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update all controllers

This commit is contained in:
interfisch 2022-03-27 12:05:06 +02:00
parent 454c49946d
commit 7c4c4c693a
10 changed files with 234 additions and 980 deletions
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controller/controller.ino
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//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
//Flashing the hoverbrett controller:
/*
* connect uart adapter to serial port cable (the one with more red heatshrink)
* (disconnect xt30 power connector)
* set jumper on usb uart adapter to output 5V
* hold boot0 button (black, the outermost) while powering up (or restarting with small button next to it)
* flash
*/
//PA2 may be defective on my bluepill
#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
//#define PARAMETEROUTPUT
uint8_t error = 0;
#define IMU_NO_CHANGE 2 //IMU values did not change for too long
uint8_t imu_no_change_counter = 0;
#define PIN_LED PC13
#define PIN_VBAT PA0 //battery voltage after voltage divider
//#define VBAT_DIV_FACTOR 0.010700 //how much voltage (V) equals one adc unit. measured at 40V and averaged
#define VBAT_DIV_FACTOR 0.01399535423925667828 //how much voltage (V) equals one adc unit. 3444=48.2V
#define PIN_CURRENT PA1 //output of hall sensor for current measurement
#define CURRENT_OFFSET 2048 //adc reading at 0A, with CJMCU-758 typically at Vcc/2. measured with actual voltage supply in hoverbrett
#define CURRENT_FACTOR 0.38461538461538461538 //how much current (A) equals one adc unit. 2045-2032=13 at 5A
float vbat=0; //battery voltage
float ibat=0; //battery current
long last_adcupdated=0;
#define ADC_UPDATEPERIOD 10 //in ms
#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
//Status information sending
#define PARAMETERSENDPERIOD 50 //delay for sending stat data via nrf24
long last_parametersend=0;
#define CONTROLUPDATEPERIOD 10
long last_controlupdate = 0;
#define PIN_GAMETRAK_LENGTH PA1 //yellow (connector) / orange (gametrak module wires): length
#define PIN_GAMETRAK_VERTICAL PA3 //orange / red: vertical
#define PIN_GAMETRAK_HORIZONTAL PA4 //blue / yellow: horizontal
#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
#define GT_LENGTH_SCALE -0.73 //(adcvalue-offset)*scale = length[mm] (+length_min)
//2720 at 1000mm+220mm -> 1370 for 1000mm ->
#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
#define GT_VERTICAL_CENTER 2048 //adc value for center position
#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
int8_t gt_vertical=0; //0=center. joystick can rotate +-30 degrees. -127 = -30 deg
//left = -30 deg, right= 30deg
#define GT_HORIZONTAL_CENTER 2048 //adc value for center position
#define GT_HORIZONTAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
int8_t gt_horizontal=0; //0=center
uint16_t gt_length_set=1000; //set length to keep [mm]
#define GT_LENGTH_MINDIFF 10 //[mm] threshold, do not move within gt_length_set-GT_LENGTH_MINDIFF and gt_length_set+GT_LENGTH_MINDIFF
float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
float gt_speedbackward_p=0.7;
float gt_steer_p=2.0;
#define GT_SPEED_LIMIT 300 //maximum out_speed value +
#define GT_SPEEDBACKWARD_LIMIT 100//maximum out_speed value (for backward driving) -
#define GT_STEER_LIMIT 300 //maximum out_steer value +-
#define GT_LENGTH_MAXIMUMDIFFBACKWARD -200 //[mm]. if gt_length_set=1000 and GT_LENGTH_MAXIMUMDIFFBACKWARD=-200 then only drives backward if lenght is greater 800
#include <IMUGY85.h>
//https://github.com/fookingthg/GY85
//ITG3200 and ADXL345 from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino
//https://github.com/mechasolution/Mecha_QMC5883L //because QMC5883 on GY85 instead of HMC5883, source: https://circuitdigest.com/microcontroller-projects/digital-compass-with-arduino-and-hmc5883l-magnetometer
//in qmc5883L library read values changed from uint16_t to int16_t
#define IMUUPDATEPERIOD 10 //ms
long last_imuupdated = 0;
#define MAX_YAWCHANGE 90 //in degrees, if exceeded in one update intervall error will be triggered
IMUGY85 imu;
double ax, ay, az, gx, gy, gz, roll, pitch, yaw, mx, my, mz, ma;
double old_ax, old_ay, old_az, old_gx, old_gy, old_gz, old_roll, old_pitch, old_yaw, old_mx, old_my, old_mz, old_ma;
double setYaw = 0;
float magalign_multiplier = 0; //how much the magnetometer should influence steering, 0=none, 1=stay aligned
