created SKATEBOARD variant

5 years ago · 733fd80362
parent dcdac4f6db
commit 733fd80362
4 changed files with 70 additions and 4 deletions
--- a/Inc/config.h
+++ b/Inc/config.h
@ -19,6 +19,7 @@
  //#define VARIANT_HOVERCAR    // Variant for HOVERCAR build
  //#define VARIANT_HOVERBOARD  // Variant for HOVERBOARD build
  //#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
+  //#define VARIANT_SKATEBOARD  // Variant for SKATEBOARD build
 #endif
 // ########################### END OF VARIANT SELECTION ############################

@ -432,6 +433,40 @@
 // ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################


+// ################################# VARIANT_PWM SETTINGS ##############################
+#ifdef VARIANT_SKATEBOARD
+/* ###### CONTROL VIA RC REMOTE ######
+ * right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver.
+ * Channel 1: steering, Channel 2: speed.
+*/
+  #undef  CTRL_MOD_REQ
+  #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!
+  #ifdef CONTROL_PWM_RIGHT
+    #define DEBUG_SERIAL_USART2       // left sensor cable debug
+  #else
+    #define DEBUG_SERIAL_USART3       // right sensor cable debug
+  #endif
+  #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)
+  #define PWM_CH1_MAX         1000    // (0 - 1000)
+  #define PWM_CH1_MIN        -1000    // (-1000 - 0)
+  #define PWM_CH2_MAX         700     // (0 - 1000)
+  #define PWM_CH2_MIN        -800     // (-1000 - 0)
+  #define PWM_CH2_OUT_MIN    -150     // (-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.
+  #define INVERT_R_DIRECTION
+  #define INVERT_L_DIRECTION
+  // #define SUPPORT_BUTTONS_LEFT        // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
+  // #define SUPPORT_BUTTONS_RIGHT       // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
+  // #define STANDSTILL_HOLD_ENABLE      // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
+#endif
+// ############################# END OF VARIANT_PPM SETTINGS ############################
+
+

 // ########################### UART SETIINGS ############################
 #if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
@ -473,7 +508,7 @@

 // ############################### VALIDATE SETTINGS ###############################
 #if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
-    !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
+    !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_SKATEBOARD)
  #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
 #endif

--- a/Src/main.c
+++ b/Src/main.c
@ -213,7 +213,7 @@ int main(void) {
      }

      // ####### VARIANT_HOVERCAR ####### 
-      #if defined(VARIANT_HOVERCAR) || defined(ELECTRIC_BRAKE_ENABLE)        
+      #if defined(VARIANT_HOVERCAR) || defined(VARIANT_SKATEBOARD) || defined(ELECTRIC_BRAKE_ENABLE)
        uint16_t speedBlend;                                        // Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
        speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,10,60) - 10) << 15) / 50); // speedBlend [0,1] is within [10 rpm, 60rpm]
      #endif
@ -240,6 +240,12 @@ int main(void) {
        }
      #endif

+      #ifdef VARIANT_SKATEBOARD
+        if (cmd2 < 0) {                                             // When Throttle pedal is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving) 
+          cmd2 = (int16_t)((cmd2 * speedBlend) >> 15);
+        }
+      #endif
+
      // ####### LOW-PASS FILTER #######
      rateLimiter16(cmd1, RATE, &steerRateFixdt);
      rateLimiter16(cmd2, RATE, &speedRateFixdt);
--- a/Src/util.c
+++ b/Src/util.c
@ -737,8 +737,8 @@ void readCommand(void) {
    #endif

    #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
-      cmd1 = CLAMP(addDeadBand((ppm_captured_value[0] - 500) * 2, PPM_DEADBAND, PPM_CH1_MIN, PPM_CH1_MAX), INPUT_MIN, INPUT_MAX);
-      cmd2 = CLAMP(addDeadBand((ppm_captured_value[1] - 500) * 2, PPM_DEADBAND, PPM_CH2_MIN, PPM_CH2_MAX), INPUT_MIN, INPUT_MAX);
+      cmd1 = addDeadBand((ppm_captured_value[0] - 500) * 2, PPM_DEADBAND, PPM_CH1_MIN, PPM_CH1_MAX, INPUT_MIN, INPUT_MAX);
+      cmd2 = addDeadBand((ppm_captured_value[1] - 500) * 2, PPM_DEADBAND, PPM_CH2_MIN, PPM_CH2_MAX, INPUT_MIN, INPUT_MAX);
 			#ifdef SUPPORT_BUTTONS
 				button1 = ppm_captured_value[5] > 500;
 				button2 = 0;
@ -751,7 +751,11 @@ void readCommand(void) {

    #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
      cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
+      #if !defined(VARIANT_SKATEBOARD)
      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
+      #else      
+      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, PWM_CH2_OUT_MIN, INPUT_MAX);
+      #endif
      #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
        button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
        button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
--- a/platformio.ini
+++ b/platformio.ini
@ -18,6 +18,7 @@ src_dir     = Src
 ;default_envs = VARIANT_HOVERCAR    ; Variant for HOVERCAR build
 ;default_envs = VARIANT_HOVERBOARD  ; Variant for HOVERBOARD
 ;default_envs = VARIANT_TRANSPOTTER ; Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
+;default_envs = VARIANT_SKATEBOARD  ; Variant for SKATEBOARD build controlled via RC-Remotes with PWM signal
 ;================================================================

 ;================================================================
@ -208,3 +209,23 @@ build_flags =
    -D VARIANT_TRANSPOTTER
    
 ;================================================================
+
+
+[env:VARIANT_SKATEBOARD]
+platform        = ststm32
+framework       = stm32cube
+board           = genericSTM32F103RC
+debug_tool      = stlink
+upload_protocol = stlink
+
+build_flags =
+    -DUSE_HAL_DRIVER
+    -DSTM32F103xE
+    -Wl,-T./STM32F103RCTx_FLASH.ld
+    -Wl,-lc
+    -Wl,-lm
+    -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
+#    -Wl,-lnosys
+    -D VARIANT_SKATEBOARD
+    
+;================================================================