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hoverboard-firmware-hack-foc-serial-esc
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InputStruct update 

- input1, input2 converted to structure
- some functions are re-positioned in util.c
This commit is contained in:
EmanuelFeru 2020-12-13 21:52:29 +01:00
parent 9504845ec1
commit 5ca3fa4f85
4 changed files with 516 additions and 500 deletions
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6
Inc/config.h
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@ -120,7 +120,7 @@
* 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
Inputs:
- cmd1 and cmd2: analog normalized input values. INPUT_MIN to INPUT_MAX
- input1.cmd and input2.cmd: analog normalized input values. INPUT_MIN to INPUT_MAX
- 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:
@ -212,8 +212,8 @@
*
* in1: (int16_t)input1); raw input1: ADC1, UART, PWM, PPM, iBUS
* in2: (int16_t)input2); raw input2: ADC2, UART, PWM, PPM, iBUS
* cmdL: (int16_t)speedL); output command: [-1000, 1000]
* cmdR: (int16_t)speedR); output command: [-1000, 1000]
* cmdL: (int16_t)cmdL); output command: [-1000, 1000]
* cmdR: (int16_t)cmdR); output command: [-1000, 1000]
* BatADC: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
* BatV: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
* TempADC: (int16_t)board_temp_adcFilt); for board temperature calibration

26
Inc/util.h
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@ -55,6 +55,16 @@
} SerialSideboard;
#endif
typedef struct {
int16_t raw; // raw input
int16_t cmd; // command (scaled)
uint8_t typ;
int16_t min;
int16_t mid;
int16_t max;
int16_t deadband;
} InputStruct;
// Initialization Functions
void BLDC_Init(void);
void Input_Lim_Init(void);
@ -68,21 +78,16 @@ void beepLong(uint8_t freq);
void beepShort(uint8_t freq);
void beepShortMany(uint8_t cnt, int8_t dir);
void calcAvgSpeed(void);
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);
int checkInputType(int16_t min, int16_t mid, int16_t max);
void adcCalibLim(void);
void updateCurSpdLim(void);
void saveConfig(void);
void standstillHold(void);
void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
void cruiseControl(uint8_t button);
// Poweroff Functions
void poweroff(void);
void poweroffPressCheck(void);
int checkInputType(int16_t min, int16_t mid, int16_t max);
// Read Functions
void readInput(void);
void readInputRaw(void);
void readInputCmd(InputStruct *in, int16_t out_min, int16_t out_max);
void readCommand(void);
void usart2_rx_check(void);
void usart3_rx_check(void);
@ -100,6 +105,11 @@ void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sid
void sideboardLeds(uint8_t *leds);
void sideboardSensors(uint8_t sensors);
// Poweroff Functions
void saveConfig(void);
void poweroff(void);
void poweroffPressCheck(void);
// Filtering Functions
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y);

86
Src/main.c
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@ -62,10 +62,8 @@ extern ExtY rtY_Left; /* External outputs */
extern ExtY rtY_Right; /* External outputs */
//---------------
extern int16_t cmd1; // normalized input value. -1000 to 1000
extern int16_t cmd2; // normalized input value. -1000 to 1000
extern int16_t input1; // Non normalized input value
extern int16_t input2; // Non normalized input value
extern InputStruct input1; // input structure
extern InputStruct input2; // input structure
extern int16_t speedAvg; // Average measured speed
extern int16_t speedAvgAbs; // Average measured speed in absolute
@ -190,8 +188,8 @@ int main(void) {
poweronMelody();
HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
int16_t cmdL = 0, cmdR = 0;
int16_t lastCmdL = 0, lastCmdR = 0;
int16_t cmdL = 0, cmdR = 0;
