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A bunch of compile warning fixes and addition of keil project file #100

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A bunch of compile warning fixes and addition of keil project file #100

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28 changes: 28 additions & 0 deletions Inc/comms.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,28 @@
/*
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2017-2018 Rene Hopf <[email protected]>
* Copyright (C) 2017-2018 Nico Stute <[email protected]>
* Copyright (C) 2017-2018 Niklas Fauth <[email protected]>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#pragma once

#include "stm32f1xx_hal.h"

void setScopeChannel(uint8_t ch, int16_t val);
void consoleScope(void);
void consoleLog(char *message);
38 changes: 22 additions & 16 deletions Inc/config.h
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Expand Up @@ -15,23 +15,23 @@
// How to calibrate: connect GND and RX of a 3.3v uart-usb adapter to the right sensor board cable (be careful not to use the red wire of the cable. 15v will destroy everything.). if you are using nunchuck, disable it temporarily. enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII use asearial terminal.

// Battery voltage calibration: connect power source. see <How to calibrate>. write value nr 5 to BAT_CALIB_ADC. make and flash firmware. then you can verify voltage on value 6 (devide it by 100.0 to get calibrated voltage).
#define BAT_CALIB_REAL_VOLTAGE 43.0 // input voltage measured by multimeter
#define BAT_CALIB_REAL_VOLTAGE 43.0f // input voltage measured by multimeter
#define BAT_CALIB_ADC 1704 // adc-value measured by mainboard (value nr 5 on UART debug output)

#define BAT_NUMBER_OF_CELLS 10 // normal Hoverboard battery: 10s
#define BAT_LOW_LVL1_ENABLE 0 // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL1 3.6 // gently beeps at this voltage level. [V/cell]
#define BAT_LOW_LVL1 3.6f // gently beeps at this voltage level. [V/cell]
#define BAT_LOW_LVL2_ENABLE 1 // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL2 3.5 // your battery is almost empty. Charge now! [V/cell]
#define BAT_LOW_DEAD 3.37 // undervoltage poweroff. (while not driving) [V/cell]
#define BAT_LOW_LVL2 3.5f // your battery is almost empty. Charge now! [V/cell]
#define BAT_LOW_DEAD 3.37f // undervoltage poweroff. (while not driving) [V/cell]

#define DC_CUR_LIMIT 15 // DC current limit in amps per motor. so 15 means it will draw 30A out of your battery. it does not disable motors, it is a soft current limit.

// Board overheat detection: the sensor is inside the STM/GD chip. it is very inaccurate without calibration (up to 45°C). so only enable this funcion after calibration! let your board cool down. see <How to calibrate>. 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. write debug 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. enable warning and/or poweroff and make and flash firmware.
#define TEMP_CAL_LOW_ADC 1655 // temperature 1: ADC value
#define TEMP_CAL_LOW_DEG_C 35.8 // temperature 1: measured temperature [°C]
#define TEMP_CAL_LOW_DEG_C 35.8f // temperature 1: measured temperature [°C]
#define TEMP_CAL_HIGH_ADC 1588 // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C 48.9 // temperature 2: measured temperature [°C]
#define TEMP_CAL_HIGH_DEG_C 48.9f // temperature 2: measured temperature [°C]
#define TEMP_WARNING_ENABLE 0 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
#define TEMP_WARNING 60 // annoying fast beeps [°C]
#define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
Expand Down Expand Up @@ -89,29 +89,32 @@
// - speedR and speedL: normal driving -1000 to 1000
// - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400

#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues.
#define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to ~2.0?
#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
#define FILTER 0.1f // lower value == softer filter. do not use values <0.01, you will get float precision issues.
#define SPEED_COEFFICIENT 0.5f // higher value == stronger. 0.0 to ~2.0?
#define STEER_COEFFICIENT 0.5f // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
#define INVERT_R_DIRECTION
#define INVERT_L_DIRECTION
#define BEEPS_BACKWARD 1 // 0 or 1

//Turbo boost at high speeds while button1 is pressed:
//#define ADDITIONAL_CODE \
#if 0
#define ADDITIONAL_CODE \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = cmd1 - 700; } \
else { \
weakl = 0; \
weakr = 0; }
#endif

