forked from lucysrausch/hoverboard-firmware-hack
/
platformio.ini
226 lines (211 loc) · 15.4 KB
/
platformio.ini
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; PlatformIO Project Configuration File2
; http://docs.platformio.org/page/projectconf.html
[platformio]
include_dir = inc
env_default = genericSTM32F103RC
;env_default = transport_board
;env_default = paddelec
[env:genericSTM32F103RC]
monitor_speed = 19200
platform = ststm32
framework = stm32cube
debug_tool = stlink
board = genericSTM32F103RC
build_flags =
-I${PROJECT_DIR}/inc/
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
# -Wl,-lnosys
[env:transport_board]
monitor_speed = 19200
platform = ststm32
framework = stm32cube
debug_tool = stlink
board = genericSTM32F103RC
build_flags =
-I${PROJECT_DIR}/inc/
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-Og
# -Wl,-lnosys
-D IGNORE_GLOBAL_CONFIG
; ############################### DO-NOT-TOUCH SETTINGS ###############################
-D PWM_FREQ=16000 ; PWM frequency in Hz
-D DEAD_TIME=32 ; PWM deadtime
-D DELAY_IN_MAIN_LOOP=5 ; in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
-D TIMEOUT=50 ; number of wrong / missing input commands before emergency off
-D SOFTWATCHDOG_TIMEOUT=50 ; Watchdog, Monitors main loop. Stops motors and shuts down when not called after xx ms.
; ############################### GENERAL ###############################
-D BAT_CALIB_REAL_VOLTAGE=43.0 ; input voltage measured by multimeter
-D BAT_CALIB_ADC=1704 ; adc-value measured by mainboard (value nr 5 on UART debug output)
-D BAT_NUMBER_OF_CELLS=10 ; normal Hoverboard battery: 10s
-D BAT_LOW_LVL1_ENABLE=0 ; to beep or not to beep, 1 or 0
-D BAT_LOW_LVL1=3.6 ; gently beeps at this voltage level. [V/cell]
-D BAT_LOW_LVL2_ENABLE=1 ; to beep or not to beep, 1 or 0
-D BAT_LOW_LVL2=3.5 ; your battery is almost empty. Charge now! [V/cell]
-D BAT_LOW_DEAD=3.37 ; undervoltage poweroff. (while not driving) [V/cell]
-D 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.
-D TEMP_CAL_LOW_ADC=1655 ; temperature 1: ADC value
-D TEMP_CAL_LOW_DEG_C=35.8 ; temperature 1: measured temperature [°C]
-D TEMP_CAL_HIGH_ADC=1588 ; temperature 2: ADC value
-D TEMP_CAL_HIGH_DEG_C=48.9 ; temperature 2: measured temperature [°C]
-D TEMP_WARNING_ENABLE=0 ; to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
-D TEMP_WARNING=60 ; annoying fast beeps [°C]
-D TEMP_POWEROFF_ENABLE=0 ; to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
-D TEMP_POWEROFF=65 ; overheat poweroff. (while not driving) [°C]
-D INACTIVITY_TIMEOUT=8 ; minutes of not driving until poweroff. it is not very precise.
; ############################### LCD DEBUG ###############################
; -D DEBUG_I2C_LCD ; standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
; ############################### SERIAL DEBUG ###############################
; -D DEBUG_SERIAL_USART2 ; left sensor board cable, disable if ADC or PPM is used!
; -D DEBUG_SERIAL_USART3 ; right sensor board cable, disable if I2C (nunchuck or lcd) is used!
; -D DEBUG_SERIAL_SERVOTERM
-D DEBUG_SERIAL_ASCII ; "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
; ############################### INPUT ###############################
; ###### CONTROL VIA UART (serial) ######
; -D CONTROL_SERIAL_NAIVE_USART2 ; left sensor board cable, disable if ADC or PPM is used!
; -D CONTROL_SERIAL_NAIVE_USART3 ; right sensor board cable, disable if I2C (nunchuck or lcd) is used!
; -D CONTROL_SERIAL_NAIVE_CRC ; Add CRC32 check to control serial
-D CONTROL_SERIAL_PROTOCOL ; enables processing of input characters through 'protocol.c'
; -D SERIAL_USART2_IT ; Interface for CONTROL_SERIAL_PROTOCOL
-D USART2_BAUD=19200 ; UART baud rate
-D USART2_WORDLENGTH=UART_WORDLENGTH_8B ; UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
-D SERIAL_USART3_IT ; Interface for CONTROL_SERIAL_PROTOCOL
-D USART3_BAUD=115200 ; UART baud rate
-D USART3_WORDLENGTH=UART_WORDLENGTH_8B ; UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
-D SERIAL_USART_IT_BUFFERTYPE='unsigned char' ; char or short
-D HALL_INTERRUPTS ; ENABLE INTERRUPT READING OF HALL SENSORS FOR POSITION
; -D WHEEL_SIZE_INCHES=8.5 ; set to your wheelsize to override the default 6.5
; ###### CONTROL VIA RC REMOTE ######
; -D CONTROL_PPM ; use PPM-Sum as input. disable DEBUG_SERIAL_USART2!
