add gametrak reading
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parent
03b600d4c8
commit
b1ada895bc
166
controller.ino
166
controller.ino
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@ -7,7 +7,10 @@
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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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//PA2 may be defective on my bluepill
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//#define DEBUG
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#define PARAMETEROUTPUT
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uint8_t error = 0;
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#define IMU_NO_CHANGE 2 //IMU values did not change for too long
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uint8_t imu_no_change_counter = 0;
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@ -15,24 +18,49 @@ uint8_t imu_no_change_counter = 0;
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#define PIN_LED PC13
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#define PIN_VBAT PA0 //battery voltage after voltage divider
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#define VBAT_DIV_FACTOR 0.010700 //how much voltage (V) equals one adc unit. measured at 40V and averaged
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//#define VBAT_DIV_FACTOR 0.010700 //how much voltage (V) equals one adc unit. measured at 40V and averaged
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#define VBAT_DIV_FACTOR 0.01399535423925667828 //how much voltage (V) equals one adc unit. 3444=48.2V
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#define PIN_CURRENT PA1 //output of hall sensor for current measurement
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#define CURRENT_OFFSET 2034 //adc reading at 0A, with CJMCU-758 typically at Vcc/2
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#define CURRENT_FACTOR 0.4320376 //how much current (A) equals one adc unit
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double vbat=0; //battery voltage
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double ibat=0; //battery current
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long last_uiupdated=0;
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#define UI_UPDATEPERIOD 10 //in ms
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#define CURRENT_OFFSET 2048 //adc reading at 0A, with CJMCU-758 typically at Vcc/2. measured with actual voltage supply in hoverbrett
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#define CURRENT_FACTOR 0.38461538461538461538 //how much current (A) equals one adc unit. 2045-2032=13 at 5A
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float vbat=0; //battery voltage
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float ibat=0; //battery current
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long last_adcupdated=0;
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#define ADC_UPDATEPERIOD 10 //in ms
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#define SENDPERIOD 20 //ms
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#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
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//Status information sending
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#define PARAMETERSENDPERIOD 200 //delay for sending stat data via nrf24
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long last_parametersend=0;
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#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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#define IMUUPDATEPERIOD 10 //ms
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long last_imuupdated = 0;
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#define MAX_YAWCHANGE 90 //in degrees, if exceeded in one update intervall error will be triggered
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#define PIN_GAMETRAK_LENGTH PA1 //yellow (connector) / orange (gametrak module wires): length
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#define PIN_GAMETRAK_VERTICAL PA3 //orange / red: vertical
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#define PIN_GAMETRAK_HORIZONTAL PA4 //blue / yellow: horizontal
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#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
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#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
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#define GT_LENGTH_SCALE -0.73 //(adcvalue-offset)*scale = length[mm] (+length_min)
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//2720 at 1000mm+220mm -> 1370 for 1000mm ->
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#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
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uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
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#define GT_VERTICAL_CENTER 2048 //adc value for center position
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#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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int8_t gt_vertical=0; //0=center. joystick can rotate +-30 degrees. -127 = -30 deg
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//left = -30 deg, right= 30deg
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#define GT_HORIZONTAL_CENTER 2048 //adc value for center position
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#define GT_HORIZONTAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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int8_t gt_horizontal=0; //0=center
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#include <IMUGY85.h>
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@ -41,6 +69,10 @@ long last_imuupdated = 0;
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//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
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//in qmc5883L library read values changed from uint16_t to int16_t
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#define IMUUPDATEPERIOD 10 //ms
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long last_imuupdated = 0;
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#define MAX_YAWCHANGE 90 //in degrees, if exceeded in one update intervall error will be triggered
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IMUGY85 imu;
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double ax, ay, az, gx, gy, gz, roll, pitch, yaw, mx, my, mz, ma;
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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;
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@ -48,7 +80,7 @@ double old_ax, old_ay, old_az, old_gx, old_gy, old_gz, old_roll, old_pitch, old_
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double setYaw = 0;
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float magalign_multiplier = 0; //how much the magnetometer should influence steering, 0=none, 1=stay aligned
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// Lenovo Trackpoint pinout
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//from left to right. pins at bottom. chips on top
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//1 GND (black)
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//2 Data
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@ -86,6 +118,9 @@ long last_nrfreceive = 0; //last time values were received and checksum ok
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long nrf_delay = 0;
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#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
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boolean radiosendOk=false;
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//command variables
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boolean motorenabled = false; //set by nrfdata.commands
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@ -96,6 +131,8 @@ long last_send = 0;
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int16_t out_steer = 0; //between -1000 and 1000
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int16_t out_speed = 0;
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int16_t lastsend_out_steer = 0; //last value transmitted to motor controller
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int16_t lastsend_out_speed = 0;
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uint8_t out_checksum = 0; //0= disable motors, 255=reserved, 1<=checksum<255
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#define NRFDATA_CENTER 127
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@ -106,9 +143,10 @@ boolean lastpacketOK = false;
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void setup() {
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Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
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Serial.begin(57600); //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 max be dead on my board?
