mirror of https://github.com/rusefi/bldc.git
Merge pull request #99 from Mitchlol/balance
Add self balancing App (EUC)
This commit is contained in:
Benjamin Vedder
GitHub
commit
ad288153b6
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@ -270,6 +270,68 @@
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#define APPCONF_NRF_SEND_CRC_ACK true
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#endif
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// Balance app
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#ifndef APPCONF_BALANCE_KP
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#define APPCONF_BALANCE_KP 0.0
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#endif
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#ifndef APPCONF_BALANCE_KI
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#define APPCONF_BALANCE_KI 0.0
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#endif
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#ifndef APPCONF_BALANCE_KD
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#define APPCONF_BALANCE_KD 0.0
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#endif
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#ifndef APPCONF_BALANCE_HERTZ
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#define APPCONF_BALANCE_HERTZ 1000
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#endif
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#ifndef APPCONF_BALANCE_M_AXIS
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#define APPCONF_BALANCE_M_AXIS 0
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#endif
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#ifndef APPCONF_BALANCE_C_AXIS
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#define APPCONF_BALANCE_C_AXIS 1
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#endif
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#ifndef APPCONF_BALANCE_M_FAULT
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#define APPCONF_BALANCE_M_FAULT 20
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#endif
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#ifndef APPCONF_BALANCE_C_FAULT
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#define APPCONF_BALANCE_C_FAULT 45
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#endif
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#ifndef APPCONF_BALANCE_USE_SWITCHES
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#define APPCONF_BALANCE_USE_SWITCHES false
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#endif
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#ifndef APPCONF_BALANCE_OVERSPEED_DUTY
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#define APPCONF_BALANCE_OVERSPEED_DUTY 0.9
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#endif
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#ifndef APPCONF_BALANCE_TILTBACK_DUTY
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#define APPCONF_BALANCE_TILTBACK_DUTY 0.75
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#endif
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#ifndef APPCONF_BALANCE_TILTBACK_ANGLE
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#define APPCONF_BALANCE_TILTBACK_ANGLE 15.0
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#endif
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#ifndef APPCONF_BALANCE_TILTBACK_SPEED
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#define APPCONF_BALANCE_TILTBACK_SPEED 5.0
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#endif
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#ifndef APPCONF_BALANCE_TILTBACK_HIGH_V
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#define APPCONF_BALANCE_TILTBACK_HIGH_V 100.0
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#endif
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#ifndef APPCONF_BALANCE_TILTBACK_LOW_V
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#define APPCONF_BALANCE_TILTBACK_LOW_V 0.0
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#endif
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#ifndef APPCONF_BALANCE_STARTUP_M_TOLERANCE
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#define APPCONF_BALANCE_STARTUP_M_TOLERANCE 20.0
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#endif
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#ifndef APPCONF_BALANCE_STARTUP_C_TOLERANCE
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#define APPCONF_BALANCE_STARTUP_C_TOLERANCE 8.0
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#endif
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#ifndef APPCONF_BALANCE_STARTUP_SPEED
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#define APPCONF_BALANCE_STARTUP_SPEED 30.0
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#endif
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#ifndef APPCONF_BALANCE_DEADZONE
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#define APPCONF_BALANCE_DEADZONE 0.0
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#endif
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#ifndef APPCONF_BALANCE_CURRENT_BOOST
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#define APPCONF_BALANCE_CURRENT_BOOST 0.0
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#endif
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// IMU
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#ifndef APPCONF_IMU_TYPE
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#define APPCONF_IMU_TYPE IMU_TYPE_INTERNAL
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@ -52,6 +52,7 @@ void app_set_configuration(app_configuration *conf) {
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app_adc_stop();
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app_uartcomm_stop();
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app_nunchuk_stop();
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app_balance_stop();
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if (!conf_general_permanent_nrf_found) {
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nrf_driver_stop();
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@ -67,6 +68,9 @@ void app_set_configuration(app_configuration *conf) {
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imu_init(&conf->imu_conf);
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// Configure balance app before starting it.
