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Variant_PWM implemented

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pull/1/head
EmanuelFeru 6 years ago
parent d6d22351e3
commit 39e4fdc869
13 changed files with 857 additions and 84 deletions
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4
Inc/BLDC_controller.h
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@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1256 * Model version : 1.1260
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Mon Dec 30 21:36:12 2019 * C/C++ source code generated on : Tue Mar 24 11:01:08 2020
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex

17
Inc/config.h
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@ -284,14 +284,13 @@
* Channel 1: steering, Channel 2: speed. * Channel 1: steering, Channel 2: speed.
*/ */
#define CONTROL_PWM // use RC PWM as input. disable DEBUG_SERIAL_USART2! #define CONTROL_PWM // use RC PWM as input. disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// 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 PWM_CH1_MAX 1000 // (0 - 1000) #define PWM_CH1_MAX 1000 // (0 - 1000)
#define PWM_CH1_MIN -1000 // (-1000 - 0) #define PWM_CH1_MIN -1000 // (-1000 - 0)
#define PWM_CH2_MAX 1000 // (0 - 1000) #define PWM_CH2_MAX 1000 // (0 - 1000)
#define PWM_CH2_MIN -1000 // (-1000 - 0) #define PWM_CH2_MIN -1000 // (-1000 - 0)
// right sensor board cable. Only read once during startup
#define BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0]. #define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#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 #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
#define STEER_COEFFICIENT 0 // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 0 = 0.0 * 2^14. If you do not want any steering, set it to 0. #define STEER_COEFFICIENT 0 // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
@ -464,6 +463,14 @@
#error CONTROL_PPM and SERIAL_USART2 not allowed. It is on the same cable. #error CONTROL_PPM and SERIAL_USART2 not allowed. It is on the same cable.
#endif #endif
#if (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)) && defined(CONTROL_PWM)
#error CONTROL_PWM and SERIAL_USART2 not allowed. It is on the same cable.
#endif
#if (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) && defined(CONTROL_PWM) && defined(SUPPORT_BUTTONS)
#error SUPPORT_BUTTONS and SERIAL_USART3 not allowed for VARIANT_PWM. It is on the same cable.
#endif
#if (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) && defined(CONTROL_NUNCHUK) #if (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) && defined(CONTROL_NUNCHUK)
#error CONTROL_NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable. #error CONTROL_NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable.
#endif #endif
@ -472,8 +479,8 @@
#error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable. #error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable.
#endif #endif
#if defined(CONTROL_PPM) && defined(CONTROL_ADC) && defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_ADC) || defined(CONTROL_ADC) && defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_NUNCHUK) #if defined(CONTROL_ADC) && (defined(CONTROL_PPM) || defined(CONTROL_PWM) || defined(CONTROL_NUNCHUK)) || defined(CONTROL_PPM) && (defined(CONTROL_PWM) || defined(CONTROL_NUNCHUK)) || defined(CONTROL_PWM) && defined(CONTROL_NUNCHUK)
#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUK. #error only 1 input method allowed. use CONTROL_ADC or CONTROL_PPM or CONTROL_PWM or CONTROL_NUNCHUK.
#endif #endif
#if defined(ADC_PROTECT_ENA) && ((ADC1_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC1_MAX + ADC_PROTECT_THRESH) >= 4095) #if defined(ADC_PROTECT_ENA) && ((ADC1_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC1_MAX + ADC_PROTECT_THRESH) >= 4095)