// Lenovo Trackpoint pinout
//from left to right. pins at bottom. chips on top
//1 GND (black)
//2 Data
//3 Clock
//4 Reset
//5 +5V (red)
//6 Right BTN
//7 Middle BTN
//8 Left BTN
//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
RF24 radio(PB0, PB1); //ce, cs
//SCK D13 (Pro mini), A5 (bluepill)
//Miso D12 (Pro mini), A6 (bluepill)
//Mosi D11 (Pro mini), A7 (bluepill)
// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
#define NRF24CHANNEL 75
struct nrfdata {
uint8_t steer;
uint8_t speed;
uint8_t commands; //bit 0 set = motor enable
uint8_t checksum;
};
nrfdata lastnrfdata;
long last_nrfreceive = 0; //last time values were received and checksum ok
long nrf_delay = 0;
#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
boolean radiosendOk=false;
//command variables
boolean motorenabled = false; //set by nrfdata.commands
long last_send = 0;
int16_t out_speedl = 0; //between -1000 and 1000
int16_t out_speedr = 0;
int16_t lastsend_out_speedl = 0; //last value transmitted to motor controller
int16_t lastsend_out_speedr = 0;
int16_t set_speed = 0;
int16_t set_steer = 0;
uint8_t out_checksum = 0; //0= disable motors, 255=reserved, 1<=checksum<255
#define NRFDATA_CENTER 127
//boolean armed = false;
boolean lastpacketOK = false;
//Gametrak
//boolean armed_gt = false;
uint8_t controlmode=0;
#define MODE_DISARMED 0
#define MODE_RADIONRF 1
#define MODE_GAMETRAK 2
// 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;
uint16_t checksum;
} SerialFeedback;
SerialFeedback Feedback;
SerialFeedback NewFeedback;
void setup() {
Serial.begin(SERIAL_BAUD); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
//Serial1 may be dead on my board?
pinMode(PIN_LED, OUTPUT);
digitalWrite(PIN_LED, HIGH);
pinMode(PIN_VBAT,INPUT_ANALOG);
pinMode(PIN_CURRENT,INPUT_ANALOG);
pinMode(PIN_GAMETRAK_LENGTH,INPUT_ANALOG);
pinMode(PIN_GAMETRAK_VERTICAL,INPUT_ANALOG);
pinMode(PIN_GAMETRAK_HORIZONTAL,INPUT_ANALOG);
#ifdef DEBUG
Serial.println("Initializing nrf24");
#endif
radio.begin();
radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
//radio.setDataRate( RF24_1MBPS );
radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
radio.openWritingPipe(pipes[0]); //write on pipe 0
radio.openReadingPipe(1, pipes[1]); //read on pipe 1
radio.startListening();
#ifdef DEBUG
Serial.println("Initializing IMU");
#endif
imu.init();
#ifdef DEBUG
Serial.println("Initialized");
#endif
}
void loop() {
ReceiveSerial2(); // Check for new received data
if (millis() - last_imuupdated > IMUUPDATEPERIOD) {
updateIMU();
last_imuupdated = millis();
}
if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
vbat=analogRead(PIN_VBAT)*VBAT_DIV_FACTOR;
ibat=(analogRead(PIN_CURRENT)-CURRENT_OFFSET)*CURRENT_FACTOR;
gt_length = constrain((analogRead(PIN_GAMETRAK_LENGTH)-GT_LENGTH_OFFSET)*GT_LENGTH_SCALE +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
if (gt_length<=GT_LENGTH_MIN){
gt_length=0; //if below minimum measurable length set to 0mm
}
gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-GT_VERTICAL_CENTER, +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-GT_HORIZONTAL_CENTER, +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
last_adcupdated = millis();
/*
Serial.print("gt_length=");
Serial.print(gt_length);
Serial.print(", gt_vertical=");
Serial.print(gt_vertical);
Serial.print(", gt_horizontal=");
Serial.println(gt_horizontal);*/
/*
Serial.print("PIN_GAMETRAK_LENGTH=");
Serial.print(analogRead(PIN_GAMETRAK_LENGTH));
Serial.print(", PIN_GAMETRAK_VERTICAL=");
Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
Serial.print(", PIN_GAMETRAK_HORIZONTAL=");
Serial.println(analogRead(PIN_GAMETRAK_HORIZONTAL));
*/
}
//NRF24
nrf_delay = millis() - last_nrfreceive; //update nrf delay
if ( radio.available() )
{
//Serial.println("radio available ...");
bool done = false;
while (!done)
{
lastpacketOK = false; //initialize with false, if checksum ok gets set to true
digitalWrite(PIN_LED, !digitalRead(PIN_LED));
done = radio.read( &lastnrfdata, sizeof(nrfdata) );
if (lastnrfdata.speed == NRFDATA_CENTER && lastnrfdata.steer == NRFDATA_CENTER) { //arm only when centered
controlmode = MODE_RADIONRF;//set radionrf mode at first received packet
}
uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
lastpacketOK = true;
last_nrfreceive = millis();
//parse commands
motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0
