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Update config.h

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Candas1 2020-10-29 00:10:52 +01:00 committed by GitHub
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1 changed files with 84 additions and 34 deletions
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Inc/config.h
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@ -254,15 +254,16 @@
// #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected // #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken #define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 300 // ADC Protection threshold below/above the MIN/MAX ADC values #define ADC_PROTECT_THRESH 300 // ADC Protection threshold below/above the MIN/MAX ADC values
#define ADC_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti #define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095) // #define INPUT1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
#define ADC1_MID 2048 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX) #define INPUT1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095) #define INPUT1_MID 2048 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
// #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti #define INPUT1_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) // #define INPUT2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
#define ADC2_MID 2048 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX) #define INPUT2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095) #define INPUT2_MID 2048 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
#define INPUT2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2! // #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! // #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#endif #endif
@ -273,12 +274,23 @@
// ############################ VARIANT_USART SETTINGS ############################ // ############################ VARIANT_USART SETTINGS ############################
#ifdef VARIANT_USART #ifdef VARIANT_USART
// #define SIDEBOARD_SERIAL_USART2 // #define SIDEBOARD_SERIAL_USART2
// #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino // #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
// #define FEEDBACK_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 SIDEBOARD_SERIAL_USART3 // #define SIDEBOARD_SERIAL_USART3
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_MID_POT
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2! // #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! // #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#endif #endif
@ -295,6 +307,17 @@
* Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout * Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
*/ */
#define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3! #define CONTROL_NUNCHUK // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_MID_POT
#define INPUT1_MIN -1024 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1024 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_MIN -1024 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1024 // (0 - 1000)
// # maybe good for ARMCHAIR # // # maybe good for ARMCHAIR #
#define FILTER 3276 // 0.05f #define FILTER 3276 // 0.05f
#define SPEED_COEFFICIENT 8192 // 0.5f #define SPEED_COEFFICIENT 8192 // 0.5f
@ -318,13 +341,18 @@
#else #else
#define DEBUG_SERIAL_USART3 // right sensor cable debug #define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif #endif
#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used. #define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
#define PPM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define PPM_CH1_MAX 1000 // (0 - 1000) #define INPUT1_MID_POT
#define PPM_CH1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define PPM_CH2_MAX 1000 // (0 - 1000) #define INPUT1_MID 0
#define PPM_CH2_MIN -1000 // (-1000 - 0) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
// #define SUPPORT_BUTTONS // Define for PPM buttons support // #define SUPPORT_BUTTONS // Define for PPM buttons support
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2! // #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! // #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
@ -340,12 +368,17 @@
*/ */
#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2! #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_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define PWM_CH1_MAX 1000 // (0 - 1000) #define INPUT1_MID_POT
#define PWM_CH1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define PWM_CH2_MAX 1000 // (0 - 1000) #define INPUT1_MID 0
#define PWM_CH2_MIN -1000 // (-1000 - 0) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0]. #define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 #define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0. #define STEER_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
@ -373,6 +406,18 @@
#define IBUS_LENGTH 0x20 #define IBUS_LENGTH 0x20
#define IBUS_COMMAND 0x40 #define IBUS_COMMAND 0x40
#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_MID_POT
#define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT2_MID_POT
#define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000)
#undef USART2_BAUD #undef USART2_BAUD
#define USART2_BAUD 115200 #define USART2_BAUD 115200
#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
@ -390,10 +435,10 @@
#define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected #define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken #define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 300 // ADC Protection threshold below/above the MIN/MAX ADC values #define ADC_PROTECT_THRESH 300 // ADC Protection threshold below/above the MIN/MAX ADC values
#define ADC1_MIN 1000 // min ADC1-value while poti at minimum-position (0 - 4095) #define INPUT1_MIN 1000 // min ADC1-value while poti at minimum-position (0 - 4095)
#define ADC1_MAX 2500 // max ADC1-value while poti at maximum-position (0 - 4095) #define INPUT1_MAX 2500 // max ADC1-value while poti at maximum-position (0 - 4095)
#define ADC2_MIN 500 // min ADC2-value while poti at minimum-position (0 - 4095) #define INPUT2_MIN 500 // min ADC2-value while poti at minimum-position (0 - 4095)
#define ADC2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095) #define INPUT2_MAX 2200 // max ADC2-value while poti at maximum-position (0 - 4095)
#define SPEED_COEFFICIENT 16384 // 1.0f #define SPEED_COEFFICIENT 16384 // 1.0f
#define STEER_COEFFICIENT 0 // 0.0f #define STEER_COEFFICIENT 0 // 0.0f
// #define INVERT_R_DIRECTION // Invert rotation of right motor // #define INVERT_R_DIRECTION // Invert rotation of right motor
@ -460,13 +505,18 @@
#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode #define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
// #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2! // #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_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define PWM_CH1_MAX 1000 // (0 - 1000) #define INPUT1_MID_POT
#define PWM_CH1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define PWM_CH2_MAX 700 // (0 - 1000) #define INPUT1_MID 0
#define PWM_CH2_MIN -800 // (-1000 - 0) #define INPUT1_MAX 1000 // (0 - 1000)
#define PWM_CH2_OUT_MIN -400 // (-1000 - 0) Change this value to adjust the braking amount #define INPUT2_MID_POT
#define INPUT2_MIN -800 // (-1000 - 0)
#define INPUT2_MID 0
#define INPUT2_MAX 700 // (0 - 1000)
#define INPUT2_OUT_MIN -400 // (-1000 - 0) Change this value to adjust the braking amount
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0]. #define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 #define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0. #define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.