parent
92fbaf3ceb
commit
603e1b1de7
12 changed files with 0 additions and 2369 deletions
@ -1,852 +0,0 @@ |
||||
//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
|
||||
//Board: Generic STM32F103C series
|
||||
//Upload method: serial
|
||||
//20k RAM 64k Flash
|
||||
//may need 3v3 from usb ttl converter (hold down flash button while connecting). Holding down the power button is not needed in this case.
|
||||
//Sometimes reconnecting the usb ttl converter to the pc helps just before pressing the upload button
|
||||
|
||||
/* TODO:
|
||||
* Do not immediately drive backwards. |
||||
*/ |
||||
|
||||
// RX(green) is A10 , TX (blue) 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 proPIN_GAMETRAK_VERTICALgram on powerup
|
||||
|
||||
// ########################## DEFINES ##########################
|
||||
#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_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
|
||||
|
||||
//#define MAXADCVALUE 4095
|
||||
#define ADC_CALIB_THROTTLE_LOWEST 1900 //a bit above adc value if throttle it not touched
|
||||
#define ADC_CALIB_THROTTLE_MIN 2000 //minimum adc value that should correspond to 0 speed
|
||||
#define ADC_CALIB_THROTTLE_MAX 3110 //maximum adc value that should correspond to full speed
|
||||
|
||||
#define ADC_CALIB_BRAKE_MIN 800 //minimum adc value that should correspond to 0 speed
|
||||
#define ADC_CALIB_BRAKE_MAX 2400 //maximum adc value that should correspond to full speed
|
||||
|
||||
#define PIN_STARTLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor
|
||||
uint8_t startled=0; |
||||
#define PIN_STARTBUTTON PB8 //"Enginge Start" Button. connected To NC (=LOW). HIGH when pressed
|
||||
#define STARTBUTTON_DOWN digitalRead(PIN_STARTBUTTON) |
||||
|
||||
#define SENDPERIOD 50 //ms. delay for sending speed and steer data to motor controller via serial
|
||||
#define PIN_THROTTLE PA4 |
||||
#define PIN_BRAKE PA5 |
||||
|
||||
#define PIN_ENABLE PB9 |
||||
|
||||
#define PIN_MODESWITCH PB5 // LOW if pressed in ("down")
|
||||
#define MODESWITCH_DOWN !digitalRead(PIN_MODESWITCH) |
||||
#define PIN_MODELED_GREEN PA12 |
||||
#define PIN_MODELED_RED PA11 |
||||
uint8_t modeled_green=0; |
||||
uint8_t modeled_red=0; |
||||
long last_ledupdate=0; |
||||
|
||||
#define PIN_RELAISFRONT PB15 //connected to relais which presses the powerbutton of the hoverboard for the front wheels
|
||||
#define PIN_RELAISREAR PB14 //connected to relais which presses the powerbutton of the hoverboard for the rear wheels
|
||||
|
||||
#define DEBOUNCETIME 20 //time to not check for inputs after key press
|
||||
#define BUTTONTIMEHOLD 750 //time for button hold
|
||||
long millis_lastinput=0; //for button debounce
|
||||
long timebuttonpressed_start; |
||||
boolean button_start=false; |
||||
boolean button_hold_start=false; |
||||
|
||||
|
||||
#define TIME_AUTOPOWEROFF 600000 //600000 = 10 minutes
|
||||
|
||||
long loopmillis=0; //only use one millis reading each loop
|
||||
long last_looptime=0; //for looptiming
|
||||
#define LOOPTIME 10 //how often the loop(s) should run
|
||||
long millis_lastchange=0; //for poweroff after some time with no movement
|
||||
#define MAXBRAKERATE 7 //maximum rate for braking (loop timing)
|
||||
|
||||
String errormessage=""; //store some error message to print
|
||||
|
||||
//Mode change variables
|
||||
uint8_t state_modechange=0; |
||||
long state_modechange_time=0; |
||||
|
||||
long millis_lastadc=0; |
||||
#define ADC_READTIME 10 //time interval to read adc (for filtering)
|
||||
#define ADC_THROTTLE_FILTER 0.4 //low value = slower change
|
||||
#define ADC_BRAKE_FILTER 0.4 //low value = slower change
|
||||
|
||||
int adc_throttle_raw=0; //raw throttle value from adc
|
||||
float adc_throttle=0; //filtered value
|
||||
|
||||
int adc_brake_raw=0; //raw throttle value from adc
|
||||
float adc_brake=0; //filtered value
|
||||
|
||||
int16_t out_speedFL=0; |
||||
int16_t out_speedFR=0; |
||||
int16_t out_speedRL=0; |
||||
int16_t out_speedRR=0; |
||||
|
||||
|
||||
long last_send = 0; |
||||
|
||||
boolean board1Enabled=false; |
||||
boolean board2Enabled=false; |
||||
|
||||
|
||||
// Global variables for serial communication
|
||||
//Serial1 (Rear)
|
||||
uint8_t idx1 = 0; // Index for new data pointer
|
||||
uint16_t bufStartFrame1; // Buffer Start Frame
|
||||
byte *p1; // Pointer declaration for the new received data
|
||||
byte incomingByte1; |
||||
byte incomingBytePrev1; |
||||
long lastValidDataSerial1_time; |
||||
long board1lastPoweron=0; //mainly for failcheck
|
||||
long board1lastPoweroff=0; |
||||
|
||||
|
||||
//Same for Serial2 (Front)
|
||||
uint8_t idx2 = 0; // Index for new data pointer
|
||||
uint16_t bufStartFrame2; // Buffer Start Frame
|
||||
byte *p2; // Pointer declaration for the new received data
|
||||
byte incomingByte2; |
||||
byte incomingBytePrev2; |
||||
long lastValidDataSerial2_time; |
||||
long board2lastPoweron=0; //mainly for failcheck
|
||||
long board2lastPoweroff=0; |
||||
|
||||
typedef struct{ |
||||
uint16_t start; |
||||
int16_t speedLeft; |
||||
int16_t speedRight; |
||||
uint16_t checksum; |
||||
} SerialCommand; |
||||
SerialCommand Command1; |
||||
SerialCommand Command2; |
||||
|
||||
typedef struct{ |
||||
uint16_t start; |
||||
int16_t cmd1; |
||||
int16_t cmd2; |
||||
int16_t speedL; |
||||
int16_t speedR; |
||||
int16_t speedL_meas; |
||||
int16_t speedR_meas; |
||||
int16_t batVoltage; |
||||
int16_t boardTemp; |
||||
int16_t curL_DC; |
||||
int16_t curR_DC; |
||||
uint16_t checksum; |
||||
} SerialFeedback; |
||||
SerialFeedback Feedback1; |
||||
SerialFeedback NewFeedback1; |
||||
SerialFeedback Feedback2; |
||||
SerialFeedback NewFeedback2; |
||||
|
||||
|
||||
#define A2BIT_CONV 50 //divide curL_DC value by A2BIT_CONV to get current in amperes. Take this value from hoverboard firmware config.h
|
||||
|
||||
|
||||
enum mode{booting, idle, on, error, off}; |