8
Inc/defines.h
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@ -124,6 +124,11 @@
#define CHARGER_PIN GPIO_PIN_12 #define CHARGER_PIN GPIO_PIN_12
#define CHARGER_PORT GPIOA #define CHARGER_PORT GPIOA
#define BUTTON1_RIGHT_PIN GPIO_PIN_10
#define BUTTON1_RIGHT_PORT GPIOB
#define BUTTON2_RIGHT_PIN GPIO_PIN_11
#define BUTTON2_RIGHT_PORT GPIOB
#define DELAY_TIM_FREQUENCY_US 1000000 #define DELAY_TIM_FREQUENCY_US 1000000
#define MILLI_R (R * 1000) #define MILLI_R (R * 1000)
@ -141,6 +146,7 @@
#define RAD(a) ((a)*180.0f / M_PI) #define RAD(a) ((a)*180.0f / M_PI)
#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0))) #define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x))) #define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
#define IN_RANGE(x, low, high) (((x) >= (low)) && ((x) <= (high)))
#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f) #define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
#define MIN(a, b) (((a) < (b)) ? (a) : (b)) #define MIN(a, b) (((a) < (b)) ? (a) : (b))
#define MAX(a, b) (((a) > (b)) ? (a) : (b)) #define MAX(a, b) (((a) > (b)) ? (a) : (b))
@ -168,7 +174,7 @@ uint8_t Nunchuk_Ping(void);
void PPM_Init(void); void PPM_Init(void);
void PPM_ISR_Callback(void); void PPM_ISR_Callback(void);
void PWM_Init(void); void PWM_Init(void);
//void PWM_ISR_CH1_Callback(void); void PWM_ISR_CH1_Callback(void);
void PWM_ISR_CH2_Callback(void); void PWM_ISR_CH2_Callback(void);
// Sideboard definitions // Sideboard definitions

4
Inc/rtwtypes.h
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@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1256 * Model version : 1.1260
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Mon Dec 30 21:36:12 2019 * C/C++ source code generated on : Tue Mar 24 11:01:08 2020
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex

157
MDK-ARM/mainboard-hack.uvoptx
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@ -75,7 +75,7 @@
<OPTFL> <OPTFL>
<tvExp>1</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>0</IsCurrentTarget> <IsCurrentTarget>1</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>18</CpuCode> <CpuCode>18</CpuCode>
<DebugOpt> <DebugOpt>
@ -633,6 +633,159 @@
</TargetOption> </TargetOption>
</Target> </Target>
<Target>
<TargetName>VARIANT_PWM</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>0</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>
<Enable>1</Enable>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>
</DebugDescription>
</TargetOption>
</Target>
<Target> <Target>
<TargetName>VARIANT_IBUS</TargetName> <TargetName>VARIANT_IBUS</TargetName>
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
@ -840,7 +993,7 @@
<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>

