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#pragma once
#include "stm32f1xx_hal.h"

// ############################### DO-NOT-TOUCH SETTINGS ###############################

#define PWM_FREQ         16000      // PWM frequency in Hz
#define DEAD_TIME        32         // PWM deadtime

#define 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.

#define TIMEOUT          5          // number of wrong / missing input commands before emergency off

// ############################### GENERAL ###############################

// 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 destroye verything.). 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  36.59       // input voltage measured by multimeter
#define BAT_CALIB_ADC           1430       // adc-value measured by mainboard (value nr 5 on UART debug output)

#define BAT_NUMBER_OF_CELLS     7         // 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_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 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_HIGH_ADC       1588      // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C     48.9      // 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!
#define TEMP_POWEROFF           65        // overheat poweroff. (while not driving) [°C]

#define INACTIVITY_TIMEOUT 		8        // minutes of not driving until poweroff. it is not very precise.

// ############################### LCD DEBUG ###############################

//#define DEBUG_I2C_LCD             // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable

// ############################### SERIAL DEBUG ###############################

// #define DEBUG_SERIAL_USART2
#define DEBUG_SERIAL_USART3         // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#define DEBUG_BAUD       115200     // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII          // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
// Use this command on a mac to read serial log using a USBtoSerial connector
// miniterm.py --eol CRLF /dev/cu.SLAB_USBtoUART 115200

// ############################### INPUT ###############################

// ###### STAND-ALONE MOTOR TEST ######
//#define CONTROL_MOTOR_TEST           //spin motors at low speed
//#define CONTROL_DETECT_HALL          //step through hall configurations to find right settings


// ###### CONTROL VIA UART (serial) ######
#define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
#define CONTROL_BAUD       115200    // control via usart from eg an Arduino or raspberry
// #define CHAR_PROTOCOL             // New protocol that uses chars 'w'= Forward, 's' = Backward, 'a' = Left, 'd' = Right
// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }

// ###### CONTROL VIA RC REMOTE ######
// left sensor board cable. Channel 1: steering, Channel 2: speed.
//#define CONTROL_PPM                 // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
//#define PPM_NUM_CHANNELS 8          // total number of PPM channels to receive, even if they are not used.
//#define PPM_DEAD_BAND 5			// dead band around 500

// ###### CONTROL VIA TWO POTENTIOMETERS ######
// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>. turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN. turn to maximum position and repeat it for ADC?_MAX. make, flash and test it.
// #define CONTROL_ADC                 // use ADC as input. disable CONTROL_SERIAL_USART2!
// #define ADC1_MIN 0                // min ADC1-value while poti at minimum-position (0 - 4095)
// #define ADC1_MAX 4095               // max ADC1-value while poti at maximum-position (0 - 4095)
// #define ADC2_MIN 0                // min ADC2-value while poti at minimum-position (0 - 4095)
// #define ADC2_MAX 4095               // max ADC2-value while poti at maximum-position (0 - 4095)

// ###### CONTROL VIA NINTENDO NUNCHUCK ######
// left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups. use original nunchuck. most clones does not work very well.
//#define CONTROL_NUNCHUCK            // use nunchuck as input. disable DEBUG_SERIAL_USART3!

// ############################### MOTOR CONTROL (overwrite) #########################
#define CTRL_TYP_SEL            3   // [-] Control method selection: 0 = Commutation , 1 = Pure Trapezoidal , 2 = Sinusoidal, 3 = Sinusoidal 3rd armonic (default)
#define PHASE_ADV_ENA           1   // [-] Phase advance enable parameter: 0 = disabled, 1 = enabled (default)

// GENERAL NOTES:
// 1. All the available motor parameters can be found in the BLDC_controller_data.c
// 2. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
// 3. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code

// NOTES Phase Advance / Field weakening:
// 1. In BLDC_controller_data.c you can find the Phase advance Map as a function of Duty Cycle: MAP = a_phaAdv_M1, XAXIS = r_phaAdvDC_XA
// 2. The default calibration was experimentally calibrated on the real motor based on the minimum noise and minimum torque ripple
// 3. If you re-calibrate the Phase advance map please take all the safety measures! 
// 4. I do not recommend more than 40 deg MAX Phase advance. The motors can spin VERY VERY FAST!!! Please use it with care!!

// ############################### MOTOR SETTINGS #################################
// 1-6 representing the 6 possible ways to map the hall sensors to the motors
// a wrong setting will result in a not or badly turning motor. Use the MOTOR_TEST
// control method to find the right setting for your board.
#define HALL_IDX_LEFT      2
#define HALL_IDX_RIGHT     5

// ############################### DRIVING BEHAVIOR ###############################

// inputs:
// - cmd1 and cmd2: analog normalized input values. -1000 to 1000
// - button1 and button2: digital input values. 0 or 1
// - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
// outputs:
// - 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              0.05  // lower value == softer filter. do not use values <0.01, you will get float precision issues.
#define SPEED_COEFFICIENT   -1  // 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 INVERT_R_DIRECTION
#define INVERT_L_DIRECTION
#define BEEPS_BACKWARD 0    // 0 or 1

//Turbo boost at high speeds while button1 is pressed:
//#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; }

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

// #define ADDITIONAL_CODE \
if (button1 && speedR < 300) { /* drive backwards */ \
  speedR = speedR * -0.2f;   \
  speedL = speedL * -0.2f; } \
else { \
  direction = 1; } \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
  weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
  weakr = speedR - 600; } \
else { \
  weakl = 0; \
  weakr = 0; }

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

// #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;

// ############################### VALIDATE SETTINGS ###############################
#if defined CONTROL_MOTOR_TEST && defined CONTROL_DETECT_HALL
#error CONTROL_MOTOR_TEST and CONTROL_DETECT_HALL not allowed. One overrides the other.
#endif


#if defined CONTROL_SERIAL_USART2 && defined CONTROL_ADC
  #error CONTROL_ADC and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
#endif

#if defined CONTROL_SERIAL_USART2 && defined CONTROL_PPM
  #error CONTROL_PPM and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
#endif

#if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
  #error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
#endif

#if defined DEBUG_SERIAL_USART3 && defined DEBUG_I2C_LCD
  #error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
#endif

#if defined CONTROL_PPM && defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_ADC || defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_NUNCHUCK
  #error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
#endif
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