From b14bf29fcb22cfb62d734576251ac67a03088ed3 Mon Sep 17 00:00:00 2001 From: diego_palta Date: Tue, 22 Aug 2023 13:51:28 -0300 Subject: [PATCH] Luna BBSHD: update appconf_luna_bbshd.h file. Set Slow ABS Current to FALSE --- hwconf/luna/bbshd/appconf_luna_bbshd.h | 194 +++++++------------------ hwconf/luna/bbshd/hw_luna_bbshd.h | 2 +- hwconf/luna/bbshd/mcconf_luna_bbshd.h | 2 +- 3 files changed, 54 insertions(+), 144 deletions(-) diff --git a/hwconf/luna/bbshd/appconf_luna_bbshd.h b/hwconf/luna/bbshd/appconf_luna_bbshd.h index 6765c891..440782d1 100644 --- a/hwconf/luna/bbshd/appconf_luna_bbshd.h +++ b/hwconf/luna/bbshd/appconf_luna_bbshd.h @@ -12,11 +12,17 @@ // Timeout Brake Current #define APPCONF_TIMEOUT_BRAKE_CURRENT 0 -// Can Status Message Mode -#define APPCONF_SEND_CAN_STATUS 0 +// Can Status Rate 1 +#define APPCONF_CAN_STATUS_RATE_1 50 -// Can Status Rate -#define APPCONF_SEND_CAN_STATUS_RATE_HZ 50 +// Can Status Rate 2 +#define APPCONF_CAN_STATUS_RATE_2 5 + +// Can Messages Rate 1 +#define APPCONF_CAN_STATUS_MSGS_R1 0 + +// Can Messages Rate 2 +#define APPCONF_CAN_STATUS_MSGS_R2 0 // CAN Baud Rate #define APPCONF_CAN_BAUD_RATE 2 @@ -39,6 +45,18 @@ // UAVCAN Raw Throttle Mode #define APPCONF_UAVCAN_RAW_MODE 0 +// UAVCAN Raw RPM Max +#define APPCONF_UAVCAN_RAW_RPM_MAX 50000 + +// UAVCAN Status Current Mode +#define APPCONF_UAVCAN_STATUS_CURRENT_MODE 0 + +// Enable Servo Output +#define APPCONF_SERVO_OUT_ENABLE 0 + +// Kill Switch Mode +#define APPCONF_KILL_SW_MODE 0 + // APP to Use #define APPCONF_APP_TO_USE 10 @@ -105,19 +123,25 @@ // Input Deadband #define APPCONF_ADC_HYST 0.05 -// ADC1 Min Voltage +// ADC1 Start Voltage #define APPCONF_ADC_VOLTAGE_START 0.6 -// ADC1 Max Voltage +// ADC1 End Voltage #define APPCONF_ADC_VOLTAGE_END 2.54 +// ADC1 Abs Min Voltage +#define APPCONF_ADC_VOLTAGE_MIN 0.4 + +// ADC1 Abs Max Voltage +#define APPCONF_ADC_VOLTAGE_MAX 3 + // ADC1 Center Voltage #define APPCONF_ADC_VOLTAGE_CENTER 0.6 -// ADC2 Min Voltage +// ADC2 Start Voltage #define APPCONF_ADC_VOLTAGE2_START 0 -// ADC2 Max Voltage +// ADC2 End Voltage #define APPCONF_ADC_VOLTAGE2_END 2 // Use Filter @@ -126,11 +150,8 @@ // Safe Start #define APPCONF_ADC_SAFE_START 1 -// Invert Cruise Control Button -#define APPCONF_ADC_CC_BUTTON_INVERTED 1 - -// Invert Reverse Button -#define APPCONF_ADC_REV_BUTTON_INVERTED 0 +// Button Inputs +#define APPCONF_ADC_BUTTONS 0 // Invert ADC1 Voltage #define APPCONF_ADC_VOLTAGE_INVERTED 0 @@ -240,123 +261,6 @@ // Send ACK #define APPCONF_NRF_SEND_CRC_ACK 1 -// P -#define APPCONF_BALANCE_KP 0 - -// I -#define APPCONF_BALANCE_KI 0 - -// D -#define APPCONF_BALANCE_KD 0 - -// Loop Hertz -#define APPCONF_BALANCE_HERTZ 1000 - -// Pitch Axis Fault Cutoff -#define APPCONF_BALANCE_FAULT_PITCH 20 - -// Roll Axis Fault Cutoff -#define APPCONF_BALANCE_FAULT_ROLL 45 - -// Duty Cycle Fault Cutoff -#define APPCONF_BALANCE_FAULT_DUTY 0.9 - -// ADC1 Switch Voltage -#define APPCONF_BALANCE_FAULT_ADC1 0 - -// ADC2 Switch Voltage -#define APPCONF_BALANCE_FAULT_ADC2 0 - -// Pitch Fault Delay -#define APPCONF_BALANCE_FAULT_DELAY_PITCH 0 - -// Roll Fault Delay -#define APPCONF_BALANCE_FAULT_DELAY_ROLL 0 - -// Duty Fault Delay -#define APPCONF_BALANCE_FAULT_DELAY_DUTY 0 - -// Half Switch Fault Delay -#define APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF 0 - -// Full Switch Fault Delay -#define APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL 0 - -// ADC Half State Fault ERPM -#define APPCONF_BALANCE_FAULT_ADC_HALF_ERPM 1000 - -// Tiltback Angle -#define