Fixed RC switch reading from Sideboard data

- updated figures
- renamed RC switched to match transmitter convention

Inc/defines.h

@@ -222,11 +222,11 @@ void PWM_ISR_CH2_Callback(void);
 #define SENSOR2_SET         (0x02)
 #define SENSOR_MPU          (0x04)
 
-// RC iBUS switch definitions. Flysky FS-i6S has [SW1, SW2, SW3, SW4] = [2, 3, 3, 2] positions switch
+// RC iBUS switch definitions. Flysky FS-i6S has [SWA, SWB, SWC, SWD] = [2, 3, 3, 2] positions switch
-#define SW1_SET             (0x0100)   //  0000 0001 0000 0000
+#define SWA_SET             (0x0100)   //  0000 0001 0000 0000
-#define SW2_SET             (0x0600)   //  0000 0110 0000 0000
+#define SWB_SET             (0x0600)   //  0000 0110 0000 0000
-#define SW3_SET             (0x1800)   //  0001 1000 0000 0000
+#define SWC_SET             (0x1800)   //  0001 1000 0000 0000
-#define SW4_SET             (0x2000)   //  0010 0000 0000 0000
+#define SWD_SET             (0x2000)   //  0010 0000 0000 0000
 
 
 #endif // DEFINES_H

README.md

@@ -110,7 +110,7 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p
 - **VARIANT_PPM**: RC remote control with PPM Sum signal.
 - **VARIANT_PWM**: RC remote control with PWM signal.
 - **VARIANT_IBUS**: RC remote control with Flysky iBUS protocol connected to the Left sensor cable.
-- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR video](https://www.youtube.com/watch?v=IgHCcj0NgWQ&t=).
+- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR wiki](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/Variant-HOVERCAR).
 - **VARIANT_HOVERBOARD**: The mainboard reads the two sideboards data. The sideboards need to be flashed with the hacked version. The balancing controller is **not** yet implemented.
 - **VARIANT_TRANSPOTTER**: This is for transpotter build, which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
 - **VARIANT_SKATEBOARD**: This is for skateboard build, controlled using an RC remote with PWM signal connected to the right sensor cable.
@@ -257,7 +257,7 @@ For a more detailed troubleshooting connect an [FTDI Serial adapter](https://s.c
 ## Projects and Links
 
 - **Original firmware:** [https://github.com/NiklasFauth/hoverboard-firmware-hack](https://github.com/NiklasFauth/hoverboard-firmware-hack)
-- **[Candas](https://github.com/Candas1/) Hoverboard Web Serial Control:** [https://candas1.github.io/Hoverboard-Web-Serial-Control/](https://candas1.github.io/Hoverboard-Web-Serial-Control/)
+- **[Candas](https://github.com/Candas1/) Hoverboard Web Serial Control:** [https://github.com/Candas1/Hoverboard-Web-Serial-Control](https://github.com/Candas1/Hoverboard-Web-Serial-Control)
 - **[RoboDurden's](https://github.com/RoboDurden) online compiler:** [https://pionierland.de/hoverhack/](https://pionierland.de/hoverhack/) 
 - **Hoverboard hack for AT32F403RCT6 mainboards:** [https://github.com/cloidnerux/hoverboard-firmware-hack](https://github.com/cloidnerux/hoverboard-firmware-hack)
 - **Hoverboard hack for split mainboards:** [https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2](https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2)

