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Improved auto-calibration

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pull/1/head
Candas1 5 years ago
parent b1169c02b7
commit 4cc02fddc1
3 changed files with 197 additions and 117 deletions
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83
Inc/config.h
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@ -135,8 +135,8 @@
#define TRQ_MODE 3 // [-] TORQUE mode
// Enable/Disable Motor
#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
//#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
//#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
// Control selections
#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
@ -251,16 +251,16 @@
* Make, flash and test it.
*/
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
// #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 300 // 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_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
#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_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
#define INPUT2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#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_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
@ -280,14 +280,15 @@
// #define SIDEBOARD_SERIAL_USART3
#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!
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 0 // 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)
#define INPUT1_MID_POT
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
@ -307,14 +308,15 @@
* Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
*/
#define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 0 // 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)
#define INPUT1_MID_POT
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT1_MIN -1024 // (-1024 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1024 // (0 - 1024)
#define INPUT2_MID_POT
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_MIN -1024 // (-1024 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1024 // (0 - 1024)
@ -342,14 +344,15 @@
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_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)
#define INPUT1_MID_POT
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
@ -368,17 +371,19 @@
*/
#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_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)
#define INPUT1_MID_POT
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
#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 STEER_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. If you do not want any steering, set it to 0.
@ -406,14 +411,15 @@
#define IBUS_LENGTH 0x20
#define IBUS_COMMAND 0x40
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_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)
#define INPUT1_MID_POT
#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
@ -432,13 +438,21 @@
#undef CTRL_MOD_REQ
#define CTRL_MOD_REQ TRQ_MODE // HOVERCAR works best in TORQUE Mode
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 300 // 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_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#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 INPUT2_TYPE 1 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#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)
#define SPEED_COEFFICIENT 16384 // 1.0f
#define STEER_COEFFICIENT 0 // 0.0f
// #define INVERT_R_DIRECTION // Invert rotation of right motor
@ -505,18 +519,21 @@
#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
//#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_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)
#define INPUT1_MID_POT
#define INPUT1_TYPE 0 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_MIN -800 // (-1000 - 0)
#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_MIN -800 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 700 // (0 - 1000)
#define INPUT2_MAX 700 // (0 - 1000)
#define INPUT2_OUT_MIN -400 // (-1000 - 0) Change this value to adjust the braking amount
#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 STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.

2
Inc/eeprom.h
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@ -209,7 +209,7 @@
#define PAGE_FULL ((uint8_t)0x80)
/* Variables' number */
#define NB_OF_VAR ((uint8_t)0x09)
#define NB_OF_VAR ((uint8_t)0x0B)
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/

225
Src/util.c
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@ -115,7 +115,7 @@ uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337}; // Virtual address defined by
