From de8957536c5a7479d6d6ce2a6725bf2954b6cd56 Mon Sep 17 00:00:00 2001 From: Niklas Fauth Date: Mon, 9 Apr 2018 21:43:59 +0200 Subject: [PATCH] UPD: more universal codebase for different vehicles --- Inc/config.h | 37 +- Src/bldc.c | 10 +- Src/control.c | 6 +- Src/main.c | 95 +- Src/stm32f1xx_it.c | 7 +- build/hover.hex | 2511 ++++++++++++++++++++------------------------ 6 files changed, 1211 insertions(+), 1455 deletions(-) diff --git a/Inc/config.h b/Inc/config.h index 06c500b..3a7c5ec 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -10,22 +10,49 @@ #define MILLI_PSI (PSI * 1000) #define MILLI_V (V * 1000) +// ################################################################################ + #define PWM_FREQ 16000 // PWM frequency in Hz #define DEAD_TIME 32 // PWM deadtime -//#define DC_CUR_LIMIT 34 // Motor DC current limit in amps #define DC_CUR_LIMIT 35 // Motor DC current limit in amps +// ################################################################################ + +#define DEBUG_SERIAL_USART2 +//#define DEBUG_SERIAL_USART3 +#define DEBUG_BAUD 115200 // UART baud rate //#define DEBUG_SERIAL_SERVOTERM #define DEBUG_SERIAL_ASCII -#define DEBUG_SERIAL_USART2 -#define DEBUG_BAUD 115200 // UART baud rate //#define DEBUG_I2C_LCD -//#define CONTROL_PPM // use PPM CONTROL_PPM -#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive +// ################################################################################ +// ###### CONTROL VIA RC REMOTE ###### +//#define CONTROL_PPM // use PPM CONTROL_PPM +//#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive + +// ###### CONTROL VIA TWO POTENTIOMETERS ###### // #define CONTROL_ADC + +// ###### CONTROL VIA NINTENDO NUNCHUCK ###### #define CONTROL_NUNCHUCK +// ################################################################################ + +// ###### DRIVING BEHAVIOR ###### +#define FILTER 0.1 +#define SPEED_COEFFICIENT 0.5 +#define STEER_COEFFICIENT 0.5 + +// ###### BOBBYCAR ###### +// #define FILTER 0.1 +// #define SPEED_COEFFICIENT 1 +// #define STEER_COEFFICIENT 0 + +// ###### ARMCHAIR ###### +// #define FILTER 0.05 +// #define SPEED_COEFFICIENT 0.5 +// #define STEER_COEFFICIENT 0.2 + // #define BEEPS_BACKWARD diff --git a/Src/bldc.c b/Src/bldc.c index 0bb5de9..8bbca0f 100644 --- a/Src/bldc.c +++ b/Src/bldc.c @@ -12,7 +12,7 @@ volatile int pwmr = 0; volatile int weakl = 0; volatile int weakr = 0; -extern volatile int pwmrl; +extern volatile int speed; extern volatile adc_buf_t adc_buffer; @@ -132,8 +132,6 @@ int offsetdcl = 2000; int offsetdcr = 2000; float batteryVoltage = 40.0; -float adccmd1; -float adccmd2; int curl = 0; // int errorl = 0; @@ -166,7 +164,7 @@ void DMA1_Channel1_IRQHandler() { #ifdef BEEPS_BACKWARD - if (pwmrl < -50 && enable == 1) { + if (speed < -50 && enable == 1) { buzzerFreq = 5; buzzerPattern = 1; } else if (enable == 1) { @@ -214,8 +212,8 @@ void DMA1_Channel1_IRQHandler() { blockPhaseCurrent(posl, adc_buffer.rl1 - offsetrl1, adc_buffer.rl2 - offsetrl2, &curl); - setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8); - setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8); + //setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8); + //setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8); buzzerTimer++; diff --git a/Src/control.c b/Src/control.c index 807e68e..41e6493 100644 --- a/Src/control.c +++ b/Src/control.c @@ -5,7 +5,6 @@ #include "config.h" TIM_HandleTypeDef TimHandle; -uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0}; uint8_t ppm_count = 0; uint32_t timeout = 100; uint8_t nunchuck_data[6] = {0}; @@ -16,6 +15,9 @@ extern I2C_HandleTypeDef hi2c2; DMA_HandleTypeDef hdma_i2c2_rx; DMA_HandleTypeDef hdma_i2c2_tx; +#ifdef CONTROL_PPM +uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0}; + void PPM_ISR_Callback() { // Dummy loop with 16 bit count wrap around uint16_t rc_delay = TIM2->CNT; @@ -54,7 +56,7 @@ void PPM_Init() { HAL_NVIC_EnableIRQ(EXTI3_IRQn); HAL_TIM_Base_Start(&TimHandle); } - +#endif void Nunchuck_Init() { //-- START -- init WiiNunchuck diff --git a/Src/main.c b/Src/main.c index 342dc64..95ad668 100644 --- a/Src/main.c +++ b/Src/main.c @@ -25,15 +25,21 @@ void SystemClock_Config(void); -extern float adccmd1; -extern float adccmd2; +int cmd1; +int cmd2; +int cmd3; + +int steer; +int speed; extern TIM_HandleTypeDef htim_left; extern TIM_HandleTypeDef