add state machine for modes
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@ -1,27 +1,3 @@
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// *******************************************************************
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// Arduino Nano 3.3V example code
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// for https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC
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//
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// Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
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//
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// *******************************************************************
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// INFO:
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// • This sketch uses the the Serial Software interface to communicate and send commands to the hoverboard
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// • The built-in (HW) Serial interface is used for debugging and visualization. In case the debugging is not needed,
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// it is recommended to use the built-in Serial interface for full speed perfomace.
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// • The data packaging includes a Start Frame, checksum, and re-syncronization capability for reliable communication
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//
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// CONFIGURATION on the hoverboard side in config.h:
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// • Option 1: Serial on Left Sensor cable (long wired cable)
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// #define CONTROL_SERIAL_USART2
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// #define FEEDBACK_SERIAL_USART2
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// // #define DEBUG_SERIAL_USART2
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// • Option 2: Serial on Right Sensor cable (short wired cable) - recommended, so the ADCs on the other cable are still available
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// #define CONTROL_SERIAL_USART3
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// #define FEEDBACK_SERIAL_USART3
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// // #define DEBUG_SERIAL_USART3
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// *******************************************************************
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//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
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//Board: Generic STM32F103C series
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//Upload method: serial
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@ -41,12 +17,13 @@
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//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
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//#define MAXADCVALUE 4095
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#define ADC_CALIB_THROTTLE_MIN 2000
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#define ADC_CALIB_THROTTLE_MAX 3120
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#define ADC_CALIB_THROTTLE_LOWEST 1900 //a bit above maximum adc value if throttle it not touched
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#define ADC_CALIB_THROTTLE_MIN 2000 //minimum adc value that should correspond to 0 speed
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#define ADC_CALIB_THROTTLE_MAX 3120 //maximum adc value that should correspond to full speed
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#define PIN_POWERLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor
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#define PIN_POWERBUTTON PB8 //"Enginge Start" Button. connected To NC (=LOW). HIGH when pressed
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#define POWERBUTTON_DOWN digitalRead(PIN_POWERBUTTON)
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#define PIN_STARTLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor
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#define PIN_STARTBUTTON PB8 //"Enginge Start" Button. connected To NC (=LOW). HIGH when pressed
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#define STARTBUTTON_DOWN digitalRead(PIN_STARTBUTTON)
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#define SENDPERIOD 50 //ms. delay for sending speed and steer data to motor controller via serial
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#define PIN_THROTTLE PA4
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@ -62,7 +39,36 @@
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#define PIN_RELAISFRONT PB14 //connected to relais which presses the powerbutton of the hoverboard for the front wheels
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#define PIN_RELAISREAR PB15 //connected to relais which presses the powerbutton of the hoverboard for the rear wheels
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int testcounter=0;
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#define DEBOUNCETIME 20 //time to not check for inputs after key press
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#define BUTTONTIMEHOLD 750 //time for button hold
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long millis_lastinput=0; //for button debounce
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long timebuttonpressed_start;
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boolean button_start=false;
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boolean button_hold_start=false;
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#define TIME_AUTOPOWEROFF 600000 //600000 = 10 minutes
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long loopmillis=0; //only use one millis reading each loop
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long millis_lastchange=0; //for poweroff after some time with no movement
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String errormessage=""; //store some error message to print
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//Mode change variables
