fix serial esc test control

controller_teensy/platformio.ini

@@ -13,3 +13,9 @@ platform = teensy
 board = teensy31
 framework = arduino
 
+
+
+monitor_speed = 115200
+
+build_flags = 
+    -D USB_SERIAL_HID

controller_teensy/src/main.cpp

@@ -1,21 +1,25 @@
 #include <Arduino.h>
 
 // ########################## DEFINES ##########################
-#define SERIAL_CONTROL_BAUD   38400       // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
+#define SERIAL_CONTROL_BAUD   115200       // [-] 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 START_FRAME         0xABCD       // [-] Start frme definition for reliable serial communication
 
 
 #define SENDPERIOD 50 //ms. delay for sending speed and steer data to motor controller via serial
+#define RECEIVEPERIOD 50 //ms
+
+#define PIN_THROTTLE A0
+const uint16_t calib_throttle_min = 350;
+const uint16_t calib_throttle_max = 810;
 
 int16_t out_speedFL=0;
 int16_t out_speedFR=0;
 int16_t out_speedRL=0;
 int16_t out_speedRR=0;
 unsigned long last_send = 0;
+unsigned long last_receive = 0;
 
-void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight);
-void ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback);
 
 // Global variables for serial communication
 typedef struct{
@@ -25,8 +29,6 @@ typedef struct{
     byte incomingByte;
     byte incomingBytePrev;
     long lastValidDataSerial_time;
-    long boardlastPoweron=0; //mainly for failcheck
-    long boardlastPoweroff=0;
 } SerialRead;
 SerialRead SerialcomFront;
 
@@ -55,31 +57,37 @@ typedef struct{
 SerialFeedback FeedbackFront;
 SerialFeedback NewFeedbackFront;
 
-void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight)
+
+void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef);
+bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef);
+
+void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
 {
   // Create command
   scom.start    = (uint16_t)START_FRAME;
   scom.speedLeft    = (int16_t)uSpeedLeft;
   scom.speedRight    = (int16_t)uSpeedRight;
   scom.checksum = (uint16_t)(scom.start ^ scom.speedLeft ^ scom.speedRight);
-  Serial1.write((uint8_t *) &scom, sizeof(scom));  //TODO: use correct serial object
+  
+  SerialRef.write((uint8_t *) &scom, sizeof(scom));
+  
 }
 
-void ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback)
+bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
 {
+  bool _result=1;
   // Check for new data availability in the Serial buffer
-  if ( Serial1.available() ) {
+  if ( SerialRef.available() ) {
-    sread.incomingByte    = Serial1.read();                                 // Read the incoming byte
+    sread.incomingByte    = SerialRef.read();                                 // Read the incoming byte
-    sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) |  sread.incomingBytePrev;  // Construct the start frame    
+    sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev;  // Construct the start frame    
   }
   else {
-    return;
+    return 0;
   }
 
   // If DEBUG_RX is defined print all incoming bytes
   #ifdef DEBUG_RX
     Serial.print(sread.incomingByte);
-    return;
   #endif      
   
   // Copy received data
@@ -105,26 +113,31 @@ void ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &N
       // Copy the new data
       memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
       sread.lastValidDataSerial_time = millis();
+    } else {
+      _result=0;
     }
     sread.idx = 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
-    sread.incomingBytePrev = sread.incomingByte;
-    
   }
+  /*
+    // 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
+  sread.incomingBytePrev = sread.incomingByte;
+
+  return _result; //new data was available
+
+}
 
   // ########################## SETUP ##########################
 void setup() 
@@ -132,33 +145,48 @@ void setup()
 
   Serial.begin(SERIAL_BAUD); //Debug and Program. A9=TX1,  A10=RX1  (3v3 level)
 
-  Serial1.begin(SERIAL_CONTROL_BAUD); //control.  A2=TX2, A3=RX2 (Serial1 is Usart 2). Marked with "1" on connector (Rear)
+  Serial2.begin(SERIAL_CONTROL_BAUD); //control
-  Serial2.begin(SERIAL_CONTROL_BAUD); //control.  B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector (Front)
+  Serial3.begin(SERIAL_CONTROL_BAUD); //control
 
+  pinMode(PIN_THROTTLE, INPUT_PULLUP);
 
 }
 
+
+unsigned long loopmillis;
 // ########################## LOOP ##########################
 void loop() {
   loopmillis=millis(); //read millis for this cycle
 
-  ReceiveSerial();
+  bool newData=false;
+  newData=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
   
   
+  //Serial.print("fo="); Serial.println(count);
+  //count++;
+
+  if (newData) {
+    float _current = (FeedbackFront.curL_DC+FeedbackFront.curR_DC)/2.0 / 50; 
+    
+    Serial.print(FeedbackFront.curL_DC); Serial.print(", ");
+    Serial.print(FeedbackFront.curR_DC); Serial.print(", ");
+
+    Serial.print(", mean="); Serial.print(_current);
+    Serial.print(", ");
+    Serial.print(FeedbackFront.cmd1); Serial.print(", ");
+    Serial.print(FeedbackFront.cmd2); Serial.print(", ");
+    Serial.println();
+  }
+
   if (loopmillis - last_send > SENDPERIOD) {
     last_send=loopmillis;
 
+    uint16_t throttle_raw = analogRead(PIN_THROTTLE);
+    Serial.print("Analog: "); Serial.print(throttle_raw);
+    out_speedFL=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000)));
     
-    SendSerial(out_speedRL,out_speedRR);
+    Serial.print(", Send: "); Serial.println(out_speedFL);
-
+    SendSerial(CommandFront,out_speedFL,out_speedFR,Serial2);   
-    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();
     
   }
 }

hoverboard-firmware-hack-foc-serial-esc

@@ -1 +1 @@
-Subproject commit 2bab3aa1a46d1754ecc81692524120122b5b07f7
+Subproject commit 898898a63c6b494e0525df8a8ed2da98fcd5cdb1