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pinMode(PIN_LED, OUTPUT);
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@ -118,12 +156,18 @@ void setup() {
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pinMode(PIN_VBAT,INPUT_ANALOG);
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pinMode(PIN_CURRENT,INPUT_ANALOG);
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pinMode(PIN_GAMETRAK_LENGTH,INPUT_ANALOG);
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pinMode(PIN_GAMETRAK_VERTICAL,INPUT_ANALOG);
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pinMode(PIN_GAMETRAK_HORIZONTAL,INPUT_ANALOG);
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#ifdef DEBUG
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Serial.println("Initializing nrf24");
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#endif
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radio.begin();
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radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
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//radio.setDataRate( RF24_1MBPS );
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radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
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@ -135,10 +179,14 @@ void setup() {
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radio.startListening();
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#ifdef DEBUG
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Serial.println("Initializing IMU");
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#endif
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imu.init();
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#ifdef DEBUG
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Serial.println("Initialized");
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#endif
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}
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@ -150,15 +198,36 @@ void loop() {
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last_imuupdated = millis();
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}
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if (millis() - last_uiupdated > UI_UPDATEPERIOD) { //update current and voltage
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if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
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vbat=analogRead(PIN_VBAT)*VBAT_DIV_FACTOR;
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ibat=(analogRead(PIN_CURRENT)-CURRENT_OFFSET)*CURRENT_FACTOR;
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last_uiupdated = millis();
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gt_length = constrain((analogRead(PIN_GAMETRAK_LENGTH)-GT_LENGTH_OFFSET)*GT_LENGTH_SCALE +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
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if (gt_length<=GT_LENGTH_MIN){
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gt_length=0; //if below minimum measurable length set to 0mm
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}
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gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-GT_VERTICAL_CENTER, +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
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gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-GT_HORIZONTAL_CENTER, +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
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last_adcupdated = millis();
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/*
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Serial.print("vbat=");
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Serial.print(vbat);
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Serial.print(", ibat=");
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Serial.println(ibat);*/
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Serial.print("gt_length=");
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Serial.print(gt_length);
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Serial.print(", gt_vertical=");
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Serial.print(gt_vertical);
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Serial.print(", gt_horizontal=");
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Serial.println(gt_horizontal);*/
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/*
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Serial.print("PIN_GAMETRAK_LENGTH=");
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Serial.print(analogRead(PIN_GAMETRAK_LENGTH));
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Serial.print(", PIN_GAMETRAK_VERTICAL=");
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Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
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Serial.print(", PIN_GAMETRAK_HORIZONTAL=");
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Serial.println(analogRead(PIN_GAMETRAK_HORIZONTAL));
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*/
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}
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//NRF24
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@ -180,7 +249,6 @@ void loop() {
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uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
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if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
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lastpacketOK = true;
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@ -230,6 +298,7 @@ void loop() {
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}
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}
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if (error > 0) { //disarm if error occured
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armed = false;
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}
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@ -285,17 +354,17 @@ void loop() {
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}
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#endif
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} else { //disarmed
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} else { //disarmed
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out_steer = 0;
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out_speed = 0;
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setYaw = yaw;
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magalign_multiplier = 0;
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}
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}
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if (millis() - last_send > SENDPERIOD) {
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if (millis() - last_send > SENDPERIOD) {
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//calculate checksum
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out_checksum = ((uint8_t) ((uint8_t)out_steer) * ((uint8_t)out_speed)); //simple checksum
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if (out_checksum == 0 || out_checksum == 255) {
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@ -309,10 +378,12 @@ if (millis() - last_send > SENDPERIOD) {
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Serial2.write((uint8_t *) &out_steer, sizeof(out_steer));
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Serial2.write((uint8_t *) &out_speed, sizeof(out_speed));
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Serial2.write((uint8_t *) &out_checksum, sizeof(out_checksum));
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lastsend_out_steer = out_steer; //remember last transmittet values (for stat sending)
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lastsend_out_speed = out_speed;
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last_send = millis();
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#ifdef DEBUG
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#ifdef DEBUG
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Serial.print(" steer=");
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Serial.print(out_steer);
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Serial.print(" speed=");
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@ -321,11 +392,52 @@ if (millis() - last_send > SENDPERIOD) {
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Serial.print(out_checksum);
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Serial.println();
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#endif
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}
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#endif
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}
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//
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#ifdef PARAMETEROUTPUT
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if ( millis() - last_parametersend > PARAMETERSENDPERIOD) {
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//Serial.write((uint8_t *) &counter, sizeof(counter));//uint8_t, 1 byte
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//Serial.write((uint8_t *) &value1, sizeof(value1)); //uint16_t, 2 bytes
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//Serial.write((uint8_t *) &value2, sizeof(value2)); //int16_t, 2 bytes
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//Serial.write((uint8_t *) &floatvalue, sizeof(floatvalue)); //float, 4 bytes
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/*
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Serial.write((uint8_t *) &out_steer, sizeof(out_steer)); //int16_t, 2 bytes
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Serial.write((uint8_t *) &out_speed, sizeof(out_speed)); //int16_t, 2 bytes
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Serial.write((uint8_t *) &vbat, sizeof(vbat)); //float, 4 bytes
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Serial.write((uint8_t *) &ibat, sizeof(ibat)); //float, 4 bytes
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float yaw_float=yaw;
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Serial.write((uint8_t *) &yaw_float, sizeof(yaw_float)); //float, 4 bytes
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*/
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last_parametersend = millis();
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}
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#endif
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}
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/*
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void sendRF(nrfstatdata senddata){
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#ifdef DEBUG
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Serial.println("Transmitting...");
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#endif
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radio.stopListening(); //stop listening to be able to transmit
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radiosendOk = radio.write( &senddata, sizeof(nrfstatdata) );
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if (!radiosendOk){
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#ifdef DEBUG
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Serial.println("send failed");
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#endif
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}
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radio.startListening(); //start listening again
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}
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*/
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void updateIMU()
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{
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@ -333,7 +445,9 @@ void updateIMU()
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imu_no_change_counter++;
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if (imu_no_change_counter > 10) {
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error = IMU_NO_CHANGE;
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#ifdef DEBUG
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Serial.println("Error: IMU_NO_CHANGE");
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#endif
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}
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} else {
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imu_no_change_counter = 0;
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