}
/*
#ifdef DEBUG
Serial.print("Received:");
Serial.print(" st=");
Serial.print(lastnrfdata.steer);
Serial.print(", sp=");
Serial.print(lastnrfdata.speed);
Serial.print(", c=");
Serial.print(lastnrfdata.commands);
Serial.print(", chks=");
Serial.print(lastnrfdata.checksum);
Serial.print("nrfdelay=");
Serial.print(nrf_delay);
Serial.println();
#endif
*/
//y positive = forward
//x positive = right
/*
setYaw+=((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*10/127;
while (setYaw<0){
setYaw+=360;
}
while (setYaw>=360){
setYaw-=360;
}*/
/*
Serial.print("setYaw=");
Serial.print(setYaw);
Serial.print(" Yaw=");
Serial.println(yaw);*/
}
}
if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
controlmode = MODE_DISARMED;
#ifdef DEBUG
Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
#endif
}
if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
if (lastpacketOK) { //if lastnrfdata is valid
if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) {
last_controlupdate = millis();
//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
//align to compass
/*
double yawdiff = (setYaw - 180) - (yaw - 180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
yawdiff += (yawdiff > 180) ? -360 : (yawdiff < -180) ? 360 : 0;
//yawdiff/=2;
int yawdiffsign = 1;
if (yawdiff < 0) {
yawdiffsign = -1;
}
yawdiff = yawdiff * yawdiff; //square
yawdiff = constrain(yawdiff * 1 , 0, 800);
yawdiff *= yawdiffsign; //redo sign
int16_t set_steer_mag = (int16_t)( yawdiff );
float new_magalign_multiplier = map( abs((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER), 2, 10, 1.0, 0.0); //0=normal steering, 1=only mag steering
new_magalign_multiplier = 0; //Force mag off
new_magalign_multiplier = constrain(new_magalign_multiplier, 0.0, 1.0);
magalign_multiplier = min(new_magalign_multiplier, min(1.0, magalign_multiplier + 0.01)); //go down fast, slowly increase
magalign_multiplier = constrain(magalign_multiplier, 0.0, 1.0); //safety constrain again
set_steer = set_steer * (1 - magalign_multiplier) + set_steer_mag * magalign_multiplier;
*/
setYaw = setYaw * magalign_multiplier + yaw * (1 - magalign_multiplier); //if magalign_multiplier 0, setYaw equals current yaw
//calculate speed l and r from speed and steer
#define SPEED_COEFFICIENT_NRF 1 // higher value == stronger
#define STEER_COEFFICIENT_NRF 0.5 // higher value == stronger
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF + set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF - set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
/*
Serial.print("Out steer=");
Serial.println(out_steer);*/
}
}//if pastpacket not ok, keep last out_steer and speed values until disarmed
if (!motorenabled) { //radio connected but not actively driving, keep values reset
setYaw = yaw;
magalign_multiplier = 0;
}
#ifdef DEBUG
if (!lastpacketOK) {
Serial.println("Armed but packet not ok");
}
#endif
}
if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
controlmode=MODE_GAMETRAK; //enable gametrak mode
}
}else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
//Gametrak Control Code
motorenabled=true;
if (gt_length<=GT_LENGTH_MIN){ //let go
controlmode=MODE_DISARMED;
motorenabled=false;
}
int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
if (_gt_length_diff>-GT_LENGTH_MINDIFF & _gt_length_diff<GT_LENGTH_MINDIFF){ //minimum difference to drive
_gt_length_diff=0; //threshold
}
set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-GT_STEER_LIMIT,GT_STEER_LIMIT); //steer positive is left //gt_horizontal left is negative
if (_gt_length_diff>0) { //needs to drive forward
set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,GT_SPEED_LIMIT);
}else{ //drive backward
if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-GT_SPEEDBACKWARD_LIMIT,0);
}else{
set_speed = 0; //stop
set_steer = 0;
}
}
//calculate speed l and r from speed and steer
#define SPEED_COEFFICIENT_GT 1 // higher value == stronger
#define STEER_COEFFICIENT_GT 0.5 // higher value == stronger
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT + set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT - set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
}
if (error > 0) { //disarm if error occured
controlmode = MODE_DISARMED; //force disarmed
}
if (controlmode == MODE_DISARMED){ //all disarmed
out_speedl = 0;
out_speedr = 0;
}
if (millis() - last_send > SENDPERIOD) {