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uint8_t state_modechange=0;
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long state_modechange_time=0;
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long millis_lastadc=0;
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#define ADC_READTIME 10 //time interval to read adc (for filtering)
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#define ADC_THROTTLE_FILTER 0.05 //low value = slower change
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int adc_throttle_raw=0; //raw throttle value from adc
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float adc_throttle=0; //filtered value
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uint16_t out_speedFL=0;
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uint16_t out_speedFR=0;
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uint16_t out_speedRL=0;
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uint16_t out_speedRR=0;
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long last_send = 0;
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@ -73,6 +79,7 @@ uint16_t bufStartFrame1; // Buffer Start Frame
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byte *p1; // Pointer declaration for the new received data
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byte incomingByte1;
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byte incomingBytePrev1;
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long lastValidDataSerial1_time;
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//Same for Serial2
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uint8_t idx2 = 0; // Index for new data pointer
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@ -80,6 +87,7 @@ uint16_t bufStartFrame2; // Buffer Start Frame
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byte *p2; // Pointer declaration for the new received data
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byte incomingByte2;
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byte incomingBytePrev2;
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long lastValidDataSerial2_time;
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typedef struct{
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@ -108,21 +116,31 @@ SerialFeedback NewFeedback1;
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SerialFeedback Feedback2;
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SerialFeedback NewFeedback2;
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enum mode{idle, on, error, off};
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/*
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* idle: controller is on, hoverboards are off
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* on: hoverbaords are on and happy
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* error: some error occured, stop everything and show errors
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* off: shutdown triggered. will power down latch soon
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*/
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mode currentmode; //current active mode
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mode requestmode; //change this variable to initiate a mode change
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// ########################## SETUP ##########################
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void setup()
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{
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Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
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Serial1.begin(38400); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2). Marked with "1" on connector
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Serial2.begin(38400); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector
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Serial1.begin(SERIAL_CONTROL_BAUD); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2). Marked with "1" on connector
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Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector
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Serial1.begin(SERIAL_CONTROL_BAUD);
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pinMode(PIN_POWERLED, OUTPUT);
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// Pin Setup
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pinMode(PIN_STARTLED, OUTPUT);
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pinMode(PIN_ENABLE, OUTPUT);
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digitalWrite(PIN_ENABLE, HIGH); //keep power on
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pinMode(PIN_POWERBUTTON, INPUT_PULLUP);
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pinMode(PIN_STARTBUTTON, INPUT_PULLUP);
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pinMode(PIN_MODESWITCH, INPUT_PULLUP);
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pinMode(PIN_MODELED_GREEN, OUTPUT);
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pinMode(PIN_MODELED_RED, OUTPUT);
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@ -132,150 +150,275 @@ void setup()
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pinMode(PIN_BRAKE, INPUT);
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Serial.println("Initialized");
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currentmode = idle; //start in idle mode
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requestmode = currentmode;
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millis_lastchange=millis();
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}
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// ########################## SEND ##########################
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void SendSerial1(int16_t uSpeedLeft, int16_t uSpeedRight)
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{
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// Create command
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Command1.start = (uint16_t)START_FRAME;
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Command1.speedLeft = (int16_t)uSpeedLeft;