619
MDK-ARM/mainboard-hack.uvprojx
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@ -2410,6 +2410,624 @@
</Group> </Group>
</Groups> </Groups>
</Target> </Target>
<Target>
<TargetName>VARIANT_PWM</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
<TargetOption>
<TargetCommonOption>
<Device>STM32F103RC</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2000BFFF) IROM(0x8000000-0x803FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll>
<DeviceId></DeviceId>
<RegisterFile></RegisterFile>
<MemoryEnv></MemoryEnv>
<Cmp></Cmp>
<Asm></Asm>
<Linker></Linker>
<OHString></OHString>
<InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc></SLE66CMisc>
<SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>$$Device:STM32F103RC$SVD\STM32F103xx.svd</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv>
<BinPath></BinPath>
<IncludePath></IncludePath>
<LibPath></LibPath>
<RegisterFilePath></RegisterFilePath>
<DBRegisterFilePath></DBRegisterFilePath>
<TargetStatus>
<Error>0</Error>
<ExitCodeStop>0</ExitCodeStop>
<ButtonStop>0</ButtonStop>
<NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>.\Objects\</OutputDirectory>
<OutputName>firmware</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation>
<ListingPath>.\Listing\</ListingPath>
<HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile>
<BeforeCompile>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X>
<nStopU2X>0</nStopU2X>
</BeforeCompile>
<BeforeMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X>
<nStopB2X>0</nStopB2X>
</BeforeMake>
<AfterMake>
<RunUserProg1>1</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name>$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_PWM</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>
<FileName>comms.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\comms.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\control.c</FilePath>
</File>
<File>
<FileName>eeprom.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\eeprom.c</FilePath>
</File>
<File>
<FileName>hd44780.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\hd44780.c</FilePath>
</File>
<File>
<FileName>main.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\main.c</FilePath>
</File>
<File>
<FileName>pcf8574.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\pcf8574.c</FilePath>
</File>
<File>
<FileName>setup.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\setup.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_it.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\stm32f1xx_it.c</FilePath>
</File>
<File>
<FileName>util.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\util.c</FilePath>
</File>
<File>
<FileName>config.h</FileName>
<FileType>5</FileType>
<FilePath>..\Inc\config.h</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>HAL_Driver</GroupName>
<Files>
<File>
<FileName>stm32f1xx_hal.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_adc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_adc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_cortex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_dma.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_flash.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_flash_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_gpio.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_i2c.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_pwr.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_uart.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>CMSIS</GroupName>
<Files>
<File>