; -D PPM_NUM_CHANNELS=6 ; total number of PPM channels to receive, even if they are not used.
; ###### CONTROL VIA TWO POTENTIOMETERS ######
-D CONTROL_ADC ; use ADC as input. disable DEBUG_SERIAL_USART2!
-D ADC1_MIN=0 ; min ADC1-value while poti at minimum-position (0 - 4095)
-D ADC1_ZERO=1200 ; ADC1-value while poti at zero-position (0 - 4095)
-D ADC1_MAX=4095 ; max ADC1-value while poti at maximum-position (0 - 4095)
-D ADC1_MULT_NEG=1300.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC1_MULT_POS=3000.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC2_MIN=0 ; min ADC2-value while poti at minimum-position (0 - 4095)
-D ADC2_ZERO=2000 ; ADC2-value while poti at zero-position (0 - 4095)
-D ADC2_MAX=4095 ; max ADC2-value while poti at maximum-position (0 - 4095)
-D ADC2_MULT_NEG=330.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC2_MULT_POS=330.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC_OFF_START=0 ; Start Value of Area at which other inputs can be active (0 - 4095) Applies to Speed ADC
-D ADC_OFF_END=700 ; End Value of Area at which other inputs can be active (0 - 4095) Applies to Speed ADC
-D ADC_SWITCH_CHANNELS ; define if ADC1 is used for Steer and ADC2 for Speed
-D ADC_REVERSE_STEER ; define if ADC1 is used for Steer and ADC2 for Speed
; ###### CONTROL VIA NINTENDO NUNCHUCK ######
; -D CONTROL_NUNCHUCK ; use nunchuck as input. disable DEBUG_SERIAL_USART3!
; ############################### DRIVING BEHAVIOR ###############################
-D FILTER=0.1 ; lower value == softer filter. do not use values <0.01, you will get float precision issues.
-D SPEED_COEFFICIENT=0.5 ; higher value == stronger. 0.0 to ~2.0?
-D STEER_COEFFICIENT=0.5 ; higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
; -D SWITCH_WHEELS ; switch right and left wheel. Watch out, you probably also need to invert directions.
-D INVERT_R_DIRECTION
-D INVERT_L_DIRECTION
-D BEEPS_BACKWARD=0 ; 0 or 1
;Turbo boost at high speeds while button1 is pressed:
; -D 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; }'
[env:paddelec]
monitor_speed = 19200
platform = ststm32
framework = stm32cube
debug_tool = stlink
board = genericSTM32F103RC
build_flags =
-I${PROJECT_DIR}/inc/
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-Og
# -Wl,-lnosys
-D IGNORE_GLOBAL_CONFIG
; ############################### DO-NOT-TOUCH SETTINGS ###############################
-D PWM_FREQ=16000 ; PWM frequency in Hz
-D DEAD_TIME=32 ; PWM deadtime
-D DELAY_IN_MAIN_LOOP=5 ; in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
-D TIMEOUT=50 ; number of wrong / missing input commands before emergency off
-D SOFTWATCHDOG_TIMEOUT=50 ; Watchdog, Monitors main loop. Stops motors and shuts down when not called after xx ms.
; ############################### GENERAL ###############################
-D BAT_CALIB_REAL_VOLTAGE=43.0 ; input voltage measured by multimeter
-D BAT_CALIB_ADC=1704 ; adc-value measured by mainboard (value nr 5 on UART debug output)
-D BAT_NUMBER_OF_CELLS=10 ; normal Hoverboard battery: 10s
-D BAT_LOW_LVL1_ENABLE=0 ; to beep or not to beep, 1 or 0
-D BAT_LOW_LVL1=3.6 ; gently beeps at this voltage level. [V/cell]
-D BAT_LOW_LVL2_ENABLE=1 ; to beep or not to beep, 1 or 0
-D BAT_LOW_LVL2=3.5 ; your battery is almost empty. Charge now! [V/cell]
-D BAT_LOW_DEAD=3.37 ; undervoltage poweroff. (while not driving) [V/cell]
-D 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.
-D TEMP_CAL_LOW_ADC=1655 ; temperature 1: ADC value
-D TEMP_CAL_LOW_DEG_C=35.8 ; temperature 1: measured temperature [°C]
-D TEMP_CAL_HIGH_ADC=1588 ; temperature 2: ADC value
-D TEMP_CAL_HIGH_DEG_C=48.9 ; temperature 2: measured temperature [°C]
-D TEMP_WARNING_ENABLE=0 ; to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
-D TEMP_WARNING=60 ; annoying fast beeps [°C]
-D TEMP_POWEROFF_ENABLE=0 ; to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
-D TEMP_POWEROFF=65 ; overheat poweroff. (while not driving) [°C]
-D INACTIVITY_TIMEOUT=8 ; minutes of not driving until poweroff. it is not very precise.
