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hoverboard-firmware-hack-foc-serial-esc
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Minor updates RC 

- moved all the RC inputs (PPM, PWM, iBUS) to Right cable
- updated timing to enter torque and speed update from 300ms to 1000ms
This commit is contained in:
EmanuelFeru 2020-11-19 21:51:15 +01:00
parent 44cf0c8f1f
commit 925008467b
2 changed files with 24 additions and 18 deletions
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34
Inc/config.h
View File

@ -334,11 +334,11 @@
// ################################# VARIANT_PPM SETTINGS ##############################
#ifdef VARIANT_PPM
/* ###### CONTROL VIA RC REMOTE ######
* left sensor board cable. Channel 1: steering, Channel 2: speed.
* Right sensor board cable. Channel 1: steering, Channel 2: speed.
* https://gist.github.com/peterpoetzi/1b63a4a844162196613871767189bd05
*/
#define CONTROL_PPM_LEFT // use PPM-Sum as input on the LEFT cable . disable CONTROL_SERIAL_USART2!
// #define CONTROL_PPM_RIGHT // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
// #define CONTROL_PPM_LEFT // use PPM-Sum as input on the LEFT cable . disable CONTROL_SERIAL_USART2!
#define CONTROL_PPM_RIGHT // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
#ifdef CONTROL_PPM_RIGHT
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
@ -348,7 +348,7 @@
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 3
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
@ -367,11 +367,11 @@
// ################################# VARIANT_PWM SETTINGS ##############################
#ifdef VARIANT_PWM
/* ###### CONTROL VIA RC REMOTE ######
* left sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
* Right sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
* Channel 1: steering, Channel 2: speed.
*/
#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
// #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#ifdef CONTROL_PWM_RIGHT
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
@ -405,18 +405,22 @@
// ################################# VARIANT_IBUS SETTINGS ##############################
#ifdef VARIANT_IBUS
/* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL
* Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed.
* Connected to Right sensor board cable. Channel 1: steering, Channel 2: speed.
*/
#define CONTROL_IBUS // use IBUS as input
#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
#define IBUS_LENGTH 0x20
#define IBUS_COMMAND 0x40
#undef USART2_BAUD
#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
#undef USART3_BAUD
#define USART3_BAUD 115200
#define CONTROL_SERIAL_USART3 // left sensor board cable, disable if ADC or PPM is used!
#define FEEDBACK_SERIAL_USART3 // left sensor board cable, disable if ADC or PPM is used!
#ifdef CONTROL_SERIAL_USART3
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
@ -567,7 +571,9 @@
#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#endif
#if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
#ifndef USART3_BAUD
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
#endif
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#endif
// ########################### UART SETIINGS ############################

8
Src/util.c
View File

@ -456,7 +456,7 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
#endif
HAL_Delay(10);
if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold)) {
if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) {
type = 0;
consoleLog("Input is ignored"); // (MIN and MAX) OR (MID and MAX) are close, disable input
} else {
@ -769,12 +769,12 @@ void poweroffPressCheck(void) {
uint16_t cnt_press = 0;
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
HAL_Delay(10);
if (cnt_press++ == 5 * 100) { shortBeep(5); }
if (cnt_press++ == 5 * 100) { shortBeep(5); }
}
if (cnt_press >= 5 * 100) { // Check if press is more than 5 sec
HAL_Delay(300);
HAL_Delay(1000);
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { // Double press: Adjust Max Current, Max Speed
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
longBeep(8);
updateCurSpdLim();
shortBeep(5);