||||
/*
|
||||
* idle: controller is on, hoverboards are off |
||||
* on: hoverbaords are on and happy |
||||
* error: some error occured, stop everything and show errors |
||||
* off: shutdown triggered. will power down latch soon |
||||
*/ |
||||
mode currentmode; //current active mode
|
||||
mode requestmode; //change this variable to initiate a mode change
|
||||
|
||||
mode last_requestmode=off; //for printout
|
||||
mode last_currentmode=off; //for printout
|
||||
|
||||
// ########################## SETUP ##########################
|
||||
void setup()
|
||||
{ |
||||
|
||||
Serial.begin(SERIAL_BAUD); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
|
||||
|
||||
Serial2.begin(SERIAL_CONTROL_BAUD); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2). Marked with "1" on connector (Rear)
|
||||
Serial3.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector (Front)
|
||||
|
||||
// Pin Setup
|
||||
pinMode(PIN_STARTLED, OUTPUT); //MODE=PWM (needs testing, mcu locks up when using writePWM()
|
||||
pinMode(PIN_ENABLE, OUTPUT); |
||||
digitalWrite(PIN_ENABLE, HIGH); //keep power on
|
||||
pinMode(PIN_STARTBUTTON, INPUT_PULLUP); |
||||
pinMode(PIN_MODESWITCH, INPUT_PULLUP); |
||||
pinMode(PIN_MODELED_GREEN, OUTPUT); |
||||
pinMode(PIN_MODELED_RED, OUTPUT); |
||||
pinMode(PIN_RELAISFRONT, OUTPUT); |
||||
pinMode(PIN_RELAISREAR, OUTPUT); |
||||
pinMode(PIN_THROTTLE, INPUT); |
||||
pinMode(PIN_BRAKE, INPUT); |
||||
|
||||
Serial.println("Initialized Serial");
|
||||
Serial2.println("Initialized Serial1");
|
||||
Serial3.println("Initialized Serial2");
|
||||
|
||||
currentmode = booting; //start in idle mode
|
||||
requestmode = currentmode; |
||||
|
||||
millis_lastchange=millis(); |
||||
} |
||||
|
||||
|
||||
// ########################## LOOP ##########################
|
||||
void loop() { |
||||
loopmillis=millis(); //read millis for this cycle
|
||||
|
||||
ReceiveSerial1(); // Check for new received data
|
||||
ReceiveSerial2(); // Check for new received data
|
||||
|
||||
handleInputs(); |
||||
if (button_start) { |
||||
Serial.println("button_start"); |
||||
} |
||||
if (button_hold_start) { |
||||
Serial.println("button_hold_start"); |
||||
} |
||||
|
||||
handleModeChange(); //mode changes
|
||||
if (last_requestmode!=requestmode) { |
||||
Serial.print("requestmode="); Serial.println(modeToString(requestmode));
|
||||
last_requestmode=requestmode; |
||||
} |
||||
if (last_currentmode!=currentmode) { |
||||
Serial.print("currentmode="); Serial.println(modeToString(currentmode)); |
||||
last_currentmode=currentmode; |
||||
} |
||||
|
||||
ledUpdate(); |
||||
|
||||
modeloops(); |
||||
|
||||
|
||||
if (loopmillis - last_send > SENDPERIOD) { |
||||
last_send=loopmillis; |
||||
|
||||
if (currentmode!=off || currentmode!=idle) { //if boards should be powered on
|
||||
SendSerial2(out_speedFL,out_speedFR); //Front
|
||||
SendSerial1(out_speedRL,out_speedRR); //Rear
|
||||
} |
||||
if (currentmode==on) { |
||||
/*Serial.print("lastData1="); Serial.print(loopmillis-lastValidDataSerial1_time); Serial.print(", lastData2=");Serial.print(loopmillis-lastValidDataSerial2_time);
|
||||
Serial.print(", speedFL="); Serial.print(out_speedFL); |
||||
float _current = (Feedback1.curL_DC+Feedback1.curR_DC+Feedback2.curL_DC+Feedback2.curR_DC)/4.0 / 50;
|
||||
Serial.print(", current="); Serial.print(_current);*/ |
||||
|
||||
float _current = (Feedback1.curL_DC+Feedback1.curR_DC+Feedback2.curL_DC+Feedback2.curR_DC)/4.0 / 50;
|
||||
|
||||
Serial.print(Feedback1.curL_DC); Serial.print(", "); //1 is rear
|
||||
Serial.print(Feedback1.curR_DC); Serial.print(", "); |
||||
Serial.print(Feedback2.curL_DC); Serial.print(", "); //2 is front
|
||||
Serial.print(Feedback2.curR_DC); |
||||
Serial.print(", mean="); Serial.print(_current); |
||||
Serial.println(); |
||||
} |
||||
} |
||||
|
||||
|
||||
|
||||
if (currentmode!=error) { //keep last errormessage
|
||||
failChecks(); |
||||
} |
||||
} |
||||
|
||||
|
||||
void handleInputs() |
||||
{ |
||||
//Short press (true when button short pressed, on release)
|
||||
button_start=false; |
||||
|
||||
//long press (true when button is held down for BUTTONTIMEHOLD, on time elapsed)
|
||||
button_hold_start=false; |
||||
|
||||
if (loopmillis-millis_lastinput>DEBOUNCETIME) //Button debouncing
|
||||
{ |
||||
//Trigger
|
||||
if (timebuttonpressed_start == 0 && STARTBUTTON_DOWN){ //first time pressed down. (low when pressed)
|
||||
timebuttonpressed_start=loopmillis; //set time of button press
|
||||
millis_lastinput=loopmillis; |
||||
}else if(timebuttonpressed_start != 0 && !STARTBUTTON_DOWN){ //button released (was pressed)
|
||||
if (loopmillis-timebuttonpressed_start < BUTTONTIMEHOLD){ //short press
|
||||
button_start=true; |
||||
} |
||||
timebuttonpressed_start=0; //re-enable after short press and release from hold
|
||||
millis_lastinput=loopmillis; |
||||
}else if(loopmillis-timebuttonpressed_start >= BUTTONTIMEHOLD && timebuttonpressed_start>0){ //held down long enough and not already hold triggered
|
||||
button_hold_start=true; |
||||
timebuttonpressed_start=-1; //-1 as flag for hold triggered
|
||||
} |
||||
} |
||||
|
||||
if ( button_start || button_hold_start) { |
||||
millis_lastchange=loopmillis; //for auto poweroff
|
||||
millis_lastinput=loopmillis; //for debouncing
|
||||
} |
||||
|
||||
if (loopmillis-millis_lastadc>ADC_READTIME) { |
||||
adc_throttle_raw = analogRead(PIN_THROTTLE); |
||||
adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER; |
||||
|
||||
adc_brake_raw = analogRead(PIN_BRAKE); |
||||
adc_brake = adc_brake*(1-ADC_BRAKE_FILTER) + adc_brake_raw*ADC_BRAKE_FILTER; |
||||
|
||||
if (adc_throttle_raw >= ADC_CALIB_THROTTLE_MIN || adc_brake_raw >= ADC_CALIB_BRAKE_MIN) { //throttle or brake pressed
|
||||
millis_lastchange=loopmillis;
|
||||
} |
||||
millis_lastadc=loopmillis; |
||||
} |
||||
|
||||
if (loopmillis-millis_lastchange>TIME_AUTOPOWEROFF){ |
