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hoverboard-firmware-hack-foc-serial-esc
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Baud rate to 115200 

- updated baud rate to 115200
- minor updates to match sideboard data
This commit is contained in:
EmanuelFeru 2020-12-07 20:33:22 +01:00
parent e114e49dfe
commit 3fcae4fc8b
5 changed files with 61 additions and 61 deletions
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8
Inc/config.h
View File

@ -281,13 +281,13 @@
#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect #define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT1_MIN -1000 // (-1000 - 0) #define INPUT1_MIN -1000 // (-1000 - 0)
#define INPUT1_MID 0 #define INPUT1_MID 0
#define INPUT1_MAX 1000 // (0 - 1000) #define INPUT1_MAX 1000 // (0 - 1000)
#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect #define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
#define INPUT2_MIN -1000 // (-1000 - 0) #define INPUT2_MIN -1000 // (-1000 - 0)
#define INPUT2_MID 0 #define INPUT2_MID 0
#define INPUT2_MAX 1000 // (0 - 1000) #define INPUT2_MAX 1000 // (0 - 1000)
@ -566,13 +566,13 @@
#endif #endif
#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) #if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
#ifndef USART2_BAUD #ifndef USART2_BAUD
#define USART2_BAUD 38400 // UART2 baud rate (long wired cable) #define USART2_BAUD 115200 // UART2 baud rate (long wired cable)
#endif #endif
#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B #define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#endif #endif
#if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) #if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
#ifndef USART3_BAUD #ifndef USART3_BAUD
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable) #define USART3_BAUD 115200 // UART3 baud rate (short wired cable)
#endif #endif
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B #define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#endif #endif

25
Inc/defines.h
View File

@ -209,14 +209,23 @@ void PWM_ISR_CH1_Callback(void);
void PWM_ISR_CH2_Callback(void); void PWM_ISR_CH2_Callback(void);
// Sideboard definitions // Sideboard definitions
#define LED1_SET (0x01) #define LED1_SET (0x01)
#define LED2_SET (0x02) #define LED2_SET (0x02)
#define LED3_SET (0x04) #define LED3_SET (0x04)
#define LED4_SET (0x08) #define LED4_SET (0x08)
#define LED5_SET (0x10) #define LED5_SET (0x10)
#define SENSOR1_SET (0x01) #define SENSOR1_SET (0x01)
#define SENSOR2_SET (0x02) #define SENSOR2_SET (0x02)
#define SENSOR_MPU (0x04) #define SENSOR_MPU (0x04)
// RC iBUS switch definitions. Flysky FS-i6S has SW1, SW4 - 2 positions; SW2, SW3 - 3 positions
#define SW1_SET (0x0100) // 0000 0001 0000 0000
#define SW2_SET1 (0x0200) // 0000 0010 0000 0000
#define SW2_SET2 (0x0400) // 0000 0100 0000 0000
#define SW3_SET1 (0x0800) // 0000 1000 0000 0000
#define SW3_SET2 (0x1000) // 0001 0000 0000 0000
#define SW4_SET (0x2000) // 0010 0000 0000 0000
#endif // DEFINES_H #endif // DEFINES_H

13
Inc/util.h
View File

@ -45,12 +45,13 @@
#endif #endif
#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3) #if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
typedef struct{ typedef struct{
uint16_t start; uint16_t start;
int16_t roll; int16_t pitch; // Angle
int16_t pitch; int16_t dPitch; // Angle derivative
int16_t yaw; int16_t cmd1; // RC Channel 1
uint16_t sensors; int16_t cmd2; // RC Channel 2
uint16_t checksum; uint16_t sensors; // RC Switches and Optical sideboard sensors
uint16_t checksum;
} SerialSideboard; } SerialSideboard;
#endif #endif

4
Src/util.c
View File

@ -870,7 +870,7 @@ void readInput(void) {
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3) #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
// Handle received data validity, timeout and fix out-of-sync if necessary // Handle received data validity, timeout and fix out-of-sync if necessary
#ifdef CONTROL_IBUS #ifdef CONTROL_IBUS
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) { for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000 ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
} }
@ -1184,7 +1184,7 @@ void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sid
{ {
uint16_t checksum; uint16_t checksum;
if (Sideboard_in->start == SERIAL_START_FRAME) { if (Sideboard_in->start == SERIAL_START_FRAME) {
checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->roll ^ Sideboard_in->pitch ^ Sideboard_in->yaw ^ Sideboard_in->sensors); checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->pitch ^ Sideboard_in->dPitch ^ Sideboard_in->cmd1 ^ Sideboard_in->cmd2 ^ Sideboard_in->sensors);
if (Sideboard_in->checksum == checksum) { if (Sideboard_in->checksum == checksum) {
*Sideboard_out = *Sideboard_in; *Sideboard_out = *Sideboard_in;
if (usart_idx == 2) { // Sideboard USART2 if (usart_idx == 2) { // Sideboard USART2

72
platformio.ini
View File

@ -32,16 +32,15 @@ upload_protocol = stlink
; Serial Port settings (make sure the COM port is correct) ; Serial Port settings (make sure the COM port is correct)
monitor_port = COM5 monitor_port = COM5
monitor_speed = 38400 monitor_speed = 115200
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_ADC -D VARIANT_ADC
;================================================================ ;================================================================
@ -60,11 +59,10 @@ monitor_speed = 38400
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_USART -D VARIANT_USART
;================================================================ ;================================================================
@ -79,11 +77,10 @@ upload_protocol = stlink
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_NUNCHUK -D VARIANT_NUNCHUK
;================================================================ ;================================================================
@ -98,11 +95,10 @@ upload_protocol = stlink
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_PPM -D VARIANT_PPM
;================================================================ ;================================================================
@ -117,11 +113,10 @@ upload_protocol = stlink
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_PWM -D VARIANT_PWM
;================================================================ ;================================================================
@ -136,11 +131,10 @@ upload_protocol = stlink
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_IBUS -D VARIANT_IBUS
;================================================================ ;================================================================
@ -159,11 +153,10 @@ monitor_speed = 38400
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_HOVERCAR -D VARIANT_HOVERCAR
;================================================================ ;================================================================
@ -182,11 +175,10 @@ monitor_speed = 38400
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_HOVERBOARD -D VARIANT_HOVERBOARD
;================================================================ ;================================================================
@ -201,11 +193,10 @@ upload_protocol = stlink
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_TRANSPOTTER -D VARIANT_TRANSPOTTER
;================================================================ ;================================================================
@ -221,11 +212,10 @@ upload_protocol = stlink
build_flags = build_flags =
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32F103xE -DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld -T./STM32F103RCTx_FLASH.ld
-Wl,-lc -lc
-Wl,-lm -lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization -g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_SKATEBOARD -D VARIANT_SKATEBOARD
;================================================================ ;================================================================