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# pragma once
# include "stm32f1xx_hal.h"
// ############################### DO-NOT-TOUCH SETTINGS ###############################
# define PWM_FREQ 16000 // PWM frequency in Hz
# define DEAD_TIME 32 // PWM deadtime
# 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.
# define TIMEOUT 5 // number of wrong / missing input commands before emergency off
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# define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
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// ADC conversion time definitions
# define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5)
# define ADC_CONV_TIME_7C5 (20) //Total ADC clock cycles / conversion = ( 7.5+12.5)
# define ADC_CONV_TIME_13C5 (26) //Total ADC clock cycles / conversion = ( 13.5+12.5)
# define ADC_CONV_TIME_28C5 (41) //Total ADC clock cycles / conversion = ( 28.5+12.5)
# define ADC_CONV_TIME_41C5 (54) //Total ADC clock cycles / conversion = ( 41.5+12.5)
# define ADC_CONV_TIME_55C5 (68) //Total ADC clock cycles / conversion = ( 55.5+12.5)
# define ADC_CONV_TIME_71C5 (84) //Total ADC clock cycles / conversion = ( 71.5+12.5)
# define ADC_CONV_TIME_239C5 (252) //Total ADC clock cycles / conversion = (239.5+12.5)
// This settings influences the actual sample-time. Only use definitions above
// This parameter needs to be the same as the ADC conversion for Current Phase of the FIRST Motor in setup.c
# define ADC_CONV_CLOCK_CYCLES (ADC_CONV_TIME_7C5)
// Set the configured ADC divider. This parameter needs to be the same ADC divider as PeriphClkInit.AdcClockSelection (see main.c)
# define ADC_CLOCK_DIV (4)
// ADC Total conversion time: this will be used to offset TIM8 in advance of TIM1 to align the Phase current ADC measurement
// This parameter is used in setup.c
# define ADC_TOTAL_CONV_TIME (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV
// ############################### GENERAL ###############################
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/* How to calibrate: connect GND and RX of a 3.3v uart-usb adapter to the right sensor board cable
* Be careful not to use the red wire of the cable . 15 v will destroye verything . ) .
* If you are using nunchuck , disable it temporarily . enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII use asearial terminal .
*/
/* Battery voltage calibration: connect power source. see <How to calibrate>.
* Write value nr 5 to BAT_CALIB_ADC . make and flash firmware .
* Then you can verify voltage on value 6 ( to get calibrated voltage multiplied by 100 ) .
*/
# define BAT_FILT_COEF 655 // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
# define BAT_CALIB_REAL_VOLTAGE 4300 // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
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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_CELLS 10 // battery number of cells. Normal Hoverboard battery: 10s
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# define BAT_LOW_LVL1_ENABLE 0 // to beep or not to beep, 1 or 0
# define BAT_LOW_LVL2_ENABLE 1 // to beep or not to beep, 1 or 0
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# define BAT_LOW_LVL1 (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // gently beeps at this voltage level. [V*100/cell]. In this case 3.60 V/cell
# define BAT_LOW_LVL2 (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
# define BAT_LOW_DEAD (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell
/* Board overheat detection: the sensor is inside the STM/GD chip.
* It is very inaccurate without calibration ( up to 45 ° C ) . So only enable this funcion after calibration !
* Let your board cool down . see < How to calibrate > .
* Get the real temp of the chip by thermo cam or another temp - sensor taped on top of the chip and write it to TEMP_CAL_LOW_DEG_C .
* Write debug value 8 to TEMP_CAL_LOW_ADC . drive around to warm up the board . it should be at least 20 ° C warmer . repeat it for the HIGH - values .
* Enable warning and / or poweroff and make and flash firmware .
*/
# define TEMP_FILT_COEF 655 // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
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# define TEMP_CAL_LOW_ADC 1655 // temperature 1: ADC value
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# define TEMP_CAL_LOW_DEG_C 358 // temperature 1: measured temperature [°C * 10]. Here 35.8 °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 489 // temperature 2: measured temperature [°C * 10]. Here 48.9 °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 600 // annoying fast beeps [°C * 10]. Here 60.0 °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 650 // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °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 ###############################
//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
// ############################### SERIAL DEBUG ###############################
# define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
# define DEBUG_BAUD 115200 // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM
# define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
// ############################### INPUT ###############################
// ###### CONTROL VIA UART (serial) ######
//#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); }
// ###### CONTROL VIA RC REMOTE ######
// left sensor board cable. Channel 1: steering, Channel 2: speed.
