// Define to prevent recursive inclusion #ifndef CONFIG_H #define CONFIG_H /* on ubuntu install the following sudo apt -y install stlink-tools sudo systemctl restart udev flashing: connect power to pcb. Hold down power button. Run: pio run -t upload */ //Select the calibration values for the different pcbs //#define BOBBYCAR_PCB_FRONT //Green PCB. black programming cable. outer power button #define BOBBYCAR_PCB_REAR //Blue PCB. with XT60-U, beige programming cable. inner power button //#define HOVERBRETT //Green PCB in Hoverbrett #if defined(HOVERBRETT) #define INVERT_R_DIRECTION // Invert right motor #define INVERT_L_DIRECTION // Invert left motor #define FILTER 13107 // 0.2f #endif #include "stm32f1xx_hal.h" // ############################### VARIANT SELECTION ############################### // PlatformIO: uncomment desired variant in platformio.ini // Keil uVision: select desired variant from the Target drop down menu (to the right of the Load button) // Ubuntu: define the desired build variant here if you want to use make in console // or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_NUNCHUK". Select only one at a time. #if !defined(PLATFORMIO) //#define VARIANT_ADC // Variant for control via ADC input //#define VARIANT_USART // Variant for Serial control via USART3 input //#define VARIANT_NUNCHUK // Variant for Nunchuk controlled vehicle build //#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal //#define VARIANT_PWM // Variant for RC-Remote with PWM Signal //#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS //#define VARIANT_HOVERCAR // Variant for HOVERCAR build //#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build //#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng //#define VARIANT_SKATEBOARD // Variant for SKATEBOARD build #endif // ########################### END OF VARIANT SELECTION ############################ // ############################### DO-NOT-TOUCH SETTINGS ############################### #define PWM_FREQ 16000 // PWM frequency in Hz / is also used for buzzer #define DEAD_TIME 48 // PWM deadtime #ifdef VARIANT_TRANSPOTTER #define DELAY_IN_MAIN_LOOP 2 #else #define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing. #endif #define TIMEOUT 20 // number of wrong / missing input commands before emergency off (not for serial) #define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc // #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it! // ADC conversion time definitions #define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5) #define ADC_CONV_TIME_7C5 (20) //Total ADC clock cycles / conversion = ( 7.5+12.5) #define ADC_CONV_TIME_13C5 (26) //Total ADC clock cycles / conversion = ( 13.5+12.5) #define ADC_CONV_TIME_28C5 (41) //Total ADC clock cycles / conversion = ( 28.5+12.5) #define ADC_CONV_TIME_41C5 (54) //Total ADC clock cycles / conversion = ( 41.5+12.5) #define ADC_CONV_TIME_55C5 (68) //Total ADC clock cycles / conversion = ( 55.5+12.5) #define ADC_CONV_TIME_71C5 (84) //Total ADC clock cycles / conversion = ( 71.5+12.5) #define ADC_CONV_TIME_239C5 (252) //Total ADC clock cycles / conversion = (239.5+12.5) // This settings influences the actual sample-time. Only use definitions above // This parameter needs to be the same as the ADC conversion for Current Phase of the FIRST Motor in setup.c #define ADC_CONV_CLOCK_CYCLES (ADC_CONV_TIME_7C5) // Set the configured ADC divider. This parameter needs to be the same ADC divider as PeriphClkInit.AdcClockSelection (see main.c) #define ADC_CLOCK_DIV (4) // ADC Total conversion time: this will be used to offset TIM8 in advance of TIM1 to align the Phase current ADC measurement // This parameter is used in setup.c #define ADC_TOTAL_CONV_TIME (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV // ########################### END OF DO-NOT-TOUCH SETTINGS ############################ // ############################### BATTERY ############################### /* Battery voltage calibration: connect power source. * see How to calibrate. * Write debug output value nr 5 to BAT_CALIB_ADC. make and flash firmware. * Then you can verify voltage on debug output value 6 (to get calibrated voltage multiplied by 100). */ #define BAT_FILT_COEF 655 // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16 #ifdef BOBBYCAR_PCB_REAR //REAR WHEELS PCB #define BAT_CALIB_REAL_VOLTAGE 4000 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4000 #define BAT_CALIB_ADC 1593 // adc-value measured by mainboard (value nr 5 on UART debug output) #endif #ifdef BOBBYCAR_PCB_FRONT #define BAT_CALIB_REAL_VOLTAGE 