ADD: control via uart. Send two int16 (4 bytes) to usart 2 to control the motors with an arduino or a raspberry pi

Inc/config.h

@@ -14,12 +14,15 @@
 
 // ################################################################################
 
-#define DEBUG_SERIAL_USART2         // left sensor board cable, disable if ADC or PPM is used!
+#define DEBUG_SERIAL_USART3         // left sensor board cable, disable if ADC or PPM is used!
 //#define DEBUG_SERIAL_USART3         // right sensor board cable, disable if I2C (nunchuck) is used!
 #define DEBUG_BAUD       115200     // UART baud rate
 //#define DEBUG_SERIAL_SERVOTERM
 #define DEBUG_SERIAL_ASCII          // human readable output. i.e. "345;1337;0;0\n\r"
 
+#define CONTROL_SERIAL_USART2
+#define CONTROL_BAUD       9600
+
 //#define DEBUG_I2C_LCD               // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
 
 #define TIMEOUT          5          // number of wrong / missing commands before emergency off
@@ -27,7 +30,7 @@
 // ################################################################################
 
 // ###### CONTROL VIA RC REMOTE ######
-// left sensor board cable. Channel 1: steering, Channel 2: speed. 
+// left sensor board cable. Channel 1: steering, Channel 2: speed.
 //#define CONTROL_PPM                 // use PPM-Sum as input. disable DEBUG_SERIAL_USART2!
 //#define PPM_NUM_CHANNELS 6          // total number of PPM channels to receive, even if they are not used.
 
@@ -41,7 +44,7 @@
 
 // ###### CONTROL VIA NINTENDO NUNCHUCK ######
 // left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups.
-#define CONTROL_NUNCHUCK            // use nunchuck as input. disable DEBUG_SERIAL_USART3!
+//#define CONTROL_NUNCHUCK            // use nunchuck as input. disable DEBUG_SERIAL_USART3!
 
 // ################################################################################
 

Src/control.c

@@ -17,6 +17,12 @@ extern I2C_HandleTypeDef hi2c2;
 DMA_HandleTypeDef hdma_i2c2_rx;
 DMA_HandleTypeDef hdma_i2c2_tx;
 
+typedef struct{
+   float motorR;
+   float motorL;
+   //uint32_t crc;
+} Serialcommand;
+
 #ifdef CONTROL_PPM
 uint16_t ppm_captured_value[PPM_NUM_CHANNELS + 1] = {500, 500};
 uint16_t ppm_captured_value_buffer[PPM_NUM_CHANNELS+1] = {500, 500};
@@ -24,8 +30,16 @@ uint32_t ppm_timeout = 0;
 
 bool ppm_valid = true;
 
+volatile Serialcommand command;
+
 #define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
 
+#ifdef CONTROL_SERIAL_USART2
+void Telemetry_Init(){
+  HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 8);
+}
+#endif
+
 void PPM_ISR_Callback() {
   // Dummy loop with 16 bit count wrap around
   uint16_t rc_delay = TIM2->CNT;

Src/main.c

@@ -34,11 +34,21 @@ extern ADC_HandleTypeDef hadc2;
 extern volatile adc_buf_t adc_buffer;
 //LCD_PCF8574_HandleTypeDef lcd;
 extern I2C_HandleTypeDef hi2c2;
+extern UART_HandleTypeDef huart2;
 
 int cmd1;  // normalized input values. -1000 to 1000
 int cmd2;
 int cmd3;
 
+
+typedef struct{
+   int16_t motorR;
+   int16_t motorL;
+   //uint32_t crc;
+} Serialcommand;
+
+volatile Serialcommand command;
+
 uint8_t button1, button2;
 
 int steer; // global variable for steering. -1000 to 1000
@@ -122,6 +132,11 @@ int main(void) {
     Nunchuck_Init();
   #endif
 
+  #ifdef CONTROL_SERIAL_USART2
+    UART_Control_Init();
+    HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 4);
+  #endif
+
   #ifdef DEBUG_I2C_LCD
     I2C_Init();
     HAL_Delay(50);
@@ -148,7 +163,7 @@ int main(void) {
 
   while(1) {
     HAL_Delay(5);
-    
+
     #ifdef CONTROL_NUNCHUCK
       Nunchuck_Read();
       cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
@@ -169,7 +184,7 @@ int main(void) {
       // ADC values range: 0-4095, see ADC-calibration in config.h
       cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) / (ADC1_MAX / 1000.0f);  // ADC1
       cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) / (ADC2_MAX / 1000.0f);  // ADC2
-      
+
       // use ADCs as button inputs:
       button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);  // ADC1
       button2 = (uint8_t)(adc_buffer.l_rx2 > 2000);  // ADC2
@@ -177,6 +192,11 @@ int main(void) {
       timeout = 0;
     #endif
 