//calculate checksum
out_checksum = ((uint8_t) ((uint8_t)out_speedl) * ((uint8_t)out_speedr)); //simple checksum
if (out_checksum == 0 || out_checksum == 255) {
out_checksum = 1; //cannot be 0 or 255 (special purpose)
}
if (!motorenabled) { //disable motors?
out_checksum = 0; //checksum=0 disables motors
}
/*Serial2.write((uint8_t *) &out_speedl, sizeof(out_speedl));
Serial2.write((uint8_t *) &out_speedr, sizeof(out_speedr));
Serial2.write((uint8_t *) &out_checksum, sizeof(out_checksum));*/
if (motorenabled) { //motors enabled
SendSerial2(out_speedl,out_speedr);
} else { //motors disabled
SendSerial2(0,0);
}
lastsend_out_speedl = out_speedl; //remember last transmittet values (for stat sending)
lastsend_out_speedr = out_speedr;
last_send = millis();
#ifdef DEBUG
Serial.print(" out_speedl=");
Serial.print(out_speedl);
Serial.print(" out_speedr=");
Serial.print(out_speedr);
Serial.print(" checksum=");
Serial.print(out_checksum);
Serial.print(" controlmode=");
Serial.print(controlmode);
Serial.println();
#endif
}
//
#ifdef PARAMETEROUTPUT
if ( millis() - last_parametersend > PARAMETERSENDPERIOD) {
//Serial.write((uint8_t *) &counter, sizeof(counter));//uint8_t, 1 byte
//Serial.write((uint8_t *) &value1, sizeof(value1)); //uint16_t, 2 bytes
//Serial.write((uint8_t *) &value2, sizeof(value2)); //int16_t, 2 bytes
//Serial.write((uint8_t *) &floatvalue, sizeof(floatvalue)); //float, 4 bytes
uint8_t booleanvalues=0; //reset
booleanvalues |= motorenabled<<0; //bit 0
booleanvalues |= (controlmode&0b00000011)<<1; //bit 1 and 2 (2bit number for controlmodes (3)
Serial.write((uint8_t *) &out_speedl, sizeof(out_speedl)); //int16_t, 2 bytes
Serial.write((uint8_t *) &out_speedr, sizeof(out_speedr)); //int16_t, 2 bytes
Serial.write((uint8_t *) &booleanvalues, sizeof(booleanvalues)); //uint8_t, 1 byte //booleanvalues
Serial.write((uint8_t *) &vbat, sizeof(vbat)); //float, 4 bytes
//Serial.write((uint8_t *) &ibat, sizeof(ibat)); //float, 4 bytes
float yaw_float=yaw;
Serial.write((uint8_t *) &yaw_float, sizeof(yaw_float)); //float, 4 bytes
Serial.write((uint8_t *) &gt_length, sizeof(gt_length)); //uint16_t, 2 bytes
Serial.write((uint8_t *) &gt_horizontal, sizeof(gt_horizontal)); //int8_t, 1 byte
Serial.write((uint8_t *) &gt_vertical, sizeof(gt_vertical)); //int8_t, 1 byte
last_parametersend = millis();
}
#endif
}
/*
void sendRF(nrfstatdata senddata){
#ifdef DEBUG
Serial.println("Transmitting...");
#endif
radio.stopListening(); //stop listening to be able to transmit
radiosendOk = radio.write( &senddata, sizeof(nrfstatdata) );
if (!radiosendOk){
#ifdef DEBUG
Serial.println("send failed");
#endif
}
radio.startListening(); //start listening again
}
*/
void updateIMU()
{
if (old_ax == ax && old_ay == ay && old_az == az && old_gx == gx && old_gy == gy && old_gz == gz && old_mx == mx && old_my == my && old_mz == mz) {
imu_no_change_counter++;
if (imu_no_change_counter > 10) {
error = IMU_NO_CHANGE;
#ifdef DEBUG
Serial.println("Error: IMU_NO_CHANGE");
#endif
}
} else {
imu_no_change_counter = 0;
}
old_ax = ax;
old_ay = ay;
old_az = az;
old_gx = gx;
old_gy = gy;
old_gz = gz;
old_mx = mx;
old_my = my;
old_mz = mz;
old_roll = roll;
old_pitch = pitch;
old_yaw = yaw;
//Update Imu and write to variables
imu.update();
imu.getAcceleration(&ax, &ay, &az);
imu.getGyro(&gx, &gy, &gz);
imu.getMag(&mx, &my, &mz, &ma); //calibration data such as bias is set in IMUGY85.h
roll = imu.getRoll();
pitch = imu.getPitch();
yaw = imu.getYaw();
/*Directions:
Components on top.
Roll: around Y axis (pointing to the right), left negative
Pitch: around X axis (pointing forward), up positive
Yaw: around Z axis, CCW positive, 0 to 360
*/
}
// ########################## SEND ##########################
void SendSerial2(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
Serial2.write((uint8_t *) &Command, sizeof(Command));
}
// ########################## RECEIVE ##########################
void ReceiveSerial2()
{
// Check for new data availability in the Serial buffer
if (Serial2.available()) {
incomingByte = Serial2.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));
// 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.println(Feedback.boardTemp);
Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in A, in hoverbrett negative sign for forward
} 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;
}

