interfisch
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hoverboard-firmware-hack-foc-serial-esc
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merge with checksum fix

This commit is contained in:
interfisch 2019-12-03 22:31:53 +01:00
parent 5de1169cef 6e4405c19c
commit 61b40e9526
3 changed files with 8 additions and 7 deletions
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8
02_Arduino/hoverserial/hoverserial.ino
View File

@ -91,8 +91,8 @@ void Receive()
{ {
// Check for new data availability in the Serial buffer // Check for new data availability in the Serial buffer
if (HoverSerial.available()) { if (HoverSerial.available()) {
incomingByte = HoverSerial.read(); // Read the incoming byte incomingByte = HoverSerial.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start marker bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
} }
else { else {
return; return;
@ -118,8 +118,8 @@ void Receive()
// Check if we reached the end of the package // Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) { if (idx == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp; ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
// Check validity of the new data // Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) { if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {

2
README.md
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@ -1,6 +1,8 @@
# hoverboard-firmware-hack-FOC # hoverboard-firmware-hack-FOC
## with Field Oriented Control (FOC) ## with Field Oriented Control (FOC)
[![Build Status](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC) [![Build Status](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
[![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=feru_emanuel%40yahoo.com&currency_code=EUR&source=url)
***If you like this project, you can give me a cup of coffee. Thanks!***
This repository implements Field Oriented Control (FOC) for stock hoverboards. Compared to the commutation method, this new FOC control method offers superior performance featuring: This repository implements Field Oriented Control (FOC) for stock hoverboards. Compared to the commutation method, this new FOC control method offers superior performance featuring:
- reduced noise and vibrations - reduced noise and vibrations

5
Src/main.c
View File

@ -330,8 +330,7 @@ int main(void) {
#if defined CONTROL_SERIAL_USART2 || defined CONTROL_SERIAL_USART3 #if defined CONTROL_SERIAL_USART2 || defined CONTROL_SERIAL_USART3
// Handle received data validity, timeout and fix out-of-sync if necessary // Handle received data validity, timeout and fix out-of-sync if necessary
//if (command.start == START_FRAME && command.checksum == (command.start ^ command.steer ^ command.speed)) { if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.speedLeft ^ command.speedRight)) {
if (command.start == START_FRAME && command.checksum == (command.start ^ command.speedLeft ^ command.speedRight)) {
if (timeoutFlag) { // Check for previous timeout flag if (timeoutFlag) { // Check for previous timeout flag
if (timeoutCnt-- <= 0) // Timeout de-qualification if (timeoutCnt-- <= 0) // Timeout de-qualification
timeoutFlag = 0; // Timeout flag cleared timeoutFlag = 0; // Timeout flag cleared
@ -353,7 +352,7 @@ int main(void) {
enable = 1; // enable motors enable = 1; // enable motors
consoleLog("-- Motors enabled --\r\n"); consoleLog("-- Motors enabled --\r\n");
} }
} else { } else {
if (timeoutCnt++ >= SERIAL_TIMEOUT) { // Timeout qualification if (timeoutCnt++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlag = 1; // Timeout detected timeoutFlag = 1; // Timeout detected