||||
requestmode = off; |
||||
} |
||||
} |
||||
|
||||
void handleModeChange() { |
||||
if (currentmode==requestmode) { //## Not currently changing modes ##
|
||||
switch (currentmode) { //mode dependant
|
||||
case booting: //on startup. active while start button is still pressed
|
||||
if (button_start) { //button first release
|
||||
requestmode=idle; //start in idle state
|
||||
state_modechange=0; //reset state for safety
|
||||
}//TODO else if (button_hold_start) { requestmode=on; }
|
||||
break; |
||||
case idle: |
||||
if (button_hold_start){ //long press
|
||||
requestmode=on; //long press switches betweeen idle and on
|
||||
state_modechange=0; //start at state 0
|
||||
} |
||||
if (button_start) { //short press
|
||||
requestmode=off;
|
||||
state_modechange=0; |
||||
} |
||||
break; |
||||
case on: |
||||
if (button_hold_start){ //long press
|
||||
requestmode=idle; //long press switches betweeen idle and on
|
||||
state_modechange=0; //start at state 0
|
||||
} |
||||
if (button_start) { //short press
|
||||
requestmode=off; |
||||
state_modechange=0; |
||||
} |
||||
break; |
||||
case error: |
||||
if (button_start) { //short press
|
||||
requestmode=off; |
||||
state_modechange=0; |
||||
} |
||||
break; |
||||
case off: |
||||
break; |
||||
default: |
||||
currentmode=error; //something else? -> error
|
||||
} |
||||
}else{ // ## Change requested ##
|
||||
switch (requestmode) { //mode changes
|
||||
case booting: |
||||
requestmode=error; |
||||
currentmode=requestmode; |
||||
errormessage="Change to booting mode cannot be requested"; |
||||
break; |
||||
case idle: case on: case off: //similar for on, idle and off
|
||||
if (currentmode == booting) { //coming from booting mode
|
||||
currentmode=idle; //switch directly without powering boards
|
||||
requestmode=currentmode; //make shure it stay in this mode
|
||||
state_modechange=0; |
||||
break; |
||||
} |
||||
if ( (state_modechange>0 || (requestmode==idle && boardsPowered()) || (requestmode==off && boardsPowered()) || (requestmode==on && !boardsPowered()) )) { //power cylce in progress OR need to power on/off boards
|
||||
//Hoverboard powering
|
||||
switch(state_modechange) { |
||||
case 0:
|
||||
if (requestmode==on && (adc_throttle > ADC_CALIB_THROTTLE_LOWEST || adc_brake > ADC_CALIB_BRAKE_MIN) ) { //requested to turn on but throttle or brake is pressed
|
||||
state_modechange=0; |
||||
requestmode=currentmode; //abort modechange
|
||||
//TODO: led show aborted modechange
|
||||
}else{ //everythings fine, turn on/off
|
||||
digitalWrite(PIN_RELAISFRONT,HIGH); //simulate hoverboard power button press
|
||||
//Front board is Serial2
|
||||
if (requestmode==on) { |
||||
board2Enabled=true; //assume board is online
|
||||
board2lastPoweron=loopmillis; //save time at which board was powered on
|
||||
// ### Request Idle or Off ###
|
||||
}else if(requestmode==idle || requestmode==off) { |
||||
board2Enabled=false; //assume board is offline
|
||||
board2lastPoweroff=loopmillis; //save time at which board was powered off
|
||||
} |
||||
state_modechange++; |
||||
state_modechange_time=loopmillis; //set to current time
|
||||
Serial.println("PIN_RELAISFRONT,HIGH"); |
||||
} |
||||
break; |
||||
case 1: |
||||
if (loopmillis - state_modechange_time > 200) { //wait some time
|
||||
digitalWrite(PIN_RELAISFRONT,LOW); //release simulated button
|
||||
state_modechange++; |
||||
state_modechange_time=loopmillis; //set to current time
|
||||
Serial.println("PIN_RELAISFRONT,LOW"); |
||||
} |
||||
break; |
||||
case 2: |
||||
if (loopmillis - state_modechange_time > 200) { //wait some time
|
||||
digitalWrite(PIN_RELAISREAR,HIGH); //simulate hoverboard power button press
|
||||
//Rear board is Serial1
|
||||
if (requestmode==on) { |
||||
board1Enabled=true; //assume board is online
|
||||
board1lastPoweron=loopmillis; //save time at which board was powered on
|
||||
// ### Request Idle or Off ###
|
||||
}else if(requestmode==idle || requestmode==off) { |
||||
board1Enabled=false; //assume board is offline
|
||||
board1lastPoweroff=loopmillis; //save time at which board was powered off
|
||||
} |
||||
state_modechange++; |
||||
state_modechange_time=loopmillis; //set to current time
|
||||
Serial.println("PIN_RELAISREAR,HIGH"); |
||||
} |
||||
break; |
||||
case 3: |
||||
if (loopmillis - state_modechange_time > 200) { //wait some time
|
||||
digitalWrite(PIN_RELAISREAR,LOW); //release simulated button
|
||||
state_modechange++; |
||||
state_modechange_time=loopmillis; //set to current time
|
||||
Serial.println("PIN_RELAISREAR,LOW"); |
||||
} |
||||
break; |
||||
case 4: |
||||
if (loopmillis - state_modechange_time > 1000) { //wait some time after turning on/off
|
||||
state_modechange++; |
||||
state_modechange_time=loopmillis; //set to current time
|
||||
Serial.println("Waiting finished"); |
||||
} |
||||
break; |
||||
default: //finished modechange
|
||||
currentmode=requestmode; |
||||
state_modechange=0; |
||||
break; |
||||
} |
||||
}else{ |
||||
currentmode=requestmode; |
||||
state_modechange=0; //for safety
|
||||
//Should not happen
|
||||
Serial.print("Warning: power cycle not needed. board1Enabled="); Serial.print(board1Enabled); Serial.print("board2Enabled="); Serial.println(board2Enabled); |
||||
} |
||||
|
||||
break; |
||||
|
||||
|
||||
case error: |
||||
currentmode=error; //stay in this mode
|
||||
break; |
||||
default: |
||||
currentmode=error; |
||||
} |
||||
} |
||||
} |
||||
|
||||
|
||||
|
||||
void modeloops() { |
||||
if (loopmillis - last_looptime >= LOOPTIME) { |
||||
last_looptime=loopmillis; |
||||
//loop_test(); //for testing (adc calibration prints). comment out following switch case
|
||||
|
||||
switch (currentmode) { //mode changes
|
||||
case booting:
|
||||
break; |
||||
case idle:
|
||||
loop_idle(); |
||||
break; |
||||
case on: |
||||
loop_on(); |
||||
break; |
||||
case error: |