5
controller_pio/.gitignore vendored
View File

@ -1 +1,6 @@
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

142
controller_pio/.vscode/c_cpp_properties.json vendored
View File

@ -1,142 +0,0 @@
{
"configurations": [
{
"name": "!!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags"
},
{
"name": "Linux",
"includePath": [
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/include",
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/src",
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433",
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SPI/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/cores/maple",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/include",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/stm32f1/include",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/stm32f1",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/usb_lib",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/variants/generic_stm32f103c",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/A_STM32_Examples",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_GFX_AS",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341_STM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_SSD1306",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/EEPROM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Ethernet_STM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS900",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Lcd7920_STM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/LiquidCrystal",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OLED_I2C",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OneWireSTM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/RTClock/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SDIO",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/STM32ADC/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_EtherCard_STM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_VS1003B_STM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_XPT2046_touch/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Servo/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Touch-Screen-Library_STM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/USBComposite",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WS2812B/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WireSlave/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/stm_fft",
"/home/fisch/.platformio/packages/tool-unity",
""
],
"browse": {
"limitSymbolsToIncludedHeaders": true,
"path": [
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/include",
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/src",
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433",
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SPI/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/cores/maple",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/include",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/stm32f1/include",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/stm32f1",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/usb_lib",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/variants/generic_stm32f103c",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/A_STM32_Examples",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_GFX_AS",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341_STM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_SSD1306",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/EEPROM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Ethernet_STM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS900",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Lcd7920_STM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/LiquidCrystal",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OLED_I2C",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OneWireSTM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/RTClock/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SDIO",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/STM32ADC/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_EtherCard_STM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_VS1003B_STM/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_XPT2046_touch/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Servo/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Touch-Screen-Library_STM",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/USBComposite",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WS2812B/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire/utility",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WireSlave/src",
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/stm_fft",
"/home/fisch/.platformio/packages/tool-unity",
""
]
},
"defines": [
"PLATFORMIO=40304",
"STM32F103xB",
"STM32F1",
"ARDUINO=10808",
"ARDUINO_ARCH_STM32",
"ARDUINO_ARCH_STM32F1",
"ARDUINO_GENERIC_STM32F103C",
"MCU_STM32F103C8",
"__STM32F1__",
"BOARD_generic_stm32f103c",
"F_CPU=72000000L",
"VECT_TAB_ADDR=0x8000000",
"ERROR_LED_PORT=GPIOC",
"ERROR_LED_PIN=13",
"CONFIG_MAPLE_MINI_NO_DISABLE_DEBUG=1",
""
],
"intelliSenseMode": "clang-x64",
"cStandard": "c11",
"cppStandard": "c++11",
"compilerPath": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin/arm-none-eabi-gcc",
"compilerArgs": [
"-mcpu=cortex-m3",
"-mthumb",
"-march=armv7-m",
""
]
}
],
"version": 4
}

3
controller_pio/.vscode/extensions.json vendored
View File

@ -3,5 +3,8 @@
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}

34
controller_pio/.vscode/launch.json vendored
View File

@ -1,34 +0,0 @@
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
// PIO Unified Debugger
//
// Documentation: https://docs.platformio.org/page/plus/debugging.html
// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html
{
"version": "0.2.0",
"configurations": [
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
"executable": "/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/build/genericSTM32F103C8/firmware.elf",
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin",
"svdPath": "/home/fisch/.platformio/platforms/ststm32/misc/svd/STM32F103xx.svd",
"preLaunchTask": {
"type": "PlatformIO",
"task": "Pre-Debug"
},
"internalConsoleOptions": "openOnSessionStart"
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/build/genericSTM32F103C8/firmware.elf",
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin",
"svdPath": "/home/fisch/.platformio/platforms/ststm32/misc/svd/STM32F103xx.svd",
"internalConsoleOptions": "openOnSessionStart"
}
]
}

11
controller_pio/platformio.ini
View File

@ -8,6 +8,8 @@
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
;RF24@>=1.3.4 <- vorher benutzt
[env:genericSTM32F103C8]
platform = ststm32
board = genericSTM32F103C8
@ -17,5 +19,12 @@ upload_protocol = serial
monitor_speed = 115200
build_flags =
-D HAVE_HWSERIAL1
-D HAVE_HWSERIAL3
lib_deps =
RF24@>=1.3.4
https://github.com/maniacbug/RF24

