commit f2e3d17bb6e726bf4ac4a6b6290ce5660ce06156 Author: Fisch Date: Sun Jan 13 19:25:38 2019 +0100 working ppm input (pulseIn) and serial output to hoverboard. diff --git a/controller.ino b/controller.ino new file mode 100644 index 0000000..f74c12d --- /dev/null +++ b/controller.ino @@ -0,0 +1,110 @@ +//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 + +#define PIN_LED PC13 + +#define PIN_POTI1 PA7 +#define PIN_POTI2 PA6 + +#define SENDPERIOD 50 + + +uint16_t poti1=0; +uint16_t poti2=0; + + +long last_send=0; + +int16_t out_steer=0; +int16_t out_speed=0; + +uint16_t ch1_in; +uint16_t ch2_in; +uint16_t ch3_in; +uint16_t ch4_in; + +//RC Input Pins +#define PIN_CH1 PB9 +#define PIN_CH2 PB8 +#define PIN_CH3 PB7 +#define PIN_CH4 PB6 + + +void setup() { + + Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level) + + Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3) + + + pinMode(PIN_LED, OUTPUT); + digitalWrite(PIN_LED,LOW); + + pinMode(PIN_POTI1, INPUT); + pinMode(PIN_POTI2, INPUT); + + + pinMode(PIN_CH1, INPUT); + pinMode(PIN_CH2, INPUT); + pinMode(PIN_CH3, INPUT); + pinMode(PIN_CH4, INPUT); + +} + +void loop() { + + //RC Input. chn_in between 0 and 1000 + ch1_in = constrain(map(pulseIn(PIN_CH1, HIGH, 25000),1000,2000, 0,1000), 0,1000); //Read Pulse Width. (pulseIn values typically between 1000 and 2000). Map and constrain between 0 and 1000 + ch2_in = constrain(map(pulseIn(PIN_CH2, HIGH, 25000),1000,2000, 0,1000), 0,1000); + //ch3_in = constrain(map(pulseIn(PIN_CH3, HIGH, 25000),1000,2000, 0,1000), 0,1000); + //ch4_in = constrain(map(pulseIn(PIN_CH4, HIGH, 25000),1000,2000, 0,1000), 0,1000); + //ch1 = steer (ail) + //ch2 = speed (ele) + //ch3 = speed multiplier (thr) + + //Potis + /*poti1=analogRead(PIN_POTI1); + #define POTIMIN 100 + #define POTIMAX 4000 + if (poti1POTIMAX){ + poti1=POTIMAX; + } + poti1=(poti1-POTIMIN)*1000/(POTIMAX-POTIMIN); + + poti2=analogRead(PIN_POTI2); + if (poti2POTIMAX){ + poti2=POTIMAX; + } + poti2=(poti2-POTIMIN)*1000/(POTIMAX-POTIMIN); + + out_speed=poti1; + out_steer=0; + */ + + //out_speed=(int16_t)( (ch2_in*2-1000)*(ch3_in/1000.0) ); + out_speed=(int16_t)( (ch2_in*2-1000)); + out_steer=ch1_in*2-1000; + + if (millis()-last_send>SENDPERIOD){ + Serial2.write((uint8_t *) &out_steer, sizeof(out_steer)); + Serial2.write((uint8_t *) &out_speed, sizeof(out_speed)); + last_send=millis(); + + Serial.print("Steer="); + Serial.println(out_steer); + Serial.print("Speed="); + Serial.println(out_speed); + Serial.println(); + } + +}