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app_balance_configure(&appconf.app_balance_conf, &appconf.imu_conf);
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switch (appconf.app_to_use) {
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case APP_PPM:
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app_ppm_start();
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@ -97,6 +101,10 @@ void app_set_configuration(app_configuration *conf) {
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app_nunchuk_start();
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break;
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case APP_BALANCE:
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app_balance_start();
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break;
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case APP_NRF:
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if (!conf_general_permanent_nrf_found) {
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nrf_driver_init();
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@ -54,6 +54,18 @@ void app_nunchuk_configure(chuk_config *conf);
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float app_nunchuk_get_decoded_chuk(void);
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void app_nunchuk_update_output(chuck_data *data);
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void app_balance_start(void);
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void app_balance_stop(void);
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void app_balance_configure(balance_config *conf, imu_config *conf2);
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float app_balance_get_pid_output(void);
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float app_balance_get_m_angle(void);
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float app_balance_get_c_angle(void);
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uint32_t app_balance_get_diff_time(void);
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float app_balance_get_motor_current(void);
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float app_balance_get_motor_position(void);
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uint16_t app_balance_get_state(void);
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uint16_t app_balance_get_switch_value(void);
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// Custom apps
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void app_custom_start(void);
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void app_custom_stop(void);
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@ -0,0 +1,339 @@
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/*
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Copyright 2019 Mitch Lustig
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "conf_general.h"
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#include "ch.h" // ChibiOS
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#include "hal.h" // ChibiOS HAL
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#include "mc_interface.h" // Motor control functions
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#include "hw.h" // Pin mapping on this hardware
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#include "timeout.h" // To reset the timeout
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#include "commands.h"
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#include "imu/imu.h"
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#include "imu/ahrs.h"
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#include "utils.h"
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#include "datatypes.h"
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#include <math.h>
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// Data type
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typedef enum {
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STARTUP = 0,
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RUNNING,
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FAULT,
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DEAD
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} BalanceState;
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typedef enum {
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CENTERING = 0,
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TILTBACK
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} SetpointAdjustmentType;
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// Balance thread
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static THD_FUNCTION(balance_thread, arg);
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static THD_WORKING_AREA(balance_thread_wa, 2048); // 2kb stack for this thread
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static volatile balance_config balance_conf;
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static volatile imu_config imu_conf;
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static thread_t *app_thread;
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// Values used in loop
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static BalanceState state;
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static float m_angle, c_angle;
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static float proportional, integral, derivative;
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static float last_proportional;
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static float pid_value;
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static float setpoint, setpoint_target;
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static SetpointAdjustmentType setpointAdjustmentType;
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static float startup_step_size, tiltback_step_size;
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static systime_t current_time, last_time, diff_time;
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static systime_t startup_start_time, startup_diff_time;