APPCONF_BALANCE_TILTBACK_ANGLE 15 - -// Tiltback Speed -#define APPCONF_BALANCE_TILTBACK_SPEED 5 - -// Duty Cycle Tiltback -#define APPCONF_BALANCE_TILTBACK_DUTY 0.75 - -// High Voltage Tiltback -#define APPCONF_BALANCE_TILTBACK_HIGH_V 100 - -// Low Voltage Tiltback -#define APPCONF_BALANCE_TILTBACK_LOW_V 0 - -// Constant Tiltback -#define APPCONF_BALANCE_TILTBACK_CONSTANT 0 - -// Constant Tiltback ERPM -#define APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM 500 - -// Startup Pitch Axis Angle Tolerance -#define APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE 20 - -// Startup Roll Axis Angle Tolerance -#define APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE 8 - -// Startup Centering Speed -#define APPCONF_BALANCE_STARTUP_SPEED 30 - -// Deadzone -#define APPCONF_BALANCE_DEADZONE 0 - -// Current Boost -#define APPCONF_BALANCE_CURRENT_BOOST 0 - -// Multiple VESCs Over CAN -#define APPCONF_BALANCE_MULTI_ESC 0 - -// Yaw P -#define APPCONF_BALANCE_YAW_KP 0 - -// Yaw I -#define APPCONF_BALANCE_YAW_KI 0 - -// Yaw D -#define APPCONF_BALANCE_YAW_KD 0 - -// Roll Steer KP -#define APPCONF_BALANCE_ROLL_STEER_KP 0 - -// Roll Steer ERPM KP -#define APPCONF_BALANCE_ROLL_STEER_ERPM_KP 0 - -// Brake Current -#define APPCONF_BALANCE_BRAKE_CURRENT 0 - -// Yaw Current Clamp -#define APPCONF_BALANCE_YAW_CURRENT_CLAMP 0 - -// Setpoint Pitch Low Pass Filter -#define APPCONF_BALANCE_SETPOINT_PITCH_FILTER 0 - -// Setpoint Target Low Pass Filter -#define APPCONF_BALANCE_SETPOINT_TARGET_FILTER 1 - -// Setpoint Filter Clamp -#define APPCONF_BALANCE_SETPOINT_FILTER_CLAMP 8 - -// D term PT1 Filter -#define APPCONF_BALANCE_KD_PT1_FREQUENCY 0 - // Control Type #define APPCONF_PAS_CTRL_TYPE 1 @@ -396,9 +300,27 @@ // IMU AHRS Mode #define APPCONF_IMU_AHRS_MODE 0 +// Accel/Gyro Filter +#define APPCONF_IMU_FILTER 1 + +// Accel lowpass filter X +#define APPCONF_IMU_ACCEL_LOWPASS_FILTER_X 0 + +// Accel lowpass filter Y +#define APPCONF_IMU_ACCEL_LOWPASS_FILTER_Y 0 + +// Accel lowpass filter Z +#define APPCONF_IMU_ACCEL_LOWPASS_FILTER_Z 0 + +// Gyro lowpass filter +#define APPCONF_IMU_GYRO_LOWPASS_FILTER 0 + // Sample Rate #define APPCONF_IMU_SAMPLE_RATE_HZ 200 +// Use magnetometer +#define APPCONF_IMU_USE_MAGNETOMETER 1 + // Accelerometer Confidence Decay #define APPCONF_IMU_ACCEL_CONFIDENCE_DECAY 1 @@ -438,18 +360,6 @@ // Gyro Offset Z #define APPCONF_IMU_G_OFFSET_2 0 -// Gyro Offset Comp X -#define APPCONF_IMU_G_OFFSET_COMP_FACT_0 0 - -// Gyro Offset Comp Y -#define APPCONF_IMU_G_OFFSET_COMP_FACT_1 0 - -// Gyro Offset Comp Z -#define APPCONF_IMU_G_OFFSET_COMP_FACT_2 0 - -// Gyro Offset Comp Clamp -#define APPCONF_IMU_G_OFFSET_COMP_CLAMP 5 - // APPCONF_LUNA_BBSHD_H_ #endif diff --git a/hwconf/luna/bbshd/hw_luna_bbshd.h b/hwconf/luna/bbshd/hw_luna_bbshd.h index 758354c9..c911318a 100644 --- a/hwconf/luna/bbshd/hw_luna_bbshd.h +++ b/hwconf/luna/bbshd/hw_luna_bbshd.h @@ -21,7 +21,7 @@ #ifndef HW_LUNA_BBSHD_H_ #define HW_LUNA_BBSHD_H_ -#define FW_NAME "2023.06.29" +#define FW_NAME "2023.08.22" #define HW_NAME "LUNA_BBSHD" #include "mcconf_luna_bbshd.h" #include "appconf_luna_bbshd.h" diff --git a/hwconf/luna/bbshd/mcconf_luna_bbshd.h b/hwconf/luna/bbshd/mcconf_luna_bbshd.h index 3104e77f..97282292 100644 --- a/hwconf/luna/bbshd/mcconf_luna_bbshd.h +++ b/hwconf/luna/bbshd/mcconf_luna_bbshd.h @@ -58,7 +58,7 @@ #define MCCONF_L_BATTERY_CUT_END 40.3 // Slow ABS Current Limit -#define MCCONF_L_SLOW_ABS_OVERCURRENT 1 +#define MCCONF_L_SLOW_ABS_OVERCURRENT 0 // MOSFET Temp Cutoff Start #define MCCONF_L_LIM_TEMP_FET_START 85