||||
loop_error(); |
||||
break; |
||||
case off: |
||||
loop_off(); |
||||
break; |
||||
} |
||||
} |
||||
} |
||||
|
||||
void loop_idle() { |
||||
out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors
|
||||
} |
||||
|
||||
void loop_on() { |
||||
|
||||
int _maxspeed=1000; |
||||
int _maxbrake=400; |
||||
if (MODESWITCH_DOWN) { |
||||
_maxspeed=200; |
||||
_maxbrake=200; |
||||
}
|
||||
|
||||
/*
|
||||
uint16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed); |
||||
|
||||
int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
|
||||
|
||||
int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
|
||||
*/ |
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int16_t speedvalue = (out_speedFL+out_speedFR+out_speedRL+out_speedRR)/4; //generate last speedvalue from individual motor speeds
|
||||
|
||||
|
||||
uint16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed); |
||||
int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
|
||||
|
||||
int16_t combthrottlevalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
|
||||
int16_t combthrottlevalue_positive = max((int16_t)0,combthrottlevalue); //only positive
|
||||
|
||||
#define CURRENTBRAKE_P 5.0 //proportional brake when throttle is lower than current speed. Depends on LOOPTIME
|
||||
#define BRAKE_P 0.02 //speed-=brakevalue*brake_p . depends on LOOPTIME
|
||||
|
||||
//serial2 is Front. serial1 is Rear
|
||||
float _current = (Feedback1.curL_DC+Feedback1.curR_DC+Feedback2.curL_DC+Feedback2.curR_DC)/4.0 / A2BIT_CONV;
|
||||
|
||||
if (combthrottlevalue_positive>=speedvalue) { //if throttle higher then apply immediately
|
||||
speedvalue = combthrottlevalue_positive; |
||||
}else{ //throttle lever is lower than current set speedvalue
|
||||
if (_current > 0) { //is consuming current when it shouldnt
|
||||
speedvalue = max( (int16_t)(speedvalue-_current*CURRENTBRAKE_P) ,combthrottlevalue_positive); //not lower than throttlevalue
|
||||
} |
||||
} |
||||
|
||||
if (combthrottlevalue<0){ //throttle off and brake pressed
|
||||
speedvalue= max((int16_t)(speedvalue + combthrottlevalue*BRAKE_P),(int16_t)0); //not negative = not backwards
|
||||
} |
||||
|
||||
speedvalue = throttlevalue; //TEST OVERRIDE
|
||||
|
||||
out_speedFL=speedvalue; |
||||
out_speedFR=speedvalue; |
||||
out_speedRL=speedvalue; |
||||
out_speedRR=speedvalue; |
||||
|
||||
} |
||||
|
||||
void loop_error() { |
||||
out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors
|
||||
Serial.print("Error:"); Serial.println(errormessage); |
||||
} |
||||
|
||||
void loop_test() { |
||||
Serial.print("adc_throttle_raw="); Serial.print(adc_throttle_raw); |
||||
Serial.print(", adc_brake_raw="); Serial.print(adc_brake_raw); |
||||
|
||||
int _maxspeed=1000; |
||||
int _maxbrake=400; |
||||
if (MODESWITCH_DOWN) { |
||||
_maxspeed=200; |
||||
_maxbrake=200; |
||||
} |
||||
int16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed); |
||||
|
||||
|
||||
int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
|
||||
|
||||
int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
|
||||
Serial.print(", throttle="); Serial.print(throttlevalue); Serial.print(", brake="); Serial.print(brakevalue); Serial.print(", speed="); Serial.println(speedvalue); |
||||
} |
||||
|
||||
void loop_off() { |
||||
//loop enters when boards are sucessfully turned off
|
||||
digitalWrite(PIN_ENABLE, LOW); //cut own power
|
||||
|
||||
} |
||||
|
||||
boolean boardsPowered() |
||||
{ |
||||
return (board1Enabled && board2Enabled); //true if both boards enabled
|
||||
} |
||||
|
||||
void failChecks()
|
||||
{ |
||||
#define FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME 1000 //time to start failchecking boardpower after board poweroff
|
||||
#define FAILCHECK_RECEIVERECENT_TIME 100 //timeout .should be less than FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME and greater than send delay from mainboard
|
||||
// ## Check if board is really offline ##
|
||||
if (!board1Enabled) { //board should be offline
|
||||
if (loopmillis-board1lastPoweroff > FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME){ //wait some time before checking if board did power off
|
||||
if (loopmillis-lastValidDataSerial1_time < FAILCHECK_RECEIVERECENT_TIME) { //new message received recently?
|
||||
errormessage="Board 1 should be offline but feedback received"; |
||||
Serial.println(errormessage); |
||||
requestmode=error; |
||||
} |
||||
} |
||||
} |
||||
if (!board2Enabled) { //board should be offline
|
||||
if (loopmillis-board2lastPoweroff > FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME){ //wait some time before checking if board did power off
|
||||
if (loopmillis-lastValidDataSerial2_time < FAILCHECK_RECEIVERECENT_TIME) { //new message received recently?
|
||||
errormessage="Board 2 should be offline but feedback received"; |
||||
Serial.println(errormessage); |
||||
requestmode=error; |
||||
} |
||||
} |
||||
} |
||||
|
||||
|
||||
#define FAILCHECK_WAITCHECK_AFTER_POWERON_TIME 2000 //time to start failchecking boardpower after startup
|
||||
// ## Check if board is online (when it should send feedback) ##
|
||||
if (board1Enabled) { //board should be online
|
||||
if (loopmillis-board1lastPoweron > FAILCHECK_WAITCHECK_AFTER_POWERON_TIME) { //wait some time before checking
|
||||
if (loopmillis-lastValidDataSerial1_time > FAILCHECK_RECEIVERECENT_TIME) { //speed still high enough but no new messages recently received?
|
||||
errormessage="Board 1 should be online and give feedback but didnt"; |
||||
Serial.println(errormessage); |
||||
requestmode=error; |
||||
} |
||||
} |
||||
} |
||||
if (board2Enabled) { //board should be online
|
||||
if (loopmillis-board2lastPoweron > FAILCHECK_WAITCHECK_AFTER_POWERON_TIME) { //wait some time before checking
|
||||
if (loopmillis-lastValidDataSerial2_time > FAILCHECK_RECEIVERECENT_TIME) { //no new messages recently received?
