From f2e3d17bb6e726bf4ac4a6b6290ce5660ce06156 Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Sun, 13 Jan 2019 19:25:38 +0100
Subject: [PATCH] working ppm input (pulseIn) and serial output to hoverboard.

---
 controller.ino | 110 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 110 insertions(+)
 create mode 100644 controller.ino

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 (poti1<POTIMIN){
+    poti1=POTIMIN;
+  }else if(poti1>POTIMAX){
+    poti1=POTIMAX;
+  }
+  poti1=(poti1-POTIMIN)*1000/(POTIMAX-POTIMIN);
+
+  poti2=analogRead(PIN_POTI2);
+  if (poti2<POTIMIN){
+    poti2=POTIMIN;
+  }else if(poti2>POTIMAX){
+    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();
+  }
+
+}