Src/util.c

@@ -931,7 +931,7 @@ void handleTimeout(void) {
         #endif
       } else {                                          // No Timeout
         #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
-          if (Sideboard_L.sensors & SW1_SET) {          // If SW1 is set, switch to Sideboard control
+          if (Sideboard_L.sensors & SWA_SET) {          // If SWA is set, switch to Sideboard control
             inIdx = SIDEBOARD_SERIAL_USART2;
           } else {
             inIdx = !SIDEBOARD_SERIAL_USART2;
@@ -954,7 +954,7 @@ void handleTimeout(void) {
         #endif
       } else {                                          // No Timeout
         #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
-          if (Sideboard_R.sensors & SW1_SET) {          // If SW1 is set, switch to Sideboard control
+          if (Sideboard_R.sensors & SWA_SET) {          // If SWA is set, switch to Sideboard control
             inIdx = SIDEBOARD_SERIAL_USART3;
           } else {
             inIdx = !SIDEBOARD_SERIAL_USART3;
@@ -1360,32 +1360,27 @@ void sideboardSensors(uint8_t sensors) {
     static uint8_t sensor1_prev, sensor2_prev;
     static uint8_t sensor1_index;                                 // holds the press index number for sensor1, when used as a button
     uint8_t sensor1_trig, sensor2_trig;
-    sensor1_trig  = (sensors & SENSOR1_SET) && !sensor1_prev;     // rising edge detection
+    #if defined(SIDEBOARD_SERIAL_USART2)
-    sensor2_trig  = (sensors & SENSOR2_SET) && !sensor2_prev;     // rising edge detection
+    uint8_t  sideboardIdx = SIDEBOARD_SERIAL_USART2;
-    sensor1_prev  =  sensors & SENSOR1_SET;
+    uint16_t sideboardSns = Sideboard_L.sensors;
-    sensor2_prev  =  sensors & SENSOR2_SET;
+    #else
+    uint8_t  sideboardIdx = SIDEBOARD_SERIAL_USART3;
+    uint16_t sideboardSns = Sideboard_R.sensors;
+    #endif
 
-    // Override in case the Sideboard control is Active
+    if (inIdx == sideboardIdx) {                                  // Use Sideboard data
-    #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
+      sensor1_index = 2 + ((sideboardSns & SWB_SET) >> 9);        // SWB on RC transmitter is used to change Control Type
-    if (inIdx == SIDEBOARD_SERIAL_USART2) {
+      if (sensor1_index == 2) {                                   // FOC control Type
-      sensor1_index = 3 + ((Sideboard_L.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
+        sensor1_index = (sideboardSns & SWC_SET) >> 11;           // SWC on RC transmitter is used to change Control Mode
-      if (sensor1_index == 3) {                                   // FOC control Type
-        sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11;    // SW3 on RC transmitter is used to change Control Mode
       }
       sensor1_trig  = sensor1_index != sensor1_prev;              // rising or falling edge change detection
       sensor1_prev  = sensor1_index;
+    } else {                                                      // Use Optical switches
+      sensor1_trig  = (sensors & SENSOR1_SET) && !sensor1_prev;   // rising edge detection
+      sensor2_trig  = (sensors & SENSOR2_SET) && !sensor2_prev;   // rising edge detection
+      sensor1_prev  =  sensors & SENSOR1_SET;
+      sensor2_prev  =  sensors & SENSOR2_SET;
     }
-    #endif
-    #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
-    if (inIdx == SIDEBOARD_SERIAL_USART3) {
-      sensor1_index = 3 + ((Sideboard_R.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
-      if (sensor1_index == 3) {                                   // FOC control Type
-        sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11;    // SW3 on RC transmitter is used to change Control Mode
-      }
-      sensor1_trig  = sensor1_index != sensor1_prev;              // rising or falling edge change detection
-      sensor1_prev  = sensor1_index;
-    }
-    #endif
 
     // Control MODE and Control Type Handling
     if (sensor1_trig) {
@@ -1422,20 +1417,11 @@ void sideboardSensors(uint8_t sensors) {
       static uint8_t  sensor2_index = 1;                          // holds the press index number for sensor2, when used as a button
 
       // Override in case the Sideboard control is Active
-      #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
+      if (inIdx == sideboardIdx) {                                // Use Sideboard data
-      if (inIdx == SIDEBOARD_SERIAL_USART2) {
+        sensor2_index = (sideboardSns & SWD_SET) >> 13;           // SWD on RC transmitter is used to Activate/Deactivate Field Weakening
-        sensor2_index = (Sideboard_L.sensors & SW4_SET) >> 13;    // SW4 on RC transmitter is used to Activate/Deactivate Field Weakening
         sensor2_trig  = sensor2_index != sensor2_prev;            // rising or falling edge change detection
         sensor2_prev  = sensor2_index;
       }
-      #endif
-      #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
-      if (inIdx == SIDEBOARD_SERIAL_USART3) {
-        sensor2_index = (Sideboard_R.sensors & SW4_SET) >> 13;    // SW4 on RC transmitter is used to Activate/Deactivate Field Weakening
-        sensor2_trig  = sensor2_index != sensor2_prev;            // rising or falling edge change detection
-        sensor2_prev  = sensor2_index;
-      }
-      #endif
 
       if (sensor2_trig) {
         switch (sensor2_index) {