|
||||
errormessage="Board 2 should be online and give feedback but didnt"; |
||||
Serial.println(errormessage); |
||||
requestmode=error; |
||||
} |
||||
} |
||||
} |
||||
|
||||
} |
||||
|
||||
String modeToString(uint8_t m) { |
||||
if (m==idle) return "idle"; |
||||
if (m==off) return "off"; |
||||
if (m==error) return "error"; |
||||
if (m==on) return "on"; |
||||
if (m==booting) return "booting"; |
||||
} |
||||
|
||||
|
||||
void ledUpdate() { |
||||
#define LEDUPDATETIME 20 |
||||
#define FASTERRORBLINKDELAY 100 //period for startled to blink on error
|
||||
if (loopmillis - last_ledupdate >= LEDUPDATETIME) { |
||||
last_ledupdate=loopmillis; |
||||
// ## StartLed ##
|
||||
uint8_t _ledbrightness; |
||||
switch (currentmode) { //modeLed for different currentmodes
|
||||
case booting: |
||||
startled=255; |
||||
break; |
||||
case idle: //Breathing Startled
|
||||
_ledbrightness=uint8_t( (loopmillis/10)%(512) ); |
||||
startled=_ledbrightness<=255 ? _ledbrightness : (512)-_ledbrightness; //reverse if >255 to go down again
|
||||
break; |
||||
case on: //Startled on
|
||||
startled=255; |
||||
break; |
||||
case error: //Startled blink
|
||||
startled=(loopmillis/FASTERRORBLINKDELAY)%2==0 ? 0 : 255; // Blink led
|
||||
break; |
||||
case off: //Startled off
|
||||
startled=0;
|
||||
break; |
||||
} |
||||
|
||||
// ## ModeLed ##
|
||||
if (currentmode!=requestmode) { //ongoing modechange
|
||||
modeled_green=0; modeled_red=0; //ModeLed=Off
|
||||
}else{ |
||||
switch (currentmode) { //modeLed for different currentmodes
|
||||
case booting:
|
||||
modeled_green=255; modeled_red=0; //ModeLed=Green
|
||||
break; |
||||
case idle:
|
||||
modeled_green=255; modeled_red=255; //ModeLed=Yellow
|
||||
break; |
||||
case on: |
||||
modeled_green=255; modeled_red=0; //ModeLed=Green
|
||||
break; |
||||
case error: |
||||
modeled_green=0; modeled_red=(loopmillis/FASTERRORBLINKDELAY)%2==0 ? 0 : 255; // Blink led , ModeLed=Red
|
||||
break; |
||||
case off: |
||||
modeled_green=255; modeled_red=255; //ModeLed=Yellow
|
||||
break; |
||||
} |
||||
} |
||||
/*
|
||||
pwmWrite(PIN_MODELED_GREEN, map(modeled_green, 0, 255, 0, 65535)); |
||||
pwmWrite(PIN_MODELED_RED, map(modeled_red, 0, 255, 0, 65535)); |
||||
pwmWrite(PIN_STARTLED, map(startled, 0, 255, 0, 65535)); |
||||
*/ |
||||
digitalWrite(PIN_MODELED_GREEN, modeled_green<127? true:false); //red and green inverted (common anode)
|
||||
digitalWrite(PIN_MODELED_RED, modeled_red<127? true:false); //red and green inverted (common anode)
|
||||
digitalWrite(PIN_STARTLED, startled>127? true:false); |
||||
} |
||||
} |
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
// Old loop
|
||||
void loopold() { |
||||
//selfTest(); //start selftest, does not return
|
||||
|
||||
ReceiveSerial1(); // Check for new received data
|
||||
|
||||
if (millis()>2000 && STARTBUTTON_DOWN) { |
||||
poweronBoards(); |
||||
} |
||||
|
||||
if (millis() - last_send > SENDPERIOD) { |
||||
//Serial.print("powerbutton="); Serial.print(STARTBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN);
|
||||
|
||||
int _read=analogRead(PIN_THROTTLE); |
||||
|
||||
int16_t speedvalue=constrain( map(_read, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000); |
||||
|
||||
if (MODESWITCH_DOWN) { |
||||
SendSerial1(speedvalue,0); |
||||
SendSerial2(speedvalue,0); |
||||
Serial.print("L_"); |
||||
}else{ |
||||
SendSerial1(0,speedvalue); |
||||
SendSerial2(0,speedvalue); |
||||
Serial.print("R_"); |
||||
} |
||||
Serial.print("millis="); Serial.print(millis()); Serial.print(", adcthrottle="); Serial.print(_read);
|
||||
Serial.print(", 1.L="); Serial.print(Command1.speedLeft); Serial.print(", 1.R="); Serial.print(Command1.speedRight); |
||||
Serial.print(", 2.L="); Serial.print(Command2.speedLeft); Serial.print(", 2.R="); Serial.println(Command2.speedRight); |
||||
|
||||
last_send = millis(); |
||||
|
||||
digitalWrite(PIN_STARTLED, !digitalRead(PIN_STARTLED)); |
||||
if (testcounter%3==0) { |
||||
digitalWrite(PIN_MODELED_GREEN, !digitalRead(PIN_MODELED_GREEN)); |
||||
} |
||||
if (testcounter%5==0) { |
||||
digitalWrite(PIN_MODELED_RED, !digitalRead(PIN_MODELED_RED)); |
||||
} |
||||
|
||||
testcounter++; |
||||
|
||||
|
||||
//Print Motor values
|
||||
Serial.print("cmd1"); |
||||
Serial.print(", "); Serial.print("cmd2"); |
||||
Serial.print(","); Serial.print("speedR"); |
||||
Serial.print(","); Serial.print("speedL"); |
||||
Serial.print(", "); Serial.print("speedR_meas"); |
||||
Serial.print(","); Serial.print("speedL_meas"); |
||||
Serial.print(", "); Serial.print("batVoltage"); |
||||
Serial.print(", "); Serial.println("boardTemp"); |
||||
Serial.println(); |
||||
Serial.print("1: "); Serial.print(Feedback1.cmd1); |
||||
Serial.print(", "); Serial.print(Feedback1.cmd2); |
||||
Serial.print(","); Serial.print(Feedback1.speedR); |
||||
Serial.print(","); Serial.print(Feedback1.speedL); |
||||
Serial.print(", "); Serial.print(Feedback1.speedR_meas); |
||||
Serial.print(","); Serial.print(Feedback1.speedL_meas); |
||||
Serial.print(", "); Serial.print(Feedback1.batVoltage); |
||||
Serial.print(", "); Serial.println(Feedback1.boardTemp); |
||||
Serial.println(); |
||||
Serial.print("2: "); Serial.print(Feedback2.cmd1); |
||||
Serial.print(", "); Serial.print(Feedback2.cmd2); |
||||
Serial.print(","); Serial.print(Feedback2.speedR); |
||||
Serial.print(","); Serial.print(Feedback2.speedL); |
||||
Serial.print(", "); Serial.print(Feedback2.speedR_meas); |
||||
Serial.print(","); Serial.print(Feedback2.speedL_meas); |
||||
Serial.print(", "); Serial.print(Feedback2.batVoltage); |
||||
Serial.print(", "); Serial.println(Feedback2.boardTemp); |
||||
} |
||||
|
||||
if (millis()>30000 && STARTBUTTON_DOWN) { |
||||
poweroff(); |
||||
} |
||||
|
||||
} |
||||
|
||||
// ########################## END ##########################
|
||||
|
||||
|
||||
void poweroff() { |
||||
|
||||
//TODO: trigger Relais for Board 1
|
||||
// Wait for board to shut down
|
||||
//TODO: trigger Relais for Board 2
|
||||
// Wait for board to shut down
|
||||
|
||||
//Timeout error handling
|
||||
|
||||
digitalWrite(PIN_ENABLE, LOW); //poweroff own latch
|
||||
|
||||
delay(1000); |
||||
Serial.println("Still powered"); |
||||
//still powered on: set error status "power latch error"
|
||||
} |
||||
|
||||
void poweronBoards() { |
||||
digitalWrite(PIN_RELAISFRONT,HIGH); |
||||
delay(200);digitalWrite(PIN_RELAISFRONT,LOW); |
||||
delay(50); |
||||
digitalWrite(PIN_RELAISREAR,HIGH); |
||||
delay(200);digitalWrite(PIN_RELAISREAR,LOW); |
||||
} |
||||
|
||||
|
||||
*/ |
||||
|
||||
|
||||
void selfTest() { |
||||
digitalWrite(PIN_ENABLE,HIGH); //make shure latch is on
