First commit pwm

- buttons not yet support
This commit is contained in:
EmanuelFeru 2020-03-21 19:24:29 +01:00
parent 9d6cec8889
commit 7d80e564f0
7 changed files with 243 additions and 3 deletions

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@ -14,6 +14,7 @@
//#define VARIANT_USART // Variant for Serial control via USART3 input //#define VARIANT_USART // Variant for Serial control via USART3 input
//#define VARIANT_NUNCHUK // Variant for Nunchuk controlled vehicle build //#define VARIANT_NUNCHUK // Variant for Nunchuk controlled vehicle build
//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal //#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
//#define VARIANT_PWM // Variant for RC-Remote with PWM Signal
//#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS //#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS
//#define VARIANT_HOVERCAR // Variant for HOVERCAR build //#define VARIANT_HOVERCAR // Variant for HOVERCAR build
//#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build //#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build
@ -276,6 +277,30 @@
// ############################# END OF VARIANT_PPM SETTINGS ############################ // ############################# END OF VARIANT_PPM SETTINGS ############################
// ################################# VARIANT_PWM SETTINGS ##############################
#ifdef VARIANT_PWM
/* ###### CONTROL VIA RC REMOTE ######
* left sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
* Channel 1: steering, Channel 2: speed.
*/
#define CONTROL_PWM // use RC PWM as input. disable DEBUG_SERIAL_USART2!
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values)
#define PWM_CH1_MAX 1000 // (0 - 1000)
#define PWM_CH1_MIN -1000 // (-1000 - 0)
#define PWM_CH2_MAX 500 // (0 - 1000)
#define PWM_CH2_MIN -800 // (-1000 - 0)
// right sensor board cable. Only read once during startup
#define BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 0 // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
// #define INVERT_R_DIRECTION
// #define INVERT_L_DIRECTION
#endif
// ############################# END OF VARIANT_PPM SETTINGS ############################
// ################################# VARIANT_IBUS SETTINGS ############################## // ################################# VARIANT_IBUS SETTINGS ##############################
#ifdef VARIANT_IBUS #ifdef VARIANT_IBUS
@ -402,8 +427,8 @@
// ############################### VALIDATE SETTINGS ############################### // ############################### VALIDATE SETTINGS ###############################
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_IBUS) && \ #if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
!defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants. #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
#endif #endif

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@ -160,13 +160,18 @@ typedef struct {
uint16_t l_rx2; uint16_t l_rx2;
} adc_buf_t; } adc_buf_t;
// Define I2C, Nunchuk, PPM functions // Define I2C, Nunchuk, PPM, PWM functions
void I2C_Init(void); void I2C_Init(void);
void Nunchuk_Init(void); void Nunchuk_Init(void);
void Nunchuk_Read(void); void Nunchuk_Read(void);
uint8_t Nunchuk_Ping(void); uint8_t Nunchuk_Ping(void);
void PPM_Init(void); void PPM_Init(void);
void PPM_ISR_Callback(void); void PPM_ISR_Callback(void);
void PWM_Init(void);
//void PWM_ISR_CH1_Callback(void);
void PWM_ISR_CH2_Callback(void);
void PWM_SysTick_Callback(void);
int PWM_Signal_Correct(int16_t x, int16_t max, int16_t min);
// Sideboard definitions // Sideboard definitions
#define LED1_SET (0x01) #define LED1_SET (0x01)

