improvements

Inc/config.h

@@ -77,8 +77,8 @@
 #define BAT_CALIB_ADC           1492      // adc-value measured by mainboard (value nr 5 on UART debug output)
 #define BAT_CELLS               10        // battery number of cells. Normal Hoverboard battery: 10s
 #define BAT_LVL2_ENABLE         0         // to beep or not to beep, 1 or 0
-#define BAT_LVL1_ENABLE         1         // to beep or not to beep, 1 or 0
-#define BAT_DEAD_ENABLE         1         // to poweroff or not to poweroff, 1 or 0
+#define BAT_LVL1_ENABLE         0         // to beep or not to beep, 1 or 0
+#define BAT_DEAD_ENABLE         0         // to poweroff or not to poweroff, 1 or 0
 #define BAT_BLINK_INTERVAL      80        // battery led blink interval (80 loops * 5ms ~= 400ms)
 #define BAT_LVL5                (390 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Green blink:  no beep
 #define BAT_LVL4                (380 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Yellow:       no beep
@@ -148,7 +148,7 @@
 
 // Control selections
 #define CTRL_TYP_SEL    FOC_CTRL        // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
-#define CTRL_MOD_REQ    VLT_MODE        // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
+#define CTRL_MOD_REQ    SPD_MODE        // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
 #define DIAG_ENA        1               // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
 
 // Limitation settings
@@ -174,8 +174,8 @@
 
 // ############################## DEFAULT SETTINGS ############################
 // Default settings will be applied at the end of this config file if not set before
-#define INACTIVITY_TIMEOUT        8       // Minutes of not driving until poweroff. it is not very precise.
-#define BEEPS_BACKWARD            1       // 0 or 1
+#define INACTIVITY_TIMEOUT        0       // Minutes of not driving until poweroff. it is not very precise.
+#define BEEPS_BACKWARD            0       // 0 or 1
 #define ADC_MARGIN                100     // ADC input margin applied on the raw ADC min and max to make sure the MIN and MAX values are reached even in the presence of noise
 #define ADC_PROTECT_TIMEOUT       100     // ADC Protection: number of wrong / missing input commands before safety state is taken
 #define ADC_PROTECT_THRESH        200     // ADC Protection threshold below/above the MIN/MAX ADC values

README.md

@@ -8,6 +8,19 @@ This repository implements Field Oriented Control (FOC) for stock hoverboards. C
  - smooth torque output and improved motor efficiency. Thus, lower energy consumption
  - field weakening to increase maximum speed range
 
+This branch is for combat robot drive:
+- battery level alert and turn off are disabled
+- no inactivity check
+- no turn off functionality
+- no backwards beep
+- SPD_MODE is used to both wheels turn at the same speed (be careful with the phase/hall combination or it will go to max speed)
+
+This firmare will be used on a robot with the TIP127 removed and Drain/Source shorted so that the robot cannot turn off, the only way to turn it off is to disconnect the battery.
+This also means the capacitors will be always discharged when the battery is removed.
+
+To be checked:
+- if the MCU resets while wheels are spinning, the offset calibration will be wrong. When the input is close to zero, motor will enable and things can go horribly wrong. Check if it's worth saving the offsets. 
+
 Table of Contents
 =======================
 

Src/main.c

@@ -590,12 +590,14 @@ int main(void) {
       }
     #endif
 
-    if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) {  // rest of main loop needs maybe 1ms
-      #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
-        printf("Powering off, wheels were inactive for too long\r\n");
-      #endif
-      poweroff();
-    }
+    #if (INACTIVITY_TIMEOUT > 0)
+      if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) {  // rest of main loop needs maybe 1ms
+        #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
+          printf("Powering off, wheels were inactive for too long\r\n");
+        #endif
+        poweroff();
+      }
+    #endif
 
 
     // HAL_GPIO_TogglePin(LED_PORT, LED_PIN);                 // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN

Src/util.c

@@ -1550,8 +1550,8 @@ void poweroff(void) {
     HAL_Delay(100);
   }
   saveConfig();
-  HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
-  while(1) {}
+  //HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
+  //while(1) {}
 }