300
controller_pio/src/main.cpp
View File

@ -1,8 +1,7 @@
#include <Arduino.h>
void ReceiveSerial2();
void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight);
//Arduino IDE Settings:
//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
//Board: Generic STM32F103C series
//Upload method: serial
@ -12,7 +11,7 @@ void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight);
//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
//Flashing the hoverbrett controller:
//Flashing the hoverbrett controller (bluepill):
/*
* connect uart adapter to serial port cable (the one with more red heatshrink)
* (disconnect xt30 power connector)
@ -23,12 +22,54 @@ void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight);
//PA2 may be defective on my bluepill
#define SERIAL_CONTROL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define SERIAL_CONTROL_BAUD 115200 // [-] 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 START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
//#define DEBUG
//#define PARAMETEROUTPUT
//void ReceiveSerial2();
//void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight);
// Structs for serial communication
typedef struct{
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;
long lastValidDataSerial_time;
} SerialRead;
SerialRead Serialcom;
typedef struct{
uint16_t start;
int16_t speedLeft;
int16_t speedRight;
uint16_t checksum;
} SerialCommand;
SerialCommand Command;
typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedL_meas; //left speed is positive when driving forward
int16_t speedR_meas; //right speed is negatie when driving forward
int16_t batVoltage;
int16_t boardTemp;
int16_t curL_DC; //negative values are current consumed. positive values mean generated current
int16_t curR_DC;
uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback;
SerialFeedback FeedbackESC;
SerialFeedback NewFeedbackESC;
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef);
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef);
uint8_t error = 0;
#define IMU_NO_CHANGE 2 //IMU values did not change for too long
uint8_t imu_no_change_counter = 0;
@ -63,7 +104,7 @@ long last_controlupdate = 0;
#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
#define GT_LENGTH_SCALE -0.73 //(adcvalue-offset)*scale = length[mm] (+length_min)
#define GT_LENGTH_SCALE -0.73 //(offset-adcvalue)*scale = length[mm] (+length_min)
//2720 at 1000mm+220mm -> 1370 for 1000mm ->
#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
@ -179,48 +220,26 @@ uint8_t controlmode=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;
uint16_t checksum;
} SerialFeedback;
SerialFeedback Feedback;
SerialFeedback NewFeedback;
*/
void setup() {
Serial.begin(SERIAL_BAUD); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
Serial1.begin(SERIAL_BAUD); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
//Serial1 may be dead on my board?
Serial3.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial3 is Usart 3)
//Serial2 may be dead on my board?
analogReadResolution(12); //set resolution to 12 bit 0 - 4095
pinMode(PIN_LED, OUTPUT);
digitalWrite(PIN_LED, HIGH);
@ -235,32 +254,37 @@ void setup() {
#ifdef DEBUG
Serial.println("Initializing nrf24");
Serial1.println("Initializing nrf24");
#endif
Serial1.println("radio begin");
radio.begin();
//Serial1.println("set rate");
radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
//radio.setDataRate( RF24_1MBPS );
//Serial1.println("set channel");
radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
//Serial1.println("set retries and payload");
radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
//Serial1.println("open pipe");
radio.openWritingPipe(pipes[0]); //write on pipe 0
radio.openReadingPipe(1, pipes[1]); //read on pipe 1
//Serial1.println("start listening");
radio.startListening();
#ifdef DEBUG
Serial.println("Initialized");
Serial1.println("Initialized");
#endif
@ -269,7 +293,8 @@ void setup() {
void loop() {
ReceiveSerial2(); // Check for new received data
//ReceiveSerial2(); // Check for new received data
bool newData=ReceiveSerial(Serialcom,FeedbackESC, NewFeedbackESC, Serial3); // Check for new received data
if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
@ -277,38 +302,39 @@ void loop() {
ibat=(analogRead(PIN_CURRENT)-CURRENT_OFFSET)*CURRENT_FACTOR;
gt_length = constrain((analogRead(PIN_GAMETRAK_LENGTH)-GT_LENGTH_OFFSET)*GT_LENGTH_SCALE +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
gt_length = constrain(( analogRead(PIN_GAMETRAK_LENGTH))*GT_LENGTH_SCALE - (GT_LENGTH_SCALE*GT_LENGTH_OFFSET) +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
