mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 09:39:33 +00:00
e9d74bea29
Major: - Improved UART Timeout: Apparently, the UART data Rx/Tx is quite unreliable (especially under motor load) leading to very often out-of-sync issues. This change allows to reset the DMA more often, leading to a faster re-sync of the UART transmission and thus avoiding UART timeout Minor: - added #define MPU_SENSOR_ENABLE to allow to enable/disable the MPU6050 sensor and save code size if the sensors is not needed - fixed the orientation in the Processing sketch - updated ReadMe
97 lines
6.1 KiB
C
97 lines
6.1 KiB
C
/**
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* This file is part of the hoverboard-sideboard-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program 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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*
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* This program 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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*
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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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// Define to prevent recursive inclusion
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#ifndef CONFIG_H
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#define CONFIG_H
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/* ==================================== VARIANT SELECTION ==================================== */
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// PlatformIO: uncomment desired variant in platformio.ini
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// Keil uVision: select desired variant from the Target drop down menu (to the right of the Load button)
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// Ubuntu: define the desired build variant here if you want to use make in console
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// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_DEBUG". Select only one at a time.
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#if !defined(PLATFORMIO)
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// #define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
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// #define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
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#endif
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/* ==================================== DO NOT TOUCH SETTINGS ==================================== */
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#define MPU6050 // [-] Define IMU sensor type
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#define MPU_GYRO_FSR 2000 // [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !!
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#define MPU_ACCEL_FSR 2 // [g] Set Acceleromenter Full Scale Range: 2g, 4g, 8g, 16g. !! DMP sensor fusion works only with 2g !!
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#define MPU_I2C_SPEED 400000 // [bit/s] Define I2C speed for communicating with the MPU6050
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#define DELAY_IN_MAIN_LOOP 1 // [ms] Delay in the main loop
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// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
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/* =============================================================================================== */
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/* ==================================== SETTINGS MPU-6050 ==================================== */
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#define MPU_SENSOR_ENABLE // [-] Enable flag for MPU-6050 sensor. Comment-out this flag to Disable the MPU sensor and reduce code size.
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#define MPU_DMP_ENABLE // [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality.
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#define MPU_DEFAULT_HZ 20 // [Hz] Default MPU frequecy: must be between 1Hz and 200Hz.
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#define TEMP_READ_MS 500 // [ms] Temperature read time interval
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#define PEDO_READ_MS 1000 // [ms] Pedometer read time interval
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// #define USE_CAL_HW_REGISTERS // [-] Uncommnent this to SAVE the sensor calibration to the MPU-6050 registers after the Self-test was run
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// DMP Tap Detection Settings
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#define DMP_TAP_AXES TAP_XYZ // [-] Set which axes will register a tap: TAP_XYZ, TAP_X, TAP_Y, TAP_Z
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#define DMP_TAP_THRESH 250 // [mg/ms] Set tap threshold for the selected axis.
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#define DMP_TAP_COUNT 1 // [-] Set minimum number of taps needed for an interrupt. Minimum consecutive taps: 1 to 4
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#define DMP_TAP_TIME 100 // [ms] Set time length between valid taps.
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#define DMP_TAP_TIME_MULTI 500 // [ms] Set max time between taps to register as a multi-tap.
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#define DMP_SHAKE_REJECT_THRESH 200 // [deg/s] Set shake rejection threshold in degree per second (dps). If the DMP detects a gyro sample larger than the thresh, taps are rejected.
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#define DMP_SHAKE_REJECT_TIME 40 // [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
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#define DMP_SHAKE_REJECT_TIMEOUT 10 // [ms] Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter.
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/* ==================================== SETTINGS USART ==================================== */
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#if defined(VARIANT_DEBUG)
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#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
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#elif defined(VARIANT_HOVERBOARD)
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#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
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#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
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#endif
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#define USART_MAIN_BAUD 38400 // [bit/s] MAIN Serial Tx/Rx baud rate
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#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for reliable serial communication
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#define SERIAL_TIMEOUT 800 // [-] Numer of wrong received data for Serial timeout detection
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/* ==================================== SETTINGS AUX ==================================== */
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// #define AUX45_USE_GPIO // [-] Use AUX4, AUX5 as GPIO ports
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// #define AUX45_USE_I2C // [-] Use AUX4, AUX5 as I2C port
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#define AUX45_USE_USART // [-] Use AUX4, AUX5 as USART port
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#ifdef AUX45_USE_USART
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#define USART_AUX_BAUD 38400 // [bit/s] AUX Serial Tx/Rx baud rate
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#endif
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#ifdef AUX45_USE_I2C
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#define AUX_I2C_SPEED 100000 // [bit/s] Define I2C speed for communicating via AUX45 wires
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#endif
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/* ==================================== VALIDATE SETTINGS ==================================== */
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#if defined(SERIAL_DEBUG) && defined(SERIAL_CONTROL)
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#error SERIAL_DEBUG and SERIAL_CONTROL not allowed. It is on the same cable.
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#endif
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#if defined(AUX45_USE_GPIO) && (defined(AUX45_USE_USART) || defined(AUX45_USE_I2C)) || (defined(AUX45_USE_USART) && defined(AUX45_USE_I2C))
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#error AUX45_USE_(GPIO,USART,I2C) not allowed in the same time. It is on the same cable.
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#endif
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#endif
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