static uint16_t saveValue = 0;
static uint8_t saveValue_valid = 0;
#elif !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308};
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308, 1309, 1310};
#else
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy virtual address to avoid warnings
#endif
@ -132,22 +132,16 @@ static int16_t INPUT_MIN; // [-] Input target minimum limitation
static uint8_t cur_spd_valid = 0;
static uint8_t input_cal_valid = 0;
static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
static uint16_t INPUT1_MID_CAL = INPUT1_MID;
static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
static uint16_t INPUT1_TYPE_CAL = INPUT1_TYPE;
static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
#ifdef INPUT1_MID_POT
static uint16_t INPUT1_MID_CAL = INPUT1_MID;
#else
static uint16_t INPUT1_MID_CAL = 0;
#endif
#ifdef INPUT1_MID_POT
static uint16_t INPUT2_MID_CAL = INPUT2_MID;
#else
static uint16_t INPUT2_MID_CAL = 0;
#endif
static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
static uint16_t INPUT2_TYPE_CAL = INPUT2_TYPE;
#endif
#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
#if defined(CONTROL_ADC)
static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
#endif
@ -281,14 +275,16 @@ void Input_Init(void) {
EE_Init(); /* EEPROM Init */
EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
if (writeCheck == FLASH_WRITE_KEY) {
EE_ReadVariable(VirtAddVarTab[1], &INPUT1_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[2], &INPUT1_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[3], &INPUT1_MID_CAL);
EE_ReadVariable(VirtAddVarTab[4], &INPUT2_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[5], &INPUT2_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[6], &INPUT2_MID_CAL);
EE_ReadVariable(VirtAddVarTab[7], &i_max);
EE_ReadVariable(VirtAddVarTab[8], &n_max);
EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
EE_ReadVariable(VirtAddVarTab[4] , &INPUT2_MIN_CAL);
EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_MAX_CAL);
EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MID_CAL);
EE_ReadVariable(VirtAddVarTab[7] , &i_max);
EE_ReadVariable(VirtAddVarTab[8] , &n_max);
EE_ReadVariable(VirtAddVarTab[9] , &INPUT1_TYPE_CAL);
EE_ReadVariable(VirtAddVarTab[10], &INPUT2_TYPE_CAL);
rtP_Left.i_max = i_max;
rtP_Left.n_max = n_max;
rtP_Right.i_max = i_max;
@ -437,7 +433,7 @@ void adcCalibLim(void) {
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
consoleLog("Input calibration started... ");
consoleLog("Input calibration started...\n");
readInput();
// Inititalization: MIN = a high values, MAX = a low value,
@ -468,37 +464,90 @@ void adcCalibLim(void) {
HAL_Delay(5);
}
// ADC calibration checks
#ifdef ADC_PROTECT_ENA
if ((INPUT1_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095 &&
(INPUT2_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095) {
input_cal_valid = 1;
} else {
input_cal_valid = 0;
consoleLog("FAIL (ADC out-of-range protection not possible)\n");
}
#endif
HAL_Delay(50);
uint16_t input_margin = 0;
#ifdef CONTROL_ADC
input_margin = 100;
#endif
// Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
if (input_cal_valid && (INPUT1_MAX_temp - INPUT1_MIN_temp) > 500 && (INPUT2_MAX_temp - INPUT2_MIN_temp) > 500) {
INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
consoleLog("OK\n");
int16_t threshold = (INPUT1_MAX - INPUT1_MIN) / 10;
INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MAX_temp/threshold) ){
// MIN MID and MAX are close, there is no input
INPUT1_TYPE_CAL = 0;
consoleLog("Input1 is ignored");
} else {
input_cal_valid = 0;
consoleLog("FAIL (Pots travel too short)\n");
if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MID_temp/threshold) ){
// MIN and MID are close, it's a normal pot
INPUT1_TYPE_CAL = 1;
consoleLog("Input1 is a normal pot");
}else {
INPUT1_TYPE_CAL = 2;
consoleLog("Input1 is a mid-resting pot");
}
HAL_Delay(50);
#ifdef CONTROL_ADC
if ( (INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
consoleLog(" and protected");
}
#endif
input_cal_valid = 1;
}
#endif
HAL_Delay(50);
consoleLog("\n");
HAL_Delay(50);
threshold = (INPUT2_MAX - INPUT2_MIN) / 10;
INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MAX_temp/threshold) ){
// MIN MID and MAX are close, there is no input
INPUT2_TYPE_CAL = 0;
consoleLog("Input2 is ignored");
} else {
if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MID_temp/threshold) ){
// MIN and MID are close, it's a normal pot
INPUT2_TYPE_CAL = 1;
consoleLog("Input2 is a normal pot");
}else {
INPUT2_TYPE_CAL = 2;
consoleLog("Input2 is a mid-resting pot");
}
HAL_Delay(50);
#ifdef CONTROL_ADC