//#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
// ###### 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 3.3 V ) ( do NOT use the red 15 V wire in the cable ! ) . see < How to calibrate > .
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* Turn the potis to minimum position , write value 1 to ADC1_MIN and value 2 to ADC2_MIN
* Turn the potis to maximum position , write value 1 to ADC1_MAX and value 2 to ADC2_MAX
* For middle resting potis : Let the potis in the middle resting position , write value 1 to ADC1_MID and value 2 to ADC2_MID
* Make , flash and test it .
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*/
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# define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2!
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# define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
# define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
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# define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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# define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
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# define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
# define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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# define ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
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# define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
// ###### 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 .
*/
// #define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
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// ############################### MOTOR CONTROL (overwrite) #########################
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# define CTRL_TYP_SEL 1 // [-] Control type selection: 0 = Commutation , 1 = FOC Field Oriented Control (default)
# define CTRL_MOD_REQ 1 // [-] Control mode request: 0 = Open mode, 1 = Voltage mode (default), 2 = Speed mode, 3 = Torque mode
# define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
# define FIELD_WEAK_ENA 0 // [-] Field Weakening enable flag: 0 = Disabled (default), 1 = Enabled
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# define I_MOT_MAX (15 * A2BIT_CONV) << 4 // [A] Maximum motor current limit (Change only the first number, the rest is needed for fixed-point conversion, fixdt(1,16,4))
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# define I_DC_MAX (17 * A2BIT_CONV) // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A )
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# define N_MOT_MAX 800 << 4 // [rpm] Maximum motor speed (change only the first number, the rest is needed for fixed-point conversion, fixdt(1,16,4))
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/* GENERAL NOTES:
* 1. The above parameters are over - writing the default motor parameters . For all the available parameters check BLDC_controller_data . c
* 2. The parameters are represented in fixed point data type for a more efficient code execution
* 3. For calibrating the fixed - point parameters use the Fixed - Point Viewer tool ( see < https : //github.com/EmanuelFeru/FixedPointViewer>)
* 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
* 5. A webview was created , so Matlab / Simulink installation is not needed , unless you want to regenerate the code
*
* NOTES Field weakening :
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* 1. In BLDC_controller_data . c you can find the field weakening Map as a function of input target : MAP = id_fieldWeak_M1 , XAXIS = r_fieldWeak_XA
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* 2. The default calibration was experimentally calibrated to my particular needs
* 3. If you re - calibrate the field weakening map please take all the safety measures ! The motors can spin very fast !
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* 4. During the recalibration make sure the values in XAXIS are equally spaced for a correct Map interpolation .
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*/
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// ############################### DRIVING BEHAVIOR ###############################
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/* Inputs:
* - cmd1 and cmd2 : analog normalized input values . - 1000 to 1000
* - button1 and button2 : digital input values . 0 or 1
* - adc_buffer . l_tx2 and adc_buffer . l_rx2 : unfiltered ADC values ( you do not need them ) . 0 to 4095
* Outputs :
* - speedR and speedL : normal driving - 1000 to 1000
*/
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// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
# define RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0 - 2047.9375]. Do NOT make rate negative (>32767)
// Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
# define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
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// Value of COEFFICIENT is in fixdt(1,16,14)
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// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
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# define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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# define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
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# define INVERT_R_DIRECTION
# define INVERT_L_DIRECTION
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# define BEEPS_BACKWARD 0 // 0 or 1
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// ###### SIMPLE BOBBYCAR ######
// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
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// #define FILTER 6553 // 0.1f
// #define SPEED_COEFFICIENT 49152 // -1.0f
// #define STEER_COEFFICIENT 0 // 0.0f
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// ###### ARMCHAIR ######
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// #define FILTER 3276 // 0.05f
// #define SPEED_COEFFICIENT 8192 // 0.5f
// #define STEER_COEFFICIENT 62259 // -0.2f
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// ############################### VALIDATE SETTINGS ###############################
# if defined CONTROL_SERIAL_USART2 && defined CONTROL_ADC
# error CONTROL_ADC and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
# endif
# if defined CONTROL_SERIAL_USART2 && defined CONTROL_PPM
# error CONTROL_PPM and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
# endif
# if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
# error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
# endif
# if defined DEBUG_SERIAL_USART3 && defined DEBUG_I2C_LCD
# error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
# endif
# if defined CONTROL_PPM && defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_ADC || defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_NUNCHUCK
# error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
# endif