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static uint16_t switches_value;
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// Values read to pass in app data to GUI
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static float motor_current;
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static float motor_position;
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void app_balance_configure(balance_config *conf, imu_config *conf2) {
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balance_conf = *conf;
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imu_conf = *conf2;
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}
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void app_balance_start(void) {
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// Reset all Values
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state = STARTUP;
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m_angle = 0;
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c_angle = 0;
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switches_value = 0;
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proportional = 0;
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integral = 0;
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derivative = 0;
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last_proportional = 0;
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pid_value = 0;
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setpoint = 0;
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setpoint_target = 0;
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setpointAdjustmentType = CENTERING;
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startup_step_size = 0;
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tiltback_step_size = 0;
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current_time = 0;
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last_time = 0;
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diff_time = 0;
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startup_start_time = 0;
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startup_diff_time = 0;
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#ifdef HW_SPI_PORT_SCK
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// Configure pins
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if(balance_conf.use_switches){
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palSetPadMode(HW_SPI_PORT_SCK, HW_SPI_PIN_SCK, PAL_MODE_INPUT_PULLDOWN);
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palSetPadMode(HW_SPI_PORT_MISO, HW_SPI_PIN_MISO, PAL_MODE_INPUT_PULLDOWN);
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}
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#endif
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// Start the balance thread
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app_thread = chThdCreateStatic(balance_thread_wa, sizeof(balance_thread_wa), NORMALPRIO, balance_thread, NULL);
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}
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void app_balance_stop(void) {
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if(app_thread != NULL){
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chThdTerminate(app_thread);
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chThdWait(app_thread);
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}
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mc_interface_set_current(0);
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}
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float app_balance_get_pid_output(void) {
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return pid_value;
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}
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float app_balance_get_m_angle(void) {
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return m_angle;
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}
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float app_balance_get_c_angle(void) {
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return c_angle;
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}
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uint32_t app_balance_get_diff_time(void) {
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return ST2US(diff_time);
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}
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float app_balance_get_motor_current(void) {
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return motor_current;
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}
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float app_balance_get_motor_position(void) {
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return motor_position;
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}
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uint16_t app_balance_get_state(void) {
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return state;
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}
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uint16_t app_balance_get_switch_value(void) {
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return switches_value;
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}
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float get_setpoint_adjustment_step_size(void){
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switch(setpointAdjustmentType){
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case (CENTERING):
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return startup_step_size;
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case (TILTBACK):
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return tiltback_step_size;
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}
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return 0;
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}
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float apply_deadzone(float error){
