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Fix auto calibration

This commit is contained in:
Candas1 2020-11-15 18:09:30 +01:00
parent f962d16cd6
commit 1ab75e5ff9
7 changed files with 89 additions and 130 deletions
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1
Inc/comms.h
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@ -28,7 +28,6 @@
void setScopeChannel(uint8_t ch, int16_t val);
void consoleScope(void);
void consoleLog(char *message);
void print( const char * format, ... );
#endif

1
Inc/config.h
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@ -434,6 +434,7 @@
#define USART2_BAUD 115200
#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
// #define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
// ############################# END OF VARIANT_IBUS SETTINGS ############################

3
Inc/util.h
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@ -67,9 +67,10 @@ void shortBeepMany(uint8_t cnt, int8_t dir);
void longBeep(uint8_t freq);
void calcAvgSpeed(void);
void adcCalibLim(void);
int checkInputType(int16_t min, int16_t mid, int16_t max);
void updateCurSpdLim(void);
void saveConfig(void);
int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
int addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
void standstillHold(int16_t *speedCmd);
void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
void cruiseControl(uint8_t button);

25
Src/comms.c
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@ -80,28 +80,3 @@ void consoleLog(char *message)
#endif
#endif
}
void print( const char * format, ... )
{
va_list args;
va_start (args, format);
static volatile uint8_t buffer[100];
int strLength;
strLength = vsprintf((char *)(uintptr_t)buffer,format, args);
#ifdef DEBUG_SERIAL_USART2
while(__HAL_DMA_GET_COUNTER(huart2.hdmatx) > 0) {
HAL_Delay(1);
}
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)buffer, strLength);
#endif
#ifdef DEBUG_SERIAL_USART3
while(__HAL_DMA_GET_COUNTER(huart3.hdmatx) > 0) {
HAL_Delay(1);
}
HAL_UART_Transmit_DMA(&huart3, (uint8_t *)buffer, strLength);
#endif
va_end (args);
}

8
Src/main.c
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@ -409,10 +409,10 @@ int main(void) {
// ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
setScopeChannel(0, (int16_t)input1); // 1: ADC1
setScopeChannel(1, (int16_t)input2); // 2: ADC2
setScopeChannel(2, (int16_t)cmd1); //speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)cmd2); //speedL); // 4: output command: [-1000, 1000]
setScopeChannel(0, (int16_t)input1); // 1: INPUT1
setScopeChannel(1, (int16_t)input2); // 2: INPUT2
setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration

179
Src/util.c
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@ -455,86 +455,87 @@ void adcCalibLim(void) {
filtLowPass32(input1, FILTER, &input1_fixdt);
filtLowPass32(input2, FILTER, &input2_fixdt);
INPUT1_MID_temp = (int16_t)CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX); // convert fixed-point to integer
INPUT2_MID_temp = (int16_t)CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
INPUT1_MID_temp = (int16_t)(input1_fixdt >> 16);// CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX); // convert fixed-point to integer
INPUT2_MID_temp = (int16_t)(input2_fixdt >> 16);// CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
INPUT1_MIN_temp = MIN(INPUT1_MIN_temp, INPUT1_MID_temp);
INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);
INPUT2_MIN_temp = MIN(INPUT2_MIN_temp, INPUT2_MID_temp);
INPUT2_MAX_temp = MAX(INPUT2_MAX_temp, INPUT2_MID_temp);
HAL_Delay(5);
}
uint16_t input_margin = 0;
#ifdef CONTROL_ADC
input_margin = 100;
#endif
int16_t threshold = (INPUT1_MAX - INPUT1_MIN) / 10;
INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
INPUT1_MID_CAL = INPUT1_MID_temp;
INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MAX_temp/threshold) ){
// MIN MID and MAX are close, there is no input
INPUT1_TYPE_CAL = 0;
consoleLog("Input1 is ignored");
} else {
if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MID_temp/threshold) ){
// MIN and MID are close, it's a normal pot
INPUT1_TYPE_CAL = 1;
consoleLog("Input1 is a normal pot");
}else {
INPUT1_TYPE_CAL = 2;
consoleLog("Input1 is a mid-resting pot");
}
INPUT1_TYPE_CAL = checkInputType(INPUT1_MIN_CAL,INPUT1_MID_CAL,INPUT1_MAX_CAL);
HAL_Delay(10);
#ifdef CONTROL_ADC
if ( ((int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
consoleLog(" and protected");
}
#endif
input_cal_valid = 1;
INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
INPUT2_TYPE_CAL = checkInputType(INPUT2_MIN_CAL,INPUT2_MID_CAL,INPUT2_MAX_CAL);
consoleLog("Saved limits\n");
HAL_Delay(10);
setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
setScopeChannel(1, (uint16_t)INPUT1_MID_CAL);
setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
setScopeChannel(3, (int16_t)0);
setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
setScopeChannel(5, (uint16_t)INPUT2_MID_CAL);
setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
setScopeChannel(7, (int16_t)0);
consoleScope();
HAL_Delay(20);
consoleLog("OK\n");
#endif
}
int checkInputType(int16_t min, int16_t mid, int16_t max){
HAL_Delay(10);
int type = 0;
// Threshold to define if values are too close
int16_t threshold = 200;
#ifdef CONTROL_ADC
threshold = 400;
#endif
if ( (min/threshold) == (max/threshold) ){
// MIN MID and MAX are close, disable input
consoleLog("Input is ignored");
type = 0;
} else {
if ( (min/threshold) == (mid/threshold) ){
// MIN and MID are close, it's a normal pot
consoleLog("Input is a normal pot");
type = 1;
}else {
// it's a mid resting pot
consoleLog("Input is a mid-resting pot");
type = 2;
}
HAL_Delay(10);
#ifdef CONTROL_ADC
if ( (min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095){
consoleLog(" and protected");
}
#endif
}
HAL_Delay(10);
consoleLog("\n");
HAL_Delay(10);
threshold = (INPUT2_MAX - INPUT2_MIN) / 10;
INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
INPUT2_MID_CAL = INPUT2_MID_temp;
INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MAX_temp/threshold) ){
// MIN MID and MAX are close, there is no input
INPUT2_TYPE_CAL = 0;
consoleLog("Input2 is ignored");
} else {
if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MID_temp/threshold) ){
// MIN and MID are close, it's a normal pot
INPUT2_TYPE_CAL = 1;
consoleLog("Input2 is a normal pot");
}else {
INPUT2_TYPE_CAL = 2;
consoleLog("Input2 is a mid-resting pot");
}
HAL_Delay(10);
#ifdef CONTROL_ADC
if ( ((int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
consoleLog(" and protected");
}
#endif
input_cal_valid = 1;
}
print("\n");
print("Saved limits\n");
print("INPUT1_MIN:%i INPUT1_MID:%i INPUT1_MAX:%i\n", (int16_t)INPUT1_MIN_CAL,(int16_t)INPUT1_MID_CAL,(int16_t)INPUT1_MAX_CAL);
print("INPUT2_MIN:%i INPUT2_MID:%i INPUT2_MAX:%i\n", (int16_t)INPUT2_MIN_CAL,(int16_t)INPUT2_MID_CAL,(int16_t)INPUT2_MAX_CAL);
print("OK\n");
#endif
return type;
}
@ -571,13 +572,13 @@ void updateCurSpdLim(void) {
cur_factor = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535); // ADC1, MIN_cur(10%) = 1.5 A
spd_factor = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535); // ADC2, MIN_spd(5%) = 50 rpm
if (INPUT1_TYPE != 0){
if (INPUT1_TYPE_CAL != 0){
// Update current limit
rtP_Right.i_max = rtP_Left.i_max = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
cur_spd_valid = 1;
}
if (INPUT2_TYPE != 0){
if (INPUT2_TYPE_CAL != 0){
// Update speed limit
rtP_Right.n_max = rtP_Left.n_max = (int16_t)((N_MOT_MAX * spd_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
cur_spd_valid = 1;
@ -635,13 +636,22 @@ void saveConfig() {
* Add Dead-band to a signal
* This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
*/
int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
if( u > in_mid - deadBand && u < in_mid + deadBand ) {
return 0;
} else if(u > in_mid) {
return CLAMP( MAP(u, in_mid + deadBand, in_max, 0, out_max), 0 , out_max);
} else {
return CLAMP( MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
int addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
switch (type){
case 0: // Input is ignored
return 0;
case 1: // Input is a normal pot
return CLAMP(MAP( u , in_min, in_max, 0, out_max ), 0, out_max);
case 2: // Input is a mid resting pot
if( u > in_mid - deadBand && u < in_mid + deadBand ) {
return 0;
} else if(u > in_mid) {
return CLAMP( MAP(u, in_mid + deadBand, in_max, 0, out_max), 0 , out_max);
} else {
return CLAMP( MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
}
default:
return 0;
}
}
@ -896,38 +906,11 @@ void readCommand(void) {
#endif
#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
switch (INPUT1_TYPE_CAL){
case 0: // Input1 is ignored
cmd1 = 0;
break;
case 1: // Input1 is a normal pot
cmd1 = CLAMP(MAP( input1 , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
break;
case 2: // Input1 is a mid resting pot
cmd1 = addDeadBand(input1, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
break;
default:
cmd1 = 0;
break;
}
cmd1 = addDeadBand(input1, INPUT1_TYPE_CAL, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
#if !defined(VARIANT_SKATEBOARD)
switch (INPUT2_TYPE_CAL){
case 0: // Input2 is ignored
cmd2 = 0;
break;
case 1: // Input2 is a normal pot
cmd2 = CLAMP(MAP( input2 , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
break;
case 2: // Input2 is a mid resting pot
cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
break;
default:
cmd2 = 0;
break;
}
cmd2 = addDeadBand(input2, INPUT2_TYPE_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
#else
cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
cmd2 = addDeadBand(input2, INPUT2_TYPE_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
#endif
#endif

2
platformio.ini
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@ -11,7 +11,7 @@ src_dir = Src
;
;default_envs = VARIANT_ADC ; Variant for control via ADC input
;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input
default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
;default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal
;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS