854 lines
55 KiB
C
854 lines
55 KiB
C
// Define to prevent recursive inclusion
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#ifndef CONFIG_H
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#define CONFIG_H
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/* on ubuntu install the following
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sudo apt -y install stlink-tools
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sudo systemctl restart udev
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flashing:
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connect power to pcb. Hold down power button. Run:
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pio run -t upload
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*/
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//Select the calibration values for the different pcbs
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#define BOBBYCAR_PCB_FRONT //Green PCB. black programming cable. outer power button
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//#define BOBBYCAR_PCB_REAR //Blue PCB. with XT60-U, beige programming cable. inner power button
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//#define HOVERBRETT //Green PCB in Hoverbrett
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#if defined(HOVERBRETT)
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#define INVERT_R_DIRECTION // Invert right motor
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#define INVERT_L_DIRECTION // Invert left motor
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#endif
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#include "stm32f1xx_hal.h"
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// ############################### VARIANT SELECTION ###############################
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// PlatformIO: uncomment desired variant in platformio.ini
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// Keil uVision: select desired variant from the Target drop down menu (to the right of the Load button)
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// Ubuntu: define the desired build variant here if you want to use make in console
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// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_NUNCHUK". Select only one at a time.
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#if !defined(PLATFORMIO)
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//#define VARIANT_ADC // Variant for control via ADC input
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//#define VARIANT_USART // Variant for Serial control via USART3 input
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//#define VARIANT_NUNCHUK // Variant for Nunchuk controlled vehicle build
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//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
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//#define VARIANT_PWM // Variant for RC-Remote with PWM Signal
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//#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS
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//#define VARIANT_HOVERCAR // Variant for HOVERCAR build
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//#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build
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//#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
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//#define VARIANT_SKATEBOARD // Variant for SKATEBOARD build
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#endif
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// ########################### END OF VARIANT SELECTION ############################
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// ############################### DO-NOT-TOUCH SETTINGS ###############################
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#define PWM_FREQ 16000 // PWM frequency in Hz / is also used for buzzer
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#define DEAD_TIME 48 // PWM deadtime
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#ifdef VARIANT_TRANSPOTTER
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#define DELAY_IN_MAIN_LOOP 2
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#else
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#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.
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#endif
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#define TIMEOUT 20 // number of wrong / missing input commands before emergency off (not for serial)
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#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
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// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
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// ADC conversion time definitions
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#define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5)
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#define ADC_CONV_TIME_7C5 (20) //Total ADC clock cycles / conversion = ( 7.5+12.5)
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#define ADC_CONV_TIME_13C5 (26) //Total ADC clock cycles / conversion = ( 13.5+12.5)
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#define ADC_CONV_TIME_28C5 (41) //Total ADC clock cycles / conversion = ( 28.5+12.5)
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#define ADC_CONV_TIME_41C5 (54) //Total ADC clock cycles / conversion = ( 41.5+12.5)
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#define ADC_CONV_TIME_55C5 (68) //Total ADC clock cycles / conversion = ( 55.5+12.5)
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#define ADC_CONV_TIME_71C5 (84) //Total ADC clock cycles / conversion = ( 71.5+12.5)
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#define ADC_CONV_TIME_239C5 (252) //Total ADC clock cycles / conversion = (239.5+12.5)
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// This settings influences the actual sample-time. Only use definitions above
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// This parameter needs to be the same as the ADC conversion for Current Phase of the FIRST Motor in setup.c
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#define ADC_CONV_CLOCK_CYCLES (ADC_CONV_TIME_7C5)
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// Set the configured ADC divider. This parameter needs to be the same ADC divider as PeriphClkInit.AdcClockSelection (see main.c)
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#define ADC_CLOCK_DIV (4)
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// ADC Total conversion time: this will be used to offset TIM8 in advance of TIM1 to align the Phase current ADC measurement
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// This parameter is used in setup.c
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#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
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// ########################### END OF DO-NOT-TOUCH SETTINGS ############################
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// ############################### BATTERY ###############################
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/* Battery voltage calibration: connect power source.
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* see How to calibrate.
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* Write debug output value nr 5 to BAT_CALIB_ADC. make and flash firmware.
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* Then you can verify voltage on debug output value 6 (to get calibrated voltage multiplied by 100).
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*/
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#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
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#ifdef BOBBYCAR_PCB_REAR
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//REAR WHEELS PCB
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#define BAT_CALIB_REAL_VOLTAGE 4000 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4000
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#define BAT_CALIB_ADC 1593 // adc-value measured by mainboard (value nr 5 on UART debug output)
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#endif
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#ifdef BOBBYCAR_PCB_FRONT
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#define BAT_CALIB_REAL_VOLTAGE 4000 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4000
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#define BAT_CALIB_ADC 1580 // adc-value measured by mainboard (value nr 5 on UART debug output)
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#endif
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#ifdef HOVERBRETT
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#define BAT_CALIB_REAL_VOLTAGE 4300 // input voltage measured by multimeter (multiplied by 100). In this case 40.00 V * 100 = 4300
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#define BAT_CALIB_ADC 1704 // adc-value measured by mainboard (value nr 5 on UART debug output)
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#endif
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//#define BAT_CELLS 10 // battery number of cells. Normal Hoverboard battery: 10s
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#ifdef BOBBYCAR_PCB_REAR
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#define BAT_CELLS 12
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#endif
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#ifdef BOBBYCAR_PCB_FRONT
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#define BAT_CELLS 12
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#endif
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#ifdef HOVERBRETT
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#define BAT_CELLS 10
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#endif
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#define BAT_LVL2_ENABLE 0 // to beep or not to beep, 1 or 0
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#define BAT_LVL1_ENABLE 1 // to beep or not to beep, 1 or 0
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#define BAT_BLINK_INTERVAL 80 // battery led blink interval (80 loops * 5ms ~= 400ms)
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#define BAT_LVL5 (390 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Green blink: no beep
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#define BAT_LVL4 (380 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow: no beep
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#define BAT_LVL3 (370 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // Yellow blink: no beep
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#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
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#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
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#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
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// ######################## END OF BATTERY ###############################
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// ############################### TEMPERATURE ###############################
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/* Board overheat detection: the sensor is inside the STM/GD chip.
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* It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!
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* Let your board cool down.
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* see <How to calibrate.
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* Get the real temp of the chip by thermo cam or another temp-sensor taped on top of the chip and write it to TEMP_CAL_LOW_DEG_C.
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* Write debug output value 8 to TEMP_CAL_LOW_ADC. drive around to warm up the board. it should be at least 20°C warmer. repeat it for the HIGH-values.
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* Enable warning and/or poweroff and make and flash firmware.
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*/
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#define TEMP_FILT_COEF 655 // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
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//#define TEMP_CAL_LOW_ADC 1655 // temperature 1: ADC value
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//#define TEMP_CAL_LOW_DEG_C 358 // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
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//#define TEMP_CAL_HIGH_ADC 1588 // temperature 2: ADC value
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//#define TEMP_CAL_HIGH_DEG_C 489 // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
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#ifdef BOBBYCAR_PCB_FRONT
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//FRONT WHEELS PCB
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#define TEMP_CAL_LOW_ADC 1722 // temperature 1: ADC value
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#define TEMP_CAL_LOW_DEG_C 210 // temperature 1: measured temperature [°C * 10]. Here 22.0 °C
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#define TEMP_CAL_HIGH_ADC 1580 // temperature 2: ADC value
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#define TEMP_CAL_HIGH_DEG_C 500 // temperature 2: measured temperature [°C * 10]. Here °C
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#endif
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#ifdef BOBBYCAR_PCB_REAR
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//REAR WHEELS PCB
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#define TEMP_CAL_LOW_ADC 1722 // temperature 1: ADC value
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#define TEMP_CAL_LOW_DEG_C 220 // temperature 1: measured temperature [°C * 10]. Here 22.0 °C
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#define TEMP_CAL_HIGH_ADC 1580 // temperature 2: ADC value
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#define TEMP_CAL_HIGH_DEG_C 500 // temperature 2: measured temperature [°C * 10]. Here 50.0 °C
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#endif
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#ifdef HOVERBRETT
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//Hoverbrett
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#define TEMP_CAL_LOW_ADC 1716 // temperature 1: ADC value
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#define TEMP_CAL_LOW_DEG_C 210 // temperature 1: measured temperature [°C * 10]. Here 22.0 °C
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#define TEMP_CAL_HIGH_ADC 1600 // temperature 2: ADC value
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#define TEMP_CAL_HIGH_DEG_C 420 // temperature 2: measured temperature [°C * 10]. Here °C
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#endif
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#define TEMP_WARNING_ENABLE 1 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
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#define TEMP_WARNING 600 // annoying fast beeps [°C * 10]. Here 60.0 °C
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#define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
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#define TEMP_POWEROFF 650 // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
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// ######################## END OF TEMPERATURE ###############################
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// ############################### MOTOR CONTROL #########################
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/* GENERAL NOTES:
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* 1. The parameters here are over-writing the default motor parameters. For all the available parameters check BLDC_controller_data.c
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* 2. The parameters are represented in fixed point data type for a more efficient code execution
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* 3. For calibrating the fixed-point parameters use the Fixed-Point Viewer tool (see <https://github.com/EmanuelFeru/FixedPointViewer>)
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* 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
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* 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code.
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* The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge
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*
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* NOTES Field Weakening / Phase Advance:
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* 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)
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* 2. The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
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* 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
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Inputs:
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- input1[inIdx].cmd and input2[inIdx].cmd: normalized input values. INPUT_MIN to INPUT_MAX
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- button1 and button2: digital input values. 0 or 1
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- adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
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Outputs:
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- cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX
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*/
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#define COM_CTRL 0 // [-] Commutation Control Type
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#define SIN_CTRL 1 // [-] Sinusoidal Control Type
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#define FOC_CTRL 2 // [-] Field Oriented Control (FOC) Type
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#define OPEN_MODE 0 // [-] OPEN mode
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#define VLT_MODE 1 // [-] VOLTAGE mode
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#define SPD_MODE 2 // [-] SPEED mode
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#define TRQ_MODE 3 // [-] TORQUE mode
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// Enable/Disable Motor
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#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
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#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
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// Control selections
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//#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
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//#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!
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#ifdef BOBBYCAR_PCB_FRONT
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#define CTRL_TYP_SEL SIN_CTRL //sinusoidal. ignores ctrl_mod
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#define CTRL_MOD_REQ VLT_MODE //voltage (torque mode (with foc)) had some quirks)
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#endif
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#ifdef BOBBYCAR_PCB_REAR
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#define CTRL_TYP_SEL SIN_CTRL //sinusoidal. ignores ctrl_mod
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#define CTRL_MOD_REQ VLT_MODE //voltage (torque mode (with foc) had some quirks)
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#endif
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#ifdef HOVERBRETT
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#define CTRL_TYP_SEL FOC_CTRL
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#define CTRL_MOD_REQ VLT_MODE //voltage
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#endif
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#define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
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// Limitation settings
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#define I_MOT_MAX 15 // [A] Maximum single motor current limit
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#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)
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#define N_MOT_MAX 1200 // [rpm] Maximum motor speed limit. Note: applies brake if above this speed when releasing throttle
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// Field Weakening / Phase Advance
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#define FIELD_WEAK_ENA 1 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
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#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.
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#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)
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#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.
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#define FIELD_WEAK_LO 500 // ( 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
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// Extra functionality
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// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
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// #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.
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// #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released).
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// #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging.
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// ########################### END OF MOTOR CONTROL ########################
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// ############################## DEFAULT SETTINGS ############################
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// Default settings will be applied at the end of this config file if not set before
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#define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise.
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#define BEEPS_BACKWARD 0 // 0 or 1
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#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
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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 AUTO_CALIBRATION_ENA // Enable/Disable input auto-calibration by holding power button pressed. Un-comment this if auto-calibration is not needed.
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/* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
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* Value of COEFFICIENT is in fixdt(1,16,14)
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* If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
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* If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
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*/
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// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
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#define DEFAULT_RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
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#define DEFAULT_FILTER 6553 // Default for FILTER 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#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
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#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.
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// ######################### END OF DEFAULT SETTINGS ##########################
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// ############################## INPUT FORMAT ############################
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/* ***_INPUT: TYPE, MIN, MID, MAX, DEADBAND
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* -----------------------------------------
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* TYPE: 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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* MIN: min ADC1-value while poti at minimum-position (0 - 4095)
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* MID: mid ADC1-value while poti at mid-position (INPUT_MIN - INPUT_MAX)
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* MAX: max ADC2-value while poti at maximum-position (0 - 4095)
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* DEADBAND: how much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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*
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* Dual-inputs
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* PRI_INPUT: Primary Input. These limits will be used for the input with priority 0
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* AUX_INPUT: Auxiliary Input. These limits will be used for the input with priority 1
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* -----------------------------------------
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*/
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// ############################## END OF INPUT FORMAT ############################
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// ############################## CRUISE CONTROL SETTINGS ############################
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/* Cruise Control info:
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* enable CRUISE_CONTROL_SUPPORT and (SUPPORT_BUTTONS_LEFT or SUPPORT_BUTTONS_RIGHT depending on which cable is the button installed)
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* can be activated/deactivated by pressing button1 (Blue cable) to GND
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* 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.
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* when deactivated, it returns to previous control MODE and follows the input request.
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*/
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// #define CRUISE_CONTROL_SUPPORT
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// #define SUPPORT_BUTTONS_LEFT // Use button1 (Blue Left cable) to activate/deactivate Cruise Control
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// #define SUPPORT_BUTTONS_RIGHT // Use button1 (Blue Right cable) to activate/deactivate Cruise Control
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// ######################### END OF CRUISE CONTROL SETTINGS ##########################
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// ############################### DEBUG SERIAL ###############################
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/* Connect GND and RX of a 3.3v uart-usb adapter to the left (USART2) or right sensor board cable (USART3)
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* Be careful not to use the red wire of the cable. 15v will destroy everything.
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* If you are using VARIANT_NUNCHUK, disable it temporarily.
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* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
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*
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*
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* DEBUG ASCII output is:
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* // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
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*
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* in1: (int16_t)input1[inIdx].raw); raw input1: ADC1, UART, PWM, PPM, iBUS
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* in2: (int16_t)input2[inIdx].raw); raw input2: ADC2, UART, PWM, PPM, iBUS
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* cmdL: (int16_t)cmdL); output command Left: [-1000, 1000]
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* cmdR: (int16_t)cmdR); output command Right: [-1000, 1000]
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* BatADC: (int16_t)adc_buffer.batt1); Battery adc-value measured by mainboard
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* BatV: (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
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* TempADC: (int16_t)board_temp_adcFilt); for board temperature calibration
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|
* 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 #########################
|
|
|
|
|
|
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// ############################ VARIANT_HOVERBOARD SETTINGS ############################
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// Communication: [DONE]
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// Balancing controller: [TODO]
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#ifdef VARIANT_HOVERBOARD
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#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
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#define SIDEBOARD_SERIAL_USART2 1 // left sensor board cable. Number indicates priority for dual-input. Disable if ADC or PPM is used!
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#define FEEDBACK_SERIAL_USART2
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#define SIDEBOARD_SERIAL_USART3 0 // right sensor board cable. Number indicates priority for dual-input. Disable if I2C (nunchuk or lcd) is used!
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#define FEEDBACK_SERIAL_USART3
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// If an iBUS RC receiver is connected to either Left Sideboard (AUX_INPUT) or Right Sideboard (PRI_INPUT)
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// PRIMARY INPUT: TYPE, MIN, MID, MAX, DEADBAND /* TYPE: 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect */
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#define PRI_INPUT1 3, -1000, 0, 1000, 0 // Priority Sideboard can be used to send commands via an iBUS Receiver connected to the sideboard
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#define PRI_INPUT2 3, -1000, 0, 1000, 0 // Priority Sideboard can be used to send commands via an iBUS Receiver connected to the sideboard
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#define AUX_INPUT1 3, -1000, 0, 1000, 0 // not used
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#define AUX_INPUT2 3, -1000, 0, 1000, 0 // not used
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#endif
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// ######################## END OF VARIANT_HOVERBOARD SETTINGS #########################
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// ################################# VARIANT_TRANSPOTTER SETTINGS ############################
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//TODO ADD VALIDATION
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#ifdef VARIANT_TRANSPOTTER
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#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
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#define CONTROL_GAMETRAK
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#define SUPPORT_LCD
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// #define SUPPORT_NUNCHUK
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#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
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// #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)
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#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
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// during nunchuk control (only relevant when activated)
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#define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0?
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#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
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#define INVERT_R_DIRECTION // Invert right motor
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#define INVERT_L_DIRECTION // Invert left motor
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#define PRI_INPUT1 2, -1000, 0, 1000, 0 // dummy input, TRANSPOTTER does not use input limitations
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#define PRI_INPUT2 2, -1000, 0, 1000, 0 // dummy input, TRANSPOTTER does not use input limitations
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#endif
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// ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
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// ################################# VARIANT_SKATEBOARD SETTINGS ##############################
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#ifdef VARIANT_SKATEBOARD
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/* ###### CONTROL VIA RC REMOTE ######
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* right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver.
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* Channel 1: steering, Channel 2: speed.
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*/
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#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
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#undef CTRL_MOD_REQ
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#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
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// #define CONTROL_PWM_LEFT 0 // use RC PWM as input on the LEFT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART2!
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#define CONTROL_PWM_RIGHT 0 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3!
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#define PRI_INPUT1 0, -1000, 0, 1000, 0 // Disabled. TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
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#define PRI_INPUT2 2, -800, 0, 700, 100 // Active. TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
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#define INPUT_BRK -400 // (-1000 - 0) Change this value to adjust the braking amount
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#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#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
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#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.
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#define INVERT_R_DIRECTION
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#define INVERT_L_DIRECTION
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#endif
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// ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
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// ########################### UART SETIINGS ############################
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#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
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defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for serial commands
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#define SERIAL_BUFFER_SIZE 64 // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the structure size
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#if defined(HOVERBRETT)
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#define SERIAL_TIMEOUT 20 // 20 = 0.1s = 100ms = 5*20ms
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#else
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#define SERIAL_TIMEOUT 160 // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec
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#endif
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#endif
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#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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#ifndef USART2_BAUD
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#define USART2_BAUD 115200 // UART2 baud rate (long wired cable)
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#endif
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#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
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#endif
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#if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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#ifndef USART3_BAUD
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#define USART3_BAUD 115200 // UART3 baud rate (short wired cable)
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#endif
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#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
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#endif
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// ########################### UART SETIINGS ############################
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// ############################### APPLY DEFAULT SETTINGS ###############################
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#ifndef RATE
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#define RATE DEFAULT_RATE
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#endif
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#ifndef FILTER
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#define FILTER DEFAULT_FILTER
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#endif
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#ifndef SPEED_COEFFICIENT
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#define SPEED_COEFFICIENT DEFAULT_SPEED_COEFFICIENT
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#endif
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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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#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
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#define INPUTS_NR 2
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#else
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#define INPUTS_NR 1
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#endif
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// ########################### END OF APPLY DEFAULT SETTING ############################
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// ############################### VALIDATE SETTINGS ###############################
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#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
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!defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_SKATEBOARD)
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#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
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#endif
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// General checks
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#if defined(CONTROL_SERIAL_USART2) && defined(SIDEBOARD_SERIAL_USART2)
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#error CONTROL_SERIAL_USART2 and SIDEBOARD_SERIAL_USART2 not allowed, choose one.
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#endif
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#if defined(CONTROL_SERIAL_USART3) && defined(SIDEBOARD_SERIAL_USART3)
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#error CONTROL_SERIAL_USART3 and SIDEBOARD_SERIAL_USART3 not allowed, choose one.
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#endif
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#if defined(DEBUG_SERIAL_USART2) && defined(FEEDBACK_SERIAL_USART2)
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#error DEBUG_SERIAL_USART2 and FEEDBACK_SERIAL_USART2 not allowed, choose one.
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#endif
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#if defined(DEBUG_SERIAL_USART3) && defined(FEEDBACK_SERIAL_USART3)
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#error DEBUG_SERIAL_USART3 and FEEDBACK_SERIAL_USART3 not allowed, choose one.
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#endif
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#if defined(DEBUG_SERIAL_USART2) && defined(DEBUG_SERIAL_USART3)
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#error DEBUG_SERIAL_USART2 and DEBUG_SERIAL_USART3 not allowed, choose one.
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#endif
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#if defined(CONTROL_PPM_LEFT) && defined(CONTROL_PPM_RIGHT)
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#error CONTROL_PPM_LEFT and CONTROL_PPM_RIGHT not allowed, choose one.
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#endif
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#if defined(CONTROL_PWM_LEFT) && defined(CONTROL_PWM_RIGHT)
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#error CONTROL_PWM_LEFT and CONTROL_PWM_RIGHT not allowed, choose one.
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#endif
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#if defined(SUPPORT_BUTTONS_LEFT) && defined(SUPPORT_BUTTONS_RIGHT)
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#error SUPPORT_BUTTONS_LEFT and SUPPORT_BUTTONS_RIGHT not allowed, choose one.
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#endif
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// LEFT cable checks
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#if defined(CONTROL_ADC) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
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#error CONTROL_ADC and SERIAL_USART2 not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PPM_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
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#error CONTROL_PPM_LEFT and SERIAL_USART2 not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PWM_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
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#error CONTROL_PWM_LEFT and SERIAL_USART2 not allowed. It is on the same cable.
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#endif
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#if defined(SUPPORT_BUTTONS_LEFT) && (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
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#error SUPPORT_BUTTONS_LEFT and SERIAL_USART2 not allowed. It is on the same cable.
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#endif
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#if defined(SUPPORT_BUTTONS_LEFT) && (defined(CONTROL_ADC) || defined(CONTROL_PPM_LEFT) || defined(CONTROL_PWM_LEFT))
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#error SUPPORT_BUTTONS_LEFT and (CONTROL_ADC or CONTROL_PPM_LEFT or CONTROL_PWM_LEFT) not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_ADC) && (defined(CONTROL_PPM_LEFT) || defined(CONTROL_PWM_LEFT))
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#error CONTROL_ADC and (CONTROL_PPM_LEFT or CONTROL_PWM_LEFT) not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PPM_LEFT) && defined(CONTROL_PWM_LEFT)
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#error CONTROL_PPM_LEFT and CONTROL_PWM_LEFT not allowed. It is on the same cable.
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#endif
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// RIGHT cable checks
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#if defined(CONTROL_NUNCHUK) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
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#error CONTROL_NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PPM_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
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#error CONTROL_PPM_RIGHT and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PWM_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
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#error CONTROL_PWM_RIGHT and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if defined(DEBUG_I2C_LCD) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
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#error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if defined(SUPPORT_BUTTONS_RIGHT) && (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3))
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#error SUPPORT_BUTTONS_RIGHT and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if defined(SUPPORT_BUTTONS_RIGHT) && (defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT) || defined(DEBUG_I2C_LCD))
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#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.
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#endif
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#if defined(CONTROL_NUNCHUK) && (defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT) || defined(DEBUG_I2C_LCD))
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#error CONTROL_NUNCHUK and (CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT or DEBUG_I2C_LCD) not allowed. It is on the same cable.
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#endif
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#if defined(DEBUG_I2C_LCD) && (defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_RIGHT))
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#error DEBUG_I2C_LCD and (CONTROL_PPM_RIGHT or CONTROL_PWM_RIGHT) not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PPM_RIGHT) && defined(CONTROL_PWM_RIGHT)
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#error CONTROL_PPM_RIGHT and CONTROL_PWM_RIGHT not allowed. It is on the same cable.
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#endif
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// Functional checks
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#if (defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)) && !defined(PPM_NUM_CHANNELS)
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#error Total number of PPM channels needs to be set
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#endif
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// ############################# END OF VALIDATE SETTINGS ############################
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#endif
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