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if(balance_conf.deadzone == 0){
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return error;
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}
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if(error < balance_conf.deadzone && error > -balance_conf.deadzone){
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return 0;
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} else if(error > balance_conf.deadzone){
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return error - balance_conf.deadzone;
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} else {
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return error + balance_conf.deadzone;
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}
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}
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static THD_FUNCTION(balance_thread, arg) {
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(void)arg;
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chRegSetThreadName("APP_BALANCE");
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// Do one off config
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startup_step_size = balance_conf.startup_speed / balance_conf.hertz;
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tiltback_step_size = balance_conf.tiltback_speed / balance_conf.hertz;
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state = STARTUP;
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setpointAdjustmentType = CENTERING;
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while (!chThdShouldTerminateX()) {
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// Update times
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current_time = chVTGetSystemTimeX();
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if(last_time == 0){
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last_time = current_time;
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}
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diff_time = current_time - last_time;
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last_time = current_time;
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// Read values for GUI
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motor_current = mc_interface_get_tot_current_directional_filtered();
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motor_position = mc_interface_get_pid_pos_now();
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// Get the values we want
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switch(balance_conf.m_axis){
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case (PITCH):
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m_angle = imu_get_pitch() * 180.0f / M_PI;;
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break;
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case (ROLL):
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m_angle = imu_get_roll() * 180.0f / M_PI;
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break;
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case (YAW):
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m_angle = imu_get_yaw() * 180.0f / M_PI;
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break;
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}
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switch(balance_conf.c_axis){
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case (PITCH):
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c_angle = imu_get_pitch() * 180.0f / M_PI;;
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break;
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case (ROLL):
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c_angle = imu_get_roll() * 180.0f / M_PI;
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break;
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case (YAW):
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c_angle = imu_get_yaw() * 180.0f / M_PI;
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break;
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}
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if(!balance_conf.use_switches){
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switches_value = 2;
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}else{
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switches_value = 0;
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#ifdef HW_SPI_PORT_SCK
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if(palReadPad(HW_SPI_PORT_SCK, HW_SPI_PIN_SCK)){
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switches_value += 1;
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}
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if(palReadPad(HW_SPI_PORT_MISO, HW_SPI_PIN_MISO)){
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switches_value += 1;
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}
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#endif
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}
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// State based logic
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switch(state){
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case (STARTUP):
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while(!imu_startup_done()){
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chThdSleepMilliseconds(50);
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}
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state = FAULT;
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startup_start_time = 0;
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startup_diff_time = 0;
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break;
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case (RUNNING):
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// Check for overspeed
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if(fabsf(mc_interface_get_duty_cycle_now()) > balance_conf.overspeed_duty){
