Updated IBUS variant
- separated the implementation from USART implementation for more clarity - fixed warnings - minor visual updates
This commit is contained in:
EmanuelFeru
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c3a40f6454
commit
d2c846cda9
13
Inc/config.h
13
Inc/config.h
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@ -10,6 +10,7 @@
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//#define VARIANT_USART3 // Variant for Serial control via USART3 input
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//#define VARIANT_NUNCHUCK // Variant for Nunchuck controlled vehicle build
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//#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal
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//#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS
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//#define VARIANT_HOVERCAR // Variant for HOVERCAR build
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//#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
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#endif
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@ -61,7 +62,7 @@
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* Then you can verify voltage on value 6 (to get calibrated voltage multiplied by 100).
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*/
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#define BAT_FILT_COEF 655 // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
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#define BAT_CALIB_REAL_VOLTAGE 3970 // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
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#define BAT_CALIB_REAL_VOLTAGE 3970 // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300
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#define BAT_CALIB_ADC 1492 // adc-value measured by mainboard (value nr 5 on UART debug output)
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#define BAT_CELLS 10 // battery number of cells. Normal Hoverboard battery: 10s
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@ -133,18 +134,18 @@
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// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#endif
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// ###### CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL ######
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/* Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed. */
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#ifdef VARIANT_IBUS
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// ###### CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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#define CONTROL_IBUS // use IBUS as input
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#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
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#define IBUS_LENGTH 0x20
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#define IBUS_COMMAND 0x40
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#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
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#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#undef USART2_BAUD
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#define USART2_BAUD 115200
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#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#endif
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@ -156,8 +157,8 @@
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#define UART_DMA_CHANNEL DMA1_Channel2
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#endif
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// ###### CONTROL VIA RC REMOTE ######
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#ifdef VARIANT_PPM
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// ###### CONTROL VIA RC REMOTE ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
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#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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@ -156,10 +156,11 @@ Most robust way for input is to use the ADC and potis. It works well even on 1m
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This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) and / or [/Inc/config.h](/Inc/config.h)):
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- **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
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- **VARIANT_USART3**: In this variant the motors are controlled via serial protocol on USART3 right sensor cable (short wired). The commands can be sent from an Arduino. Check out the [hoverserial.ino](/02_Arduino/hoverserial) as an example sketch.
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- **VARIANT_NUNCHUCK**: Wii Nunchuck offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
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- **VARIANT_PPM**: This is when you want to use a RC remote control with PPM Sum signal
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- **VARIANT_IBUS**: This is when you want to use a RC remote control with Flysky IBUS protocol connected to the Left sensor cable.
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- **VARIANT_HOVERCAR**: In this variant the motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill.
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- **VARIANT_TRANSPOTTER**: This build is for transpotter 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).
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- **VARIANT_NUNCHUCK**: Wii Nunchuck offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
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- **VARIANT_PPM**: This is when you want to use a RC remote control with PPM Sum singnal
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Of course the firmware can be further customized for other needs or projects.
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@ -112,8 +112,6 @@ void Nunchuck_Read(void) {
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HAL_Delay(3);
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if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 10) == HAL_OK) {
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timeout = 0;
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} else {
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timeout++;
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}
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#ifndef TRANSPOTTER
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47
Src/main.c
47
Src/main.c
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@ -145,7 +145,6 @@ typedef struct{
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} SerialFeedback;
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static SerialFeedback Feedback;
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#endif
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static uint8_t serialSendCnt; // serial send counter
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#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
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static uint8_t button1, button2;
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@ -181,6 +180,7 @@ extern volatile uint32_t timeout; // global variable for timeout
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extern int16_t batVoltage; // global variable for battery voltage
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static uint32_t inactivity_timeout_counter;
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static uint32_t main_loop_counter;
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extern uint8_t nunchuck_data[6];
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#ifdef CONTROL_PPM
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@ -525,27 +525,41 @@ int main(void) {
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// Handle received data validity, timeout and fix out-of-sync if necessary
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#ifdef CONTROL_IBUS
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ibus_chksum = 0xFFFF - IBUS_LENGTH - IBUS_COMMAND;
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i ++) {
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i++) {
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ibus_chksum -= command.channels[i];
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}
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if (command.start == IBUS_LENGTH && command.type == IBUS_COMMAND && ibus_chksum == ( command.checksumh << 8) + command.checksuml ) {
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#else
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if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
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#endif
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if (command.start == IBUS_LENGTH && command.type == IBUS_COMMAND && ibus_chksum == (uint16_t)((command.checksumh << 8) + command.checksuml)) {
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if (timeoutFlagSerial) { // Check for previous timeout flag
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if (timeoutCntSerial-- <= 0) // Timeout de-qualification
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timeoutFlagSerial = 0; // Timeout flag cleared
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} else {
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#ifdef CONTROL_IBUS
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i +=2) {
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ibus_captured_value[(i/2)] = CLAMP( command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
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ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
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}
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cmd1 = CLAMP((ibus_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
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cmd2 = CLAMP((ibus_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
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command.start = 0xFF; // Change the Start Frame for timeout detection in the next cycle
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timeoutCntSerial = 0; // Reset the timeout counter
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}
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} else {
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if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
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timeoutFlagSerial = 1; // Timeout detected
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timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
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}
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// Check periodically the received Start Frame. If it is NOT OK, most probably we are out-of-sync. Try to re-sync by reseting the DMA
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if (main_loop_counter % 25 == 0 && command.start != IBUS_LENGTH && command.start != 0xFF) {
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HAL_UART_DMAStop(&huart);
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HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
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}
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}
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#else
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if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
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if (timeoutFlagSerial) { // Check for previous timeout flag
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if (timeoutCntSerial-- <= 0) // Timeout de-qualification
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timeoutFlagSerial = 0; // Timeout flag cleared
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} else {
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cmd1 = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX);
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cmd2 = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);
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#endif
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command.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
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timeoutCntSerial = 0; // Reset the timeout counter
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}
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@ -554,13 +568,13 @@ int main(void) {
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timeoutFlagSerial = 1; // Timeout detected
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timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
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}
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// Check the received Start Frame. If it is NOT OK, most probably we are out-of-sync.
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// Try to re-sync by reseting the DMA
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if (command.start != START_FRAME && command.start != 0xFFFF) {
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// Check periodically the received Start Frame. If it is NOT OK, most probably we are out-of-sync. Try to re-sync by reseting the DMA
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if (main_loop_counter % 25 == 0 && command.start != START_FRAME && command.start != 0xFFFF) {
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HAL_UART_DMAStop(&huart);
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HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
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}
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}
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#endif
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if (timeoutFlagSerial) { // In case of timeout bring the system to a Safe State
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ctrlModReq = 0; // OPEN_MODE request. This will bring the motor power to 0 in a controlled way
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@ -746,9 +760,7 @@ int main(void) {
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board_temp_adcFilt = (int16_t)(board_temp_adcFixdt >> 20); // convert fixed-point to integer
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board_temp_deg_c = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
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serialSendCnt++; // Increment the counter
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if (serialSendCnt > 20) { // Send data every 100 ms = 20 * 5 ms, where 5 ms is approximately the main loop duration
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serialSendCnt = 0; // Reset the counter
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if (main_loop_counter % 25 == 0) { // Send data periodically
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// ####### DEBUG SERIAL OUT #######
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#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
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@ -837,6 +849,9 @@ int main(void) {
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if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms
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poweroff();
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}
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main_loop_counter++;
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timeout++;
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}
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}
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