simple testcode for bluepill with poti and hardware serial1
This commit is contained in:
parent
7e670e06d2
commit
dd78937a45
|
|
@ -0,0 +1,188 @@
|
||||||
|
// *******************************************************************
|
||||||
|
// Arduino Nano 3.3V example code
|
||||||
|
// for https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC
|
||||||
|
//
|
||||||
|
// Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
|
||||||
|
//
|
||||||
|
// *******************************************************************
|
||||||
|
// INFO:
|
||||||
|
// • This sketch uses the the Serial Software interface to communicate and send commands to the hoverboard
|
||||||
|
// • The built-in (HW) Serial interface is used for debugging and visualization. In case the debugging is not needed,
|
||||||
|
// it is recommended to use the built-in Serial interface for full speed perfomace.
|
||||||
|
// • The data packaging includes a Start Frame, checksum, and re-syncronization capability for reliable communication
|
||||||
|
//
|
||||||
|
// CONFIGURATION on the hoverboard side in config.h:
|
||||||
|
// • Option 1: Serial on Left Sensor cable (long wired cable)
|
||||||
|
// #define CONTROL_SERIAL_USART2
|
||||||
|
// #define FEEDBACK_SERIAL_USART2
|
||||||
|
// // #define DEBUG_SERIAL_USART2
|
||||||
|
// • Option 2: Serial on Right Sensor cable (short wired cable) - recommended, so the ADCs on the other cable are still available
|
||||||
|
// #define CONTROL_SERIAL_USART3
|
||||||
|
// #define FEEDBACK_SERIAL_USART3
|
||||||
|
// // #define DEBUG_SERIAL_USART3
|
||||||
|
// *******************************************************************
|
||||||
|
|
||||||
|
//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
|
||||||
|
//Board: Generic STM32F103C series
|
||||||
|
//Upload method: serial
|
||||||
|
//20k RAM 64k Flash
|
||||||
|
|
||||||
|
// RX ist A10, TX 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 program 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 PIN_LED PC13
|
||||||
|
#define SENDPERIOD 100 //ms. delay for sending speed and steer data to motor controller via serial
|
||||||
|
#define PIN_POTI PA0
|
||||||
|
|
||||||
|
long last_send = 0;
|
||||||
|
|
||||||
|
|
||||||
|
// Global variables
|
||||||
|
uint8_t idx = 0; // Index for new data pointer
|
||||||
|
uint16_t bufStartFrame; // Buffer Start Frame
|
||||||
|
byte *p; // Pointer declaration for the new received data
|
||||||
|
byte incomingByte;
|
||||||
|
byte incomingBytePrev;
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
uint16_t start;
|
||||||
|
int16_t speedLeft;
|
||||||
|
int16_t speedRight;
|
||||||
|
uint16_t checksum;
|
||||||
|
} SerialCommand;
|
||||||
|
SerialCommand Command;
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
uint16_t start;
|
||||||
|
int16_t cmd1;
|
||||||
|
int16_t cmd2;
|
||||||
|
int16_t speedR;
|
||||||
|
int16_t speedL;
|
||||||
|
int16_t speedR_meas;
|
||||||
|
int16_t speedL_meas;
|
||||||
|
int16_t batVoltage;
|
||||||
|
int16_t boardTemp;
|
||||||
|
int16_t checksum;
|
||||||
|
} SerialFeedback;
|
||||||
|
SerialFeedback Feedback;
|
||||||
|
SerialFeedback NewFeedback;
|
||||||
|
|
||||||
|
// ########################## SETUP ##########################
|
||||||
|
void setup()
|
||||||
|
{
|
||||||
|
|
||||||
|
Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
|
||||||
|
|
||||||
|
Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
|
||||||
|
Serial1.begin(19200); //control. A2=TX2, A3=RX2 (Serial1 is Usart 2)
|
||||||
|
|
||||||
|
Serial1.begin(SERIAL_CONTROL_BAUD);
|
||||||
|
pinMode(LED_BUILTIN, OUTPUT);
|
||||||
|
|
||||||
|
Serial.println("Initialized");
|
||||||
|
}
|
||||||
|
|
||||||
|
// ########################## SEND ##########################
|
||||||
|
void SendSerial1(int16_t uSpeedLeft, int16_t uSpeedRight)
|
||||||
|
{
|
||||||
|
// Create command
|
||||||
|
Command.start = (uint16_t)START_FRAME;
|
||||||
|
Command.speedLeft = (int16_t)uSpeedLeft;
|
||||||
|
Command.speedRight = (int16_t)uSpeedRight;
|
||||||
|
Command.checksum = (uint16_t)(Command.start ^ Command.speedLeft ^ Command.speedRight);
|
||||||
|
|
||||||
|
// Write to Serial
|
||||||
|
Serial1.write((uint8_t *) &Command, sizeof(Command));
|
||||||
|
}
|
||||||
|
|
||||||
|
// ########################## RECEIVE ##########################
|
||||||
|
void ReceiveSerial1()
|
||||||
|
{
|
||||||
|
// Check for new data availability in the Serial buffer
|
||||||
|
if (Serial1.available()) {
|
||||||
|
incomingByte = Serial1.read(); // Read the incoming byte
|
||||||
|
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start marker
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// If DEBUG_RX is defined print all incoming bytes
|
||||||
|
#ifdef DEBUG_RX
|
||||||
|
Serial.print(incomingByte);
|
||||||
|
return;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Copy received data
|
||||||
|
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
|
||||||
|
p = (byte *)&NewFeedback;
|
||||||
|
*p++ = incomingBytePrev;
|
||||||
|
*p++ = incomingByte;
|
||||||
|
idx = 2;
|
||||||
|
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
|
||||||
|
*p++ = incomingByte;
|
||||||
|
idx++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check if we reached the end of the package
|
||||||
|
if (idx == sizeof(SerialFeedback)) {
|
||||||
|
uint16_t checksum;
|
||||||
|
checksum = NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
|
||||||
|
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp;
|
||||||
|
|
||||||
|
// Check validity of the new data
|
||||||
|
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
|
||||||
|
// Copy the new data
|
||||||
|
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
|
||||||
|
|
||||||
|
// 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");
|
||||||
|
}
|
||||||
|
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
|
||||||
|
}
|
||||||
|
|
||||||
|
// Update previous states
|
||||||
|
incomingBytePrev = incomingByte;
|
||||||
|
}
|
||||||
|
|
||||||
|
// ########################## LOOP ##########################
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void loop() {
|
||||||
|
|
||||||
|
ReceiveSerial1(); // Check for new received data
|
||||||
|
|
||||||
|
if (millis() - last_send > SENDPERIOD) {
|
||||||
|
|
||||||
|
|
||||||
|
int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1000, 0, 1000);
|
||||||
|
|
||||||
|
SendSerial1(speedvalue,0);
|
||||||
|
|
||||||
|
last_send = millis();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
// ########################## END ##########################
|
||||||
Loading…
Reference in New Issue