200 lines
7.1 KiB
C++
200 lines
7.1 KiB
C++
// *******************************************************************
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// Arduino Nano 3.3V example code
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// for https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC
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//
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// Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
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//
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// *******************************************************************
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// INFO:
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// • This sketch uses the the Serial Software interface to communicate and send commands to the hoverboard
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// • The built-in (HW) Serial interface is used for debugging and visualization. In case the debugging is not needed,
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// it is recommended to use the built-in Serial interface for full speed perfomace.
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// • The data packaging includes a Start Frame, checksum, and re-syncronization capability for reliable communication
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//
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// CONFIGURATION on the hoverboard side in config.h:
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// • Option 1: Serial on Left Sensor cable (long wired cable)
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// #define CONTROL_SERIAL_USART2
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// #define FEEDBACK_SERIAL_USART2
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// // #define DEBUG_SERIAL_USART2
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// • Option 2: Serial on Right Sensor cable (short wired cable) - recommended, so the ADCs on the other cable are still available
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// #define CONTROL_SERIAL_USART3
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// #define FEEDBACK_SERIAL_USART3
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// // #define DEBUG_SERIAL_USART3
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// *******************************************************************
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//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
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//Board: Generic STM32F103C series
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//Upload method: serial
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//20k RAM 64k Flash
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// RX ist A10, TX ist A9 (3v3 level)
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//to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately
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//set boot0 back to 0 to run program on powerup
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// ########################## DEFINES ##########################
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#define SERIAL_CONTROL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#define START_FRAME 0xAAAA // [-] Start frme definition for reliable serial communication
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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 PIN_LED PC13
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#define SENDPERIOD 100 //ms. delay for sending speed and steer data to motor controller via serial
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#define PIN_POTI PA0
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long last_send = 0;
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long last_validReceive=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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typedef struct{
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uint16_t start;
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int16_t speedLeft;
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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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typedef struct{
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedL;
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int16_t speedR;
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int16_t speedL_meas;
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int16_t speedR_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC;
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int16_t curR_DC;
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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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// ########################## SETUP ##########################
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void setup()
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{
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Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
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Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
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Serial1.begin(19200); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2)
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Serial1.begin(SERIAL_CONTROL_BAUD);
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pinMode(LED_BUILTIN, OUTPUT);
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Serial.println("Initialized");
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}
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// ########################## SEND ##########################
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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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}
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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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}
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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(incomingByte);
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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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}
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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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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 ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC);
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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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// Copy the new data
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memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
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Serial.print(millis()-last_validReceive); Serial.print("ms ");
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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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Serial.print(" 3: "); Serial.print(Feedback.speedR);
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Serial.print(" 4: "); Serial.print(Feedback.speedL);
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Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
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Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
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Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
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Serial.print(" 8: "); Serial.print(Feedback.boardTemp);
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Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in mA (100mA resolution), in hoverbrett negative sign for forward
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Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in mA (100mA resolution), in hoverbrett negative sign for forward
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last_validReceive=millis();
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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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// Update previous states
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incomingBytePrev = incomingByte;
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}
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// ########################## LOOP ##########################
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void loop() {
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ReceiveSerial1(); // Check for new received data
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if (millis() - last_send > SENDPERIOD) {
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int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1000, 0, 1000);
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SendSerial1(speedvalue,speedvalue);
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Serial.print("Send "); Serial.print(millis()); Serial.print("ms, steer=0"); Serial.print(", speed="); Serial.println(speedvalue);
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last_send = millis();
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}
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}
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// ########################## END ##########################
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