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state = DEAD;
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}
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// Check for fault
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if(
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fabsf(m_angle) > balance_conf.m_fault || // Balnce axis tip over
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fabsf(c_angle) > balance_conf.c_fault || // Cross axis tip over
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app_balance_get_switch_value() == 0 || // Switch fully open
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(app_balance_get_switch_value() == 1 && fabsf(mc_interface_get_duty_cycle_now()) < 0.003) // Switch partially open and stopped
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){
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state = FAULT;
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}
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// Over speed tilt back safety
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if(fabsf(mc_interface_get_duty_cycle_now()) > balance_conf.tiltback_duty ||
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(fabsf(mc_interface_get_duty_cycle_now()) > 0.05 && GET_INPUT_VOLTAGE() > balance_conf.tiltback_high_voltage) ||
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(fabsf(mc_interface_get_duty_cycle_now()) > 0.05 && GET_INPUT_VOLTAGE() < balance_conf.tiltback_low_voltage)){
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if(mc_interface_get_duty_cycle_now() > 0){
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setpoint_target = balance_conf.tiltback_angle;
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} else {
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setpoint_target = -balance_conf.tiltback_angle;
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}
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setpointAdjustmentType = TILTBACK;
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}else{
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setpoint_target = 0;
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}
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// Adjust setpoint
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if(setpoint != setpoint_target){
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// If we are less than one step size away, go all the way
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if(fabsf(setpoint_target - setpoint) < get_setpoint_adjustment_step_size()){
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setpoint = setpoint_target;
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}else if (setpoint_target - setpoint > 0){
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setpoint += get_setpoint_adjustment_step_size();
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}else{
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setpoint -= get_setpoint_adjustment_step_size();
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}
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}
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// Do PID maths
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proportional = setpoint - m_angle;
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// Apply deadzone
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proportional = apply_deadzone(proportional);
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// Resume real PID maths
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integral = integral + proportional;
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derivative = proportional - last_proportional;
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pid_value = (balance_conf.kp * proportional) + (balance_conf.ki * integral) + (balance_conf.kd * derivative);
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last_proportional = proportional;
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// Apply current boost
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if(pid_value > 0){
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pid_value += balance_conf.current_boost;
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}else if(pid_value < 0){
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pid_value -= balance_conf.current_boost;
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}
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// Reset the timeout
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timeout_reset();
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// Output to motor
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if(pid_value == 0){
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mc_interface_release_motor();
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}else {
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mc_interface_set_current(pid_value);
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}
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break;
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case (FAULT):
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// Check for valid startup position and switch state
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if(fabsf(m_angle) < balance_conf.startup_m_tolerance && fabsf(c_angle) < balance_conf.startup_c_tolerance && app_balance_get_switch_value() == 2){
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setpoint = m_angle;
|
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setpoint_target = 0;
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setpointAdjustmentType = CENTERING;
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state = RUNNING;
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break;
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}
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// Disable output
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mc_interface_set_current(0);
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break;
|
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case (DEAD):
