124 lines
5.7 KiB
C
124 lines
5.7 KiB
C
#pragma once
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#include "stm32f1xx_hal.h"
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// ################################################################################
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define DEAD_TIME 32 // PWM deadtime
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#define DC_CUR_LIMIT 15 // Motor DC current limit in amps. it does not disable motors, it is a soft current limit.
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#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level. ~3.6V/cell
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#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now! ~3.3V/cell
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#define BAT_LOW_DEAD 31.0 // undervoltage lockout. ~3.1V/cell
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// ################################################################################
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#define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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//#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck) is used!
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#define DEBUG_BAUD 115200 // UART baud rate
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//#define DEBUG_SERIAL_SERVOTERM
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#define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r"
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//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
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#define TIMEOUT 5 // number of wrong / missing commands before emergency off
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// ################################################################################
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// ###### CONTROL VIA RC REMOTE ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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//#define CONTROL_PPM // use PPM-Sum as input. disable DEBUG_SERIAL_USART2!
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//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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// ###### CONTROL VIA TWO POTENTIOMETERS ######
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// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V), watch UART on the right sensor board cable. the first 2 values are ADC1 and ADC2. write minimum and maximum poti position-values to ADC?_MIN and ADC?_MAX.
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//#define CONTROL_ADC // use ADC as input. disable DEBUG_SERIAL_USART2!
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//#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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//#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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//#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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//#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
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// ###### CONTROL VIA NINTENDO NUNCHUCK ######
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// 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.
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#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
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// ################################################################################
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// ###### DRIVING BEHAVIOR ######
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// inputs:
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// - cmd1 and cmd2: analog normalized input values. -1000 to 1000
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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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// - speedR and speedL: normal driving -1000 to 1000
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// - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400
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#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues.
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#define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to 1.0
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#define STEER_COEFFICIENT 0.5 // 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
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//#define INVERT_L_DIRECTION
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//Turbo boost at high speeds while button1 is pressed:
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//#define ADDITIONAL_CODE \
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if (button1 && speedR > 700) { /* field weakening at high speeds */ \
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weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = cmd1 - 700; } \
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else { \
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weakl = 0; \
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weakr = 0; }
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// ###### BOBBYCAR ######
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// #define FILTER 0.1
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// #define SPEED_COEFFICIENT -1
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// #define STEER_COEFFICIENT 0
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// #define ADDITIONAL_CODE \
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if (button1 && speedR < 300) { /* drive backwards */ \
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speedR = speedR * -0.2f; \
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speedL = speedL * -0.2f; } \
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else { \
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direction = 1; } \
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if (button1 && speedR > 700) { /* field weakening at high speeds */ \
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weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = speedR - 600; } \
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else { \
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weakl = 0; \
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weakr = 0; }
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// ###### ARMCHAIR ######
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// #define FILTER 0.05
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// #define SPEED_COEFFICIENT 0.5
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// #define STEER_COEFFICIENT -0.2
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// #define ADDITIONAL_CODE if (button1 && scale > 0.8) { /* field weakening at high speeds */ \
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weakl = speedL - 600; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = speedR - 600; } \
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else {\
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weakl = 0;\
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weakr = 0;
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// #define BEEPS_BACKWARD
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// ################################################################################
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// validate settings (do not touch this):
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#if defined DEBUG_SERIAL_USART2 && defined CONTROL_ADC
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#error CONTROL_ADC and DEBUG_SERIAL_USART2 not allowed. use DEBUG_SERIAL_USART3 instead.
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#endif
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#if defined DEBUG_SERIAL_USART2 && defined CONTROL_PPM
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#error CONTROL_PPM and DEBUG_SERIAL_USART2 not allowed. use DEBUG_SERIAL_USART3 instead.
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#endif
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#if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
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#error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. use DEBUG_SERIAL_USART2 instead.
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#endif
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#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
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#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
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#endif
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