4000 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4000 #define BAT_CALIB_ADC 1580 // adc-value measured by mainboard (value nr 5 on UART debug output) #endif #ifdef HOVERBRETT #define BAT_CALIB_REAL_VOLTAGE 4300 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4300 #define BAT_CALIB_ADC 1704 // adc-value measured by mainboard (value nr 5 on UART debug output) #endif //#define BAT_CELLS 10 // battery number of cells. Normal Hoverboard battery: 10s #ifdef BOBBYCAR_PCB_REAR #define BAT_CELLS 12 #endif #ifdef BOBBYCAR_PCB_FRONT #define BAT_CELLS 12 #endif #ifdef HOVERBRETT #define BAT_CELLS 10 #endif #define BAT_LVL2_ENABLE 0 // to beep or not to beep, 1 or 0 #define BAT_LVL1_ENABLE 1 // to beep or not to beep, 1 or 0 #define BAT_BLINK_INTERVAL 80 // battery led blink interval (80 loops * 5ms ~= 400ms) #define BAT_LVL5 (390 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Green blink: no beep #define BAT_LVL4 (380 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow: no beep #define BAT_LVL3 (370 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow blink: no beep #define BAT_LVL2 (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Red: gently beep at this voltage level. [V*100/cell]. In this case 3.60 V/cell #define BAT_LVL1 (330 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Red blink: fast beep. Your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell #define BAT_DEAD (300 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // All leds off: undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell // ######################## END OF BATTERY ############################### // ############################### TEMPERATURE ############################### /* Board overheat detection: the sensor is inside the STM/GD chip. * It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration! * Let your board cool down. * see ) * 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model * 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code. * The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge * * NOTES Field Weakening / Phase Advance: * 1. The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively) * 2. The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI * 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast! Inputs: - input1[inIdx].cmd and input2[inIdx].cmd: 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: - cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX */ #define COM_CTRL 0 // [-] Commutation Control Type #define SIN_CTRL 1 // [-] Sinusoidal Control Type #define FOC_CTRL 2 // [-] Field Oriented Control (FOC) Type #define OPEN_MODE 0 // [-] OPEN mode #define VLT_MODE 1 // [-] VOLTAGE mode #define SPD_MODE 2 // [-] SPEED mode #define TRQ_MODE 3 // [-] TORQUE mode // Enable/Disable Motor #define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational #define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational // Control selections //#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default) //#define CTRL_MOD_REQ VLT_MODE // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC! #ifdef BOBBYCAR_PCB_FRONT #define CTRL_TYP_SEL SIN_CTRL //sinusoidal. ignores ctrl_mod #define CTRL_MOD_REQ VLT_MODE //voltage (torque mode (with foc)) had some quirks) #endif #ifdef BOBBYCAR_PCB_REAR #define CTRL_TYP_SEL SIN_CTRL //sinusoidal. ignores ctrl_mod #define CTRL_MOD_REQ VLT_MODE //voltage (torque mode (with foc) had some quirks) #endif #ifdef HOVERBRETT #define CTRL_TYP_SEL FOC_CTRL #define CTRL_MOD_REQ VLT_MODE //voltage #endif #define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default) // Limitation settings #define I_MOT_MAX 15 // [A] Maximum single motor current limit #define I_DC_MAX 17 // [A] Maximum stage2 DC Link current limit for Commutation and Sinusoidal types (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A) #define N_MOT_MAX 1200 // [rpm] Maximum motor speed limit. Note: applies brake if above this speed when releasing throttle // Field Weakening / Phase Advance #define FIELD_WEAK_ENA 1 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled #define FIELD_WEAK_MAX 5 // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed. Up to 10A has been tested using 10" wheels. #define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed. Default: 25. gives around 1500rpm at full throttle. (10=700-900rpm). (15=890rpm ~26kmh) #define FIELD_WEAK_HI 1000 // (1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500. #define FIELD_WEAK_LO 500 // ( 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000. // Extra functionality // #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode. // #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode. // #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released). // #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging. // ########################### END OF MOTOR CONTROL ######################## // ############################## DEFAULT SETTINGS ############################ // Default settings will be applied at the end of this config file if not set before #define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise. #define BEEPS_BACKWARD 0 // 0 or 1 #define ADC_MARGIN 100 // ADC input margin applied on the raw ADC min and max to make sure the MIN and MAX values are reached even in the presence of noise #define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken #define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values //#define AUTO_CALIBRATION_ENA // Enable/Disable input auto-calibration by holding power button pressed. Un-comment this if auto-calibration is not needed. /* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16 * Value of COEFFICIENT is in fixdt(1,16,14) * If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14 * If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14). */ // Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4 #define DEFAULT_RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767) #define DEFAULT_FILTER 6553 // Default for FILTER 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0]. #define DEFAULT_SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 #define DEFAULT_STEER_COEFFICIENT 8192 // Defualt for STEER_COEFFICIENT 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0. // ######################### END OF DEFAULT SETTINGS ########################## // ############################## INPUT FORMAT ############################ /* ***_INPUT: TYPE, MIN, MID, MAX, DEADBAND * ----------------------------------------- * TYPE: 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect * MIN: min ADC1-value while poti at minimum-position (0 - 4095) * MID: mid ADC1-value while poti at mid-position (INPUT_MIN - INPUT_MAX) * MAX: max ADC2-value while poti at maximum-position (0 - 4095) * DEADBAND: how much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) * * Dual-inputs * PRI_INPUT: Primary Input. These limits will be used for the input with priority 0 * AUX_INPUT: Auxiliary Input. These limits will be used for the input with priority 1 * ----------------------------------------- */ // ############################## END OF INPUT FORMAT ############################ // ############################## CRUISE CONTROL SETTINGS ############################ /* Cruise Control info: * enable CRUISE_CONTROL_SUPPORT and (SUPPORT_BUTTONS_LEFT or SUPPORT_BUTTONS_RIGHT depending on which cable is the button installed) * can be activated/deactivated by pressing button1 (Blue cable) to GND * when activated, it maintains the current speed by switching to SPD_MODE. Acceleration is still possible via the input request, but when released it resumes to previous set speed. * when deactivated, it returns to previous control MODE and follows the input request. */ // #define CRUISE_CONTROL_SUPPORT // #define SUPPORT_BUTTONS_LEFT // Use button1 (Blue Left cable) to activate/deactivate Cruise Control // #define SUPPORT_BUTTONS_RIGHT // Use button1 (Blue Right cable) to activate/deactivate Cruise Control // ######################### END OF CRUISE CONTROL SETTINGS ########################## // ############################### DEBUG SERIAL ############################### /* Connect GND and RX of a 3.3v uart-usb adapter to the left (USART2) or right sensor board cable (USART3) * Be careful not to use the red wire of the cable. 15v will destroy everything. * If you are using VARIANT_NUNCHUK, disable it temporarily. * enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2 * * * DEBUG ASCII output is: * // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n" * * in1: (int16_t)input1[inIdx].raw); raw input1: ADC1, UART, PWM, PPM, iBUS * in2: (int16_t)input2[inIdx].raw); raw input2: ADC2, UART, PWM, PPM, iBUS * cmdL: (int16_t)cmdL); output command Left: [-1000, 1000] * cmdR: (int16_t)cmdR); output command Right: [-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 * Temp: (int16_t)board_temp_deg_c); Temperature in celcius for verifying board temperature calibration * */ // #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! // #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! // #define DEBUG_SERIAL_PROTOCOL // uncomment this to send user commands to the board, change parameters and print specific signals (see comms.c for the user commands) // ########################### END OF DEBUG SERIAL ############################ // ############################### DEBUG LCD ############################### // #define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable // ########################### END OF DEBUG LCD ############################ // ################################# VARIANT_ADC SETTINGS ############################ #ifdef VARIANT_ADC /* CONTROL VIA TWO POTENTIOMETERS * Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire!) * * Auto-calibration of the ADC Limit to finds the Minimum, Maximum, and Middle for the ADC input * Procedure: * - press the power button for more than 5 sec and release after the beep sound * - move the potentiometers freely to the min and max limits repeatedly * - release potentiometers to the resting postion * - press the power button to confirm or wait for the 20 sec timeout * The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase. * * After calibration you can optionally write the values to the following defines * Procedure: * - connect gnd, rx and tx of a usb-uart converter in 3.3V mode to the right sensor board cable (do NOT use the red 15V wire!) * - readout values using a serial terminal in 115200 baud rate * - turn the potis to minimum position, write value in1 to PRI_INPUT1 MIN and value in2 to PRI_INPUT2 MIN * - turn the potis to maximum position, write value in1 to PRI_INPUT1 MAX and value in2 to PRI_INPUT2 MAX * - for middle resting potis: Let the potis in the middle resting position, write value in1 to PRI_INPUT1 MID and value in2 to PRI_INPUT2 MID */ #define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! // #define DUAL_INPUTS // ADC*(Primary) + UART(Auxiliary). Uncomment this to use Dual-inputs #define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #ifdef DUAL_INPUTS #define FLASH_WRITE_KEY 0x1101 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h // #define SIDEBOARD_SERIAL_USART3 1 #define CONTROL_SERIAL_USART3 1 // right sensor board cable. Number indicates priority for dual-input. 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 AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #else #define FLASH_WRITE_KEY 0x1001 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! #endif // #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! #endif // ############################# END OF VARIANT_ADC SETTINGS ######################### // ############################ VARIANT_USART SETTINGS ############################ #ifdef VARIANT_USART // #define SIDEBOARD_SERIAL_USART2 0 //#define CONTROL_SERIAL_USART2 0 // 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 SIDEBOARD_SERIAL_USART3 0 // #define CONTROL_SERIAL_USART3 0 // right sensor board cable. Number indicates priority for dual-input. 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! #ifdef BOBBYCAR_PCB_FRONT #define CONTROL_SERIAL_USART3 0 #define FEEDBACK_SERIAL_USART3 #endif #ifdef BOBBYCAR_PCB_REAR #define CONTROL_SERIAL_USART3 0 #define FEEDBACK_SERIAL_USART3 #endif #ifdef HOVERBRETT #define CONTROL_SERIAL_USART2 0 #define FEEDBACK_SERIAL_USART2 #endif // #define DUAL_INPUTS // UART*(Primary) + SIDEBOARD(Auxiliary). Uncomment this to use Dual-inputs #define PRI_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #ifdef DUAL_INPUTS #define FLASH_WRITE_KEY 0x1102 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h // #define SIDEBOARD_SERIAL_USART2 1 // left sideboard #define SIDEBOARD_SERIAL_USART3 1 // right sideboard #define AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #else #define FLASH_WRITE_KEY 0x1002 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #endif // #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! #endif // ######################## END OF VARIANT_USART SETTINGS ######################### // ################################# VARIANT_NUNCHUK SETTINGS ############################ #ifdef VARIANT_NUNCHUK /* on Right sensor cable * keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuk, * use the right one of the 2 types of nunchuks, add i2c pullups. * use original nunchuk. most clones does not work very well. * Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout */ #define CONTROL_NUNCHUK 0 // use nunchuk as input. Number indicates priority for dual-input. Disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3! // #define DUAL_INPUTS // Nunchuk*(Primary) + UART(Auxiliary). Uncomment this to use Dual-inputs #define PRI_INPUT1 2, -1024, 0, 1024, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 2, -1024, 0, 1024, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #ifdef DUAL_INPUTS #define FLASH_WRITE_KEY 0x1103 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h // #define SIDEBOARD_SERIAL_USART2 1 #define CONTROL_SERIAL_USART2 1 // 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 AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #else #define FLASH_WRITE_KEY 0x1003 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define DEBUG_SERIAL_USART2 // left sensor cable debug #endif // # maybe good for ARMCHAIR # #define FILTER 3276 // 0.05f #define SPEED_COEFFICIENT 8192 // 0.5f #define STEER_COEFFICIENT 62259 // -0.2f // #define SUPPORT_BUTTONS // Define for Nunchuk buttons support #endif // ############################# END OF VARIANT_NUNCHUK SETTINGS ######################### // ################################# VARIANT_PPM SETTINGS ############################## #ifdef VARIANT_PPM /* ###### CONTROL VIA RC REMOTE ###### * Right sensor board cable. Channel 1: steering, Channel 2: speed. * https://gist.github.com/peterpoetzi/1b63a4a844162196613871767189bd05 */ // #define DUAL_INPUTS // ADC*(Primary) + PPM(Auxiliary). Uncomment this to use Dual-inputs #ifdef DUAL_INPUTS #define FLASH_WRITE_KEY 0x1104 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define CONTROL_PPM_RIGHT 1 // use PPM-Sum as input on the RIGHT cable. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART3! #define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #else #define FLASH_WRITE_KEY 0x1004 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h // #define CONTROL_PPM_LEFT 0 // use PPM-Sum as input on the LEFT cable. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2! #define CONTROL_PPM_RIGHT 0 // use PPM-Sum as input on the RIGHT cable. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART3! #define PRI_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #endif #define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used. // #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_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! #if defined(CONTROL_PPM_RIGHT) && !defined(DUAL_INPUTS) #define DEBUG_SERIAL_USART2 // left sensor cable debug #elif defined(CONTROL_PPM_LEFT) && !defined(DUAL_INPUTS) #define DEBUG_SERIAL_USART3 // right sensor cable debug #endif #endif // ############################# END OF VARIANT_PPM SETTINGS ############################ // ################################# VARIANT_PWM SETTINGS ############################## #ifdef VARIANT_PWM /* ###### CONTROL VIA RC REMOTE ###### * Right sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver. * Channel 1: steering, Channel 2: speed. */ // #define DUAL_INPUTS // ADC*(Primary) + PWM(Auxiliary). Uncomment this to use Dual-inputs #ifdef DUAL_INPUTS #define FLASH_WRITE_KEY 0x1105 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define CONTROL_PWM_RIGHT 1 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3! #define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #else #define FLASH_WRITE_KEY 0x1005 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h // #define CONTROL_PWM_LEFT 0 // use RC PWM as input on the LEFT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART2! #define CONTROL_PWM_RIGHT 0 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3! #define PRI_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #endif #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 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 INVERT_R_DIRECTION // #define INVERT_L_DIRECTION // #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! #if defined(CONTROL_PWM_RIGHT) && !defined(DUAL_INPUTS) #define DEBUG_SERIAL_USART2 // left sensor cable debug #elif defined(CONTROL_PWM_LEFT) && !defined(DUAL_INPUTS) #define DEBUG_SERIAL_USART3 // right sensor cable debug #endif #endif // ############################# END OF VARIANT_PWM SETTINGS ############################ // ################################# VARIANT_IBUS SETTINGS ############################## #ifdef VARIANT_IBUS /* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL * Connected to Right sensor board cable. Channel 1: steering, Channel 2: speed. */ #define CONTROL_IBUS // use IBUS as input. Number indicates priority for dual-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 #define USART3_BAUD 115200 // #define DUAL_INPUTS // ADC*(Primary) + iBUS(Auxiliary). Uncomment this to use Dual-inputs #ifdef DUAL_INPUTS #define FLASH_WRITE_KEY 0x1106 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define CONTROL_SERIAL_USART3 1 // use RC iBUS input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3! #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if ADC or PPM is used! #define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #else #define FLASH_WRITE_KEY 0x1006 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define CONTROL_SERIAL_USART3 0 // use RC iBUS input on the RIGHT cable, disable if ADC or PPM is used! #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if ADC or PPM is used! #define PRI_INPUT1 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 3, -1000, 0, 1000, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #endif #if defined(CONTROL_SERIAL_USART3) && !defined(DUAL_INPUTS) #define DEBUG_SERIAL_USART2 // left sensor cable debug #elif defined(DEBUG_SERIAL_USART2) && !defined(DUAL_INPUTS) #define DEBUG_SERIAL_USART3 // right sensor cable debug #endif #endif // ############################# END OF VARIANT_IBUS SETTINGS ############################ // ############################ VARIANT_HOVERCAR SETTINGS ############################ #ifdef VARIANT_HOVERCAR #define FLASH_WRITE_KEY 0x1107 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #undef CTRL_MOD_REQ #define CTRL_MOD_REQ TRQ_MODE // HOVERCAR works best in TORQUE Mode #define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define SIDEBOARD_SERIAL_USART3 1 // Rx from right sensor board: to use photosensors as buttons. Number indicates priority for dual-input. Comment-out if sideboard is not used! #define FEEDBACK_SERIAL_USART3 // Tx to right sensor board: for LED battery indication. Comment-out if sideboard is not used! #define DUAL_INPUTS // ADC*(Primary) + Sideboard_R(Auxiliary). Uncomment this to use Dual-inputs #define PRI_INPUT1 1, 1000, 0, 2500, 0 // Pedal Brake TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 1, 500, 0, 2200, 0 // Pedal Accel TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT1 2, -1000, 0, 1000, 0 // Sideboard Steer TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define AUX_INPUT2 2, -1000, 0, 1000, 0 // Sideboard Speed TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define SPEED_COEFFICIENT 16384 // 1.0f #define STEER_COEFFICIENT 8192 // 0.5f Only active in Sideboard input // #define INVERT_R_DIRECTION // Invert rotation of right motor // #define INVERT_L_DIRECTION // Invert rotation of left motor // #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! // Extra functionality // #define CRUISE_CONTROL_SUPPORT // [-] Flag to enable Cruise Control support. Activation/Deactivation is done by sideboard button or Brake pedal press. // #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode. // #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode. // #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released). // #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging. #endif // Multiple tap detection: default DOUBLE Tap on Brake pedal (4 pulses) #define MULTIPLE_TAP_NR 2 * 2 // [-] Define tap number: MULTIPLE_TAP_NR = number_of_taps * 2, number_of_taps = 1 (for single taping), 2 (for double tapping), 3 (for triple tapping), etc... #define MULTIPLE_TAP_HI 600 // [-] Multiple tap detection High hysteresis threshold #define MULTIPLE_TAP_LO 200 // [-] Multiple tap detection Low hysteresis threshold #define MULTIPLE_TAP_TIMEOUT 2000 // [ms] Multiple tap detection Timeout period. The taps need to happen within this time window to be accepted. // ######################## END OF VARIANT_HOVERCAR SETTINGS ######################### // ############################ VARIANT_HOVERBOARD SETTINGS ############################ // Communication: [DONE] // Balancing controller: [TODO] #ifdef VARIANT_HOVERBOARD #define FLASH_WRITE_KEY 0x1008 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define SIDEBOARD_SERIAL_USART2 1 // left sensor board cable. Number indicates priority for dual-input. Disable if ADC or PPM is used! #define FEEDBACK_SERIAL_USART2 #define SIDEBOARD_SERIAL_USART3 0 // right sensor board cable. Number indicates priority for dual-input. Disable if I2C (nunchuk or lcd) is used! #define FEEDBACK_SERIAL_USART3 // If an iBUS RC receiver is connected to either Left Sideboard (AUX_INPUT) or Right Sideboard (PRI_INPUT) // PRIMARY INPUT: TYPE, MIN, MID, MAX, DEADBAND /* TYPE: 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect */ #define PRI_INPUT1 3, -1000, 0, 1000, 0 // Priority Sideboard can be used to send commands via an iBUS Receiver connected to the sideboard #define PRI_INPUT2 3, -1000, 0, 1000, 0 // Priority