ADD: support for chinese nunchuck
This commit is contained in:
parent
5326e558ae
commit
7337a8ae7e
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@ -30,6 +30,8 @@
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#define DEBUG_SERIAL_ASCII
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//#define DEBUG_I2C_LCD
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#define TIMEOUT 5 //wrong commands before emergency off
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// ################################################################################
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// ###### CONTROL VIA RC REMOTE ######
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@ -175,7 +175,7 @@ void DMA1_Channel1_IRQHandler() {
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if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
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if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
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LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
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//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
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} else {
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@ -183,7 +183,7 @@ void DMA1_Channel1_IRQHandler() {
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//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
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}
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if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
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if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
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RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
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} else {
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RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
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@ -9,7 +9,7 @@ uint8_t ppm_count = 0;
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uint32_t timeout = 100;
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uint8_t nunchuck_data[6] = {0};
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uint8_t ai2cBuffer[6];
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uint8_t i2cBuffer[2];
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extern I2C_HandleTypeDef hi2c2;
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DMA_HandleTypeDef hdma_i2c2_rx;
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@ -60,27 +60,29 @@ void PPM_Init() {
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void Nunchuck_Init() {
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//-- START -- init WiiNunchuck
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ai2cBuffer[0] = 0xF0;
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ai2cBuffer[1] = 0x55;
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//Originale
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ai2cBuffer[0] = 0x40;
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ai2cBuffer[1] = 0x00;
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//HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2);
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//while(wii_JOYdati.I2CTxDone ==0);
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//wii_JOYdati.I2CTxDone = 0;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 2, 100);
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i2cBuffer[0] = 0xF0;
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i2cBuffer[1] = 0x55;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100);
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HAL_Delay(10);
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i2cBuffer[0] = 0xFB;
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i2cBuffer[1] = 0x00;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100);
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HAL_Delay(10);
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//wii_JOYdati.done = 0;
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}
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void Nunchuck_Read() {
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ai2cBuffer[0] = 0x00;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 1, 100);
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i2cBuffer[0] = 0x00;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
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HAL_Delay(2);
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HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 6, 100);
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for (int i = 0; i < 6; i++) {
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nunchuck_data[i] = (ai2cBuffer[i] ^ 0x17) + 0x17;
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if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) {
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timeout = 0;
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} else {
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timeout++;
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}
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//setScopeChannel(0, (int)nunchuck_data[0]);
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//setScopeChannel(1, (int)nunchuck_data[1]);
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//setScopeChannel(2, (int)nunchuck_data[5] & 1);
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16
Src/main.c
16
Src/main.c
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@ -123,13 +123,11 @@ int main(void) {
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#ifdef CONTROL_NUNCHUCK
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Nunchuck_Read();
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cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000); // y - axis. Nunchuck joystick readings range 30 - 230
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cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000); // x - axis
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cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
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cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis
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//uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
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//uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
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timeout = 0;
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#endif
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#ifdef CONTROL_PPM
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@ -145,8 +143,8 @@ int main(void) {
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#endif
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// ####### LOW-PASS FILTER #######
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speed = speed * (1.0 - FILTER) + cmd1 * FILTER;
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steer = steer * (1.0 - FILTER) + cmd2 * FILTER;
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steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
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speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
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setScopeChannel(0, (int)speed);
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setScopeChannel(1, (int)steer);
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@ -156,7 +154,7 @@ int main(void) {
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speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
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setScopeChannel(2, (int)speedR);
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setScopeChannel(3, (int)speedL);
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setScopeChannel(3, (int)timeout);
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// ####### ADDITIONAL CODE #######
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#ifdef ADDITIONAL_CODE
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@ -164,7 +162,7 @@ int main(void) {
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#endif
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// ####### SET OUTPUTS #######
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
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pwmr = speedR;
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pwml = -speedL;
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}
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@ -175,8 +173,6 @@ int main(void) {
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// ####### LOG TO CONSOLE #######
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consoleScope();
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timeout=0;
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if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
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enable = 0;
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while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
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792
build/hover.hex
792
build/hover.hex
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@ -1,23 +1,23 @@
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:020000040800F2
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@ -36,10 +36,10 @@
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@ -314,7 +314,7 @@
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|
||||
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|
||||
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|
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|
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Loading…
Reference in New Issue