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@ -7,7 +7,9 @@
#include "config.h" #include "config.h"
TIM_HandleTypeDef TimHandle; TIM_HandleTypeDef TimHandle;
TIM_HandleTypeDef TimHandle2;
uint8_t ppm_count = 0; uint8_t ppm_count = 0;
uint8_t pwm_count = 0;
uint32_t timeout = 100; uint32_t timeout = 100;
uint8_t nunchuk_data[6] = {0}; uint8_t nunchuk_data[6] = {0};
@ -84,6 +86,143 @@ void PPM_Init(void) {
} }
#endif #endif
#ifdef BUTTONS_RIGHT
uint8_t btn1 = 0;
uint8_t btn2 = 0;
void BUTTONS_RIGHT_Init() {
GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PB10 */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
btn1 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10);
GPIO_InitTypeDef GPIO_InitStruct2;
/*Configure GPIO pin : PB11 */
GPIO_InitStruct2.Pin = GPIO_PIN_11;
GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct2.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct2);
btn2 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_11);
}
#endif
#ifdef CONTROL_PWM
//uint16_t pwm_captured_ch1_value = 500;
uint16_t pwm_captured_ch2_value = 500;
uint32_t pwm_timeout = 0;
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
int PWM_Signal_Correct(int16_t x, int16_t max, int16_t min) {
int outVal = 0;
if(x > -PWM_DEADBAND && x < PWM_DEADBAND) {
outVal = 0;
} else if(x > 0) {
outVal = (float)CLAMP(x-PWM_DEADBAND, 0, max - PWM_DEADBAND) / (max - PWM_DEADBAND) * 1000;
} else {
outVal = 0 - ((float)CLAMP(x+PWM_DEADBAND, min + PWM_DEADBAND, 0) / (min + PWM_DEADBAND) * 1000);
}
return outVal;
}
/*
void PWM_ISR_CH1_Callback(void) {
// Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM3->CNT;
TIM3->CNT = 0;
if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0;
pwm_timeout = 0;
pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
}
}
*/
void PWM_ISR_CH2_Callback(void) {
// Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT;
TIM2->CNT = 0;
if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0;
pwm_timeout = 0;
pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
}
}
// SysTick executes once each ms
void PWM_SysTick_Callback(void) {
pwm_timeout++;
// Stop after 500 ms without PPM signal
if(pwm_timeout > 500) {
//pwm_captured_ch1_value = 500;
pwm_captured_ch2_value = 500;
pwm_timeout = 0;
}
}
void PWM_Init(void) {
// Channel 1 (steering)
/*
GPIO_InitTypeDef GPIO_InitStruct2;
// Configure GPIO pin : PA2
GPIO_InitStruct2.Pin = GPIO_PIN_2;
GPIO_InitStruct2.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct2.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct2);
__HAL_RCC_TIM3_CLK_ENABLE();
TimHandle2.Instance = TIM3;
TimHandle2.Init.Period = UINT16_MAX;
TimHandle2.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
TimHandle2.Init.ClockDivision = 0;
TimHandle2.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TimHandle2);
// EXTI interrupt init
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_TIM_Base_Start(&TimHandle2);
*/
// Channel 2 (speed)
GPIO_InitTypeDef GPIO_InitStruct;
/*Configure GPIO pin : PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
__HAL_RCC_TIM2_CLK_ENABLE();
TimHandle.Instance = TIM2;
TimHandle.Init.Period = UINT16_MAX;
TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TimHandle);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
HAL_TIM_Base_Start(&TimHandle);
}
#endif
uint8_t Nunchuk_Ping(void) { uint8_t Nunchuk_Ping(void) {
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 1, 10) == HAL_OK) { if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 1, 10) == HAL_OK) {
return 1; return 1;

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@ -82,6 +82,10 @@ extern SerialSideboard Sideboard_L;
#if defined(SIDEBOARD_SERIAL_USART3) #if defined(SIDEBOARD_SERIAL_USART3)
extern SerialSideboard Sideboard_R; extern SerialSideboard Sideboard_R;
#endif #endif
#if defined(CONTROL_PWM) && defined(DEBUG_SERIAL_USART3)
//extern volatile uint16_t pwm_captured_ch1_value;
extern volatile uint16_t pwm_captured_ch2_value;
#endif
//------------------------------------------------------------------------ //------------------------------------------------------------------------
@ -381,6 +385,10 @@ int main(void) {
setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1 setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1
setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2 setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2
#endif #endif
#ifdef CONTROL_PWM
setScopeChannel(0, 0);//pwm_captured_ch1_value); // 1: CH1
setScopeChannel(1, pwm_captured_ch2_value); // 2: CH2
#endif
setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000] setScopeChannel(2, (int16_t)speedR); // 3: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000] setScopeChannel(3, (int16_t)speedL); // 4: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration

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@ -165,6 +165,11 @@ void PendSV_Handler(void) {
#ifdef CONTROL_PPM #ifdef CONTROL_PPM
void PPM_SysTick_Callback(void); void PPM_SysTick_Callback(void);
#endif #endif
#ifdef CONTROL_PWM
void PWM_SysTick_Callback(void);
#endif
void SysTick_Handler(void) { void SysTick_Handler(void) {
/* USER CODE BEGIN SysTick_IRQn 0 */ /* USER CODE BEGIN SysTick_IRQn 0 */
@ -175,6 +180,10 @@ void SysTick_Handler(void) {
#ifdef CONTROL_PPM #ifdef CONTROL_PPM
PPM_SysTick_Callback(); PPM_SysTick_Callback();
#endif #endif
#ifdef CONTROL_PWM
PWM_SysTick_Callback();
#endif
/* USER CODE END SysTick_IRQn 1 */ /* USER CODE END SysTick_IRQn 1 */
} }
@ -227,6 +236,21 @@ void EXTI3_IRQHandler(void)
} }
#endif #endif
#ifdef CONTROL_PWM
void EXTI3_IRQHandler(void)
{
PWM_ISR_CH2_Callback();
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3);
}
/*
void EXTI2_IRQHandler(void)
{
PWM_ISR_CH1_Callback();
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_2);
}*/
#endif
#ifdef CONTROL_SERIAL_USART2 #ifdef CONTROL_SERIAL_USART2
void DMA1_Channel6_IRQHandler(void) void DMA1_Channel6_IRQHandler(void)
{ {

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@ -63,6 +63,16 @@ extern volatile uint32_t main_loop_counter;
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1]; extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
#endif #endif
#ifdef CONTROL_PWM
//extern volatile uint16_t pwm_captured_ch1_value;
extern volatile uint16_t pwm_captured_ch2_value;
#endif
#ifdef BUTTONS_RIGHT
extern volatile uint8_t btn1; // Blue
extern volatile uint8_t btn2; // Green
#endif
//------------------------------------------------------------------------ //------------------------------------------------------------------------
// Global variables set here in util.c // Global variables set here in util.c
@ -236,6 +246,10 @@ void Input_Init(void) {
PPM_Init(); PPM_Init();
#endif #endif
#ifdef CONTROL_PWM
PWM_Init();
#endif
#ifdef CONTROL_NUNCHUK #ifdef CONTROL_NUNCHUK
I2C_Init(); I2C_Init();
Nunchuk_Init(); Nunchuk_Init();
@ -634,6 +648,11 @@ void readCommand(void) {
// float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed // float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed
#endif #endif
#ifdef CONTROL_PWM
cmd1 = 0; // CLAMP(PWM_Signal_Correct((pwm_captured_ch1_value - 500) * 2, PWM_CH1_MAX, PWM_CH1_MIN), INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP(PWM_Signal_Correct((pwm_captured_ch2_value - 500) * 2, PWM_CH2_MAX, PWM_CH2_MIN), INPUT_MIN, INPUT_MAX);
#endif
#ifdef CONTROL_ADC #ifdef CONTROL_ADC
// ADC values range: 0-4095, see ADC-calibration in config.h // ADC values range: 0-4095, see ADC-calibration in config.h
#ifdef ADC1_MID_POT #ifdef ADC1_MID_POT

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@ -13,6 +13,7 @@ src_dir = Src
;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input ;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input
;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build ;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal ;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal
;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS ;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS
;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build ;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
;default_envs = VARIANT_HOVERBOARD ; Variant for HOVERBOARD ;default_envs = VARIANT_HOVERBOARD ; Variant for HOVERBOARD
@ -105,6 +106,25 @@ build_flags =
;================================================================ ;================================================================
[env:VARIANT_PWM]
platform = ststm32
framework = stm32cube
board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
build_flags =
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_PWM
;================================================================
[env:VARIANT_IBUS] [env:VARIANT_IBUS]
platform = ststm32 platform = ststm32
framework = stm32cube framework = stm32cube