131 lines
5.3 KiB
C
131 lines
5.3 KiB
C
#ifndef _DEFINITIONS_H
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#define _DEFINITIONS_H
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// ########################## DEFINES ##########################
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#define SERIAL_CONTROL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
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#define SERIAL_LOG_BAUD 115200 // baud rate for logging output
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bool log_update=true;
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unsigned long last_log_send=0;
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//#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
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#define LOGMININTERVAL 20 //minimum interval (ms) to send logs
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#define LOGMAXINTERVAL 10000 //maximum time (ms) after which data is send
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#define WRITE_HEADER_TIME 400 //just before FEEDBACKRECEIVETIMEOUT, so header gets written before error comments
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bool log_header_written = false;
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//#define FEEDBACKRECEIVETIMEOUT 500
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//bool controllerFront_connected=false;
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//bool controllerRear_connected=false;
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bool controllers_connected=false;
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#define PIN_THROTTLE A7
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//const uint16_t calib_throttle_min = 420; //better a bit too high than too low
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//const uint16_t calib_throttle_max = 790;
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const uint16_t failsafe_throttle_min = 4900; //if adc value falls below this failsafe is triggered. old 20
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const uint16_t failsafe_throttle_max = 14500; //if adc value goes above this failsafe is triggered. old 1000
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//const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
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const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9823,9877,9932,9978,10032,10087,10169,10278,10451,10697,11061,11579,11898,11952}; //adc values for every unit (mm) of linear travel
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#define PIN_BRAKE A8
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const uint16_t calib_brake_min = 2000;//better a bit too high than too low
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const uint16_t calib_brake_max = 11000;
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const uint16_t failsafe_brake_min = 700; //if adc value falls below this failsafe is triggered
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const uint16_t failsafe_brake_max = 13200; //if adc value goes above this failsafe is triggered
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uint16_t ads_throttle_A_raw=0;
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uint16_t ads_throttle_B_raw=0;
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uint16_t ads_brake_raw=failsafe_brake_min;
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uint16_t ads_control_raw=0;
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int16_t throttle_pos=0;
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int16_t brake_pos=0;
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unsigned long loopmillis;
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#define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
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#define ADCREADPERIOD 10
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#define BUTTONREADPERIOD 20
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unsigned long last_adsread=0; //needed for failcheck
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uint16_t throttle_raw=failsafe_throttle_min; //start at min so that failsafe is not triggered
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#define THROTTLE_ADC_FILTER 0.15 //higher value = faster response
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uint16_t brake_raw=failsafe_brake_min; //start at min so that failsafe is not triggered
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#define ADC_OUTOFRANGE_TIME 100
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unsigned long throttle_ok_time=0;
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unsigned long brake_ok_time=0;
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bool error_throttle_outofrange=false;
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bool error_brake_outofrange=false;
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bool error_ads_max_read_interval=false;
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#define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward
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#define REVERSE_SPEED 0.25 //reverse driving speed //0 to 1
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#define NORMAL_MAX_ACCELERATION_RATE 10000
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#define SLOW_MAX_ACCELERATION_RATE 500
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int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
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//Driving parameters
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int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
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int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
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float startbrakecurrent=2; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
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float startbrakecurrent_offset=0.15; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
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bool reverse_enabled=false;
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unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
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#define PIN_START A9
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#define PIN_LED_START 2 //Enginge start led
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#define PIN_LATCH_ENABLE A6
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#define PIN_MODE_LEDG 4
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#define PIN_MODE_LEDR 5
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//unsigned long last_send = 0;
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//unsigned long last_receive = 0;
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float filtered_currentAll=0;
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//Statistics values
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float max_filtered_currentAll;
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float min_filtered_currentAll;
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float max_meanSpeed;
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int16_t cmd_send=0;
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int16_t last_cmd_send=0;
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uint8_t speedmode=0;
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#define SPEEDMODE_SLOW 1
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#define SPEEDMODE_NORMAL 0
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unsigned long button_start_lastchange=0;
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bool button_start_state=false;
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#define LONG_PRESS_ARMING_TIME 2000
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#define DEBOUNCE_TIME 50
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bool armed = false; //cmd output values forced to 0 if false
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#define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
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#define CURRENT_MEANVALUECOUNT 20 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
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#define DISPLAYUPDATEPERIOD 100
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#endif |