// ###### SIMPLE BOBBYCAR ######
// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
// #define FILTER 0.1
// #define FILTER 0.1f
// #define SPEED_COEFFICIENT -1
// #define STEER_COEFFICIENT 0

// #define ADDITIONAL_CODE \
#if 0
#define ADDITIONAL_CODE \
if (button1 && speedR < 300) { /* drive backwards */ \
speedR = speedR * -0.2f; \
speedL = speedL * -0.2f; } \
Expand All @@ -123,18 +126,21 @@ if (button1 && speedR > 700) { /* field weakening at high speeds */ \
else { \
weakl = 0; \
weakr = 0; }
#endif

// ###### ARMCHAIR ######
// #define FILTER 0.05
// #define SPEED_COEFFICIENT 0.5
// #define STEER_COEFFICIENT -0.2
// #define FILTER 0.05f
// #define SPEED_COEFFICIENT 0.5f
// #define STEER_COEFFICIENT -0.2f

// #define ADDITIONAL_CODE if (button1 && scale > 0.8) { /* field weakening at high speeds */ \
#if 0
#define ADDITIONAL_CODE if (button1 && scale > 0.8) { /* field weakening at high speeds */ \
weakl = speedL - 600; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = speedR - 600; } \
else {\
weakl = 0;\
weakr = 0;
#endif

// ############################### VALIDATE SETTINGS ###############################

Expand Down
16 changes: 8 additions & 8 deletions Inc/defines.h
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Expand Up @@ -123,24 +123,24 @@

#define DELAY_TIM_FREQUENCY_US 1000000

#define MOTOR_AMP_CONV_DC_AMP 0.02 // A per bit (12) on ADC.
#define MOTOR_AMP_CONV_DC_AMP 0.02f // A per bit (12) on ADC.

#define MILLI_R (R * 1000)
#define MILLI_PSI (PSI * 1000)
#define MILLI_V (V * 1000)

#define NO 0
#define YES 1
#define ABS(a) (((a) < 0.0) ? -(a) : (a))
#define ABS(a) (((a) < 0.0f) ? -(a) : (a))
#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0) : (((x) < (-lowhigh)) ? (-1.0) : (0.0)))
#define SAT2(x, low, high) (((x) > (high)) ? (1.0) : (((x) < (low)) ? (-1.0) : (0.0)))
#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
#define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))
#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
#define DEG(a) ((a)*M_PI / 180.0)
#define RAD(a) ((a)*180.0 / M_PI)
#define SIGN(a) (((a) < 0.0) ? (-1.0) : (((a) > 0.0) ? (1.0) : (0.0)))
#define DEG(a) ((a)*M_PI / 180.0f)
#define RAD(a) ((a)*180.0f / M_PI)
#define SIGN(a) (((a) < 0.0f) ? (-1.0f) : (((a) > 0.0f) ? (1.0f) : (0.0f)))
#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0), 1.0)
#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
#define MIN(a, b) (((a) < (b)) ? (a) : (b))
#define MAX(a, b) (((a) > (b)) ? (a) : (b))
#define MIN3(a, b, c) MIN(a, MIN(b, c))
Expand Down
57 changes: 28 additions & 29 deletions Src/bldc.c
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@@ -1,12 +1,11 @@

#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"


volatile int posl = 0;
volatile int posr = 0;
static volatile int posl = 0;
static volatile int posr = 0;
volatile int pwml = 0;
volatile int pwmr = 0;
volatile int weakl = 0;
Expand All @@ -18,14 +17,14 @@ extern volatile adc_buf_t adc_buffer;

extern volatile uint32_t timeout;

uint32_t buzzerFreq = 0;
uint32_t buzzerPattern = 0;
uint8_t buzzerFreq = 0;
uint8_t buzzerPattern = 0;

uint8_t enable = 0;

const int pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
static const uint16_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000

const uint8_t hall_to_pos[8] = {
static const uint8_t hall_to_pos[8] = {
0,
0,
2,
Expand All @@ -36,7 +35,7 @@ const uint8_t hall_to_pos[8] = {
0,
};

inline void blockPWM(int pwm, int pos, int *u, int *v, int *w) {
static inline void blockPWM(int pwm, int pos, int *u, int *v, int *w) {
switch(pos) {
case 0:
*u = 0;
Expand Down Expand Up @@ -75,7 +74,7 @@ inline void blockPWM(int pwm, int pos, int *u, int *v, int *w) {
}
}

inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
static inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
switch(pos) {
case 0:
*q = u - v;
Expand Down Expand Up @@ -121,32 +120,32 @@ inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
}
}

uint32_t buzzerTimer = 0;
static uint32_t buzzerTimer = 0;

int offsetcount = 0;
int offsetrl1 = 2000;
int offsetrl2 = 2000;
int offsetrr1 = 2000;
int offsetrr2 = 2000;
int offsetdcl = 2000;
int offsetdcr = 2000;
static int offsetcount = 0;
static int offsetrl1 = 2000;
static int offsetrl2 = 2000;
static int offsetrr1 = 2000;
static int offsetrr2 = 2000;
static int offsetdcl = 2000;
static int offsetdcr = 2000;

float batteryVoltage = BAT_NUMBER_OF_CELLS * 4.0;
float batteryVoltage = BAT_NUMBER_OF_CELLS * 4.0f;

int curl = 0;
static int curl = 0;
// int errorl = 0;
// int kp = 5;
// volatile int cmdl = 0;

int last_pos = 0;
int timer = 0;
const int max_time = PWM_FREQ / 10;
volatile int vel = 0;
static volatile int vel = 0;

//scan 8 channels with 2ADCs @ 20 clk cycles per sample
//meaning ~80 ADC clock cycles @ 8MHz until new DMA interrupt =~ 100KHz
//=640 cpu cycles
void DMA1_Channel1_IRQHandler() {
void DMA1_Channel1_IRQHandler(void) {
DMA1->IFCR = DMA_IFCR_CTCIF1;
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);

Expand All @@ -162,7 +161,7 @@ void DMA1_Channel1_IRQHandler() {
}

if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time
batteryVoltage = batteryVoltage * 0.99 + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.01;
batteryVoltage = batteryVoltage * 0.99f + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.01f;
}

//disable PWM when current limit is reached (current chopping)
Expand Down Expand Up @@ -242,7 +241,7 @@ void DMA1_Channel1_IRQHandler() {
HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
}
} else {
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0);
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET);
}

//update PWM channels based on position
Expand All @@ -269,11 +268,11 @@ void DMA1_Channel1_IRQHandler() {
vr += weakvr;
wr += weakwr;

LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_U = (uint16_t)CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = (uint16_t)CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_W = (uint16_t)CLAMP(wl + pwm_res / 2, 10, pwm_res-10);

RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_U = (uint16_t)CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_V = (uint16_t)CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_W = (uint16_t)CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
}
21 changes: 11 additions & 10 deletions Src/comms.c
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@
#include <stdio.h>
#include <string.h>
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
#include "stdio.h"
#include "string.h"
#include "comms.h"

UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart2;

#ifdef DEBUG_SERIAL_USART3
#define UART_DMA_CHANNEL DMA1_Channel2
Expand All @@ -16,15 +17,15 @@ UART_HandleTypeDef huart2;
#endif


volatile uint8_t uart_buf[100];
volatile int16_t ch_buf[8];
static volatile uint8_t uart_buf[100];
static volatile int16_t ch_buf[8];
//volatile char char_buf[300];

void setScopeChannel(uint8_t ch, int16_t val) {
ch_buf[ch] = val;
}

void consoleScope() {
void consoleScope(void) {
#if defined DEBUG_SERIAL_SERVOTERM && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
uart_buf[0] = 0xff;
uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
Expand All @@ -46,12 +47,12 @@ void consoleScope() {
#endif

#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
memset(uart_buf, 0, sizeof(uart_buf));
sprintf(uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
memset((void *)(uintptr_t)uart_buf, 0, sizeof(uart_buf));
sprintf((char *)(uintptr_t)uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);

if(UART_DMA_CHANNEL->CNDTR == 0) {
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = strlen(uart_buf);
UART_DMA_CHANNEL->CNDTR = strlen((char *)(uintptr_t)uart_buf);
UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
}
Expand All @@ -60,5 +61,5 @@ void consoleScope() {

void consoleLog(char *message)
{
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, strlen(message));
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, (uint16_t)strlen(message));
}
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