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bobbycar
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working basic functionality for testing

This commit is contained in:
interfisch 2019-12-11 01:16:24 +01:00
parent 433dfbe73b
commit 53ee2f4d22
1 changed files with 158 additions and 47 deletions
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201
controller/controller.ino
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@ -40,14 +40,17 @@
//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable) //#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
#define MAXADCVALUE 4095 //#define MAXADCVALUE 4095
#define ADC_CALIB_THROTTLE_MIN 2000
#define ADC_CALIB_THROTTLE_MAX 3120
#define PIN_POWERLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor #define PIN_POWERLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor
#define PIN_POWERBUTTON PB8 //"Enginge Start" Button. connected To NC (=LOW). HIGH when pressed #define PIN_POWERBUTTON PB8 //"Enginge Start" Button. connected To NC (=LOW). HIGH when pressed
#define POWERBUTTON_DOWN digitalRead(PIN_POWERBUTTON) #define POWERBUTTON_DOWN digitalRead(PIN_POWERBUTTON)
#define SENDPERIOD 200 //ms. delay for sending speed and steer data to motor controller via serial #define SENDPERIOD 50 //ms. delay for sending speed and steer data to motor controller via serial
#define PIN_THROTTLE PA0 #define PIN_THROTTLE PA4
#define PIN_BRAKE PA5
#define PIN_ENABLE PB9 #define PIN_ENABLE PB9
@ -65,11 +68,19 @@ long last_send = 0;
// Global variables // Global variables
uint8_t idx = 0; // Index for new data pointer uint8_t idx1 = 0; // Index for new data pointer
uint16_t bufStartFrame; // Buffer Start Frame uint16_t bufStartFrame1; // Buffer Start Frame
byte *p; // Pointer declaration for the new received data byte *p1; // Pointer declaration for the new received data
byte incomingByte; byte incomingByte1;
byte incomingBytePrev; byte incomingBytePrev1;
//Same for Serial2
uint8_t idx2 = 0; // Index for new data pointer
uint16_t bufStartFrame2; // Buffer Start Frame
byte *p2; // Pointer declaration for the new received data
byte incomingByte2;
byte incomingBytePrev2;
typedef struct{ typedef struct{
uint16_t start; uint16_t start;
@ -77,7 +88,8 @@ typedef struct{
int16_t speedRight; int16_t speedRight;
uint16_t checksum; uint16_t checksum;
} SerialCommand; } SerialCommand;
SerialCommand Command; SerialCommand Command1;
SerialCommand Command2;
typedef struct{ typedef struct{
uint16_t start; uint16_t start;
@ -91,8 +103,10 @@ typedef struct{
int16_t boardTemp; int16_t boardTemp;
int16_t checksum; int16_t checksum;
} SerialFeedback; } SerialFeedback;
SerialFeedback Feedback; SerialFeedback Feedback1;
SerialFeedback NewFeedback; SerialFeedback NewFeedback1;
SerialFeedback Feedback2;
SerialFeedback NewFeedback2;
// ########################## SETUP ########################## // ########################## SETUP ##########################
void setup() void setup()
@ -100,8 +114,8 @@ void setup()
Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level) Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
Serial1.begin(19200); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2) Serial1.begin(38400); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2). Marked with "1" on connector
Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3) Serial2.begin(38400); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector
Serial1.begin(SERIAL_CONTROL_BAUD); Serial1.begin(SERIAL_CONTROL_BAUD);
@ -114,6 +128,8 @@ void setup()
pinMode(PIN_MODELED_RED, OUTPUT); pinMode(PIN_MODELED_RED, OUTPUT);
pinMode(PIN_RELAISFRONT, OUTPUT); pinMode(PIN_RELAISFRONT, OUTPUT);
pinMode(PIN_RELAISREAR, OUTPUT); pinMode(PIN_RELAISREAR, OUTPUT);
pinMode(PIN_THROTTLE, INPUT);
pinMode(PIN_BRAKE, INPUT);
Serial.println("Initialized"); Serial.println("Initialized");
} }
@ -122,13 +138,20 @@ void setup()
void SendSerial1(int16_t uSpeedLeft, int16_t uSpeedRight) void SendSerial1(int16_t uSpeedLeft, int16_t uSpeedRight)
{ {
// Create command // Create command
Command.start = (uint16_t)START_FRAME; Command1.start = (uint16_t)START_FRAME;
Command.speedLeft = (int16_t)uSpeedLeft; Command1.speedLeft = (int16_t)uSpeedLeft;
Command.speedRight = (int16_t)uSpeedRight; Command1.speedRight = (int16_t)uSpeedRight;
Command.checksum = (uint16_t)(Command.start ^ Command.speedLeft ^ Command.speedRight); Command1.checksum = (uint16_t)(Command1.start ^ Command1.speedLeft ^ Command1.speedRight);
Serial1.write((uint8_t *) &Command1, sizeof(Command1));
// Write to Serial }
Serial1.write((uint8_t *) &Command, sizeof(Command)); 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 ########################## // ########################## RECEIVE ##########################
@ -136,8 +159,8 @@ void ReceiveSerial1()
{ {
// Check for new data availability in the Serial buffer // Check for new data availability in the Serial buffer
if ( Serial1.available() ) { if ( Serial1.available() ) {
incomingByte = Serial1.read(); // Read the incoming byte incomingByte1 = Serial1.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame bufStartFrame1 = ((uint16_t)(incomingBytePrev1) << 8) + incomingByte1; // Construct the start frame
} }
else { else {
return; return;
@ -145,32 +168,34 @@ void ReceiveSerial1()