|
||||
Serial.println("Entering selftest"); |
||||
#define TESTDELAY 1000 //delay between test
|
||||
#define TESTTIME 500 //time to keep tested pin on
|
||||
|
||||
delay(TESTDELAY); Serial.println("PIN_STARTLED"); |
||||
digitalWrite(PIN_STARTLED,HIGH); delay(TESTTIME); digitalWrite(PIN_STARTLED,LOW); |
||||
|
||||
delay(TESTDELAY); Serial.println("PIN_MODELED_GREEN"); |
||||
digitalWrite(PIN_MODELED_GREEN,LOW); delay(TESTTIME); digitalWrite(PIN_MODELED_GREEN,HIGH); |
||||
|
||||
delay(TESTDELAY); Serial.println("PIN_MODELED_RED"); |
||||
digitalWrite(PIN_MODELED_RED,LOW); delay(TESTTIME); digitalWrite(PIN_MODELED_RED,HIGH); |
||||
|
||||
delay(TESTDELAY); Serial.println("PIN_RELAISFRONT"); |
||||
digitalWrite(PIN_RELAISFRONT,HIGH); delay(TESTTIME); digitalWrite(PIN_RELAISFRONT,LOW); |
||||
|
||||
delay(TESTDELAY); Serial.println("PIN_RELAISREAR"); |
||||
digitalWrite(PIN_RELAISREAR,HIGH); delay(TESTTIME); digitalWrite(PIN_RELAISREAR,LOW); |
||||
|
||||
delay(TESTDELAY); Serial.println("ALL ON"); |
||||
digitalWrite(PIN_STARTLED,HIGH); |
||||
digitalWrite(PIN_MODELED_GREEN,LOW); |
||||
digitalWrite(PIN_MODELED_RED,LOW); |
||||
digitalWrite(PIN_RELAISFRONT,HIGH); |
||||
digitalWrite(PIN_RELAISREAR,HIGH); |
||||
delay(TESTTIME*5); |
||||
digitalWrite(PIN_STARTLED,LOW); |
||||
digitalWrite(PIN_MODELED_GREEN,HIGH); |
||||
digitalWrite(PIN_MODELED_RED,HIGH); |
||||
digitalWrite(PIN_RELAISFRONT,LOW); |
||||
digitalWrite(PIN_RELAISREAR,LOW); |
||||
delay(TESTDELAY); |
||||
|
||||
Serial.println("Powers off latch at millis>=60000"); |
||||
Serial.println("Inputs:"); |
||||
while(true) { //Keep printing input values forever
|
||||
delay(100); |
||||
Serial.print("millis="); Serial.print(millis()); Serial.print(", throttle ADC="); Serial.println(analogRead(PIN_THROTTLE)); |
||||
Serial.print("powerbutton down="); Serial.print(STARTBUTTON_DOWN); Serial.print(" modeswitch down="); Serial.println(MODESWITCH_DOWN); |
||||
|
||||
while (millis()>=60000) { |
||||
digitalWrite(PIN_ENABLE, LOW); //poweroff own latch
|
||||
Serial.println(millis()); |
||||
} |
||||
} |
||||
|
||||
|
||||
|
||||
} |
||||
@ -1,130 +0,0 @@ |
||||
|
||||
// ########################## SEND ##########################
|
||||
void SendSerial1(int16_t uSpeedLeft, int16_t uSpeedRight) |
||||
{ |
||||
// Create command
|
||||
Command1.start = (uint16_t)START_FRAME; |
||||
Command1.speedLeft = (int16_t)uSpeedLeft; |
||||
Command1.speedRight = (int16_t)uSpeedRight; |
||||
Command1.checksum = (uint16_t)(Command1.start ^ Command1.speedLeft ^ Command1.speedRight); |
||||
Serial2.write((uint8_t *) &Command1, sizeof(Command1));
|
||||
} |
||||
void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight) |
||||
{ |
||||
// Create command
|
||||
Command2.start = (uint16_t)START_FRAME; |
||||
Command2.speedLeft = (int16_t)uSpeedLeft; |
||||
Command2.speedRight = (int16_t)uSpeedRight; |
||||
Command2.checksum = (uint16_t)(Command2.start ^ Command2.speedLeft ^ Command2.speedRight); |
||||
Serial3.write((uint8_t *) &Command2, sizeof(Command2));
|
||||
} |
||||
|
||||
// ########################## RECEIVE ##########################
|
||||
void ReceiveSerial1() |
||||
{ |
||||
// Check for new data availability in the Serial buffer
|
||||
if ( Serial2.available() ) { |
||||
incomingByte1 = Serial2.read(); // Read the incoming byte
|
||||
bufStartFrame1 = ((uint16_t)(incomingBytePrev1) << 8) + incomingByte1; // Construct the start frame
|
||||
} |
||||
else { |
||||
return; |
||||
} |
||||
|
||||
// If DEBUG_RX is defined print all incoming bytes
|
||||
#ifdef DEBUG_RX |
||||
Serial.print(incomingByte1); |
||||
return; |
||||
#endif |
||||
|
||||
// Copy received data
|
||||
if (bufStartFrame1 == START_FRAME) { // Initialize if new data is detected
|
||||
p1 = (byte *)&NewFeedback1; |
||||
*p1++ = incomingBytePrev1; |
||||
*p1++ = incomingByte1;
|
||||
idx1 = 2;
|
||||
} else if (idx1 >= 2 && idx1 < sizeof(SerialFeedback)) { // Save the new received data
|
||||
*p1++ = incomingByte1;
|
||||
idx1++; |
||||
}
|
||||
|
||||
// Check if we reached the end of the package
|
||||
if (idx1 == sizeof(SerialFeedback)) {
|
||||
uint16_t checksum; |
||||
|
||||
checksum = (uint16_t)(NewFeedback1.start ^ NewFeedback1.cmd1 ^ NewFeedback1.cmd2 ^ NewFeedback1.speedR ^ NewFeedback1.speedL |
||||
^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp ^ NewFeedback1.curL_DC ^ NewFeedback1.curR_DC); |
||||
|
||||
// Check validity of the new data
|
||||
if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) { |
||||
// Copy the new data
|
||||
memcpy(&Feedback1, &NewFeedback1, sizeof(SerialFeedback)); |
||||
lastValidDataSerial1_time = millis(); |
||||
} |
||||
idx1 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
|
||||
/*
|
||||
// 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"); |
||||
}*/ |
||||
|
||||
} |
||||
|
||||
// Update previous states
|
||||
incomingBytePrev1 = incomingByte1; |
||||
} |
||||
void ReceiveSerial2() |
||||
{ |
||||
// Check for new data availability in the Serial buffer
|
||||
if ( Serial3.available() ) { |
||||
incomingByte2 = Serial3.read(); // Read the incoming byte
|
||||
bufStartFrame2 = ((uint16_t)(incomingBytePrev2) << 8) + incomingByte2; // Construct the start frame
|
||||
} |
||||
else { |
||||
return; |
||||
} |
||||
|
||||
// If DEBUG_RX is defined print all incoming bytes
|
||||
#ifdef DEBUG_RX |
||||
Serial.print(incomingByte2); |
||||
return; |
||||
#endif |
||||
|
||||
// Copy received data
|
||||
if (bufStartFrame2 == START_FRAME) { // Initialize if new data is detected
|
||||
p2 = (byte *)&NewFeedback2; |
||||
*p2++ = incomingBytePrev2; |
||||
*p2++ = incomingByte2;
|
||||
idx2 = 2;
|
||||
} else if (idx2 >= 2 && idx2 < sizeof(SerialFeedback)) { // Save the new received data
|
||||
*p2++ = incomingByte2;
|
||||
idx2++; |
||||
}
|
||||
|
||||
// Check if we reached the end of the package
|
||||
if (idx2 == sizeof(SerialFeedback)) {
|
||||
uint16_t checksum; |
||||
checksum = (uint16_t)(NewFeedback2.start ^ NewFeedback2.cmd1 ^ NewFeedback2.cmd2 ^ NewFeedback2.speedR ^ NewFeedback2.speedL |
||||
^ NewFeedback2.speedR_meas ^ NewFeedback2.speedL_meas ^ NewFeedback2.batVoltage ^ NewFeedback2.boardTemp ^ NewFeedback2.curL_DC ^ NewFeedback2.curR_DC); |
||||
|
||||
// Check validity of the new data
|
||||
if (NewFeedback2.start == START_FRAME && checksum == NewFeedback2.checksum) { |
||||
// Copy the new data
|
||||
memcpy(&Feedback2, &NewFeedback2, sizeof(SerialFeedback)); |
||||
lastValidDataSerial2_time = millis(); |
||||
} |
||||
idx2 = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
|
||||
|
||||
} |
||||
|
||||
