hoverboard-firmware-hack-se.../Inc/config.h

78 lines
2.2 KiB
C

#pragma once
#include "stm32f1xx_hal.h"
#define R 0.27
#define P 15
#define PSI 0.02
#define V 23
#define MILLI_R (R * 1000)
#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 25 // Motor DC current limit in amps
#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
#define BAT_LOW_DEAD 30.0 // undervoltage lockout
// ################################################################################
#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_I2C_LCD
#define TIMEOUT 5 //wrong commands before emergency off
// ################################################################################
// ###### 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
// #define ADDITIONAL_CODE \
if (button1 && speedR < 300) { \
speedR = speedR * -0.2f; \
speedL = speedL * -0.2f; } \
else { \
direction = 1; } \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = speedR - 600; } \
else { \
weakl = 0; \
weakr = 0; }
// ###### ARMCHAIR ######
// #define FILTER 0.05
// #define SPEED_COEFFICIENT 0.5
// #define STEER_COEFFICIENT -0.2
// #define BEEPS_BACKWARD