// If DEBUG_RX is defined print all incoming bytes // If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX #ifdef DEBUG_RX
Serial.print(incomingByte); Serial.print(incomingByte1);
return; return;
#endif #endif
// Copy received data // Copy received data
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected if (bufStartFrame1 == START_FRAME) { // Initialize if new data is detected
p = (byte *)&NewFeedback; p1 = (byte *)&NewFeedback1;
*p++ = incomingBytePrev; *p1++ = incomingBytePrev1;
*p++ = incomingByte; *p1++ = incomingByte1;
idx = 2; idx1 = 2;
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data } else if (idx1 >= 2 && idx1 < sizeof(SerialFeedback)) { // Save the new received data
*p++ = incomingByte; *p1++ = incomingByte1;
idx++; idx1++;
} }
// Check if we reached the end of the package // Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) { if (idx1 == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL checksum = (uint16_t)(NewFeedback1.start ^ NewFeedback1.cmd1 ^ NewFeedback1.cmd2 ^ NewFeedback1.speedR ^ NewFeedback1.speedL
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp); ^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp);
// Check validity of the new data // Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) { if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) {
// Copy the new data // Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); memcpy(&Feedback1, &NewFeedback1, sizeof(SerialFeedback));
}
idx1 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
/*
// Print data to built-in Serial // Print data to built-in Serial
Serial.print("1: "); Serial.print(Feedback.cmd1); Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2); Serial.print(" 2: "); Serial.print(Feedback.cmd2);
@ -182,12 +207,58 @@ void ReceiveSerial1()
Serial.print(" 8: "); Serial.println(Feedback.boardTemp); Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
} else { } else {
Serial.println("Non-valid data skipped"); Serial.println("Non-valid data skipped");
} }*/
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
} }
// Update previous states // Update previous states
incomingBytePrev = incomingByte; 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));
}
idx2 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
// Update previous states
incomingBytePrev2 = incomingByte2;
} }
// ########################## LOOP ########################## // ########################## LOOP ##########################
@ -195,7 +266,7 @@ void ReceiveSerial1()
void loop() { void loop() {
selfTest(); //start selftest, does not return //selfTest(); //start selftest, does not return
ReceiveSerial1(); // Check for new received data ReceiveSerial1(); // Check for new received data
@ -204,13 +275,24 @@ void loop() {
} }
if (millis() - last_send > SENDPERIOD) { 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(POWERBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
int _read=analogRead(PIN_THROTTLE);
int16_t speedvalue=constrain(analogRead(PIN_THROTTLE)*1.0/MAXADCVALUE*1000, 0, 1000); int16_t speedvalue=constrain( map(_read, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000);
if (MODESWITCH_DOWN) {
SendSerial1(speedvalue,0); SendSerial1(speedvalue,0);
//Serial.print("millis="); Serial.print(millis()); Serial.print(", steer=0"); Serial.print(", speed="); Serial.println(speedvalue); SendSerial2(speedvalue,0);
Serial.print("L_");
}else{
SendSerial1(0,speedvalue);
SendSerial2(0,speedvalue);
Serial.print("R_");
}
Serial.print("millis="); Serial.print(millis()); Serial.print(", adcthrottle="); Serial.print(_read);
Serial.print(", 1.L="); Serial.print(Command1.speedLeft); Serial.print(", 1.R="); Serial.print(Command1.speedRight);
Serial.print(", 2.L="); Serial.print(Command2.speedLeft); Serial.print(", 2.R="); Serial.println(Command2.speedRight);
last_send = millis(); last_send = millis();
@ -223,9 +305,38 @@ void loop() {
} }
testcounter++; testcounter++;
//Print Motor values
Serial.print("cmd1");
Serial.print(", "); Serial.print("cmd2");
Serial.print(","); Serial.print("speedR");
Serial.print(","); Serial.print("speedL");
Serial.print(", "); Serial.print("speedR_meas");
Serial.print(","); Serial.print("speedL_meas");
Serial.print(", "); Serial.print("batVoltage");
Serial.print(", "); Serial.println("boardTemp");
Serial.println();
Serial.print("1: "); Serial.print(Feedback1.cmd1);
Serial.print(", "); Serial.print(Feedback1.cmd2);
Serial.print(","); Serial.print(Feedback1.speedR);
Serial.print(","); Serial.print(Feedback1.speedL);
Serial.print(", "); Serial.print(Feedback1.speedR_meas);
Serial.print(","); Serial.print(Feedback1.speedL_meas);
Serial.print(", "); Serial.print(Feedback1.batVoltage);
Serial.print(", "); Serial.println(Feedback1.boardTemp);
Serial.println();
Serial.print("2: "); Serial.print(Feedback2.cmd1);
Serial.print(", "); Serial.print(Feedback2.cmd2);
Serial.print(","); Serial.print(Feedback2.speedR);
Serial.print(","); Serial.print(Feedback2.speedL);
Serial.print(", "); Serial.print(Feedback2.speedR_meas);
Serial.print(","); Serial.print(Feedback2.speedL_meas);
Serial.print(", "); Serial.print(Feedback2.batVoltage);
Serial.print(", "); Serial.println(Feedback2.boardTemp);
} }
if (millis()>60000) { if (millis()>30000 && POWERBUTTON_DOWN) {
poweroff(); poweroff();
} }