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update to emanuelferu firmware

master
interfisch 9 months ago
parent
commit
f6f936da4e
4 changed files with 128 additions and 5 deletions
  1. +3
    -0
      .gitmodules
  2. +123
    -4
      controller/controller.ino
  3. +1
    -0
      hoverboard-firmware-hack-foc-serial-esc
  4. +1
    -1
      hoverboard-firmware-hack-serial-esc

+ 3
- 0
.gitmodules View File

@ -7,3 +7,6 @@
[submodule "nippleremote"]
path = nippleremote
url = git@repos.ctdo.de:interfisch/nippleremote.git
[submodule "hoverboard-firmware-hack-foc-serial-esc"]
path = hoverboard-firmware-hack-foc-serial-esc
url = https://repos.ctdo.de/interfisch/hoverboard-firmware-hack-foc-serial-esc

+ 123
- 4
controller/controller.ino View File

@ -9,6 +9,10 @@
//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;
@ -156,11 +160,46 @@ uint8_t controlmode=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 speedR;
int16_t speedL;
int16_t speedR_meas;
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
int16_t checksum;
} SerialFeedback;
SerialFeedback Feedback;
SerialFeedback NewFeedback;
void setup() {
Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
Serial.begin(SERIAL_BAUD); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
//Serial1 max be dead on my board?
@ -208,6 +247,8 @@ void setup() {
void loop() {
ReceiveSerial2(); // Check for new received data
if (millis() - last_imuupdated > IMUUPDATEPERIOD) {
updateIMU();
last_imuupdated = millis();
@ -445,9 +486,14 @@ void loop() {
out_checksum = 0; //checksum=0 disables motors
}
Serial2.write((uint8_t *) &out_speedl, sizeof(out_speedl));
/*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));
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();
@ -560,3 +606,76 @@ void updateIMU()
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);
// 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);
} 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;
}

+ 1
- 0
hoverboard-firmware-hack-foc-serial-esc

@ -0,0 +1 @@
Subproject commit ddeb7fbd18b95842228bfe39b9cbcad1e655101b

+ 1
- 1
hoverboard-firmware-hack-serial-esc

@ -1 +1 @@
Subproject commit 2f19aa1de9969c9c2b2c1156ee9ea14738f9cabd
Subproject commit 9c84e97a58f6027a3b8fdfdcfeaf64985e2327ff

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