+    #ifdef CONTROL_SERIAL_USART2
+    cmd1 = CLAMP((int16_t)command.motorR, -1000, 1000);
+    cmd2 = CLAMP((int16_t)command.motorL, -1000, 1000);
+    #endif
+
 
     // ####### LOW-PASS FILTER #######
     steer = steer * (1.0 - FILTER) + cmd1 * FILTER;

Src/setup.c

@@ -43,8 +43,85 @@ TIM_HandleTypeDef htim_left;
 ADC_HandleTypeDef hadc1;
 ADC_HandleTypeDef hadc2;
 I2C_HandleTypeDef hi2c2;
+UART_HandleTypeDef huart2;
+
+DMA_HandleTypeDef hdma_usart2_rx;
+DMA_HandleTypeDef hdma_usart2_tx;
 volatile adc_buf_t adc_buffer;
 
+
+#ifdef CONTROL_SERIAL_USART2
+
+
+void UART_Control_Init() {
+  GPIO_InitTypeDef GPIO_InitStruct;
+  __HAL_RCC_USART2_CLK_ENABLE();
+  /* DMA1_Channel6_IRQn interrupt configuration */
+  //HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
+  //HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
+  HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
+  HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
+  /* DMA1_Channel7_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7);
+  HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
+
+  huart2.Instance = USART2;
+  huart2.Init.BaudRate = CONTROL_BAUD;
+  huart2.Init.WordLength = UART_WORDLENGTH_8B;
+  huart2.Init.StopBits = UART_STOPBITS_1;
+  huart2.Init.Parity = UART_PARITY_NONE;
+  huart2.Init.Mode = UART_MODE_TX_RX;
+  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ // huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+  HAL_UART_Init(&huart2);
+
+
+  __HAL_RCC_DMA1_CLK_ENABLE();
+  /* USER CODE BEGIN USART2_MspInit 0 */
+   __HAL_RCC_GPIOA_CLK_ENABLE();
+  /* USER CODE END USART2_MspInit 0 */
+   /* Peripheral clock enable */
+   __HAL_RCC_USART2_CLK_ENABLE();
+
+ GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL;
+ GPIO_InitStruct.Pin = GPIO_PIN_2;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = GPIO_PIN_3;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
+// GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ /* Peripheral DMA init*/
+
+ hdma_usart2_rx.Instance = DMA1_Channel6;
+ hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+ hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL;
+ hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
+ HAL_DMA_Init(&hdma_usart2_rx);
+
+ __HAL_LINKDMA(&huart2,hdmarx,hdma_usart2_rx);
+
+ hdma_usart2_tx.Instance = DMA1_Channel7;
+ hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+ hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_usart2_tx.Init.Mode = DMA_NORMAL;
+ hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
+HAL_DMA_Init(&hdma_usart2_tx);
+ __HAL_LINKDMA(&huart2,hdmatx,hdma_usart2_tx);
+}
+
+#endif
+
 #ifdef DEBUG_SERIAL_USART3
 void UART_Init() {
   __HAL_RCC_USART3_CLK_ENABLE();

Src/stm32f1xx_it.c

@@ -40,6 +40,9 @@ extern DMA_HandleTypeDef hdma_i2c2_rx;
 extern DMA_HandleTypeDef hdma_i2c2_tx;
 extern I2C_HandleTypeDef hi2c2;
 
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart2_tx;
+
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
@@ -223,6 +226,33 @@ void EXTI3_IRQHandler(void)
 }
 #endif
 
+#ifdef CONTROL_SERIAL_USART2
+void DMA1_Channel6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_rx);
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 1 */
+}
+
+/**
+* @brief This function handles DMA1 channel5 global interrupt.
+*/
+void DMA1_Channel7_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_tx);
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 1 */
+}
+#endif
+
 /******************************************************************************/
 /* STM32F1xx Peripheral Interrupt Handlers                                    */
 /* Add here the Interrupt Handlers for the used peripherals.                  */