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// Disable output
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mc_interface_set_current(0);
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break;
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}
|
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|
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// Delay between loops
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chThdSleepMicroseconds((int)((1000.0 / balance_conf.hertz) * 1000.0));
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}
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|
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// Disable output
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mc_interface_set_current(0);
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}
|
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|
|
@ -4,6 +4,7 @@ APPSRC = applications/app.c \
|
|||
applications/app_sten.c \
|
||||
applications/app_uartcomm.c \
|
||||
applications/app_nunchuk.c \
|
||||
applications/app_balance.c \
|
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applications/app_custom.c
|
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|
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APPINC = applications
|
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|
|
|
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15
commands.c
15
commands.c
|
|
@ -510,6 +510,21 @@ void commands_process_packet(unsigned char *data, unsigned int len,
|
|||
reply_func(send_buffer, ind);
|
||||
} break;
|
||||
|
||||
case COMM_GET_DECODED_BALANCE: {
|
||||
int32_t ind = 0;
|
||||
uint8_t send_buffer[50];
|
||||
send_buffer[ind++] = COMM_GET_DECODED_BALANCE;
|
||||
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_pid_output() * 1000000.0), &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_m_angle() * 1000000.0), &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_c_angle() * 1000000.0), &ind);
|
||||
buffer_append_uint32(send_buffer, app_balance_get_diff_time(), &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_motor_current() * 1000000.0), &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(app_balance_get_motor_position() * 1000000.0), &ind);
|
||||
buffer_append_uint16(send_buffer, app_balance_get_state(), &ind);
|
||||
buffer_append_uint16(send_buffer, app_balance_get_switch_value(), &ind);
|
||||
reply_func(send_buffer, ind);
|
||||
} break;
|
||||
|
||||
case COMM_FORWARD_CAN:
|
||||
comm_can_send_buffer(data[0], data + 1, len - 1, 0);
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -223,6 +223,26 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
|
|||
buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[1];
|
||||
buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[2];
|
||||
buffer[ind++] = conf->app_nrf_conf.send_crc_ack;
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.kp, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.ki, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.kd, &ind);
|
||||
buffer_append_uint16(buffer, conf->app_balance_conf.hertz, &ind);
|
||||
buffer[ind++] = conf->app_balance_conf.m_axis;
|
||||
buffer[ind++] = conf->app_balance_conf.c_axis;
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.m_fault, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.c_fault, &ind);
|
||||
buffer[ind++] = conf->app_balance_conf.use_switches;
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.overspeed_duty, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_angle, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_speed, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_high_voltage, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_low_voltage, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_m_tolerance, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_c_tolerance, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_speed, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.deadzone, &ind);
|
||||
buffer_append_float32_auto(buffer, conf->app_balance_conf.current_boost, &ind);
|
||||
buffer[ind++] = conf->imu_conf.type;
|
||||
buffer[ind++] = conf->imu_conf.mode;
|
||||
buffer_append_uint16(buffer, conf->imu_conf.sample_rate_hz, &ind);
|
||||
|
|
@ -472,6 +492,26 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
|
|||
conf->app_nrf_conf.address[1] = buffer[ind++];
|
||||
conf->app_nrf_conf.address[2] = buffer[ind++];
|
||||
conf->app_nrf_conf.send_crc_ack = buffer[ind++];
|
||||
conf->app_balance_conf.kp = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.ki = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.kd = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.hertz = buffer_get_uint16(buffer, &ind);
|
||||
conf->app_balance_conf.m_axis = buffer[ind++];
|
||||
conf->app_balance_conf.c_axis = buffer[ind++];
|
||||
conf->app_balance_conf.m_fault = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.c_fault = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.use_switches = buffer[ind++];
|
||||
conf->app_balance_conf.overspeed_duty = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.tiltback_angle = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.tiltback_speed = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.tiltback_high_voltage = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.tiltback_low_voltage = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.startup_m_tolerance = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.startup_c_tolerance = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.startup_speed = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.deadzone = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->app_balance_conf.current_boost = buffer_get_float32_auto(buffer, &ind);
|
||||
conf->imu_conf.type = buffer[ind++];
|
||||
conf->imu_conf.mode = buffer[ind++];
|
||||
conf->imu_conf.sample_rate_hz = buffer_get_uint16(buffer, &ind);
|
||||
|
|
@ -705,6 +745,26 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
|
|||
conf->app_nrf_conf.address[1] = APPCONF_NRF_ADDR_B1;
|
||||
