update Auto-calibration

- implemented forced potentiometer type
- extended the INPUTx_TYPE to 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect

Inc/config.h

@@ -253,15 +253,15 @@
   #define CONTROL_ADC                     // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
   #define ADC_PROTECT_TIMEOUT   100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH    200       // ADC Protection threshold below/above the MIN/MAX ADC values
-  #define INPUT1_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE           3         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
-  #define INPUT1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
+  #define INPUT1_MID            0         // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
   #define INPUT1_MAX            4095      // max ADC1-value while poti at maximum-position (0 - 4095)
   #define INPUT1_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE           3         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN            0         // min ADC2-value while poti at minimum-position (0 - 4095)
-  #define INPUT2_MID            2048      // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
+  #define INPUT2_MID            0         // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
   #define INPUT2_MAX            4095      // max ADC2-value while poti at maximum-position (0 - 4095)
   #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // #define SUPPORT_BUTTONS_LEFT            // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
@@ -281,13 +281,13 @@
   #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        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3       // 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        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        3       // 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)
@@ -309,13 +309,13 @@
   */
   #define CONTROL_NUNCHUK           // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2      // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        2      // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1024   // (-1024 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1024   // (0 - 1024)
   #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2      // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        2      // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -1024   // (-1024 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1024   // (0 - 1024)
@@ -346,13 +346,13 @@
   #endif
   #define PPM_NUM_CHANNELS   6        // total number of PPM channels to receive, even if they are not used.
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000     // (-1000 - 0)
-  #define INPUT1_MID         0
+  #define INPUT1_MID         3
   #define INPUT1_MAX         1000     // (0 - 1000)
   #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        2        // 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)
@@ -378,13 +378,13 @@
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3        // 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    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        3        // 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)
@@ -419,13 +419,13 @@
   // #define DEBUG_SERIAL_USART3         // right sensor cable debug
 
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3        // 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        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        3        // 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)
@@ -443,13 +443,13 @@
   #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH  200       // ADC Protection threshold below/above the MIN/MAX ADC values
   
-  #define INPUT1_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE         1         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN          1000      // min ADC1-value while poti at minimum-position (0 - 4095)
   #define INPUT1_MID          0
   #define INPUT1_MAX          2500      // max ADC1-value while poti at maximum-position (0 - 4095)
   #define INPUT1_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE         1         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN          500       // min ADC2-value while poti at minimum-position (0 - 4095)
   #define INPUT2_MID          0
   #define INPUT2_MAX          2200      // max ADC2-value while poti at maximum-position (0 - 4095)
@@ -527,13 +527,13 @@
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif  
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        0        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        0        // 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    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        2        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -800      // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         700      // (0 - 1000)
@@ -587,6 +587,11 @@
 #ifndef STEER_COEFFICIENT
   #define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT
 #endif
+#ifdef CONTROL_ADC
+  #define INPUT_MARGIN            100                     // Input margin applied on the raw ADC min and max to make sure the motor MIN and MAX values are reached even in the presence of noise
+#else
+  #define INPUT_MARGIN            0
+#endif
 // ########################### END OF APPLY DEFAULT SETTING ############################
 
 

Src/util.c

@@ -292,6 +292,9 @@ void Input_Init(void) {
       rtP_Left.n_max  = n_max;
       rtP_Right.i_max = i_max;
       rtP_Right.n_max = n_max;
+    } else { // Else If Input type is 3 (auto), identify the input type based on the values from config.h
+      if (INPUT1_TYPE == 3) { INPUT1_TYP_CAL = checkInputType(INPUT1_MIN, INPUT1_MID, INPUT1_MAX); }
+      if (INPUT2_TYPE == 3) { INPUT2_TYP_CAL = checkInputType(INPUT2_MIN, INPUT2_MID, INPUT2_MAX); }
     }
     HAL_FLASH_Lock();
   #endif
@@ -453,22 +456,22 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
   #endif
 