; ############################### LCD DEBUG ###############################
; -D DEBUG_I2C_LCD ; standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
; ############################### SERIAL DEBUG ###############################
; -D DEBUG_SERIAL_USART2 ; left sensor board cable, disable if ADC or PPM is used!
; -D DEBUG_SERIAL_USART3 ; right sensor board cable, disable if I2C (nunchuck or lcd) is used!
; -D DEBUG_SERIAL_SERVOTERM
-D DEBUG_SERIAL_ASCII ; "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
; ############################### INPUT ###############################
; ###### CONTROL VIA UART (serial) ######
; -D CONTROL_SERIAL_NAIVE_USART2 ; left sensor board cable, disable if ADC or PPM is used!
; -D CONTROL_SERIAL_NAIVE_USART3 ; right sensor board cable, disable if I2C (nunchuck or lcd) is used!
; -D CONTROL_SERIAL_NAIVE_CRC ; Add CRC32 check to control serial
-D CONTROL_SERIAL_PROTOCOL ; enables processing of input characters through 'protocol.c'
-D SERIAL_USART2_IT ; Interface for CONTROL_SERIAL_PROTOCOL
-D USART2_BAUD=115200 ; UART baud rate
-D USART2_WORDLENGTH=UART_WORDLENGTH_8B ; UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
; -D SERIAL_USART3_IT ; Interface for CONTROL_SERIAL_PROTOCOL
-D USART3_BAUD=19200 ; UART baud rate
-D USART3_WORDLENGTH=UART_WORDLENGTH_8B ; UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
-D SERIAL_USART_IT_BUFFERTYPE='unsigned char' ; char or short
-D HALL_INTERRUPTS ; ENABLE INTERRUPT READING OF HALL SENSORS FOR POSITION
; -D WHEEL_SIZE_INCHES=8.5 ; set to your wheelsize to override the default 6.5
; ###### CONTROL VIA RC REMOTE ######
; -D CONTROL_PPM ; use PPM-Sum as input. disable DEBUG_SERIAL_USART2!
; -D PPM_NUM_CHANNELS=6 ; total number of PPM channels to receive, even if they are not used.
; ###### CONTROL VIA TWO POTENTIOMETERS ######
; -D CONTROL_ADC ; use ADC as input. disable DEBUG_SERIAL_USART2!
-D ADC1_MIN=0 ; min ADC1-value while poti at minimum-position (0 - 4095)
-D ADC1_ZERO=1500 ; ADC1-value while poti at zero-position (0 - 4095)
-D ADC1_MAX=4095 ; max ADC1-value while poti at maximum-position (0 - 4095)
-D ADC1_MULT_NEG=500.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC1_MULT_POS=1500.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC2_MIN=0 ; min ADC2-value while poti at minimum-position (0 - 4095)
-D ADC2_ZERO=2000 ; ADC2-value while poti at zero-position (0 - 4095)
-D ADC2_MAX=4095 ; max ADC2-value while poti at maximum-position (0 - 4095)
-D ADC2_MULT_NEG=300.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC2_MULT_POS=300.0f ; Use 1000.0f to calibrate form MIN to MAX
-D ADC_OFF_START=0 ; Start Value of Area at which other inputs can be active (0 - 4095) Applies to Speed ADC
-D ADC_OFF_END=1000 ; End Value of Area at which other inputs can be active (0 - 4095) Applies to Speed ADC
-D ADC_SWITCH_CHANNELS ; define if ADC1 is used for Steer and ADC2 for Speed
-D ADC_REVERSE_STEER ; define if ADC1 is used for Steer and ADC2 for Speed
; ###### CONTROL VIA NINTENDO NUNCHUCK ######
; -D CONTROL_NUNCHUCK ; use nunchuck as input. disable DEBUG_SERIAL_USART3!
; ############################### DRIVING BEHAVIOR ###############################
-D FILTER=0.1 ; lower value == softer filter. do not use values <0.01, you will get float precision issues.
-D SPEED_COEFFICIENT=0.5 ; higher value == stronger. 0.0 to ~2.0?
-D STEER_COEFFICIENT=0.5 ; higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
; -D INVERT_R_DIRECTION
; -D INVERT_L_DIRECTION
-D SWITCH_WHEELS ; switch right and left wheel. Watch out, you probably also need to invert directions.
-D BEEPS_BACKWARD=0 ; 0 or 1
;Turbo boost at high speeds while button1 is pressed:
; -D 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; }'