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Command1.speedRight = (int16_t)uSpeedRight;
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Command1.checksum = (uint16_t)(Command1.start ^ Command1.speedLeft ^ Command1.speedRight);
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Serial1.write((uint8_t *) &Command1, sizeof(Command1));
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}
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void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight)
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{
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// Create command
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Command2.start = (uint16_t)START_FRAME;
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Command2.speedLeft = (int16_t)uSpeedLeft;
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Command2.speedRight = (int16_t)uSpeedRight;
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Command2.checksum = (uint16_t)(Command2.start ^ Command2.speedLeft ^ Command2.speedRight);
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Serial2.write((uint8_t *) &Command2, sizeof(Command2));
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}
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// ########################## RECEIVE ##########################
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void ReceiveSerial1()
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{
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// Check for new data availability in the Serial buffer
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if ( Serial1.available() ) {
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incomingByte1 = Serial1.read(); // Read the incoming byte
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bufStartFrame1 = ((uint16_t)(incomingBytePrev1) << 8) + incomingByte1; // Construct the start frame
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}
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else {
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return;
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}
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// If DEBUG_RX is defined print all incoming bytes
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#ifdef DEBUG_RX
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Serial.print(incomingByte1);
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return;
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#endif
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// Copy received data
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if (bufStartFrame1 == START_FRAME) { // Initialize if new data is detected
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p1 = (byte *)&NewFeedback1;
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*p1++ = incomingBytePrev1;
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*p1++ = incomingByte1;
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idx1 = 2;
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} else if (idx1 >= 2 && idx1 < sizeof(SerialFeedback)) { // Save the new received data
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*p1++ = incomingByte1;
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idx1++;
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}
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// Check if we reached the end of the package
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if (idx1 == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback1.start ^ NewFeedback1.cmd1 ^ NewFeedback1.cmd2 ^ NewFeedback1.speedR ^ NewFeedback1.speedL
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^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp);
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// Check validity of the new data
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if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) {
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// Copy the new data
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memcpy(&Feedback1, &NewFeedback1, sizeof(SerialFeedback));
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}
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idx1 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
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/*
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// Print data to built-in Serial
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Serial.print("1: "); Serial.print(Feedback.cmd1);
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Serial.print(" 2: "); Serial.print(Feedback.cmd2);
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Serial.print(" 3: "); Serial.print(Feedback.speedR);
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Serial.print(" 4: "); Serial.print(Feedback.speedL);
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Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
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Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
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Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
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Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
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} else {
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Serial.println("Non-valid data skipped");
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}*/
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}
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// Update previous states
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incomingBytePrev1 = incomingByte1;
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}
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void ReceiveSerial2()
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{
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// Check for new data availability in the Serial buffer
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if ( Serial2.available() ) {
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incomingByte2 = Serial2.read(); // Read the incoming byte
