update to emanuelferu firmware

.gitmodules

@@ -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

controller/controller.ino

@@ -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;
+}

hoverboard-firmware-hack-foc-serial-esc

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

hoverboard-firmware-hack-serial-esc

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