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add VARIANT_USART_JBLB (usart based in TORQUE Mode)

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pull/1/head
JbLb 5 years ago
parent dc433b1ee1
commit b0d0866147
2 changed files with 76 additions and 21 deletions
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69
Inc/config.h
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@ -12,6 +12,7 @@
#if !defined(PLATFORMIO)
//#define VARIANT_ADC // Variant for control via ADC input
//#define VARIANT_USART // Variant for Serial control via USART3 input
#define VARIANT_USART_JBLB
//#define VARIANT_NUNCHUK // Variant for Nunchuk controlled vehicle build
//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
//#define VARIANT_PWM // Variant for RC-Remote with PWM Signal
@ -74,7 +75,7 @@
#define BAT_BLINK_INTERVAL 80 // battery led blink interval (80 loops * 5ms ~= 400ms)
#define BAT_LVL5 (390 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Green blink: no beep
#define BAT_LVL4 (380 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow: no beep
#define BAT_LVL3 (370 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow blink: no beep
#define BAT_LVL3 (370 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow blink: no beep
#define BAT_LVL2 (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Red: gently beep at this voltage level. [V*100/cell]. In this case 3.60 V/cell
#define BAT_LVL1 (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Red blink: fast beep. Your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
#define BAT_DEAD (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // All leds off: undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell
@ -258,7 +259,7 @@
#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 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 0 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
@ -286,7 +287,7 @@
#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 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
@ -298,6 +299,36 @@
// ######################## END OF VARIANT_USART SETTINGS #########################
// ############################ VARIANT_USART SETTINGS by JBLB ############################
#ifdef VARIANT_USART_JBLB
// #define SIDEBOARD_SERIAL_USART2
// #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
// #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#undef CTRL_MOD_REQ
#define CTRL_MOD_REQ TRQ_MODE // HOVERCAR works best in TORQUE Mode
// #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!
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
#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!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#endif
// ######################## END OF VARIANT_USART SETTINGS by JBLB #########################
// ################################# VARIANT_NUNCHUK SETTINGS ############################
#ifdef VARIANT_NUNCHUK
@ -314,7 +345,7 @@
#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, 3:Auto-detect
#define INPUT2_MIN -1024 // (-1024 - 0)
#define INPUT2_MID 0
@ -351,7 +382,7 @@
#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 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
@ -383,13 +414,13 @@
#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 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)
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 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 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.
@ -404,7 +435,7 @@
// ################################# VARIANT_IBUS SETTINGS ##############################
#ifdef VARIANT_IBUS
/* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL
/* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL
* Connected to Right sensor board cable. Channel 1: steering, Channel 2: speed.
*/
#define CONTROL_IBUS // use IBUS as input
@ -428,7 +459,7 @@
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
@ -446,19 +477,19 @@
#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 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, 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)
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define SPEED_COEFFICIENT 16384 // 1.0f
#define STEER_COEFFICIENT 0 // 0.0f
// #define INVERT_R_DIRECTION // Invert rotation of right motor
@ -488,10 +519,10 @@
// Communication: [DONE]
// Balancing controller: [TODO]
#ifdef VARIANT_HOVERBOARD
#define SIDEBOARD_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#define SIDEBOARD_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#define FEEDBACK_SERIAL_USART2
#define SIDEBOARD_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#define FEEDBACK_SERIAL_USART3
#define SIDEBOARD_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#define FEEDBACK_SERIAL_USART3
#endif
// ######################## END OF VARIANT_HOVERBOARD SETTINGS #########################
@ -529,21 +560,21 @@
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
#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, 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, 3:Auto-detect
#define INPUT2_MIN -800 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 700 // (0 - 1000)
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_BRAKE -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.
@ -604,7 +635,7 @@
// ############################### 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_SKATEBOARD)
!defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_SKATEBOARD) && !defined(VARIANT_USART_JBLB)
#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
#endif

28
platformio.ini
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@ -2,8 +2,8 @@
; http://docs.platformio.org/page/projectconf.html
[platformio]
include_dir = Inc
src_dir = Src
include_dir = ./Inc
src_dir = ./Src
;=================== VARIANT SELECTION ==========================
;
@ -19,6 +19,8 @@ src_dir = Src
;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
default_envs = VARIANT_USART_JBLB
;================================================================
;================================================================
@ -45,6 +47,28 @@ build_flags =
;================================================================
[env:VARIANT_USART_JBLB]
platform = ststm32
framework = stm32cube
board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5
monitor_speed = 38400
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
-D VARIANT_USART_JBLB
;================================================================
[env:VARIANT_USART]
platform = ststm32
framework = stm32cube

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