update Auto-calibration
- implemented forced potentiometer type - extended the INPUTx_TYPE to 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
This commit is contained in:
EmanuelFeru
parent
8dc6eb68eb
commit
44cf0c8f1f
43
Inc/config.h
43
Inc/config.h
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@ -253,15 +253,15 @@
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#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
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#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
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#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
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#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define INPUT1_MID 2048 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
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#define INPUT1_MID 0 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
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#define INPUT1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define INPUT2_MID 2048 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
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#define INPUT2_MID 0 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
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#define INPUT2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
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#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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@ -281,13 +281,13 @@
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#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
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#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1000 // (-1000 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MAX 1000 // (0 - 1000)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -1000 // (-1000 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 1000 // (0 - 1000)
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@ -309,13 +309,13 @@
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*/
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#define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1024 // (-1024 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MAX 1024 // (0 - 1024)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -1024 // (-1024 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 1024 // (0 - 1024)
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@ -346,13 +346,13 @@
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#endif
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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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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1000 // (-1000 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MID 3
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#define INPUT1_MAX 1000 // (0 - 1000)
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#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -1000 // (-1000 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 1000 // (0 - 1000)
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@ -378,13 +378,13 @@
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1000 // (-1000 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MAX 1000 // (0 - 1000)
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#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -1000 // (-1000 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 1000 // (0 - 1000)
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@ -419,13 +419,13 @@
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// #define DEBUG_SERIAL_USART3 // right sensor cable debug
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1000 // (-1000 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MAX 1000 // (0 - 1000)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -1000 // (-1000 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 1000 // (0 - 1000)
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@ -443,13 +443,13 @@
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#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
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#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
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#define INPUT1_TYPE 1 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN 1000 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define INPUT1_MID 0
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#define INPUT1_MAX 2500 // max ADC1-value while poti at maximum-position (0 - 4095)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 1 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN 500 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define INPUT2_MID 0
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#define INPUT2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095)
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@ -527,13 +527,13 @@
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 0 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_TYPE 0 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1000 // (-1000 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MAX 1000 // (0 - 1000)
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#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT2_TYPE 2 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -800 // (-1000 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 700 // (0 - 1000)
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@ -587,6 +587,11 @@
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#ifndef STEER_COEFFICIENT
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#define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT
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#endif
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#ifdef CONTROL_ADC
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#define INPUT_MARGIN 100 // Input margin applied on the raw ADC min and max to make sure the motor MIN and MAX values are reached even in the presence of noise
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#else
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#define INPUT_MARGIN 0
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#endif
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// ########################### END OF APPLY DEFAULT SETTING ############################
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78
Src/util.c
78
Src/util.c
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@ -292,6 +292,9 @@ void Input_Init(void) {
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rtP_Left.n_max = n_max;
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rtP_Right.i_max = i_max;
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rtP_Right.n_max = n_max;
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} else { // Else If Input type is 3 (auto), identify the input type based on the values from config.h
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if (INPUT1_TYPE == 3) { INPUT1_TYP_CAL = checkInputType(INPUT1_MIN, INPUT1_MID, INPUT1_MAX); }
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if (INPUT2_TYPE == 3) { INPUT2_TYP_CAL = checkInputType(INPUT2_MIN, INPUT2_MID, INPUT2_MAX); }
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}
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HAL_FLASH_Lock();
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#endif
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@ -453,22 +456,22 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
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#endif
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HAL_Delay(10);
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if ((min / threshold) == (max / threshold)) {
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consoleLog("Input is ignored"); // MIN and MAX are close, disable input
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if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold)) {
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type = 0;
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consoleLog("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
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} else {
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if ((min / threshold) == (mid / threshold)){
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consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot
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type = 1;
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} else {
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consoleLog("Input is a normal pot"); // MIN and MID are close, it's a normal pot
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} else {
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type = 2;
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consoleLog("Input is a mid-resting pot"); // it's a mid resting pot
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type = 2;
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}
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HAL_Delay(10);
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#ifdef CONTROL_ADC
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if ((min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095) {
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if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
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consoleLog(" and protected");
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shortBeep(2); // Indicate protection by a beep
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longBeep(2); // Indicate protection by a beep
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}
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#endif
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}
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@ -494,11 +497,11 @@ void adcCalibLim(void) {
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return;
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}
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#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
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#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
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consoleLog("Input calibration started...\n");
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readInput();
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// Inititalization: MIN = a high value, MAX = a low value
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// Inititalization: MIN = a high value, MAX = a low value
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int32_t input1_fixdt = input1 << 16;
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int32_t input2_fixdt = input2 << 16;
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int16_t INPUT1_MIN_temp = MAX_int16_T;
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@ -524,37 +527,39 @@ void adcCalibLim(void) {
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HAL_Delay(5);
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}
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#ifdef CONTROL_ADC
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int16_t input_margin = 100;
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#else
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int16_t input_margin = 0;
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#endif
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INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
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INPUT1_MID_CAL = INPUT1_MID_temp;
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INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
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INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL);
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INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
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if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
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INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
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INPUT1_MID_CAL = INPUT1_MID_temp;
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INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
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consoleLog("Input1 OK\n"); HAL_Delay(10);
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} else {
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INPUT1_TYP_CAL = 0; // Disable input
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consoleLog("Input1 Fail\n"); HAL_Delay(10);
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}
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INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
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INPUT2_MID_CAL = INPUT2_MID_temp;
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INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
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INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
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inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
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consoleLog("Saved limits\n");
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HAL_Delay(10);
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INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
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if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) { // Accept calibration only if the type is correct OR type was set to 3 (auto)
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INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
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INPUT2_MID_CAL = INPUT2_MID_temp;
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INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
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consoleLog("Input2 OK\n"); HAL_Delay(10);
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} else {
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INPUT2_TYP_CAL = 0; // Disable input
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consoleLog("Input2 Fail\n"); HAL_Delay(10);
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}
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inp_cal_valid = 1; // Mark calibration to be saved in Flash at shutdown
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consoleLog("Limits: "); HAL_Delay(10);
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setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
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setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
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setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
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setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
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setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
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setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
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setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
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setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
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setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
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setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
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consoleScope();
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HAL_Delay(20);
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consoleLog("OK\n");
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#endif
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}
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/*
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@ -584,7 +589,7 @@ void updateCurSpdLim(void) {
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readInput();
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filtLowPass32(input1, FILTER, &input1_fixdt);
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filtLowPass32(input2, FILTER, &input2_fixdt);
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HAL_Delay(5);
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HAL_Delay(5);
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}
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// Calculate scaling factors
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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
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@ -602,8 +607,7 @@ void updateCurSpdLim(void) {
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cur_spd_valid += 2; // Mark update to be saved in Flash at shutdown
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}
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consoleLog("Saved limits\n");
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HAL_Delay(10);
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consoleLog("Limits: "); HAL_Delay(10);
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setScopeChannel(0, (int16_t)cur_spd_valid); // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
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setScopeChannel(1, (int16_t)input1_fixdt);
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setScopeChannel(2, (int16_t)cur_factor);
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@ -611,10 +615,8 @@ void updateCurSpdLim(void) {
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setScopeChannel(4, (int16_t)0);
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setScopeChannel(5, (int16_t)input2_fixdt);
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setScopeChannel(6, (int16_t)spd_factor);
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setScopeChannel(7, (int16_t)rtP_Left.n_max);
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setScopeChannel(7, (int16_t)rtP_Left.n_max);
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consoleScope();
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HAL_Delay(20);
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consoleLog("OK\n");
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#endif
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}
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