// ******************************************************************* // Arduino Nano 3.3V example code // for https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC // // Copyright (C) 2019-2020 Emanuel FERU // // ******************************************************************* // INFO: // • This sketch uses the the Serial Software interface to communicate and send commands to the hoverboard // • The built-in (HW) Serial interface is used for debugging and visualization. In case the debugging is not needed, // it is recommended to use the built-in Serial interface for full speed perfomace. // • The data packaging includes a Start Frame, checksum, and re-syncronization capability for reliable communication // // CONFIGURATION on the hoverboard side in config.h: // • Option 1: Serial on Left Sensor cable (long wired cable) // #define CONTROL_SERIAL_USART2 // #define FEEDBACK_SERIAL_USART2 // // #define DEBUG_SERIAL_USART2 // • Option 2: Serial on Right Sensor cable (short wired cable) - recommended, so the ADCs on the other cable are still available // #define CONTROL_SERIAL_USART3 // #define FEEDBACK_SERIAL_USART3 // // #define DEBUG_SERIAL_USART3 // ******************************************************************* //https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware //Board: Generic STM32F103C series //Upload method: serial //20k RAM 64k Flash // RX ist A10, TX ist A9 (3v3 level) //to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately //set boot0 back to 0 to run program on powerup // ########################## DEFINES ########################## #define SERIAL_CONTROL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard) #define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor) #define START_FRAME 0xAAAA // [-] Start frme definition for reliable serial communication //#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable) #define MAXADCVALUE 4095 #define PIN_LED PC13 #define SENDPERIOD 100 //ms. delay for sending speed and steer data to motor controller via serial #define PIN_POTI PA0 long last_send = 0; long last_validReceive=0; // Global variables uint8_t idx = 0; // Index for new data pointer uint16_t bufStartFrame; // Buffer Start Frame byte *p; // Pointer declaration for the new received data byte incomingByte; byte incomingBytePrev; typedef struct{ uint16_t start; int16_t speedLeft; int16_t speedRight; uint16_t checksum; } SerialCommand; SerialCommand Command; typedef struct{ uint16_t start; int16_t cmd1; int16_t cmd2; int16_t speedL; int16_t speedR; int16_t speedL_meas; int16_t speedR_meas; int16_t batVoltage; int16_t boardTemp; int16_t curL_DC; int16_t curR_DC; int16_t checksum; } SerialFeedback; SerialFeedback Feedback; SerialFeedback NewFeedback; // ########################## SETUP ########################## void setup() { Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level) Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3) Serial1.begin(19200); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2) Serial1.begin(SERIAL_CONTROL_BAUD); pinMode(LED_BUILTIN, OUTPUT); Serial.println("Initialized"); } // ########################## SEND ########################## void SendSerial1(int16_t uSpeedLeft, int16_t uSpeedRight) { // Create command Command.start = (uint16_t)START_FRAME; Command.speedLeft = (int16_t)uSpeedLeft; Command.speedRight = (int16_t)uSpeedRight; Command.checksum = (uint16_t)(Command.start ^ Command.speedLeft ^ Command.speedRight); // Write to Serial Serial1.write((uint8_t *) &Command, sizeof(Command)); } // ########################## RECEIVE ########################## void ReceiveSerial1() { // Check for new data availability in the Serial buffer if (Serial1.available()) { incomingByte = Serial1.read(); // Read the incoming byte bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame } else { return; } // If DEBUG_RX is defined print all incoming bytes #ifdef DEBUG_RX Serial.print(incomingByte); return; #endif // Copy received data if (bufStartFrame == START_FRAME) { // Initialize if new data is detected p = (byte *)&NewFeedback; *p++ = incomingBytePrev; *p++ = incomingByte; idx = 2; } else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data *p++ = incomingByte; idx++; } // Check if we reached the end of the package if (idx == sizeof(SerialFeedback)) { uint16_t checksum; checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC); // Check validity of the new data if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) { // Copy the new data memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); Serial.print(millis()-last_validReceive); Serial.print("ms "); // 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.print(Feedback.boardTemp); Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in mA (100mA resolution), in hoverbrett negative sign for forward Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in mA (100mA resolution), in hoverbrett negative sign for forward last_validReceive=millis(); } else { 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 incomingBytePrev = incomingByte; } // ########################## LOOP ########################## void loop() { ReceiveSerial1(); // Check for new received data if (millis() - last_send > SENDPERIOD) { int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1000, 0, 1000); SendSerial1(speedvalue,speedvalue); Serial.print("Send "); Serial.print(millis()); Serial.print("ms, steer=0"); Serial.print(", speed="); Serial.println(speedvalue); last_send = millis(); } } // ########################## END ##########################