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219 lines
9.8 KiB
219 lines
9.8 KiB
#pragma once
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#include "stm32f1xx_hal.h"
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// ############################### DO-NOT-TOUCH SETTINGS ###############################
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define DEAD_TIME 32 // PWM deadtime
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#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
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#define TIMEOUT 5 // number of wrong / missing input commands before emergency off
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// ############################### GENERAL ###############################
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// How to calibrate:
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/* connect GND and RX of a 3.3v uart-usb adapter to the right sensor board cable
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* (be careful not to use the red wire of the cable. 15v will destroy everything.)
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* if you are using nunchuck, disable it temporarily.
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* enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII use asearial terminal.
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*/
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// Battery voltage calibration:
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/* connect power source.
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* see <How to calibrate>.
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* write value nr 5 to BAT_CALIB_ADC.
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* make and flash firmware.
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* then you can verify voltage on value 6 (devide it by 100.0 to get calibrated voltage).
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*/
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#define BAT_CALIB_REAL_VOLTAGE 43.0 // input voltage measured by multimeter
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#define BAT_CALIB_ADC 1704 // adc-value measured by mainboard (value nr 5 on UART debug output)
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#define BAT_NUMBER_OF_CELLS 10 // normal Hoverboard battery: 10s
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#define BAT_LOW_LVL1_ENABLE 0 // to beep or not to beep, 1 or 0
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#define BAT_LOW_LVL1 3.6 // gently beeps at this voltage level. [V/cell]
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#define BAT_LOW_LVL2_ENABLE 1 // to beep or not to beep, 1 or 0
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#define BAT_LOW_LVL2 3.5 // your battery is almost empty. Charge now! [V/cell]
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#define BAT_LOW_DEAD 3.37 // undervoltage poweroff. (while not driving) [V/cell]
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#define DC_CUR_LIMIT 15 // DC current limit in amps per motor. so 15 means it will draw 30A out of your battery. it does not disable motors, it is a soft current limit.
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// Board overheat detection:
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/* the sensor is inside the STM/GD chip.
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* it is very inaccurate without calibration (up to 45°C).
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* so only enable this funcion after calibration! let your board cool down.
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* see <How to calibrate>.
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* get the real temp of the chip by thermo cam or another temp-sensor taped on top of the chip
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* and write it to TEMP_CAL_LOW_DEG_C.
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* write debug value 8 to TEMP_CAL_LOW_ADC.
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* drive around to warm up the board. it should be at least 20°C warmer.
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* repeat it for the HIGH-values.
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* enable warning and/or poweroff and make and flash firmware.
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*/
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#define TEMP_CAL_LOW_ADC 1655 // temperature 1: ADC value
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#define TEMP_CAL_LOW_DEG_C 35.8 // temperature 1: measured temperature [°C]
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#define TEMP_CAL_HIGH_ADC 1588 // temperature 2: ADC value
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#define TEMP_CAL_HIGH_DEG_C 48.9 // temperature 2: measured temperature [°C]
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#define TEMP_WARNING_ENABLE 0 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
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#define TEMP_WARNING 60 // annoying fast beeps [°C]
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#define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
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#define TEMP_POWEROFF 65 // overheat poweroff. (while not driving) [°C]
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#define INACTIVITY_TIMEOUT 8 // minutes of not driving until poweroff. it is not very precise.
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// ############################### LCD DEBUG ###############################
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//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
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// ############################### SERIAL DEBUG ###############################
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#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#define DEBUG_BAUD 115200 // UART baud rate
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//#define DEBUG_SERIAL_SERVOTERM // Software for plotting graphs: https://github.com/STMBL/Servoterm-app
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#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
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// ############################### INPUT ###############################
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// ###### CONTROL VIA UART (serial) ######
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//#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry
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// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }
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// ###### CONTROL VIA RC REMOTE ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed. Use a very short cable!
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//#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
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//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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// ###### CONTROL VIA TWO POTENTIOMETERS ######
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// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>. turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN. turn to maximum position and repeat it for ADC?_MAX. make, flash and test it.
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//#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2!
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#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
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// ###### CONTROL VIA NINTENDO NUNCHUCK ######
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// left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups. use original nunchuck. most clones does not work very well.
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//#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
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// ###### MOTOR TEST MODE ######
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// slowly move both wheels forward and backward, ignoring all inputs
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#define CONTROL_MOTOR_TEST
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#define CONTROL_MOTOR_TEST_MAX_SPEED 300 // sweep slowly from -MAX_SPEED to MAX_SPEED (0 - 1000)
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// ############################### DRIVING BEHAVIOR ###############################
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// inputs:
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// - cmd1 and cmd2: analog normalized input values. -1000 to 1000
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// - button1 and button2: digital input values. 0 or 1
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// - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
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// outputs:
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// - speedR and speedL: normal driving -1000 to 1000
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// - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400
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#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues.
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#define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to ~2.0?
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#define STEER_COEFFICIENT 0.5 // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
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#define INVERT_R_DIRECTION
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#define INVERT_L_DIRECTION
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#define BEEPS_BACKWARD 1 // 0 or 1
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//Turbo boost at high speeds while button1 is pressed:
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//#define ADDITIONAL_CODE \
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if (button1 && speedR > 700) { /* field weakening at high speeds */ \
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weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = cmd1 - 700; } \
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else { \
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weakl = 0; \
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weakr = 0; }
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// ###### SIMPLE BOBBYCAR ######
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// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
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// #define FILTER 0.1
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// #define SPEED_COEFFICIENT -1
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// #define STEER_COEFFICIENT 0
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// #define ADDITIONAL_CODE \
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if (button1 && speedR < 300) { /* drive backwards */ \
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speedR = speedR * -0.2f; \
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speedL = speedL * -0.2f; } \
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else { \
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direction = 1; } \
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if (button1 && speedR > 700) { /* field weakening at high speeds */ \
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weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = speedR - 600; } \
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else { \
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weakl = 0; \
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weakr = 0; }
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// ###### ARMCHAIR ######
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// #define FILTER 0.05
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// #define SPEED_COEFFICIENT 0.5
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// #define STEER_COEFFICIENT -0.2
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// #define ADDITIONAL_CODE if (button1 && scale > 0.8) { /* field weakening at high speeds */ \
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weakl = speedL - 600; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = speedR - 600; } \
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else {\
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weakl = 0;\
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weakr = 0;
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// ############################### VALIDATE SETTINGS ###############################
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#if defined CONTROL_SERIAL_USART2 && defined CONTROL_ADC
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#error CONTROL_ADC and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
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#endif
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#if defined CONTROL_SERIAL_USART2 && defined CONTROL_PPM
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#error CONTROL_PPM and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
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#endif
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#if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
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#error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
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#endif
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#if defined DEBUG_SERIAL_USART3 && defined DEBUG_I2C_LCD
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#error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
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#endif
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#ifdef CONTROL_SERIAL_USART2
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_PPM
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_ADC
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_NUNCHUCK
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifdef CONTROL_MOTOR_TEST
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#if defined CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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#define CONTROL_DEFINED
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#endif
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#ifndef CONTROL_DEFINED
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#error select exactly 1 input method in config.h!
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#endif
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