// Update previous states
|
||||
incomingBytePrev2 = incomingByte2; |
||||
} |
||||
@ -1 +0,0 @@ |
||||
.pio |
||||
@ -1,67 +0,0 @@ |
||||
# Continuous Integration (CI) is the practice, in software |
||||
# engineering, of merging all developer working copies with a shared mainline |
||||
# several times a day < https://docs.platformio.org/page/ci/index.html > |
||||
# |
||||
# Documentation: |
||||
# |
||||
# * Travis CI Embedded Builds with PlatformIO |
||||
# < https://docs.travis-ci.com/user/integration/platformio/ > |
||||
# |
||||
# * PlatformIO integration with Travis CI |
||||
# < https://docs.platformio.org/page/ci/travis.html > |
||||
# |
||||
# * User Guide for `platformio ci` command |
||||
# < https://docs.platformio.org/page/userguide/cmd_ci.html > |
||||
# |
||||
# |
||||
# Please choose one of the following templates (proposed below) and uncomment |
||||
# it (remove "# " before each line) or use own configuration according to the |
||||
# Travis CI documentation (see above). |
||||
# |
||||
|
||||
|
||||
# |
||||
# Template #1: General project. Test it using existing `platformio.ini`. |
||||
# |
||||
|
||||
# language: python |
||||
# python: |
||||
# - "2.7" |
||||
# |
||||
# sudo: false |
||||
# cache: |
||||
# directories: |
||||
# - "~/.platformio" |
||||
# |
||||
# install: |
||||
# - pip install -U platformio |
||||
# - platformio update |
||||
# |
||||
# script: |
||||
# - platformio run |
||||
|
||||
|
||||
# |
||||
# Template #2: The project is intended to be used as a library with examples. |
||||
# |
||||
|
||||
# language: python |
||||
# python: |
||||
# - "2.7" |
||||
# |
||||
# sudo: false |
||||
# cache: |
||||
# directories: |
||||
# - "~/.platformio" |
||||
# |
||||
# env: |
||||
# - PLATFORMIO_CI_SRC=path/to/test/file.c |
||||
# - PLATFORMIO_CI_SRC=examples/file.ino |
||||
# - PLATFORMIO_CI_SRC=path/to/test/directory |
||||
# |
||||
# install: |
||||
# - pip install -U platformio |
||||
# - platformio update |
||||
# |
||||
# script: |
||||
# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N |
||||
@ -1,142 +0,0 @@ |
||||
{ |
||||
"configurations": [ |
||||
{ |
||||
"name": "!!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags" |
||||
}, |
||||
{ |
||||
"name": "Linux", |
||||
"includePath": [ |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/include", |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/cores/maple", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/include", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/stm32f1/include", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/stm32f1", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/usb_lib", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/variants/generic_stm32f103c", |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433", |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/A_STM32_Examples", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_GFX_AS", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341_STM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_SSD1306", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/EEPROM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Ethernet_STM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS900", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Lcd7920_STM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/LiquidCrystal", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OLED_I2C", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OneWireSTM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/RTClock/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SDIO", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SPI/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/STM32ADC/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_EtherCard_STM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_VS1003B_STM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_XPT2046_touch/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Servo/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Touch-Screen-Library_STM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/USBComposite", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WS2812B/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WireSlave/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/stm_fft", |
||||
"/home/fisch/.platformio/packages/tool-unity", |
||||
"" |
||||
], |
||||
"browse": { |
||||
"limitSymbolsToIncludedHeaders": true, |
||||
"path": [ |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/include", |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/cores/maple", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/include", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/stm32f1/include", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/stm32f1", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/usb_lib", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/variants/generic_stm32f103c", |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433", |
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/A_STM32_Examples", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_GFX_AS", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341_STM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_SSD1306", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/EEPROM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Ethernet_STM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS900", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Lcd7920_STM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/LiquidCrystal", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OLED_I2C", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OneWireSTM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/RTClock/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SDIO", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SPI/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/STM32ADC/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_EtherCard_STM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_VS1003B_STM/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_XPT2046_touch/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Servo/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Touch-Screen-Library_STM", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/USBComposite", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WS2812B/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire/utility", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WireSlave/src", |
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/stm_fft", |
||||