int16_t cmdL_prev = 0, cmdR_prev = 0;
int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point
int16_t board_temp_adcFilt = adc_buffer.temp;
@ -199,14 +197,14 @@ int main(void) {
while(1) {
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
HAL_Delay(DELAY_IN_MAIN_LOOP); // delay in ms
readCommand(); // Read Command: cmd1, cmd2
readCommand(); // Read Command: input1.cmd, input2.cmd
calcAvgSpeed(); // Calculate average measured speed: speedAvg, speedAvgAbs
#ifndef VARIANT_TRANSPOTTER
// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
if (enable == 0 && (!rtY_Left.z_errCode && !rtY_Right.z_errCode) && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
if (enable == 0 && (!rtY_Left.z_errCode && !rtY_Right.z_errCode) && (input1.cmd > -50 && input1.cmd < 50) && (input2.cmd > -50 && input2.cmd < 50)){
beepShort(6); // make 2 beeps indicating the motor enable
beepShort(4); HAL_Delay(100);
steerFixdt = speedFixdt = 0; // reset filters
@ -216,7 +214,7 @@ int main(void) {
#endif
}
// ####### VARIANT_HOVERCAR #######
// ####### VARIANT_HOVERCAR #######
#if defined(VARIANT_HOVERCAR) || defined(VARIANT_SKATEBOARD) || defined(ELECTRIC_BRAKE_ENABLE)
uint16_t speedBlend; // Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,10,60) - 10) << 15) / 50); // speedBlend [0,1] is within [10 rpm, 60rpm]
@ -226,42 +224,42 @@ int main(void) {
standstillHold(); // Apply Standstill Hold functionality. Only available and makes sense for VOLTAGE or TORQUE Mode
#endif
#ifdef VARIANT_HOVERCAR
#ifdef VARIANT_HOVERCAR
if (speedAvgAbs < 60) { // Check if Hovercar is physically close to standstill to enable Double tap detection on Brake pedal for Reverse functionality
multipleTapDet(cmd1, HAL_GetTick(), &MultipleTapBrake); // Brake pedal in this case is "cmd1" variable
multipleTapDet(input1.cmd, HAL_GetTick(), &MultipleTapBrake); // Brake pedal in this case is "input1" variable
}
if (cmd1 > 30) { // If Brake pedal (cmd1) is pressed, bring to 0 also the Throttle pedal (cmd2) to avoid "Double pedal" driving
cmd2 = (int16_t)((cmd2 * speedBlend) >> 15);
if (input1.cmd > 30) { // If Brake pedal (input1) is pressed, bring to 0 also the Throttle pedal (input2) to avoid "Double pedal" driving
input2.cmd = (int16_t)((input2.cmd * speedBlend) >> 15);
cruiseControl((uint8_t)rtP_Left.b_cruiseCtrlEna); // Cruise control deactivated by Brake pedal if it was active
}
#endif
#ifdef ELECTRIC_BRAKE_ENABLE
#ifdef ELECTRIC_BRAKE_ENABLE
electricBrake(speedBlend, MultipleTapBrake.b_multipleTap); // Apply Electric Brake. Only available and makes sense for TORQUE Mode
#endif
#ifdef VARIANT_HOVERCAR
#ifdef VARIANT_HOVERCAR
if (speedAvg > 0) { // Make sure the Brake pedal is opposite to the direction of motion AND it goes to 0 as we reach standstill (to avoid Reverse driving by Brake pedal)
cmd1 = (int16_t)((-cmd1 * speedBlend) >> 15);
input1.cmd = (int16_t)((-input1.cmd * speedBlend) >> 15);
} else {
cmd1 = (int16_t)(( cmd1 * speedBlend) >> 15);
input1.cmd = (int16_t)(( input1.cmd * speedBlend) >> 15);
}
#endif
#ifdef VARIANT_SKATEBOARD
if (cmd2 < 0) { // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
if (speedAvg > 0) { // Make sure the braking is opposite to the direction of motion
cmd2 = (int16_t)(( cmd2 * speedBlend) >> 15);
if (input2.cmd < 0) { // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
if (speedAvg > 0) { // Make sure the braking is opposite to the direction of motion
input2.cmd = (int16_t)(( input2.cmd * speedBlend) >> 15);
} else {
cmd2 = (int16_t)((-cmd2 * speedBlend) >> 15);
input2.cmd = (int16_t)((-input2.cmd * speedBlend) >> 15);
}
}
#endif
// ####### LOW-PASS FILTER #######
rateLimiter16(cmd1, RATE, &steerRateFixdt);
rateLimiter16(cmd2, RATE, &speedRateFixdt);
