working basic functionality for testing
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@ -40,14 +40,17 @@
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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 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 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 SENDPERIOD 200 //ms. delay for sending speed and steer data to motor controller via serial
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#define PIN_THROTTLE PA0
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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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#define PIN_BRAKE PA5
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#define PIN_ENABLE PB9
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@ -65,11 +68,19 @@ long last_send = 0;
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// Global variables
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uint8_t idx = 0; // Index for new data pointer
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uint16_t bufStartFrame; // Buffer Start Frame
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byte *p; // Pointer declaration for the new received data
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byte incomingByte;
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byte incomingBytePrev;
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uint8_t idx1 = 0; // Index for new data pointer
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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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//Same for Serial2
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uint8_t idx2 = 0; // Index for new data pointer
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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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typedef struct{
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uint16_t start;
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@ -77,7 +88,8 @@ typedef struct{
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int16_t speedRight;
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uint16_t checksum;
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} SerialCommand;
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SerialCommand Command;
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SerialCommand Command1;
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SerialCommand Command2;
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typedef struct{
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uint16_t start;
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@ -91,8 +103,10 @@ typedef struct{
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int16_t boardTemp;
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int16_t checksum;
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} SerialFeedback;
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SerialFeedback Feedback;
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SerialFeedback NewFeedback;
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SerialFeedback Feedback1;
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SerialFeedback NewFeedback1;
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SerialFeedback Feedback2;
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SerialFeedback NewFeedback2;
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// ########################## SETUP ##########################
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void setup()
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@ -100,8 +114,8 @@ void setup()
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Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
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Serial1.begin(19200); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2)
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Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
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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);
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@ -114,6 +128,8 @@ void setup()
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pinMode(PIN_MODELED_RED, OUTPUT);
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pinMode(PIN_RELAISFRONT, OUTPUT);
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pinMode(PIN_RELAISREAR, OUTPUT);
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pinMode(PIN_THROTTLE, INPUT);
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pinMode(PIN_BRAKE, INPUT);
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Serial.println("Initialized");
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}
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@ -122,22 +138,29 @@ void setup()
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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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Command.start = (uint16_t)START_FRAME;
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Command.speedLeft = (int16_t)uSpeedLeft;
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Command.speedRight = (int16_t)uSpeedRight;
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Command.checksum = (uint16_t)(Command.start ^ Command.speedLeft ^ Command.speedRight);
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// Write to Serial
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Serial1.write((uint8_t *) &Command, sizeof(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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incomingByte = Serial1.read(); // Read the incoming byte
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bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
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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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@ -145,32 +168,34 @@ void ReceiveSerial1()
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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(incomingByte);
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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 (bufStartFrame == START_FRAME) { // Initialize if new data is detected
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p = (byte *)&NewFeedback;
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*p++ = incomingBytePrev;
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*p++ = incomingByte;
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idx = 2;
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} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
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*p++ = incomingByte;
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idx++;
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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 (idx == sizeof(SerialFeedback)) {
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if (idx1 == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
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^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
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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 (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
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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(&Feedback, &NewFeedback, sizeof(SerialFeedback));
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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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@ -182,12 +207,58 @@ void ReceiveSerial1()
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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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idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
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}*/
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}
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// Update previous states
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incomingBytePrev = incomingByte;
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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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@ -195,7 +266,7 @@ void ReceiveSerial1()
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void loop() {
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selfTest(); //start selftest, does not return
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//selfTest(); //start selftest, does not return
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ReceiveSerial1(); // Check for new received data
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@ -204,13 +275,24 @@ void loop() {
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}
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if (millis() - last_send > SENDPERIOD) {
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Serial.print("powerbutton="); Serial.print(POWERBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
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//Serial.print("powerbutton="); Serial.print(POWERBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
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int _read=analogRead(PIN_THROTTLE);
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int16_t speedvalue=constrain(analogRead(PIN_THROTTLE)*1.0/MAXADCVALUE*1000, 0, 1000);
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int16_t speedvalue=constrain( map(_read, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000);
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if (MODESWITCH_DOWN) {
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SendSerial1(speedvalue,0);
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//Serial.print("millis="); Serial.print(millis()); Serial.print(", steer=0"); Serial.print(", speed="); Serial.println(speedvalue);
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SendSerial2(speedvalue,0);
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Serial.print("L_");
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}else{
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SendSerial1(0,speedvalue);
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SendSerial2(0,speedvalue);
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Serial.print("R_");
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}
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Serial.print("millis="); Serial.print(millis()); Serial.print(", adcthrottle="); Serial.print(_read);
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Serial.print(", 1.L="); Serial.print(Command1.speedLeft); Serial.print(", 1.R="); Serial.print(Command1.speedRight);
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Serial.print(", 2.L="); Serial.print(Command2.speedLeft); Serial.print(", 2.R="); Serial.println(Command2.speedRight);
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last_send = millis();
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@ -223,9 +305,38 @@ void loop() {
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}
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testcounter++;
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//Print Motor values
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Serial.print("cmd1");
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Serial.print(", "); Serial.print("cmd2");
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Serial.print(","); Serial.print("speedR");
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Serial.print(","); Serial.print("speedL");
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Serial.print(", "); Serial.print("speedR_meas");
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Serial.print(","); Serial.print("speedL_meas");
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Serial.print(", "); Serial.print("batVoltage");
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Serial.print(", "); Serial.println("boardTemp");
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Serial.println();
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Serial.print("1: "); Serial.print(Feedback1.cmd1);
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Serial.print(", "); Serial.print(Feedback1.cmd2);
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Serial.print(","); Serial.print(Feedback1.speedR);
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Serial.print(","); Serial.print(Feedback1.speedL);
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Serial.print(", "); Serial.print(Feedback1.speedR_meas);
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Serial.print(","); Serial.print(Feedback1.speedL_meas);
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Serial.print(", "); Serial.print(Feedback1.batVoltage);
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Serial.print(", "); Serial.println(Feedback1.boardTemp);
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Serial.println();
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Serial.print("2: "); Serial.print(Feedback2.cmd1);
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Serial.print(", "); Serial.print(Feedback2.cmd2);
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Serial.print(","); Serial.print(Feedback2.speedR);
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Serial.print(","); Serial.print(Feedback2.speedL);
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Serial.print(", "); Serial.print(Feedback2.speedR_meas);
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Serial.print(","); Serial.print(Feedback2.speedL_meas);
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Serial.print(", "); Serial.print(Feedback2.batVoltage);
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Serial.print(", "); Serial.println(Feedback2.boardTemp);
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}
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if (millis()>60000) {
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if (millis()>30000 && POWERBUTTON_DOWN) {
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poweroff();
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}
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