diff --git a/Inc/config.h b/Inc/config.h index 319ae81..2833a7a 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -8,14 +8,15 @@ #define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing. -#define TIMEOUT 5 // number of wrong / missing input commands before emergency off +#define TIMEOUT 20 // number of wrong / missing input commands before emergency off. default: 5 +//for uart control: new serial control data needs to be send within every TIMEOUT*DELAY_IN_MAIN_LOOP milliseconds, otherwise motors will be disabled // ############################### GENERAL ############################### // How to calibrate: connect GND and RX of a 3.3v uart-usb adapter to the right sensor board cable (be careful not to use the red wire of the cable. 15v will destroy everything.). if you are using nunchuck, disable it temporarily. enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII use asearial terminal. // Battery voltage calibration: connect power source. see . write value nr 5 to BAT_CALIB_ADC. make and flash firmware. then you can verify voltage on value 6 (devide it by 100.0 to get calibrated voltage). -#define BAT_CALIB_REAL_VOLTAGE 43.0 // input voltage measured by multimeter +#define BAT_CALIB_REAL_VOLTAGE 43.0 // input voltage measured by multimeter #define BAT_CALIB_ADC 1704 // adc-value measured by mainboard (value nr 5 on UART debug output) #define BAT_NUMBER_OF_CELLS 10 // normal Hoverboard battery: 10s @@ -53,7 +54,7 @@ // ############################### INPUT ############################### // ###### CONTROL VIA UART (serial) ###### -//#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! +#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! #define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry // for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); } @@ -76,7 +77,7 @@ // ###### MOTOR TEST MODE ###### // slowly move both wheels forward and backward, ignoring all inputs -#define CONTROL_MOTOR_TEST +//#define CONTROL_MOTOR_TEST #define CONTROL_MOTOR_TEST_MAX_SPEED 300 // sweep slowly from -MAX_SPEED to MAX_SPEED (0 - 1000) // ############################### DRIVING BEHAVIOR ############################### @@ -89,12 +90,12 @@ // - speedR and speedL: normal driving -1000 to 1000 // - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400 -#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues. -#define SPEED_COEFFICIENT 0.5 // higher value == stronger. 0.0 to ~2.0? +#define FILTER 0.05 // lower value == softer filter. do not use values <0.01, you will get float precision issues. +#define SPEED_COEFFICIENT 1 // higher value == stronger. 0.0 to ~2.0? #define STEER_COEFFICIENT 0.5 // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0 -#define INVERT_R_DIRECTION -#define INVERT_L_DIRECTION -#define BEEPS_BACKWARD 1 // 0 or 1 +//#define INVERT_R_DIRECTION +//#define INVERT_L_DIRECTION +#define BEEPS_BACKWARD 0 // 0 or 1 //Turbo boost at high speeds while button1 is pressed: //#define ADDITIONAL_CODE \ diff --git a/Makefile b/Makefile index 832aab5..30e16ac 100644 --- a/Makefile +++ b/Makefile @@ -50,7 +50,7 @@ startup_stm32f103xe.s ####################################### # binaries ####################################### -PREFIX = arm-none-eabi- +PREFIX = ~/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi- CC = $(PREFIX)gcc AS = $(PREFIX)gcc -x assembler-with-cpp CP = $(PREFIX)objcopy diff --git a/Src/control.c b/Src/control.c index 9ffdfd2..aacd23e 100644 --- a/Src/control.c +++ b/Src/control.c @@ -8,7 +8,8 @@ TIM_HandleTypeDef TimHandle; uint8_t ppm_count = 0; -uint32_t timeout = 100; +//uint32_t timeout = 100; +uint32_t timeout = 0; //start with 0, because if once timeout>TIMEOUT board will stay disabled uint8_t nunchuck_data[6] = {0}; uint8_t i2cBuffer[2]; diff --git a/Src/main.c b/Src/main.c index 4cc2624..d759d7e 100644 --- a/Src/main.c +++ b/Src/main.c @@ -44,6 +44,7 @@ typedef struct{ int16_t steer; int16_t speed; //uint32_t crc; + uint8_t checksum; //simple checksum for error handling and connection break check. 0 disables motors } Serialcommand; volatile Serialcommand command; @@ -157,7 +158,7 @@ int main(void) { #ifdef CONTROL_SERIAL_USART2 UART_Control_Init(); - HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 4); + HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 5); //size 5= 2x16bit + 1x8bit (checksum) #endif #ifdef DEBUG_I2C_LCD @@ -219,10 +220,23 @@ int main(void) { #endif #ifdef CONTROL_SERIAL_USART2 - cmd1 = CLAMP((int16_t)command.steer, -1000, 1000); - cmd2 = CLAMP((int16_t)command.speed, -1000, 1000); + uint8_t calcchecksum = ((uint8_t) ((uint8_t)command.steer)*((uint8_t)command.speed)); //simple checksum + if (calcchecksum==0 || calcchecksum==255){ calcchecksum=1; } //cannot be 0 or 255 (special purpose) - timeout = 0; + if (command.checksum==0 || command.checksum==calcchecksum){ //motor off or correct checksum + if (timeout (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) { // rest of main loop needs maybe 1ms poweroff(); } - + main_loop_counter += 1; - timeout++; + + if (timeout<=TIMEOUT+10){ //do not increase if value is high enough (prevent overflow) + timeout++; //timeout>TIMEOUT disables motors + } } } diff --git a/build/hover.hex b/build/hover.hex deleted file mode 100644 index b4b5281..0000000 --- a/build/hover.hex +++ /dev/null @@ -1,1147 +0,0 @@ -:020000040800F2 -:1000000000C00020293D00080D3D00080F3D0008FC -:10001000113D0008133D0008153D000800000000D8 -:10002000000000000000000000000000173D000874 -:10003000193D0008000000001B3D00081D3D0008A0 -:10004000713D0008713D0008713D0008713D0008D8 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