rateLimiter16(input1.cmd , RATE, &steerRateFixdt);
rateLimiter16(input2.cmd , RATE, &speedRateFixdt);
filtLowPass32(steerRateFixdt >> 4, FILTER, &steerFixdt);
filtLowPass32(speedRateFixdt >> 4, FILTER, &speedFixdt);
steer = (int16_t)(steerFixdt >> 16); // convert fixed-point to integer
@ -277,12 +275,12 @@ int main(void) {
#endif
// ####### MIXER #######
// cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
// cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MA);
// cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
// cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL); // This function implements the equations above
// ####### SET OUTPUTS (if the target change is less than +/- 100) #######
if ((cmdL > lastCmdL-100 && cmdL < lastCmdL+100) && (cmdR > lastCmdR-100 && cmdR < lastCmdR+100)) {
if ((cmdL > cmdL_prev-100 && cmdL < cmdL_prev+100) && (cmdR > cmdR_prev-100 && cmdR < cmdR_prev+100)) {
#ifdef INVERT_R_DIRECTION
pwmr = cmdR;
#else
@ -297,14 +295,14 @@ int main(void) {
#endif
#ifdef VARIANT_TRANSPOTTER
distance = CLAMP(cmd1 - 180, 0, 4095);
steering = (cmd2 - 2048) / 2048.0;
distance = CLAMP(input1.cmd - 180, 0, 4095);
steering = (input2.cmd - 2048) / 2048.0;
distanceErr = distance - (int)(setDistance * 1345);
if (nunchuk_connected == 0) {
cmdL = cmdL * 0.8f + (CLAMP(distanceErr + (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
cmdR = cmdR * 0.8f + (CLAMP(distanceErr - (steering*((float)MAX(ABS(distanceErr), 50)) * ROT_P), -850, 850) * -0.2f);
if ((cmdL < lastCmdL + 50 && cmdL > lastCmdL - 50) && (cmdR < lastCmdR + 50 && cmdR > lastCmdR - 50)) {
if ((cmdL < cmdL_prev + 50 && cmdL > cmdL_prev - 50) && (cmdR < cmdR_prev + 50 && cmdR > cmdR_prev - 50)) {
if (distanceErr > 0) {
enable = 1;
}
@ -412,8 +410,8 @@ int main(void) {
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
input1, // 1: INPUT1
input2, // 2: INPUT2
input1.raw, // 1: INPUT1
input2.raw, // 2: INPUT2
cmdL, // 3: output command: [-1000, 1000]
cmdR, // 4: output command: [-1000, 1000]
adc_buffer.batt1, // 5: for battery voltage calibration
@ -427,8 +425,8 @@ int main(void) {
#if defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
if (main_loop_counter % 2 == 0) { // Send data periodically every 10 ms
Feedback.start = (uint16_t)SERIAL_START_FRAME;
Feedback.cmd1 = (int16_t)cmd1;
Feedback.cmd2 = (int16_t)cmd2;
Feedback.cmd1 = (int16_t)input1.cmd;
Feedback.cmd2 = (int16_t)input2.cmd;
Feedback.speedR_meas = (int16_t)rtY_Right.n_mot;
Feedback.speedL_meas = (int16_t)rtY_Left.n_mot;
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
@ -436,22 +434,22 @@ int main(void) {
#if defined(FEEDBACK_SERIAL_USART2)
if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
Feedback.cmdLed = (uint16_t)sideboard_leds_L;
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.cmdLed);
Feedback.cmdLed = (uint16_t)sideboard_leds_L;
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.cmdLed);
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Feedback, sizeof(Feedback));
}
#endif
#if defined(FEEDBACK_SERIAL_USART3)
if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
Feedback.cmdLed = (uint16_t)sideboard_leds_R;
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.cmdLed);
Feedback.cmdLed = (uint16_t)sideboard_leds_R;
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.cmdLed);
HAL_UART_Transmit_DMA(&huart3, (uint8_t *)&Feedback, sizeof(Feedback));
}
#endif
#endif
}
#endif
@ -497,8 +495,8 @@ int main(void) {
// HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
// Update main loop states
lastCmdL = cmdL;
lastCmdR = cmdR;
cmdL_prev = cmdL;
cmdR_prev = cmdR;
main_loop_counter++;
timeoutCnt++;
}

898
Src/util.c
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