Sideboard can be used to send commands via an iBUS Receiver connected to the sideboard #define AUX_INPUT1 3, -1000, 0, 1000, 0 // not used #define AUX_INPUT2 3, -1000, 0, 1000, 0 // not used #endif // ######################## END OF VARIANT_HOVERBOARD SETTINGS ######################### // ################################# VARIANT_TRANSPOTTER SETTINGS ############################ //TODO ADD VALIDATION #ifdef VARIANT_TRANSPOTTER #define FLASH_WRITE_KEY 0x1009 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #define CONTROL_GAMETRAK #define SUPPORT_LCD // #define SUPPORT_NUNCHUK #define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions // #define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering) #define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction. // during nunchuk control (only relevant when activated) #define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0? #define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0 #define INVERT_R_DIRECTION // Invert right motor #define INVERT_L_DIRECTION // Invert left motor #define PRI_INPUT1 2, -1000, 0, 1000, 0 // dummy input, TRANSPOTTER does not use input limitations #define PRI_INPUT2 2, -1000, 0, 1000, 0 // dummy input, TRANSPOTTER does not use input limitations #endif // ############################# END OF VARIANT_TRANSPOTTER SETTINGS ######################## // ################################# VARIANT_SKATEBOARD SETTINGS ############################## #ifdef VARIANT_SKATEBOARD /* ###### CONTROL VIA RC REMOTE ###### * right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver. * Channel 1: steering, Channel 2: speed. */ #define FLASH_WRITE_KEY 0x1010 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h #undef CTRL_MOD_REQ #define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode // #define CONTROL_PWM_LEFT 0 // use RC PWM as input on the LEFT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART2! #define CONTROL_PWM_RIGHT 0 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3! #define PRI_INPUT1 0, -1000, 0, 1000, 0 // Disabled. TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define PRI_INPUT2 2, -800, 0, 700, 100 // Active. TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section #define INPUT_BRK -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 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 INVERT_R_DIRECTION #define INVERT_L_DIRECTION // #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 STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode. #ifdef CONTROL_PWM_RIGHT #define DEBUG_SERIAL_USART2 // left sensor cable debug #else #define DEBUG_SERIAL_USART3 // right sensor cable debug #endif #endif // ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################ // ########################### UART SETIINGS ############################ #if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \ defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) #define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for serial commands #define SERIAL_BUFFER_SIZE 64 // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the structure size #if defined(HOVERBRETT) #define SERIAL_TIMEOUT 20 // 20 = 0.1s = 100ms = 5*20ms #else #define SERIAL_TIMEOUT 160 // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec #endif #endif #if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) #ifndef USART2_BAUD #define USART2_BAUD 115200 // UART2 baud rate (long wired cable) #endif #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) #ifndef USART3_BAUD #define USART3_BAUD 115200 // UART3 baud rate (short wired cable) #endif #define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B #endif // ########################### UART SETIINGS ############################ // ############################### APPLY DEFAULT SETTINGS ############################### #ifndef RATE #define RATE DEFAULT_RATE #endif #ifndef FILTER #define FILTER DEFAULT_FILTER #endif #ifndef SPEED_COEFFICIENT #define SPEED_COEFFICIENT DEFAULT_SPEED_COEFFICIENT #endif #ifndef STEER_COEFFICIENT #define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT #endif #if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2) #define INPUTS_NR 2 #else #define INPUTS_NR 1 #endif // ########################### END OF APPLY DEFAULT SETTING ############################ // ############################### VALIDATE SETTINGS ############################### #if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \ !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_SKATEBOARD) #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants. #endif // General checks #if defined(CONTROL_SERIAL_USART2) && defined(SIDEBOARD_SERIAL_USART2) #error CONTROL_SERIAL_USART2 and SIDEBOARD_SERIAL_USART2 not allowed, choose one. #endif #if defined(CONTROL_SERIAL_USART3) && defined(SIDEBOARD_SERIAL_USART3) #error CONTROL_SERIAL_USART3 and SIDEBOARD_SERIAL_USART3 not allowed, choose one. #endif #if defined(DEBUG_SERIAL_USART2) && defined(FEEDBACK_SERIAL_USART2) #error DEBUG_SERIAL_USART2 and FEEDBACK_SERIAL_USART2 not allowed, choose one. #endif #if defined(DEBUG_SERIAL_USART3) && defined(FEEDBACK_SERIAL_USART3) #error DEBUG_SERIAL_USART3 and FEEDBACK_SERIAL_USART3 not allowed, choose one. #endif #if defined(DEBUG_SERIAL_USART2) && defined(DEBUG_SERIAL_USART3) #error DEBUG_SERIAL_USART2 and DEBUG_SERIAL_USART3 not allowed, choose one. #endif #if defined(CONTROL_PPM_LEFT) && defined(CONTROL_PPM_RIGHT) #error CONTROL_PPM_LEFT and CONTROL_PPM_RIGHT not allowed, choose one. #endif #if defined(CONTROL_PWM_LEFT) && defined(CONTROL_PWM_RIGHT) #error CONTROL_PWM_LEFT and CONTROL_PWM_RIGHT not allowed, choose one. #endif #if defined(SUPPORT_BUTTONS_LEFT) && defined(SUPPORT_BUTTONS_RIGHT) #error SUPPORT_BUTTONS_LEFT and SUPPORT_BUTTONS_RIGHT not allowed, choose one. #endif // LEFT cable checks #if defined(CONTROL_ADC) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)) #error CONTROL_ADC and SERIAL_USART2 not allowed. It is on the same cable. #endif #if defined(CONTROL_PPM_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)) #error CONTROL_PPM_LEFT and SERIAL_USART2 not allowed. It is on the same cable. #endif #if defined(CONTROL_PWM_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)) #error CONTROL_PWM_LEFT and SERIAL_USART2 not allowed. It is on the same cable. #endif #if defined(SUPPORT_BUTTONS_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)) #error SUPPORT_BUTTONS_LEFT and SERIAL_USART2 not allowed. It is on the same cable. #endif #if defined(SUPPORT_BUTTONS_LEFT) && (defined(CONTROL_ADC) || defined(CONTROL_PPM_LEFT) || defined(CONTROL_PWM_LEFT)) #error SUPPORT_BUTTONS_LEFT and (CONTROL_ADC or CONTROL_PPM_LEFT or CONTROL_PWM_LEFT) not allowed. It is on the same cable. #endif #if defined(CONTROL_ADC) && (defined(CONTROL_PPM_LEFT) || defined(CONTROL_PWM_LEFT)) #error CONTROL_ADC and (CONTROL_PPM_LEFT or CONTROL_PWM_LEFT) not allowed. It is on the same cable. #endif #if defined(CONTROL_PPM_LEFT) && defined(CONTROL_PWM_LEFT) #error CONTROL_PPM_LEFT and CONTROL_PWM_LEFT not allowed. It is on the same cable. #endif // RIGHT cable checks #if defined(CONTROL_NUNCHUK) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) #error CONTROL_NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable. #endif #if defined(CONTROL_PPM_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) #error CONTROL_PPM_RIGHT and SERIAL_USART3 not allowed. It is on the same cable. #endif #if defined(CONTROL_PWM_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) #error CONTROL_PWM_RIGHT and SERIAL_USART3 not allowed. It is on the same cable. #endif #if defined(DEBUG_I2C_LCD) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) #error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable. #endif #if defined(SUPPORT_BUTTONS_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) #error SUPPORT_BUTTONS_RIGHT and SERIAL_USART3 not allowed. It is on the same cable. #endif #if defined(SUPPORT_BUTTONS_RIGHT) && (defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT) || defined(DEBUG_I2C_LCD)) #error SUPPORT_BUTTONS_RIGHT and (CONTROL_NUNCHUK or CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT or DEBUG_I2C_LCD) not allowed. It is on the same cable. #endif #if defined(CONTROL_NUNCHUK) && (defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT) || defined(DEBUG_I2C_LCD)) #error CONTROL_NUNCHUK and (CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT or DEBUG_I2C_LCD) not allowed. It is on the same cable. #endif #if defined(DEBUG_I2C_LCD) && (defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT)) #error DEBUG_I2C_LCD and (CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT) not allowed. It is on the same cable. #endif #if defined(CONTROL_PPM_RIGHT) && defined(CONTROL_PWM_RIGHT) #error CONTROL_PPM_RIGHT and CONTROL_PWM_RIGHT not allowed. It is on the same cable. #endif // Functional checks #if (defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)) && !defined(PPM_NUM_CHANNELS) #error Total number of PPM channels needs to be set #endif // ############################# END OF VALIDATE SETTINGS ############################ #endif