"/home/fisch/.platformio/packages/tool-unity", |
||||
"" |
||||
] |
||||
}, |
||||
"defines": [ |
||||
"PLATFORMIO=40304", |
||||
"STM32F103xB", |
||||
"STM32F1", |
||||
"ARDUINO=10808", |
||||
"ARDUINO_ARCH_STM32", |
||||
"ARDUINO_ARCH_STM32F1", |
||||
"ARDUINO_GENERIC_STM32F103C", |
||||
"MCU_STM32F103C8", |
||||
"__STM32F1__", |
||||
"BOARD_generic_stm32f103c", |
||||
"F_CPU=72000000L", |
||||
"VECT_TAB_ADDR=0x8000000", |
||||
"ERROR_LED_PORT=GPIOC", |
||||
"ERROR_LED_PIN=13", |
||||
"CONFIG_MAPLE_MINI_NO_DISABLE_DEBUG=1", |
||||
"" |
||||
], |
||||
"intelliSenseMode": "clang-x64", |
||||
"cStandard": "c11", |
||||
"cppStandard": "c++11", |
||||
"compilerPath": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin/arm-none-eabi-gcc", |
||||
"compilerArgs": [ |
||||
"-mcpu=cortex-m3", |
||||
"-mthumb", |
||||
"-march=armv7-m", |
||||
"" |
||||
] |
||||
} |
||||
], |
||||
"version": 4 |
||||
} |
||||
@ -1,7 +0,0 @@ |
||||
{ |
||||
// See http://go.microsoft.com/fwlink/?LinkId=827846 |
||||
// for the documentation about the extensions.json format |
||||
"recommendations": [ |
||||
"platformio.platformio-ide" |
||||
] |
||||
} |
||||
@ -1,34 +0,0 @@ |
||||
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY |
||||
|
||||
// PIO Unified Debugger |
||||
// |
||||
// Documentation: https://docs.platformio.org/page/plus/debugging.html |
||||
// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html |
||||
|
||||
{ |
||||
"version": "0.2.0", |
||||
"configurations": [ |
||||
{ |
||||
"type": "platformio-debug", |
||||
"request": "launch", |
||||
"name": "PIO Debug", |
||||
"executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/.pio/build/genericSTM32F103C8/firmware.elf", |
||||
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin", |
||||
"svdPath": "/home/fisch/.platformio/platforms/ststm32/misc/svd/STM32F103xx.svd", |
||||
"preLaunchTask": { |
||||
"type": "PlatformIO", |
||||
"task": "Pre-Debug" |
||||
}, |
||||
"internalConsoleOptions": "openOnSessionStart" |
||||
}, |
||||
{ |
||||
"type": "platformio-debug", |
||||
"request": "launch", |
||||
"name": "PIO Debug (skip Pre-Debug)", |
||||
"executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_pio/.pio/build/genericSTM32F103C8/firmware.elf", |
||||
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin", |
||||
"svdPath": "/home/fisch/.platformio/platforms/ststm32/misc/svd/STM32F103xx.svd", |
||||
"internalConsoleOptions": "openOnSessionStart" |
||||
} |
||||
] |
||||
} |
||||
@ -1,39 +0,0 @@ |
||||
|
||||
This directory is intended for project header files. |
||||
|
||||
A header file is a file containing C declarations and macro definitions |
||||
to be shared between several project source files. You request the use of a |
||||
header file in your project source file (C, C++, etc) located in `src` folder |
||||
by including it, with the C preprocessing directive `#include'. |
||||
|
||||
```src/main.c |
||||
|
||||
#include "header.h" |
||||
|
||||
int main (void) |
||||
{ |
||||
... |
||||
} |
||||
``` |
||||
|
||||
Including a header file produces the same results as copying the header file |
||||
into each source file that needs it. Such copying would be time-consuming |
||||
and error-prone. With a header file, the related declarations appear |
||||
in only one place. If they need to be changed, they can be changed in one |
||||
place, and programs that include the header file will automatically use the |
||||
new version when next recompiled. The header file eliminates the labor of |
||||
finding and changing all the copies as well as the risk that a failure to |
||||
find one copy will result in inconsistencies within a program. |
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'. |
||||
It is most portable to use only letters, digits, dashes, and underscores in |
||||
header file names, and at most one dot. |
||||
|
||||
Read more about using header files in official GCC documentation: |
||||
|
||||
* Include Syntax |
||||
* Include Operation |
||||
* Once-Only Headers |
||||
* Computed Includes |
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html |
||||
@ -1,46 +0,0 @@ |
||||
|
||||
This directory is intended for project specific (private) libraries. |
||||
PlatformIO will compile them to static libraries and link into executable file. |
||||
|
||||
The source code of each library should be placed in a an own separate directory |
||||
("lib/your_library_name/[here are source files]"). |
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`: |
||||
|
||||
|--lib |
||||
| | |
||||
| |--Bar |
||||
| | |--docs |
||||
| | |--examples |
||||
| | |--src |
||||
| | |- Bar.c |
||||
| | |- Bar.h |
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html |
||||
| | |
||||
| |--Foo |
||||
| | |- Foo.c |
||||
| | |- Foo.h |
||||
| | |
||||
| |- README --> THIS FILE |
||||
| |
||||
|- platformio.ini |
||||
|--src |
||||
|- main.c |
||||
|
||||
and a contents of `src/main.c`: |
||||
``` |
||||
#include <Foo.h> |
||||
#include <Bar.h> |
||||
|
||||
int main (void) |
||||
{ |
||||
... |
||||
} |
||||
|
||||
``` |
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent |
||||
libraries scanning project source files. |
||||
|
||||
More information about PlatformIO Library Dependency Finder |
||||
- https://docs.platformio.org/page/librarymanager/ldf.html |
||||
@ -1,18 +0,0 @@ |
||||
; PlatformIO Project Configuration File |
||||
; |
||||
; Build options: build flags, source filter |
||||
; Upload options: custom upload port, speed and extra flags |
||||
; Library options: dependencies, extra library storages |
||||
; Advanced options: extra scripting |
||||
; |
||||
; Please visit documentation for the other options and examples |
||||
; https://docs.platformio.org/page/projectconf.html |
||||
|
||||
[env:genericSTM32F103C8] |
||||
platform = ststm32 |
||||
board = genericSTM32F103C8 |
||||
framework = arduino |
||||
|
||||
upload_protocol = serial |
||||
|
||||
monitor_speed = 115200 |
||||
File diff suppressed because it is too large
Load Diff
@ -1,11 +0,0 @@ |
||||
|
||||
This directory is intended for PIO Unit Testing and project tests. |
||||
|
||||
Unit Testing is a software testing method by which individual units of |
||||
source code, sets of one or more MCU program modules together with associated |
||||
control data, usage procedures, and operating procedures, are tested to |
||||
determine whether they are fit for use. Unit testing finds problems early |
||||
in the development cycle. |
||||
|
||||
More information about PIO Unit Testing: |
||||
- https://docs.platformio.org/page/plus/unit-testing.html |
||||
Loading…
Reference in new issue