<FileName>system_stm32f1xx.c</FileName>
<FileType>1</FileType>
<FilePath>../Src/system_stm32f1xx.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>::CMSIS</GroupName>
<GroupOption>
<CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<GroupArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
<Aads>
<interw>2</interw>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<thumb>2</thumb>
<SplitLS>2</SplitLS>
<SwStkChk>2</SwStkChk>
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Aads>
</GroupArmAds>
</GroupOption>
</Group>
</Groups>
</Target>
<Target> <Target>
<TargetName>VARIANT_IBUS</TargetName> <TargetName>VARIANT_IBUS</TargetName>
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
@ -4760,6 +5378,7 @@
<targetInfo name="VARIANT_IBUS"/> <targetInfo name="VARIANT_IBUS"/>
<targetInfo name="VARIANT_NUNCHUK"/> <targetInfo name="VARIANT_NUNCHUK"/>
<targetInfo name="VARIANT_PPM"/> <targetInfo name="VARIANT_PPM"/>
<targetInfo name="VARIANT_PWM"/>
<targetInfo name="VARIANT_TRANSPOTTER"/> <targetInfo name="VARIANT_TRANSPOTTER"/>
<targetInfo name="VARIANT_USART"/> <targetInfo name="VARIANT_USART"/>
</targetInfos> </targetInfos>

5
README.md
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@ -104,8 +104,9 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p
- **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired) - **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](/02_Arduino/hoverserial) as an example sketch. - **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](/02_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_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 a RC remote control with PPM Sum signal - **VARIANT_PPM**: This is when you want to use an RC remote control with PPM Sum signal.
- **VARIANT_IBUS**: This is when you want to use a RC remote control with Flysky IBUS protocol connected to the Left sensor cable. - **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. - **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.
- **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_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_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).

9
Src/BLDC_controller.c
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@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1256 * Model version : 1.1260
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Mon Dec 30 21:36:12 2019 * C/C++ source code generated on : Tue Mar 24 11:01:08 2020
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex
@ -1012,6 +1012,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Abs: '<S3>/Abs4' * Abs: '<S3>/Abs4'
* Constant: '<S3>/CTRL_COMM4' * Constant: '<S3>/CTRL_COMM4'
* Constant: '<S3>/r_errInpTgtThres' * Constant: '<S3>/r_errInpTgtThres'
* Inport: '<Root>/b_motEna'
* Logic: '<S3>/Logical Operator1' * Logic: '<S3>/Logical Operator1'
* RelationalOperator: '<S3>/Relational Operator7' * RelationalOperator: '<S3>/Relational Operator7'
* S-Function (sfix_bitop): '<S3>/Bitwise Operator1' * S-Function (sfix_bitop): '<S3>/Bitwise Operator1'
@ -1033,8 +1034,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
rtb_Merge_f_idx_1 = rtDW->UnitDelay4_DSTATE_eu; rtb_Merge_f_idx_1 = rtDW->UnitDelay4_DSTATE_eu;
} }
rtb_RelationalOperator1_m = ((rtb_Merge_f_idx_1 > rtP->r_errInpTgtThres) && rtb_RelationalOperator1_m = (rtU->b_motEna && rtb_RelationalOperator9 &&
rtb_RelationalOperator9); (rtb_Merge_f_idx_1 > rtP->r_errInpTgtThres));
} }
/* End of Switch: '<S3>/Switch3' */ /* End of Switch: '<S3>/Switch3' */

