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hoverboard-firmware-hack-se.../Src/main.c

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/*
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
void SystemClock_Config(void);
extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
extern volatile adc_buf_t adc_buffer;
int cmd1;
int cmd2;
int cmd3;
int steer; // global variable for steering. -1000 to 1000
int speed; // global variable for speed. -1000 to 1000
extern volatile int pwml; // global variable for pwm left. -1000 to 1000
extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
extern volatile int weakl; // global variable for field weakening left. -1000 to 1000
extern volatile int weakr; // global variable for field weakening right. -1000 to 1000
extern uint8_t buzzerFreq; // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t enable; // global variable for motor enable
extern volatile uint32_t timeout; // global variable for timeout
extern float batteryVoltage; // global variable for battery voltage
extern uint8_t nunchuck_data[6];
#ifdef CONTROL_PPM
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
#endif
int milli_vel_error_sum = 0;
int main(void) {
HAL_Init();
__HAL_RCC_AFIO_CLK_ENABLE();
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
/* System interrupt init*/
/* MemoryManagement_IRQn interrupt configuration */
HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
/* BusFault_IRQn interrupt configuration */
HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
/* UsageFault_IRQn interrupt configuration */
HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
/* SVCall_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
/* DebugMonitor_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
/* PendSV_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
SystemClock_Config();
__HAL_RCC_DMA1_CLK_DISABLE();
MX_GPIO_Init();
MX_TIM_Init();
MX_ADC1_Init();
MX_ADC2_Init();
UART_Init();
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
for (int i = 8; i >= 0; i--) {
buzzerFreq = i;
HAL_Delay(100);
}
buzzerFreq = 0;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
int lastSpeedL = 0, lastSpeedR = 0;
int speedL = 0, speedR = 0;
float direction = 1;
#ifdef CONTROL_PPM
PPM_Init();
#endif
#ifdef CONTROL_NUNCHUCK
I2C_Init();
Nunchuck_Init();
#endif
enable = 1;
while(1) {
HAL_Delay(2);
#ifdef CONTROL_NUNCHUCK
Nunchuck_Read();
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis
uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
#endif
#ifdef CONTROL_PPM
cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, -1000, 1000);
cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, -1000, 1000);
#endif
#ifdef CONTROL_ADC
cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
timeout = 0;
#endif
// ####### ADDITIONAL CODE #######
#ifdef ADDITIONAL_CODE
ADDITIONAL_CODE;
#endif
// ####### LOW-PASS FILTER #######
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
setScopeChannel(0, (int)speed);
setScopeChannel(1, (int)steer);
// ####### MIXER #######
speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000);
speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
setScopeChannel(2, (int)speedR);
setScopeChannel(3, (int)speedL);
// ####### SET OUTPUTS #######
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
pwmr = speedR;
pwml = -speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
// ####### LOG TO CONSOLE #######
consoleScope();
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
buzzerFreq = 0;
buzzerPattern = 0;
for (int i = 0; i < 8; i++) {
buzzerFreq = i;
HAL_Delay(100);
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {}
}
if (batteryVoltage < BAT_LOW_LVL1 && batteryVoltage > BAT_LOW_LVL2) {
buzzerFreq = 5;
buzzerPattern = 8;
} else if (batteryVoltage < BAT_LOW_LVL2 && batteryVoltage > BAT_LOW_DEAD) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (batteryVoltage < BAT_LOW_DEAD) {
buzzerPattern = 0;
enable = 0;
for (int i = 0; i < 8; i++) {
buzzerFreq = i;
HAL_Delay(100);
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {}
} else {
buzzerFreq = 0;
buzzerPattern = 0;
}
}
}
/** System Clock Configuration
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8;
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
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