   HAL_Delay(10);
-  if ((min / threshold) == (max / threshold)) {
-    consoleLog("Input is ignored");               // MIN and MAX are close, disable input
+  if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold)) {
     type = 0;
+    consoleLog("Input is ignored");               // (MIN and MAX) OR (MID and MAX) are close, disable input
   } else {
     if ((min / threshold) == (mid / threshold)){
-      consoleLog("Input is a normal pot");        // MIN and MID are close, it's a normal pot
       type = 1;
-    } else {      
+      consoleLog("Input is a normal pot");        // MIN and MID are close, it's a normal pot
+    } else {
+      type = 2;
       consoleLog("Input is a mid-resting pot");   // it's a mid resting pot
-      type = 2; 
     }
     HAL_Delay(10);
     #ifdef CONTROL_ADC
-    if ((min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095) {
+    if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
       consoleLog(" and protected");
-      shortBeep(2); // Indicate protection by a beep
+      longBeep(2); // Indicate protection by a beep
     }
     #endif
   }
@@ -494,11 +497,11 @@ void adcCalibLim(void) {
     return;
   }
 
-  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)  
+  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
   consoleLog("Input calibration started...\n");
 
   readInput();
-  // Inititalization: MIN = a high value, MAX = a low value  
+  // Inititalization: MIN = a high value, MAX = a low value
   int32_t  input1_fixdt = input1 << 16;
   int32_t  input2_fixdt = input2 << 16;
   int16_t  INPUT1_MIN_temp = MAX_int16_T;
@@ -524,37 +527,39 @@ void adcCalibLim(void) {
     HAL_Delay(5);
   }
 
-  #ifdef CONTROL_ADC
-  int16_t input_margin = 100;
-  #else
-  int16_t input_margin = 0;
-  #endif
-  
-  INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
-  INPUT1_MID_CAL = INPUT1_MID_temp;
-  INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
-  INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL);
-
-  INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
-  INPUT2_MID_CAL = INPUT2_MID_temp;
-  INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
-  INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
-  
-  inp_cal_valid = 1;  // Mark calibration to be saved in Flash at shutdown
-  consoleLog("Saved limits\n");
-  HAL_Delay(10);
+  INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
+  if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) {  // Accept calibration only if the type is correct OR type was set to 3 (auto)
+    INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
+    INPUT1_MID_CAL = INPUT1_MID_temp;
+    INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
+    consoleLog("Input1 OK\n");    HAL_Delay(10);
+  } else {
+    INPUT1_TYP_CAL = 0; // Disable input
+    consoleLog("Input1 Fail\n");  HAL_Delay(10);
+  }
+
+  INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
+  if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) {  // Accept calibration only if the type is correct OR type was set to 3 (auto)
+    INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
+    INPUT2_MID_CAL = INPUT2_MID_temp;
+    INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
+    consoleLog("Input2 OK\n");    HAL_Delay(10);
+  } else {
+    INPUT2_TYP_CAL = 0; // Disable input
+    consoleLog("Input2 Fail\n");  HAL_Delay(10);
+  }
+
+  inp_cal_valid = 1;    // Mark calibration to be saved in Flash at shutdown
+  consoleLog("Limits: "); HAL_Delay(10);
   setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
   setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
   setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
   setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
-  setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);  
+  setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
   setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
   setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
-  setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);  
+  setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
   consoleScope();
-  HAL_Delay(20);
-  consoleLog("OK\n");
-  
   #endif
 }
  /*
@@ -584,7 +589,7 @@ void updateCurSpdLim(void) {
     readInput();
     filtLowPass32(input1, FILTER, &input1_fixdt);
     filtLowPass32(input2, FILTER, &input2_fixdt);
-    HAL_Delay(5);      
+    HAL_Delay(5);
   }
   // Calculate scaling factors
   cur_factor = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
@@ -602,8 +607,7 @@ void updateCurSpdLim(void) {
     cur_spd_valid  += 2;  // Mark update to be saved in Flash at shutdown
   }
   
-  consoleLog("Saved limits\n");
-  HAL_Delay(10);
+  consoleLog("Limits: "); HAL_Delay(10);
   setScopeChannel(0, (int16_t)cur_spd_valid);     // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
   setScopeChannel(1, (int16_t)input1_fixdt);
   setScopeChannel(2, (int16_t)cur_factor);
@@ -611,10 +615,8 @@ void updateCurSpdLim(void) {
   setScopeChannel(4, (int16_t)0);
   setScopeChannel(5, (int16_t)input2_fixdt);
   setScopeChannel(6, (int16_t)spd_factor);
-  setScopeChannel(7, (int16_t)rtP_Left.n_max);    
+  setScopeChannel(7, (int16_t)rtP_Left.n_max);
   consoleScope();
-  HAL_Delay(20);
-  consoleLog("OK\n");
 
   #endif
 }