4
Src/BLDC_controller_data.c
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@ -3,9 +3,9 @@
* *
* Code generated for Simulink model 'BLDC_controller'. * Code generated for Simulink model 'BLDC_controller'.
* *
* Model version : 1.1256 * Model version : 1.1260
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Mon Dec 30 21:36:12 2019 * C/C++ source code generated on : Tue Mar 24 11:01:08 2020
* *
* Target selection: ert.tlc * Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex * Embedded hardware selection: ARM Compatible->ARM Cortex

83
Src/control.c
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@ -26,8 +26,6 @@ uint32_t ppm_timeout = 0;
bool ppm_valid = true; bool ppm_valid = true;
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
void PPM_ISR_Callback(void) { void PPM_ISR_Callback(void) {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
uint16_t rc_delay = TIM2->CNT; uint16_t rc_delay = TIM2->CNT;
@ -87,84 +85,54 @@ void PPM_Init(void) {
#endif #endif
#ifdef BUTTONS_RIGHT
uint8_t btn1 = 0;
uint8_t btn2 = 0;
void BUTTONS_RIGHT_Init() {
GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PB10 */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
btn1 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10);
GPIO_InitTypeDef GPIO_InitStruct2;
/*Configure GPIO pin : PB11 */
GPIO_InitStruct2.Pin = GPIO_PIN_11;
GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct2.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct2);
btn2 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_11);
}
#endif
#ifdef CONTROL_PWM #ifdef CONTROL_PWM
//uint16_t pwm_captured_ch1_value = 500; uint16_t pwm_captured_ch1_value = 500;
uint16_t pwm_captured_ch2_value = 500; uint16_t pwm_captured_ch2_value = 500;
uint32_t pwm_timeout = 0; uint32_t pwm_timeout_ch1 = 0;
uint32_t pwm_timeout_ch2 = 0;
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
/*
void PWM_ISR_CH1_Callback(void) { void PWM_ISR_CH1_Callback(void) {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM3->CNT; uint16_t rc_signal = TIM3->CNT;
TIM3->CNT = 0; TIM3->CNT = 0;
// The interval check below should be larger than the feasible PWM interval of ~[500, 2500] ms if (IN_RANGE(rc_signal, 900, 2100)){
if (IN_RANGE(rc_signal, 200, 4000)){
timeout = 0; timeout = 0;
pwm_timeout = 0; pwm_timeout_ch1 = 0;
pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000; pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
} }
} }
*/
void PWM_ISR_CH2_Callback(void) { void PWM_ISR_CH2_Callback(void) {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT; uint16_t rc_signal = TIM2->CNT;
TIM2->CNT = 0; TIM2->CNT = 0;
// The interval check below should be larger than the feasible PWM interval of ~[900, 2100] ms if (IN_RANGE(rc_signal, 900, 2100)){
if (IN_RANGE(rc_signal, 200, 3000)){
timeout = 0; timeout = 0;
pwm_timeout = 0; pwm_timeout_ch2 = 0;
pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000; pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
} }
} }
// SysTick executes once each ms // SysTick executes once each ms
void PWM_SysTick_Callback(void) { void PWM_SysTick_Callback(void) {
pwm_timeout++; pwm_timeout_ch1++;
pwm_timeout_ch2++;
// Stop after 500 ms without PWM signal // Stop after 500 ms without PWM signal
if(pwm_timeout > 500) { if(pwm_timeout_ch1 > 500) {
//pwm_captured_ch1_value = 500; pwm_captured_ch1_value = 500;
pwm_timeout_ch1 = 500; // limit the timeout to max timeout value of 500 ms
}
if(pwm_timeout_ch2 > 500) {
pwm_captured_ch2_value = 500; pwm_captured_ch2_value = 500;
pwm_timeout = 500; // limit the timeout to max timeout value of 500 ms pwm_timeout_ch2 = 500; // limit the timeout to max timeout value of 500 ms
} }
} }
void PWM_Init(void) { void PWM_Init(void) {
// Channel 1 (steering) // Channel 1 (steering)
/*
GPIO_InitTypeDef GPIO_InitStruct2; GPIO_InitTypeDef GPIO_InitStruct2;
// Configure GPIO pin : PA2 // Configure GPIO pin : PA2
GPIO_InitStruct2.Pin = GPIO_PIN_2; GPIO_InitStruct2.Pin = GPIO_PIN_2;
@ -185,10 +153,8 @@ void PWM_Init(void) {
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0); HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn); HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_TIM_Base_Start(&TimHandle2); HAL_TIM_Base_Start(&TimHandle2);
*/
// Channel 2 (speed) // Channel 2 (speed)
GPIO_InitTypeDef GPIO_InitStruct; GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PA3 */ /*Configure GPIO pin : PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_3; GPIO_InitStruct.Pin = GPIO_PIN_3;
@ -209,10 +175,25 @@ void PWM_Init(void) {
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0); HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn); HAL_NVIC_EnableIRQ(EXTI3_IRQn);
HAL_TIM_Base_Start(&TimHandle); HAL_TIM_Base_Start(&TimHandle);
#ifdef SUPPORT_BUTTONS
/*Configure GPIO pin : PB10 */
GPIO_InitStruct.Pin = BUTTON1_RIGHT_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(BUTTON1_RIGHT_PORT, &GPIO_InitStruct);
/*Configure GPIO pin : PB11 */
GPIO_InitStruct2.Pin = BUTTON2_RIGHT_PIN;
GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct2.Pull = GPIO_PULLUP;
HAL_GPIO_Init(BUTTON2_RIGHT_PORT, &GPIO_InitStruct2);
#endif
} }
#endif #endif
uint8_t Nunchuk_Ping(void) { uint8_t Nunchuk_Ping(void) {
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 1, 10) == HAL_OK) { if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 1, 10) == HAL_OK) {
return 1; return 1;