if (gt_length<=GT_LENGTH_MIN){
gt_length=0; //if below minimum measurable length set to 0mm
}
gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-GT_VERTICAL_CENTER, +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-GT_HORIZONTAL_CENTER, +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
last_adcupdated = millis();
/*
Serial.print("gt_length=");
Serial.print(gt_length);
Serial.print(", gt_vertical=");
Serial.print(gt_vertical);
Serial.print(", gt_horizontal=");
Serial.println(gt_horizontal);*/
/*
Serial.print("PIN_GAMETRAK_LENGTH=");
Serial.print(analogRead(PIN_GAMETRAK_LENGTH));
Serial.print(", PIN_GAMETRAK_VERTICAL=");
Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
Serial.print(", PIN_GAMETRAK_HORIZONTAL=");
Serial.println(analogRead(PIN_GAMETRAK_HORIZONTAL));
*/
Serial1.print("gt_length=");
Serial1.print(gt_length);
Serial1.print(", gt_vertical=");
Serial1.print(gt_vertical);
Serial1.print(", gt_horizontal=");
Serial1.println(gt_horizontal);*/
/*
Serial1.print("PIN_GAMETRAK_LENGTH=");
Serial1.print(analogRead(PIN_GAMETRAK_LENGTH));
Serial1.print(", PIN_GAMETRAK_VERTICAL=");
Serial1.print(analogRead(PIN_GAMETRAK_VERTICAL));
Serial1.print(", PIN_GAMETRAK_HORIZONTAL=");
Serial1.println(analogRead(PIN_GAMETRAK_HORIZONTAL));*/
}
//NRF24
nrf_delay = millis() - last_nrfreceive; //update nrf delay
if ( radio.available() )
{
//Serial.println("radio available ...");
//Serial1.println("radio available ...");
lastpacketOK = false; //initialize with false, if checksum ok gets set to true
digitalWrite(PIN_LED, !digitalRead(PIN_LED));
@ -332,19 +358,19 @@ void loop() {
/*
#ifdef DEBUG
Serial.print("Received:");
Serial.print(" st=");
Serial.print(lastnrfdata.steer);
Serial.print(", sp=");
Serial.print(lastnrfdata.speed);
Serial.print(", c=");
Serial.print(lastnrfdata.commands);
Serial.print(", chks=");
Serial.print(lastnrfdata.checksum);
Serial1.print("Received:");
Serial1.print(" st=");
Serial1.print(lastnrfdata.steer);
Serial1.print(", sp=");
Serial1.print(lastnrfdata.speed);
Serial1.print(", c=");
Serial1.print(lastnrfdata.commands);
Serial1.print(", chks=");
Serial1.print(lastnrfdata.checksum);
Serial.print("nrfdelay=");
Serial.print(nrf_delay);
Serial.println();
Serial1.print("nrfdelay=");
Serial1.print(nrf_delay);
Serial1.println();
#endif
*/
@ -361,10 +387,10 @@ void loop() {
}*/
/*
Serial.print("setYaw=");
Serial.print(setYaw);
Serial.print(" Yaw=");
Serial.println(yaw);*/
Serial1.print("setYaw=");
Serial1.print(setYaw);
Serial1.print(" Yaw=");
Serial1.println(yaw);*/
}
@ -375,7 +401,7 @@ void loop() {
if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
controlmode = MODE_DISARMED;
#ifdef DEBUG
Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
Serial1.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
#endif
}
if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
@ -421,15 +447,15 @@ void loop() {
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF - set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
/*
Serial.print("Out steer=");
Serial.println(out_steer);*/
Serial1.print("Out steer=");
Serial1.println(out_steer);*/
}
}//if pastpacket not ok, keep last out_steer and speed values until disarmed
#ifdef DEBUG
if (!lastpacketOK) {
Serial.println("Armed but packet not ok");
Serial1.println("Armed but packet not ok");
}
#endif
@ -440,11 +466,13 @@ void loop() {
if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
controlmode=MODE_GAMETRAK; //enable gametrak mode
Serial1.println("Enable Gametrak");
}
}else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
//Gametrak Control Code
motorenabled=true;
if (gt_length<=GT_LENGTH_MIN){ //let go
Serial1.println("gametrak released");
controlmode=MODE_DISARMED;
motorenabled=false;
}
@ -498,13 +526,12 @@ void loop() {
out_checksum = 0; //checksum=0 disables motors
}
/*Serial2.write((uint8_t *) &out_speedl, sizeof(out_speedl));
Serial2.write((uint8_t *) &out_speedr, sizeof(out_speedr));
Serial2.write((uint8_t *) &out_checksum, sizeof(out_checksum));*/
if (motorenabled) { //motors enabled
SendSerial2(out_speedl,out_speedr);
//SendSerial2(out_speedl,out_speedr);
SendSerial(Command,out_speedl,out_speedr,Serial3);
} else { //motors disabled
SendSerial2(0,0);
//SendSerial2(0,0);
SendSerial(Command,0,0,Serial3);
}
lastsend_out_speedl = out_speedl; //remember last transmittet values (for stat sending)
lastsend_out_speedr = out_speedr;
@ -512,17 +539,17 @@ void loop() {
#ifdef DEBUG
Serial.print(" out_speedl=");
Serial.print(out_speedl);
Serial.print(" out_speedr=");