htim_right; extern ADC_HandleTypeDef hadc1; extern ADC_HandleTypeDef hadc2; extern volatile adc_buf_t adc_buffer; +#ifdef CONTROL_PPM extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1]; +#endif extern volatile int pwml; extern volatile int pwmr; @@ -110,8 +116,6 @@ int main(void) { Nunchuck_Init(); #endif - - enable = 1; while(1) { @@ -119,62 +123,51 @@ int main(void) { #ifdef CONTROL_NUNCHUCK Nunchuck_Read(); - adccmd1 = adccmd1 * 0.9 + (float)nunchuck_data[0] * 0.1; - adccmd2 = adccmd2 * 0.9 + (float)nunchuck_data[1] * 0.1; - setScopeChannel(0, adccmd1); - setScopeChannel(1, adccmd2); - setScopeChannel(2, (int)nunchuck_data[5] & 1); - setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1); + cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000); + cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000); + + //uint8_t button1 = (uint8_t)nunchuck_data[5] & 1; + //uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1; + + timeout = 0; #endif - #ifdef CONTROL_PPM - speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800)); - speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800)); - if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) { - //pwmr = speedR; - //pwml = speedL; - } - - lastSpeedL = speedL; - lastSpeedR = speedR; - //setScopeChannel(0, (int)pwmrl); - //setScopeChannel(1, (int)speedL); + cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, -1000, 1000); + cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, -1000, 1000); #endif #ifdef CONTROL_ADC - //adccmd1 = adccmd1 * 0.9 + (float)adc_buffer.l_rx2 * 0.1; // throttle - adccmd2 = adccmd2 * 0.9 + (float)adc_buffer.l_tx2 * 0.1; // button + cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; + //uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); - pwmrl = pwmrl * 0.9 + (CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35) * 0.1 * direction; - // pwmrl has to be 0-1000 (or negative when driving backwards) - - setScopeChannel(0, (int)adccmd1); - setScopeChannel(1, (int)adccmd2); - - // adccmd2 = button, ranges 0 in idle and 4096 when pressed - if (adccmd2 > 2000 && pwmrl < 300) { // driving backwards at low speeds - direction = -0.2; - } else { - direction = 1; - } - - if (adccmd2 > 2000 && pwmrl > 700) { // field weakening at high speeds - weakl = pwmrl - 600; // weak should never exceed 400 or 450 MAX!! - weakr = pwmrl - 600; - } else { - weakl = 0; - weakr = 0; - } - - if (pwml < 1000) { - pwml +=1; - } - - pwml = pwmrl; - pwmr = -pwmrl; + timeout = 0; #endif + // ####### LOW-PASS FILTER ####### + speed = speed * (1.0 - FILTER) + cmd1 * FILTER; + steer = steer * (1.0 - FILTER) + cmd2 * FILTER; + + setScopeChannel(0, (int)speed); + setScopeChannel(1, (int)steer); + + // ####### MIXER ####### + speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000); + speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000); + + setScopeChannel(2, (int)speedR); + setScopeChannel(3, (int)speedL); + + // ####### SET OUTPUTS ####### + if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) { + pwmr = speedR; + pwml = speedL; + } + + lastSpeedL = speedL; + lastSpeedR = speedR; + + // ####### LOG TO CONSOLE ####### consoleScope(); timeout=0; diff --git a/Src/stm32f1xx_it.c b/Src/stm32f1xx_it.c index dd70640..e7852bd 100644 --- a/Src/stm32f1xx_it.c +++ b/Src/stm32f1xx_it.c @@ -168,7 +168,7 @@ void SysTick_Handler(void) { /* USER CODE END SysTick_IRQn 1 */ } - +#ifdef CONTROL_NUNCHUCK extern I2C_HandleTypeDef hi2c2; void I2C1_EV_IRQHandler(void) { @@ -207,14 +207,15 @@ void DMA1_Channel5_IRQHandler(void) /* USER CODE END DMA1_Channel5_IRQn 1 */ } +#endif - - +#ifdef CONTROL_PPM void EXTI3_IRQHandler(void) { PPM_ISR_Callback(); __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3); } +#endif /******************************************************************************/ /* STM32F1xx Peripheral Interrupt Handlers */ diff --git a/build/hover.hex b/build/hover.hex index 33067a4..513b02e 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C0002045560008C5550008C955000825 -:10001000CD550008D1550008D55500080000000056 -:10002000000000000000000000000000D95500089A -:10003000DD55000800000000E1550008E555000806 -:100040008D5600088D5600088D5600088D56000804 -:100050008D5600088D5600088D5600088D560008F4 -:100060008D560008315600088D560008C14D000815 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