conf->app_nrf_conf.address[2] = APPCONF_NRF_ADDR_B2;
|
||||
conf->app_nrf_conf.send_crc_ack = APPCONF_NRF_SEND_CRC_ACK;
|
||||
conf->app_balance_conf.kp = APPCONF_BALANCE_KP;
|
||||
conf->app_balance_conf.ki = APPCONF_BALANCE_KI;
|
||||
conf->app_balance_conf.kd = APPCONF_BALANCE_KD;
|
||||
conf->app_balance_conf.hertz = APPCONF_BALANCE_HERTZ;
|
||||
conf->app_balance_conf.m_axis = APPCONF_BALANCE_M_AXIS;
|
||||
conf->app_balance_conf.c_axis = APPCONF_BALANCE_C_AXIS;
|
||||
conf->app_balance_conf.m_fault = APPCONF_BALANCE_M_FAULT;
|
||||
conf->app_balance_conf.c_fault = APPCONF_BALANCE_C_FAULT;
|
||||
conf->app_balance_conf.use_switches = APPCONF_BALANCE_USE_SWITCHES;
|
||||
conf->app_balance_conf.overspeed_duty = APPCONF_BALANCE_OVERSPEED_DUTY;
|
||||
conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY;
|
||||
conf->app_balance_conf.tiltback_angle = APPCONF_BALANCE_TILTBACK_ANGLE;
|
||||
conf->app_balance_conf.tiltback_speed = APPCONF_BALANCE_TILTBACK_SPEED;
|
||||
conf->app_balance_conf.tiltback_high_voltage = APPCONF_BALANCE_TILTBACK_HIGH_V;
|
||||
conf->app_balance_conf.tiltback_low_voltage = APPCONF_BALANCE_TILTBACK_LOW_V;
|
||||
conf->app_balance_conf.startup_m_tolerance = APPCONF_BALANCE_STARTUP_M_TOLERANCE;
|
||||
conf->app_balance_conf.startup_c_tolerance = APPCONF_BALANCE_STARTUP_C_TOLERANCE;
|
||||
conf->app_balance_conf.startup_speed = APPCONF_BALANCE_STARTUP_SPEED;
|
||||
conf->app_balance_conf.deadzone = APPCONF_BALANCE_DEADZONE;
|
||||
conf->app_balance_conf.current_boost = APPCONF_BALANCE_CURRENT_BOOST;
|
||||
conf->imu_conf.type = APPCONF_IMU_TYPE;
|
||||
conf->imu_conf.mode = APPCONF_IMU_AHRS_MODE;
|
||||
conf->imu_conf.sample_rate_hz = APPCONF_IMU_SAMPLE_RATE_HZ;
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@
|
|||
|
||||
// Constants
|
||||
#define MCCONF_SIGNATURE 503309878
|
||||
#define APPCONF_SIGNATURE 583966563
|
||||
#define APPCONF_SIGNATURE 3900592330
|
||||
|
||||
// Functions
|
||||
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);
|
||||
|
|
|
|||
37
datatypes.h
37
datatypes.h
|
|
@ -317,7 +317,8 @@ typedef enum {
|
|||
APP_ADC_UART,
|
||||
APP_NUNCHUK,
|
||||
APP_NRF,
|
||||
APP_CUSTOM
|
||||
APP_CUSTOM,
|
||||
APP_BALANCE
|
||||
} app_use;
|
||||
|
||||
// Throttle curve mode
|
||||
|
|
@ -488,6 +489,36 @@ typedef struct {
|
|||
bool send_crc_ack;
|
||||
} nrf_config;
|
||||
|
||||
// External LED state
|
||||
typedef enum {
|
||||
PITCH = 0,
|
||||
ROLL,
|
||||
YAW
|
||||
} AXIS;
|
||||
|
||||
typedef struct {
|
||||
float kp;
|
||||
float ki;
|
||||
float kd;
|
||||
uint16_t hertz;
|
||||
AXIS m_axis;
|
||||
AXIS c_axis;
|
||||
float m_fault;
|
||||
float c_fault;
|
||||
bool use_switches;
|
||||
float overspeed_duty;
|
||||
float tiltback_duty;
|
||||
float tiltback_angle;
|
||||
float tiltback_speed;
|
||||
float tiltback_high_voltage;
|
||||
float tiltback_low_voltage;
|
||||
float startup_m_tolerance;
|
||||
float startup_c_tolerance;
|
||||
float startup_speed;
|
||||
float deadzone;
|
||||
float current_boost;
|
||||
} balance_config;
|
||||
|
||||
// CAN status modes
|
||||
typedef enum {
|
||||
CAN_STATUS_DISABLED = 0,
|
||||
|
|
@ -575,6 +606,9 @@ typedef struct {
|
|||
// NRF application settings
|
||||
nrf_config app_nrf_conf;
|
||||
|
||||
// Balance application settings
|
||||
balance_config app_balance_conf;
|
||||
|
||||
// IMU Settings
|
||||
imu_config imu_conf;
|
||||
} app_configuration;
|
||||
|
|
@ -660,6 +694,7 @@ typedef enum {
|
|||
COMM_PLOT_DATA,
|
||||
COMM_PLOT_ADD_GRAPH,
|
||||
COMM_PLOT_SET_GRAPH,
|
||||
COMM_GET_DECODED_BALANCE,
|
||||
} COMM_PACKET_ID;
|
||||
|
||||
// CAN commands
|
||||
|
|
|
|||
21
imu/imu.c
21
imu/imu.c
|
|
@ -40,6 +40,8 @@ static ICM20948_STATE m_icm20948_state;
|
|||
static BMI_STATE m_bmi_state;
|
||||
static imu_config m_settings;
|
||||
static float m_gyro_offset[3] = {0.0};
|
||||
static systime_t init_time;
|
||||
static bool imu_ready;
|
||||
|
||||
// Private functions
|
||||
static void imu_read_callback(float *accel, float *gyro, float *mag);
|
||||
|
|
@ -53,8 +55,10 @@ void imu_init(imu_config *set) {
|
|||
|
||||
imu_stop();
|
||||
|
||||
ahrs_update_all_parameters(set->accel_confidence_decay, set->mahony_kp,
|
||||
set->mahony_ki, set->madgwick_beta);
|
||||
imu_ready = false;
|
||||
init_time = chVTGetSystemTimeX();
|
||||
ahrs_update_all_parameters(1.0, 0.3, 0.0, 2.0);
|
||||
|
||||
ahrs_init_attitude_info(&m_att);
|
||||
|
||||
mpu9150_set_rate_hz(set->sample_rate_hz);
|
||||
|
|
@ -149,6 +153,10 @@ void imu_stop(void) {
|
|||
bmi160_wrapper_stop(&m_bmi_state);
|
||||
}
|
||||
|
||||
bool imu_startup_done(void) {
|
||||
return imu_ready;
|
||||
}
|
||||
|
||||
float imu_get_roll(void) {
|
||||
return ahrs_get_roll(&m_att);
|
||||
}
|
||||
|
|
@ -215,6 +223,15 @@ static void imu_read_callback(float *accel, float *gyro, float *mag) {
|
|||
float dt = timer_seconds_elapsed_since(last_time);
|
||||
last_time = timer_time_now();
|
||||
|
||||
if(!imu_ready && ST2MS(chVTGetSystemTimeX() - init_time) > 1000){
|
||||
ahrs_update_all_parameters(
|
||||
m_settings.accel_confidence_decay,
|
||||
m_settings.mahony_kp,
|
||||
m_settings.mahony_ki,
|
||||
m_settings.madgwick_beta);
|
||||
imu_ready = true;
|
||||
}
|
||||
|
||||
#ifdef IMU_FLIP
|
||||
accel[0] *= -1.0;
|
||||
accel[2] *= -1.0;
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@ void imu_init_icm20948(stm32_gpio_t *sda_gpio, int sda_pin,
|
|||
void imu_init_bmi160(stm32_gpio_t *sda_gpio, int sda_pin,
|
||||
stm32_gpio_t *scl_gpio, int scl_pin);
|
||||
void imu_stop(void);
|
||||
bool imu_startup_done(void);
|
||||
float imu_get_roll(void);
|
||||
float imu_get_pitch(void);
|
||||
float imu_get_yaw(void);
|
||||
|
|
|
|||
|
|
@ -115,7 +115,7 @@ void mpu9150_init(stm32_gpio_t *sda_gpio, int sda_pin,
|
|||
terminal_read_reg);
|
||||
|
||||
uint8_t res = read_single_reg(MPU9150_WHO_AM_I);
|
||||
if (res == 0x68 || res == 0x69 || res == 0x71) {
|
||||
if (res == 0x68 || res == 0x69 || res == 0x71 || res == 0x73) {
|
||||
mpu_found = true;
|
||||
if (!mpu_tp) {
|
||||
should_stop = false;
|
||||
|
|
|
|||
Loading…
Reference in New Issue