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bufStartFrame2 = ((uint16_t)(incomingBytePrev2) << 8) + incomingByte2; // Construct the start frame
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}
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else {
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return;
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}
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// If DEBUG_RX is defined print all incoming bytes
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#ifdef DEBUG_RX
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Serial.print(incomingByte2);
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return;
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#endif
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// Copy received data
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if (bufStartFrame2 == START_FRAME) { // Initialize if new data is detected
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p2 = (byte *)&NewFeedback2;
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*p2++ = incomingBytePrev2;
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*p2++ = incomingByte2;
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idx2 = 2;
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} else if (idx2 >= 2 && idx2 < sizeof(SerialFeedback)) { // Save the new received data
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*p2++ = incomingByte2;
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idx2++;
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}
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// Check if we reached the end of the package
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if (idx2 == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback2.start ^ NewFeedback2.cmd1 ^ NewFeedback2.cmd2 ^ NewFeedback2.speedR ^ NewFeedback2.speedL
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^ NewFeedback2.speedR_meas ^ NewFeedback2.speedL_meas ^ NewFeedback2.batVoltage ^ NewFeedback2.boardTemp);
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// Check validity of the new data
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if (NewFeedback2.start == START_FRAME && checksum == NewFeedback2.checksum) {
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// Copy the new data
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memcpy(&Feedback2, &NewFeedback2, sizeof(SerialFeedback));
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}
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idx2 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
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}
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// Update previous states
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incomingBytePrev2 = incomingByte2;
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}
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// ########################## LOOP ##########################
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void loop() {
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loopmillis=millis(); //read millis for this cycle
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ReceiveSerial1(); // Check for new received data
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ReceiveSerial2(); // Check for new received data
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handleInputs();
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handleModeChange(); //mode changes
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modeloops();
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if (loopmillis - last_send > SENDPERIOD) {
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last_send=loopmillis;
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if (currentmode!=off || currentmode!=idle) { //if boards should be powered on
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SendSerial2(out_speedFL,out_speedFR); //Front
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SendSerial1(out_speedRL,out_speedRR); //Rear
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}
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}
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}
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void handleInputs()
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{
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//Short press (true when button short pressed, on release)
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button_start=false;
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//long press (true when button is held down for BUTTONTIMEHOLD, on time elapsed)
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button_hold_start=false;
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if (loopmillis-millis_lastinput>DEBOUNCETIME) //Button debouncing
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{
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//Trigger
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if (timebuttonpressed_start == 0 && STARTBUTTON_DOWN){ //first time pressed down. (low when pressed)
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timebuttonpressed_start=loopmillis; //set time of button press
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}else if(timebuttonpressed_start != 0 && !STARTBUTTON_DOWN){ //button released (was pressed)
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if (loopmillis-timebuttonpressed_start < BUTTONTIMEHOLD){ //short press
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button_start=true;
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}
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timebuttonpressed_start=0; //re-enable after short press and release from hold
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}else if(loopmillis-timebuttonpressed_start >= BUTTONTIMEHOLD && timebuttonpressed_start>0){ //held down long enough and not already hold triggered
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button_hold_start=true;
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timebuttonpressed_start=-1; //-1 as flag for hold triggered
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}
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}
