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Added Motor-Test-Mode: Sweep motors slowly forward and backward without any input. 

Better config-validation.
Fixed board temperature calculation and serial output when speed > 50.
This commit is contained in:
larsm 2019-05-31 19:06:47 +02:00
parent 2c666c8cb4
commit ffda2219f1
3 changed files with 478 additions and 427 deletions
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50
Inc/config.h
View File

@ -47,7 +47,7 @@
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#define DEBUG_BAUD 115200 // UART baud rate #define DEBUG_BAUD 115200 // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM //#define DEBUG_SERIAL_SERVOTERM // Software for plotting graphs: https://github.com/STMBL/Servoterm-app
#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n" #define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
// ############################### INPUT ############################### // ############################### INPUT ###############################
@ -58,13 +58,13 @@
// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); } // for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }
// ###### CONTROL VIA RC REMOTE ###### // ###### CONTROL VIA RC REMOTE ######
// left sensor board cable. Channel 1: steering, Channel 2: speed. // left sensor board cable. Channel 1: steering, Channel 2: speed. Use a very short cable!
//#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2! //#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used. //#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
// ###### CONTROL VIA TWO POTENTIOMETERS ###### // ###### CONTROL VIA TWO POTENTIOMETERS ######
// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>. turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN. turn to maximum position and repeat it for ADC?_MAX. make, flash and test it. // ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>. turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN. turn to maximum position and repeat it for ADC?_MAX. make, flash and test it.
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2! //#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2!
#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095) #define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095) #define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095) #define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
@ -74,6 +74,11 @@
// left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups. use original nunchuck. most clones does not work very well. // left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups. use original nunchuck. most clones does not work very well.
//#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3! //#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
// ###### MOTOR TEST MODE ######
// slowly move both wheels forward and backward, ignoring all inputs
#define CONTROL_MOTOR_TEST
#define CONTROL_MOTOR_TEST_MAX_SPEED 300 // sweep slowly from -MAX_SPEED to MAX_SPEED (0 - 1000)
// ############################### DRIVING BEHAVIOR ############################### // ############################### DRIVING BEHAVIOR ###############################
// inputs: // inputs:
@ -149,6 +154,41 @@ else {\
#error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable. #error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
#endif #endif
#if defined CONTROL_PPM && defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_ADC || defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_NUNCHUCK #ifdef CONTROL_SERIAL_USART2
#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK. #if defined CONTROL_DEFINED
#error select exactly 1 input method in config.h!
#endif
#define CONTROL_DEFINED
#endif
#ifdef CONTROL_PPM
#if defined CONTROL_DEFINED
#error select exactly 1 input method in config.h!
#endif
#define CONTROL_DEFINED
#endif
#ifdef CONTROL_ADC
#if defined CONTROL_DEFINED
#error select exactly 1 input method in config.h!
#endif
#define CONTROL_DEFINED
#endif
#ifdef CONTROL_NUNCHUCK
#if defined CONTROL_DEFINED
#error select exactly 1 input method in config.h!
#endif
#define CONTROL_DEFINED
#endif
#ifdef CONTROL_MOTOR_TEST
#if defined CONTROL_DEFINED
#error select exactly 1 input method in config.h!
#endif
#define CONTROL_DEFINED
#endif
#ifndef CONTROL_DEFINED
#error select exactly 1 input method in config.h!
#endif #endif

19
Src/main.c
View File

@ -67,6 +67,9 @@ extern volatile uint32_t timeout; // global variable for timeout
extern float batteryVoltage; // global variable for battery voltage extern float batteryVoltage; // global variable for battery voltage
uint32_t inactivity_timeout_counter; uint32_t inactivity_timeout_counter;
uint32_t main_loop_counter;
int32_t motor_test_direction = 1;
extern uint8_t nunchuck_data[6]; extern uint8_t nunchuck_data[6];
#ifdef CONTROL_PPM #ifdef CONTROL_PPM
@ -77,7 +80,9 @@ int milli_vel_error_sum = 0;
void poweroff() { void poweroff() {
#ifndef CONTROL_MOTOR_TEST
if (abs(speed) < 20) { if (abs(speed) < 20) {
#endif
buzzerPattern = 0; buzzerPattern = 0;
enable = 0; enable = 0;
for (int i = 0; i < 8; i++) { for (int i = 0; i < 8; i++) {
@ -86,7 +91,9 @@ void poweroff() {
} }
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0); HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {} while(1) {}
#ifndef CONTROL_MOTOR_TEST
} }
#endif
} }
@ -218,6 +225,14 @@ int main(void) {
timeout = 0; timeout = 0;
#endif #endif
#ifdef CONTROL_MOTOR_TEST
// if (main_loop_counter % 2 == 0) {
if (motor_test_direction == 1) cmd2 += 1;
else cmd2 -= 1;
if (abs(cmd2) > CONTROL_MOTOR_TEST_MAX_SPEED) motor_test_direction = -motor_test_direction;
// }
timeout = 0;
#endif
// ####### LOW-PASS FILTER ####### // ####### LOW-PASS FILTER #######
steer = steer * (1.0 - FILTER) + cmd1 * FILTER; steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
@ -252,7 +267,7 @@ int main(void) {
lastSpeedR = speedR; lastSpeedR = speedR;
if (inactivity_timeout_counter % 25 == 0) { if (main_loop_counter % 25 == 0) {
// ####### CALC BOARD TEMPERATURE ####### // ####### CALC BOARD TEMPERATURE #######
board_temp_adc_filtered = board_temp_adc_filtered * 0.99 + (float)adc_buffer.temp * 0.01; board_temp_adc_filtered = board_temp_adc_filtered * 0.99 + (float)adc_buffer.temp * 0.01;
board_temp_deg_c = ((float)TEMP_CAL_HIGH_DEG_C - (float)TEMP_CAL_LOW_DEG_C) / ((float)TEMP_CAL_HIGH_ADC - (float)TEMP_CAL_LOW_ADC) * (board_temp_adc_filtered - (float)TEMP_CAL_LOW_ADC) + (float)TEMP_CAL_LOW_DEG_C; board_temp_deg_c = ((float)TEMP_CAL_HIGH_DEG_C - (float)TEMP_CAL_LOW_DEG_C) / ((float)TEMP_CAL_HIGH_ADC - (float)TEMP_CAL_LOW_ADC) * (board_temp_adc_filtered - (float)TEMP_CAL_LOW_ADC) + (float)TEMP_CAL_LOW_DEG_C;
@ -310,6 +325,8 @@ int main(void) {
if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms
poweroff(); poweroff();
} }
main_loop_counter += 1;
} }
} }

834
build/hover.hex
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@ -1,23 +1,23 @@
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