Serial.print(out_speedr);
Serial.print(" checksum=");
Serial.print(out_checksum);
Serial1.print(" out_speedl=");
Serial1.print(out_speedl);
Serial1.print(" out_speedr=");
Serial1.print(out_speedr);
Serial1.print(" checksum=");
Serial1.print(out_checksum);
Serial.print(" controlmode=");
Serial.print(controlmode);
Serial1.print(" controlmode=");
Serial1.print(controlmode);
Serial.println();
Serial1.println();
#endif
}
@ -564,14 +591,14 @@ void loop() {
/*
void sendRF(nrfstatdata senddata){
#ifdef DEBUG
Serial.println("Transmitting...");
Serial1.println("Transmitting...");
#endif
radio.stopListening(); //stop listening to be able to transmit
radiosendOk = radio.write( &senddata, sizeof(nrfstatdata) );
if (!radiosendOk){
#ifdef DEBUG
Serial.println("send failed");
Serial1.println("send failed");
#endif
}
radio.startListening(); //start listening again
@ -582,6 +609,17 @@ void sendRF(nrfstatdata senddata){
// ########################## SEND ##########################
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
{
// Create command
scom.start = (uint16_t)START_FRAME;
scom.speedLeft = (int16_t)uSpeedLeft;
scom.speedRight = (int16_t)uSpeedRight;
scom.checksum = (uint16_t)(scom.start ^ scom.speedLeft ^ scom.speedRight);
SerialRef.write((uint8_t *) &scom, sizeof(scom));
}
/*
void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight)
{
// Create command
@ -592,9 +630,77 @@ void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight)
// Write to Serial
Serial2.write((uint8_t *) &Command, sizeof(Command));
}
}*/
// ########################## RECEIVE ##########################
bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
{
bool _result=1;
// Check for new data availability in the Serial buffer
if ( SerialRef.available() ) {
sread.incomingByte = SerialRef.read(); // Read the incoming byte
sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev; // Construct the start frame
}
else {
return 0;
}
// If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX
Serial.print(sread.incomingByte);
#endif
// Copy received data
if (sread.bufStartFrame == START_FRAME) { // Initialize if new data is detected
sread.p = (byte *)&NewFeedback;
*sread.p++ = sread.incomingBytePrev;
*sread.p++ = sread.incomingByte;
sread.idx = 2;
} else if (sread.idx >= 2 && sread.idx < sizeof(SerialFeedback)) { // Save the new received data
*sread.p++ = sread.incomingByte;
sread.idx++;
}
// Check if we reached the end of the package
if (sread.idx == sizeof(SerialFeedback)) {
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC ^ NewFeedback.cmdLed);
// Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
sread.lastValidDataSerial_time = millis();
} else {
_result=0;
}
sread.idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
/*
// Print data to built-in Serial
Serial1.print("1: "); Serial.print(Feedback.cmd1);
Serial1.print(" 2: "); Serial.print(Feedback.cmd2);
Serial1.print(" 3: "); Serial.print(Feedback.speedR);
Serial1.print(" 4: "); Serial.print(Feedback.speedL);
Serial1.print(" 5: "); Serial.print(Feedback.speedR_meas);
Serial1.print(" 6: "); Serial.print(Feedback.speedL_meas);
Serial1.print(" 7: "); Serial.print(Feedback.batVoltage);
Serial1.print(" 8: "); Serial.println(Feedback.boardTemp);
} else {
Serial1.println("Non-valid data skipped");
}*/
// Update previous states
sread.incomingBytePrev = sread.incomingByte;
return _result; //new data was available
}
/*
void ReceiveSerial2()
{
// Check for new data availability in the Serial buffer
@ -635,7 +741,7 @@ void ReceiveSerial2()
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Print data to built-in Serial
/*Serial.print("1: "); Serial.print(Feedback.cmd1);
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);
@ -645,7 +751,7 @@ void ReceiveSerial2()
//Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in A, in hoverbrett negative sign for forward
*/
Serial.print(" 9: "); Serial.println(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
} else {
Serial.println("Non-valid data skipped");
@ -656,3 +762,7 @@ void ReceiveSerial2()
// Update previous states
incomingBytePrev = incomingByte;
}
*/

2
hoverboard-firmware-hack-foc-serial-esc

@ -1 +1 @@
Subproject commit b9bf849330f8e7355d0881300ebdc59607845e2d
Subproject commit dc07f8564ff92e0f57e0846a2980cc74b98256f4

1
hoverboard-firmware-hack-serial-esc

@ -1 +0,0 @@
Subproject commit 9c84e97a58f6027a3b8fdfdcfeaf64985e2327ff

2
nippleremote

@ -1 +1 @@
Subproject commit 448db8a6d8fd75c82bf27294876f45d2eb764f0d
Subproject commit fe9ff4f27f5730a39c09bd35fb009aa71b386a05