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if ( button_start || button_hold_start) {
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millis_lastchange=loopmillis; //for auto poweroff
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millis_lastinput=loopmillis; //for debouncing
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}
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if (loopmillis-millis_lastadc>ADC_READTIME) {
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adc_throttle_raw = analogRead(PIN_THROTTLE);
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adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER;
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if (adc_throttle_raw >= ADC_CALIB_THROTTLE_MIN) { //throttle pressed
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millis_lastchange=loopmillis;
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}
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millis_lastadc=loopmillis;
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}
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if (loopmillis-millis_lastchange>TIME_AUTOPOWEROFF){
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requestmode = off;
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}
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}
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void handleModeChange() {
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if (button_start){ //short press start button
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requestmode=off; //short press in any mode turns off everything
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}
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if (currentmode==requestmode) { //## Not currently changing modes ##
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switch (currentmode) { //mode dependant
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case idle:
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if (button_hold_start){ //long press
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requestmode=on; //long press switches betweeen idle and on
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state_modechange=0; //start at state 0
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}
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if (button_start) { //short press
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requestmode=off;
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state_modechange=0;
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}
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break;
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case on:
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if (button_hold_start){ //long press
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requestmode=idle; //long press switches betweeen idle and on
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state_modechange=0; //start at state 0
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}
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if (button_start) { //short press
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requestmode=off;
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state_modechange=0;
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}
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break;
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case error:
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if (button_start) { //short press
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requestmode=off;
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state_modechange=0;
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}
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break;
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case off:
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break;
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default:
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currentmode=error; //something else? -> error
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}
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}else{ // ## Change requested ##
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switch (requestmode) { //mode changes
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case idle: case on: case off: //similar for on, idle and off
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switch(state_modechange) {
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case 0:
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if (requestmode==on && adc_throttle > ADC_CALIB_THROTTLE_LOWEST) { //requested to turn on but throttle is pressed
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state_modechange=0;
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requestmode=currentmode; //abort modechange
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//TODO: led show aborted modechange
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}else{ //everythings fine, turn on/off
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digitalWrite(PIN_RELAISFRONT,HIGH); //simulate hoverboard power button press
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state_modechange++;
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state_modechange_time=loopmillis; //set to current time
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}
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break;
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case 1:
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if (loopmillis - state_modechange_time > 200) { //wait some time
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digitalWrite(PIN_RELAISFRONT,LOW); //release simulated button
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state_modechange++;
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state_modechange_time=loopmillis; //set to current time
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}
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break;
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case 2:
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if (loopmillis - state_modechange_time > 200) { //wait some time
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digitalWrite(PIN_RELAISREAR,HIGH); //simulate hoverboard power button press
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state_modechange++;
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state_modechange_time=loopmillis; //set to current time
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}
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break;
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case 3:
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if (loopmillis - state_modechange_time > 200) { //wait some time
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digitalWrite(PIN_RELAISREAR,LOW); //release simulated button
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state_modechange++;
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state_modechange_time=loopmillis; //set to current time
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}
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break;
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case 4:
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// ### Request On ###
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if (requestmode==on) {//wait for both boards to send feedback
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if ( serial1Active() && serial2Active() ) { //got recent feedback from both boards
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state_modechange++;
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}
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if (loopmillis - state_modechange_time > 5000) { //timeout
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currentmode=error; //error
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requestmode=currentmode;
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errormessage="No feedback from board(s) on startup";
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state_modechange=0;
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}
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// ### Request Idle or Off (both power boards off) ###
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}else if(requestmode==idle || requestmode==off) { //wait for no response
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if ( !serial1Active() && !serial2Active() ) { //no new data since some time
|
||||
state_modechange++;
|
||||
}
|
||||
if (loopmillis - state_modechange_time > 5000) { //timeout
|
||||
currentmode=error; //error
|
||||
requestmode=currentmode;
|
||||
errormessage="Boards did not turn off";
|
||||
state_modechange=0;
|
||||
}
|
||||
}else{ //if changed off from error mode
|
||||
state_modechange++;
|
||||
}
|
||||
break;
|
||||
default: //finished modechange
|
||||
currentmode=requestmode;
|
||||
state_modechange=0;
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
|
||||
case error:
|
||||
currentmode=error; //stay in this mode
|
||||
break;
|
||||
default:
|
||||
currentmode=error;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
boolean serial1Active() {
|
||||
return loopmillis-lastValidDataSerial1_time < 2000;
|
||||
}
|
||||
boolean serial2Active() {
|
||||
return loopmillis-lastValidDataSerial2_time < 2000;
|
||||
}
|
||||
|
||||
void modeloops() {
|
||||
switch (requestmode) { //mode changes
|
||||
case idle:
|
||||
loop_idle();
|
||||
break;
|
||||
case on:
|
||||
loop_on();
|
||||
break;
|
||||
case error:
|
||||
loop_error();
|
||||
break;
|
||||
case off:
|
||||
loop_off();
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void loop_idle() {
|
||||
out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors
|
||||
}
|
||||
|
||||
void loop_on() {
|
||||
int16_t speedvalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000);
|
||||
|
||||
out_speedFL=speedvalue;
|
||||
out_speedFR=speedvalue;
|
||||
out_speedRL=speedvalue;
|
||||
out_speedRR=speedvalue;
|
||||
|
||||
}
|
||||
|
||||
void loop_error() {
|
||||
out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors
|
||||
|
||||
//TODO: blink error led
|
||||
|
||||
}
|
||||
|
||||
void loop_off() {
|
||||
//loop enters when boards are sucessfully turned off
|
||||
//TODO: led show
|
||||
digitalWrite(PIN_ENABLE, LOW); //cut own power
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
// Old loop
|
||||
void loopold() {
|
||||
//selfTest(); //start selftest, does not return
|
||||
|
||||
ReceiveSerial1(); // Check for new received data
|
||||
|
||||
if (millis()>2000 && POWERBUTTON_DOWN) {
|
||||
if (millis()>2000 && STARTBUTTON_DOWN) {
|
||||
poweronBoards();
|
||||
}
|
||||
|
||||
if (millis() - last_send > SENDPERIOD) {
|
||||
//Serial.print("powerbutton="); Serial.print(POWERBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
|
||||
//Serial.print("powerbutton="); Serial.print(STARTBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
|
||||
|
||||
int _read=analogRead(PIN_THROTTLE);
|
||||
|
||||
|
|
@ -296,7 +439,7 @@ void loop() {
|
|||
|
||||
last_send = millis();
|
||||
|
||||
digitalWrite(PIN_POWERLED, !digitalRead(PIN_POWERLED));
|
||||
digitalWrite(PIN_STARTLED, !digitalRead(PIN_STARTLED));
|
||||
if (testcounter%3==0) {
|
||||
digitalWrite(PIN_MODELED_GREEN, !digitalRead(PIN_MODELED_GREEN));
|
||||
}
|
||||
|
|
@ -336,7 +479,7 @@ void loop() {
|
|||
Serial.print(", "); Serial.println(Feedback2.boardTemp);
|
||||
}
|
||||
|
||||
if (millis()>30000 && POWERBUTTON_DOWN) {
|
||||
if (millis()>30000 && STARTBUTTON_DOWN) {
|
||||
poweroff();
|
||||
}
|
||||
|
||||
|
|
@ -370,7 +513,7 @@ void poweronBoards() {
|
|||
}
|
||||
|
||||
|
||||
|
||||
*/
|
||||
|
||||
|
||||
void selfTest() {
|
||||
|
|
@ -379,8 +522,8 @@ void selfTest() {
|
|||
#define TESTDELAY 1000 //delay between test
|
||||
#define TESTTIME 500 //time to keep tested pin on
|
||||
|
||||
delay(TESTDELAY); Serial.println("PIN_POWERLED");
|
||||
digitalWrite(PIN_POWERLED,HIGH); delay(TESTTIME); digitalWrite(PIN_POWERLED,LOW);
|
||||
delay(TESTDELAY); Serial.println("PIN_STARTLED");
|
||||
digitalWrite(PIN_STARTLED,HIGH); delay(TESTTIME); digitalWrite(PIN_STARTLED,LOW);
|
||||
|
||||
delay(TESTDELAY); Serial.println("PIN_MODELED_GREEN");
|
||||
digitalWrite(PIN_MODELED_GREEN,LOW); delay(TESTTIME); digitalWrite(PIN_MODELED_GREEN,HIGH);
|
||||