if ( (INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
consoleLog(" and protected");
}
#endif
input_cal_valid = 1;
}
HAL_Delay(50);
consoleLog("\n");
HAL_Delay(50);
consoleLog("Saved limits\n");
HAL_Delay(50);
setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
setScopeChannel(1, (int16_t)INPUT1_MID_CAL);
setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
setScopeChannel(3, (int16_t)0);
setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
setScopeChannel(5, (int16_t)INPUT2_MID_CAL);
setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
setScopeChannel(7, (int16_t)0);
consoleScope();
HAL_Delay(50);
#endif
}
@ -561,15 +610,17 @@ void saveConfig() {
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
if (input_cal_valid || cur_spd_valid) {
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL);
EE_WriteVariable(VirtAddVarTab[2], INPUT1_MAX_CAL);
EE_WriteVariable(VirtAddVarTab[3], INPUT1_MID_CAL);
EE_WriteVariable(VirtAddVarTab[4], INPUT2_MIN_CAL);
EE_WriteVariable(VirtAddVarTab[5], INPUT2_MAX_CAL);
EE_WriteVariable(VirtAddVarTab[6], INPUT2_MID_CAL);
EE_WriteVariable(VirtAddVarTab[7], rtP_Left.i_max);
EE_WriteVariable(VirtAddVarTab[8], rtP_Left.n_max);
EE_WriteVariable(VirtAddVarTab[0] , FLASH_WRITE_KEY);
EE_WriteVariable(VirtAddVarTab[1] , INPUT1_MIN_CAL);
EE_WriteVariable(VirtAddVarTab[2] , INPUT1_MAX_CAL);
EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MID_CAL);
EE_WriteVariable(VirtAddVarTab[4] , INPUT2_MIN_CAL);
EE_WriteVariable(VirtAddVarTab[5] , INPUT2_MAX_CAL);
EE_WriteVariable(VirtAddVarTab[6] , INPUT2_MID_CAL);
EE_WriteVariable(VirtAddVarTab[7] , rtP_Left.i_max);
EE_WriteVariable(VirtAddVarTab[8] , rtP_Left.n_max);
EE_WriteVariable(VirtAddVarTab[9] , INPUT1_TYPE_CAL);
EE_WriteVariable(VirtAddVarTab[10], INPUT2_TYPE_CAL);
HAL_FLASH_Lock();
}
#endif
@ -803,23 +854,21 @@ void readInput(void) {
void readCommand(void) {
readInput();
#ifdef CONTROL_ADC
#ifdef ADC_PROTECT_ENA
if (adc_buffer.l_tx2 >= (ADC1_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_tx2 <= (ADC1_MAX_CAL + ADC_PROTECT_THRESH) &&
adc_buffer.l_rx2 >= (ADC2_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_rx2 <= (ADC2_MAX_CAL + ADC_PROTECT_THRESH)) {
if (timeoutFlagADC) { // Check for previous timeout flag
if (timeoutCntADC-- <= 0) // Timeout de-qualification
timeoutFlagADC = 0; // Timeout flag cleared
} else {
timeoutCntADC = 0; // Reset the timeout counter
}
// If input1 or Input2 is either below MIN - Threshold or above MAX + Threshold, ADC protection timeout
if ((IN_RANGE(cmd1_in,INPUT1_MIN_CAL - ADC_PROTECT_THRESH,INPUT1_MAX_CAL + ADC_PROTECT_THRESH)) &&
(IN_RANGE(cmd1_in,INPUT2_MIN_CAL - ADC_PROTECT_THRESH,INPUT2_MAX_CAL + ADC_PROTECT_THRESH))){
if (timeoutFlagADC) { // Check for previous timeout flag
if (timeoutCntADC-- <= 0) // Timeout de-qualification
timeoutFlagADC = 0; // Timeout flag cleared
} else {
if (timeoutCntADC++ >= ADC_PROTECT_TIMEOUT) { // Timeout qualification
timeoutFlagADC = 1; // Timeout detected
timeoutCntADC = ADC_PROTECT_TIMEOUT; // Limit timout counter value
}
timeoutCntADC = 0; // Reset the timeout counter
}
#endif
} else {
if (timeoutCntADC++ >= ADC_PROTECT_TIMEOUT) { // Timeout qualification
timeoutFlagADC = 1; // Timeout detected
timeoutCntADC = ADC_PROTECT_TIMEOUT; // Limit timout counter value
}
}
timeoutCnt = 0;
#endif
@ -841,23 +890,37 @@ void readCommand(void) {
timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
#endif
//setScopeChannel(4, (int16_t)INPUT1_MIN_CAL);
//setScopeChannel(5, (int16_t)INPUT1_MID_CAL);
//setScopeChannel(6, (int16_t)INPUT1_MAX_CAL);
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
#ifdef INPUT1_MID_POT
cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
#else
cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1
#endif
switch (INPUT1_TYPE_CAL){
case 0: // Input1 is ignored
cmd1 = 0;
break;
case 1: // Input1 is a normal pot
cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1
break;
case 2: // Input1 is a mid resting pot
cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
break;
default:
cmd1 = 0;
break;
}
#if !defined(VARIANT_SKATEBOARD)
#ifdef INPUT2_MID_POT
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
#else
cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2
#endif
switch (INPUT2_TYPE_CAL){
case 0: // Input2 is ignored
cmd2 = 0;
break;
case 1: // Input2 is a normal pot
cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2
break;
case 2: // Input2 is a mid resting pot
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
break;
default:
cmd2 = 0;
break;
}
#else
cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
#endif

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