5
Src/stm32f1xx_it.c
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@ -242,13 +242,12 @@ void EXTI3_IRQHandler(void)
PWM_ISR_CH2_Callback(); PWM_ISR_CH2_Callback();
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3); __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3);
} }
/*
void EXTI2_IRQHandler(void) void EXTI2_IRQHandler(void)
{ {
PWM_ISR_CH1_Callback(); PWM_ISR_CH1_Callback();
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_2); __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_2);
}*/ }
#endif #endif
#ifdef CONTROL_SERIAL_USART2 #ifdef CONTROL_SERIAL_USART2

24
Src/util.c
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@ -64,7 +64,7 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
#endif #endif
#ifdef CONTROL_PWM #ifdef CONTROL_PWM
//extern volatile uint16_t pwm_captured_ch1_value; extern volatile uint16_t pwm_captured_ch1_value;
extern volatile uint16_t pwm_captured_ch2_value; extern volatile uint16_t pwm_captured_ch2_value;
#endif #endif
@ -152,7 +152,6 @@ uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy virtual address to av
//------------------------------------------------------------------------ //------------------------------------------------------------------------
static int16_t INPUT_MAX; // [-] Input target maximum limitation static int16_t INPUT_MAX; // [-] Input target maximum limitation
static int16_t INPUT_MIN; // [-] Input target minimum limitation static int16_t INPUT_MIN; // [-] Input target minimum limitation
static int16_t INPUT_MID; // [-] Input target middle
#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA) #if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
@ -238,7 +237,6 @@ void Input_Lim_Init(void) { // Input Limitations - ! Do NOT touch !
INPUT_MAX = 1000; INPUT_MAX = 1000;
INPUT_MIN = -1000; INPUT_MIN = -1000;
} }
INPUT_MID = INPUT_MAX / 2;
} }
void Input_Init(void) { void Input_Init(void) {
@ -639,18 +637,22 @@ void readCommand(void) {
#endif #endif
#ifdef CONTROL_PPM #ifdef CONTROL_PPM
cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, INPUT_MIN, INPUT_MAX);
#ifdef SUPPORT_BUTTONS #ifdef SUPPORT_BUTTONS
button1 = ppm_captured_value[5] > INPUT_MID; button1 = ppm_captured_value[5] > 500;
button2 = 0; button2 = 0;
#endif #endif
// float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed // float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed
#endif #endif
#ifdef CONTROL_PWM #ifdef CONTROL_PWM
cmd1 = 0; // CLAMP(PWM_Signal_Correct((pwm_captured_ch1_value - 500) * 2, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX); cmd1 = CLAMP(PWM_Signal_Correct((pwm_captured_ch1_value - 500) * 2, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP(PWM_Signal_Correct((pwm_captured_ch2_value - 500) * 2, PWM_CH2_MIN, PWM_CH2_MAX), INPUT_MIN, INPUT_MAX); cmd2 = CLAMP(PWM_Signal_Correct((pwm_captured_ch2_value - 500) * 2, PWM_CH2_MIN, PWM_CH2_MAX), INPUT_MIN, INPUT_MAX);
#ifdef SUPPORT_BUTTONS
button1 = !HAL_GPIO_ReadPin(BUTTON1_RIGHT_PORT, BUTTON1_RIGHT_PIN);
button2 = !HAL_GPIO_ReadPin(BUTTON2_RIGHT_PORT, BUTTON2_RIGHT_PIN);
#endif
#endif #endif
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
@ -718,8 +720,8 @@ void readCommand(void) {
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) { 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 ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
} }
cmd1 = CLAMP((ibus_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); cmd1 = CLAMP((ibus_captured_value[0] - 500) * 2, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((ibus_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); cmd2 = CLAMP((ibus_captured_value[1] - 500) * 2, INPUT_MIN, INPUT_MAX);
command.start = 0xFF; // Change the Start Frame for timeout detection in the next cycle command.start = 0xFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCntSerial = 0; // Reset the timeout counter timeoutCntSerial = 0; // Reset the timeout counter
} }
@ -844,6 +846,7 @@ void readCommand(void) {
* This function realizes a dead-band around 0 and scales the input within a min and a max * This function realizes a dead-band around 0 and scales the input within a min and a max
*/ */
int PWM_Signal_Correct(int16_t u, int16_t min, int16_t max) { int PWM_Signal_Correct(int16_t u, int16_t min, int16_t max) {
#ifdef CONTROL_PWM
int outVal = 0; int outVal = 0;
if(u > -PWM_DEADBAND && u < PWM_DEADBAND) { if(u > -PWM_DEADBAND && u < PWM_DEADBAND) {
outVal = 0; outVal = 0;
@ -853,6 +856,9 @@ int PWM_Signal_Correct(int16_t u, int16_t min, int16_t max) {
outVal = (INPUT_MIN * CLAMP(u + PWM_DEADBAND, min + PWM_DEADBAND, 0)) / (min + PWM_DEADBAND); outVal = (INPUT_MIN * CLAMP(u + PWM_DEADBAND, min + PWM_DEADBAND, 0)) / (min + PWM_DEADBAND);
} }
return outVal; return outVal;
#else
return 0;
#endif
} }

2
platformio.ini
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@ -13,7 +13,7 @@ src_dir = Src
;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input ;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input
;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build ;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal ;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal ;default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal
;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS ;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS
;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build ;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
;default_envs = VARIANT_HOVERBOARD ; Variant for HOVERBOARD ;default_envs = VARIANT_HOVERBOARD ; Variant for HOVERBOARD

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