|
|
@ -395,13 +538,13 @@ void selfTest() {
|
|||
digitalWrite(PIN_RELAISREAR,HIGH); delay(TESTTIME); digitalWrite(PIN_RELAISREAR,LOW);
|
||||
|
||||
delay(TESTDELAY); Serial.println("ALL ON");
|
||||
digitalWrite(PIN_POWERLED,HIGH);
|
||||
digitalWrite(PIN_STARTLED,HIGH);
|
||||
digitalWrite(PIN_MODELED_GREEN,LOW);
|
||||
digitalWrite(PIN_MODELED_RED,LOW);
|
||||
digitalWrite(PIN_RELAISFRONT,HIGH);
|
||||
digitalWrite(PIN_RELAISREAR,HIGH);
|
||||
delay(TESTTIME*5);
|
||||
digitalWrite(PIN_POWERLED,LOW);
|
||||
digitalWrite(PIN_STARTLED,LOW);
|
||||
digitalWrite(PIN_MODELED_GREEN,HIGH);
|
||||
digitalWrite(PIN_MODELED_RED,HIGH);
|
||||
digitalWrite(PIN_RELAISFRONT,LOW);
|
||||
|
|
@ -413,7 +556,7 @@ void selfTest() {
|
|||
while(true) { //Keep printing input values forever
|
||||
delay(100);
|
||||
Serial.print("millis="); Serial.print(millis()); Serial.print(", throttle ADC="); Serial.println(analogRead(PIN_THROTTLE));
|
||||
Serial.print("powerbutton down="); Serial.print(POWERBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
|
||||
Serial.print("powerbutton down="); Serial.print(STARTBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
|
||||
|
||||
while (millis()>=60000) {
|
||||
digitalWrite(PIN_ENABLE, LOW); //poweroff own latch
|
||||
|
|
|
|||
|
|
@ -0,0 +1,129 @@
|
|||
|
||||
// ########################## SEND ##########################
|
||||
void SendSerial1(int16_t uSpeedLeft, int16_t uSpeedRight)
|
||||
{
|
||||
// Create command
|
||||
Command1.start = (uint16_t)START_FRAME;
|
||||
Command1.speedLeft = (int16_t)uSpeedLeft;
|
||||
Command1.speedRight = (int16_t)uSpeedRight;
|
||||
Command1.checksum = (uint16_t)(Command1.start ^ Command1.speedLeft ^ Command1.speedRight);
|
||||
Serial1.write((uint8_t *) &Command1, sizeof(Command1));
|
||||
}
|
||||
void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight)
|
||||
{
|
||||
// Create command
|
||||
Command2.start = (uint16_t)START_FRAME;
|
||||
Command2.speedLeft = (int16_t)uSpeedLeft;
|
||||
Command2.speedRight = (int16_t)uSpeedRight;
|
||||
Command2.checksum = (uint16_t)(Command2.start ^ Command2.speedLeft ^ Command2.speedRight);
|
||||
Serial2.write((uint8_t *) &Command2, sizeof(Command2));
|
||||
}
|
||||
|
||||
// ########################## RECEIVE ##########################
|
||||
void ReceiveSerial1()
|
||||
{
|
||||
// Check for new data availability in the Serial buffer
|
||||
if ( Serial1.available() ) {
|
||||
incomingByte1 = Serial1.read(); // Read the incoming byte
|
||||
bufStartFrame1 = ((uint16_t)(incomingBytePrev1) << 8) + incomingByte1; // Construct the start frame
|
||||
}
|
||||
else {
|
||||
return;
|
||||
}
|
||||
|
||||
// If DEBUG_RX is defined print all incoming bytes
|
||||
#ifdef DEBUG_RX
|
||||
Serial.print(incomingByte1);
|
||||
return;
|
||||
#endif
|
||||
|
||||
// Copy received data
|
||||
if (bufStartFrame1 == START_FRAME) { // Initialize if new data is detected
|
||||
p1 = (byte *)&NewFeedback1;
|
||||
*p1++ = incomingBytePrev1;
|
||||
*p1++ = incomingByte1;
|
||||
idx1 = 2;
|
||||
} else if (idx1 >= 2 && idx1 < sizeof(SerialFeedback)) { // Save the new received data
|
||||
*p1++ = incomingByte1;
|
||||
idx1++;
|
||||
}
|
||||
|
||||
// Check if we reached the end of the package
|
||||
if (idx1 == sizeof(SerialFeedback)) {
|
||||
uint16_t checksum;
|
||||
checksum = (uint16_t)(NewFeedback1.start ^ NewFeedback1.cmd1 ^ NewFeedback1.cmd2 ^ NewFeedback1.speedR ^ NewFeedback1.speedL
|
||||
^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp);
|
||||
|
||||
// Check validity of the new data
|
||||
if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) {
|
||||
// Copy the new data
|
||||
memcpy(&Feedback1, &NewFeedback1, sizeof(SerialFeedback));
|
||||
lastValidDataSerial1_time = millis();
|
||||
}
|
||||
idx1 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
|
||||
/*
|
||||
// Print data to built-in Serial
|
||||
Serial.print("1: "); Serial.print(Feedback.cmd1);
|
||||
Serial.print(" 2: "); Serial.print(Feedback.cmd2);
|
||||
Serial.print(" 3: "); Serial.print(Feedback.speedR);
|
||||
Serial.print(" 4: "); Serial.print(Feedback.speedL);
|
||||
Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
|
||||
Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
|
||||
Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
|
||||
Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
|
||||
} else {
|
||||
Serial.println("Non-valid data skipped");
|
||||
}*/
|
||||
|
||||
}
|
||||
|
||||
// Update previous states
|
||||
incomingBytePrev1 = incomingByte1;
|
||||
}
|
||||
void ReceiveSerial2()
|
||||
{
|
||||
// Check for new data availability in the Serial buffer
|
||||
if ( Serial2.available() ) {
|
||||
incomingByte2 = Serial2.read(); // Read the incoming byte
|
||||
bufStartFrame2 = ((uint16_t)(incomingBytePrev2) << 8) + incomingByte2; // Construct the start frame
|
||||
}
|
||||
else {
|
||||
return;
|
||||
}
|
||||
|
||||
// If DEBUG_RX is defined print all incoming bytes
|
||||
#ifdef DEBUG_RX
|
||||
Serial.print(incomingByte2);
|
||||
return;
|
||||
#endif
|
||||
|
||||
// Copy received data
|
||||
if (bufStartFrame2 == START_FRAME) { // Initialize if new data is detected
|
||||
p2 = (byte *)&NewFeedback2;
|
||||
*p2++ = incomingBytePrev2;
|
||||
*p2++ = incomingByte2;
|
||||
idx2 = 2;
|
||||
} else if (idx2 >= 2 && idx2 < sizeof(SerialFeedback)) { // Save the new received data
|
||||
*p2++ = incomingByte2;
|
||||
idx2++;
|
||||
}
|
||||
|
||||
// Check if we reached the end of the package
|
||||
if (idx2 == sizeof(SerialFeedback)) {
|
||||
uint16_t checksum;
|
||||
checksum = (uint16_t)(NewFeedback2.start ^ NewFeedback2.cmd1 ^ NewFeedback2.cmd2 ^ NewFeedback2.speedR ^ NewFeedback2.speedL
|
||||
^ NewFeedback2.speedR_meas ^ NewFeedback2.speedL_meas ^ NewFeedback2.batVoltage ^ NewFeedback2.boardTemp);
|
||||
|
||||
// Check validity of the new data
|
||||
if (NewFeedback2.start == START_FRAME && checksum == NewFeedback2.checksum) {
|
||||
// Copy the new data
|
||||
memcpy(&Feedback2, &NewFeedback2, sizeof(SerialFeedback));
|
||||
lastValidDataSerial2_time = millis();
|
||||
}
|
||||
idx2 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
|
||||
|
||||
}
|
||||
|
||||
// Update previous states
|
||||
incomingBytePrev2 = incomingByte2;
|
||||
}
|
||||
Loading…
Reference in New Issue