);
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { // Double press: Adjust Max Current, Max Speed
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
longBeep(8);
beepLong(8);
updateCurSpdLim();
shortBeep(5);
beepShort(5);
} else { // Long press: Calibrate ADC Limits
longBeep(16);
beepLong(16);
adcCalibLim();
shortBeep(5);
beepShort(5);
}
} else { // Short press: power off
poweroff();
@ -779,11 +785,11 @@ void poweroffPressCheck(void) {
if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
shortBeep(5);
beepShort(5);
HAL_Delay(300);
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
longBeep(5);
beepLong(5);
HAL_Delay(350);
poweroff();
} else {
@ -791,7 +797,7 @@ void poweroffPressCheck(void) {
if (setDistance > 2.6) {
setDistance = 0.5;
}
shortBeep(setDistance / 0.25);
beepShort(setDistance / 0.25);
saveValue = setDistance * 1000;
saveValue_valid = 1;
}
@ -847,7 +853,7 @@ void readInput(void) {
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
// Handle received data validity, timeout and fix out-of-sync if necessary
#ifdef CONTROL_IBUS
#ifdef CONTROL_IBUS
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
}
@ -1161,7 +1167,7 @@ void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sid
{
uint16_t checksum;
if (Sideboard_in->start == SERIAL_START_FRAME) {
checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->roll ^ Sideboard_in->pitch ^ Sideboard_in->yaw ^ Sideboard_in->sensors);
checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->pitch ^ Sideboard_in->dPitch ^ Sideboard_in->cmd1 ^ Sideboard_in->cmd2 ^ Sideboard_in->sensors);
if (Sideboard_in->checksum == checksum) {
*Sideboard_out = *Sideboard_in;
if (usart_idx == 2) { // Sideboard USART2
@ -1295,7 +1301,7 @@ void sideboardSensors(uint8_t sensors) {
rtP_Right.z_ctrlTypSel = COM_CTRL;
break;
}
shortBeepMany(sensor1_index + 1, 1);
beepShortMany(sensor1_index + 1, 1);
}
// Field Weakening: use Sensor2 as push button
@ -1320,7 +1326,7 @@ void sideboardSensors(uint8_t sensors) {
Input_Lim_Init();
break;
}
shortBeepMany(sensor2_index + 1, 1);
beepShortMany(sensor2_index + 1, 1);
}
#endif // CRUISE_CONTROL_SUPPORT
#endif

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92
platformio.ini
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@ -32,17 +32,16 @@ upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
monitor_speed = 115200
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_ADC
;================================================================
@ -61,12 +60,11 @@ monitor_speed = 38400
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_USART
;================================================================
@ -81,12 +79,11 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_NUNCHUK
;================================================================
@ -101,12 +98,11 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_PPM
;================================================================
@ -121,12 +117,11 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_PWM
;================================================================
@ -141,12 +136,11 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_IBUS
;================================================================
@ -165,12 +159,11 @@ monitor_speed = 38400
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_HOVERCAR
;================================================================
@ -189,12 +182,11 @@ monitor_speed = 38400
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_HOVERBOARD
;================================================================
@ -209,12 +201,11 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_TRANSPOTTER
;================================================================
@ -230,12 +221,11 @@ upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-u,_printf_float ; enable float for printf
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-u,_printf_float ; enable float for printf
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_SKATEBOARD
;================================================================

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