port controller for bluepill to platformio because flashing didnt work anymore
This commit is contained in:
parent
b9a7f6e873
commit
454c49946d
|
|
@ -23,7 +23,7 @@
|
|||
#define START_FRAME 0xAAAA // [-] Start frme definition for reliable serial communication
|
||||
|
||||
//#define DEBUG
|
||||
#define PARAMETEROUTPUT
|
||||
//#define PARAMETEROUTPUT
|
||||
uint8_t error = 0;
|
||||
#define IMU_NO_CHANGE 2 //IMU values did not change for too long
|
||||
uint8_t imu_no_change_counter = 0;
|
||||
|
|
@ -386,6 +386,7 @@ void loop() {
|
|||
set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
|
||||
|
||||
//align to compass
|
||||
/*
|
||||
double yawdiff = (setYaw - 180) - (yaw - 180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
|
||||
yawdiff += (yawdiff > 180) ? -360 : (yawdiff < -180) ? 360 : 0;
|
||||
//yawdiff/=2;
|
||||
|
|
@ -406,6 +407,7 @@ void loop() {
|
|||
magalign_multiplier = constrain(magalign_multiplier, 0.0, 1.0); //safety constrain again
|
||||
|
||||
set_steer = set_steer * (1 - magalign_multiplier) + set_steer_mag * magalign_multiplier;
|
||||
*/
|
||||
|
||||
setYaw = setYaw * magalign_multiplier + yaw * (1 - magalign_multiplier); //if magalign_multiplier 0, setYaw equals current yaw
|
||||
|
||||
|
|
@ -679,8 +681,8 @@ void ReceiveSerial2()
|
|||
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);
|
||||
//Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
|
||||
//Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
|
||||
Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
|
||||
Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in A, in hoverbrett negative sign for forward
|
||||
} else {
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
.pio
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
# Continuous Integration (CI) is the practice, in software
|
||||
# engineering, of merging all developer working copies with a shared mainline
|
||||
# several times a day < https://docs.platformio.org/page/ci/index.html >
|
||||
#
|
||||
# Documentation:
|
||||
#
|
||||
# * Travis CI Embedded Builds with PlatformIO
|
||||
# < https://docs.travis-ci.com/user/integration/platformio/ >
|
||||
#
|
||||
# * PlatformIO integration with Travis CI
|
||||
# < https://docs.platformio.org/page/ci/travis.html >
|
||||
#
|
||||
# * User Guide for `platformio ci` command
|
||||
# < https://docs.platformio.org/page/userguide/cmd_ci.html >
|
||||
#
|
||||
#
|
||||
# Please choose one of the following templates (proposed below) and uncomment
|
||||
# it (remove "# " before each line) or use own configuration according to the
|
||||
# Travis CI documentation (see above).
|
||||
#
|
||||
|
||||
|
||||
#
|
||||
# Template #1: General project. Test it using existing `platformio.ini`.
|
||||
#
|
||||
|
||||
# language: python
|
||||
# python:
|
||||
# - "2.7"
|
||||
#
|
||||
# sudo: false
|
||||
# cache:
|
||||
# directories:
|
||||
# - "~/.platformio"
|
||||
#
|
||||
# install:
|
||||
# - pip install -U platformio
|
||||
# - platformio update
|
||||
#
|
||||
# script:
|
||||
# - platformio run
|
||||
|
||||
|
||||
#
|
||||
# Template #2: The project is intended to be used as a library with examples.
|
||||
#
|
||||
|
||||
# language: python
|
||||
# python:
|
||||
# - "2.7"
|
||||
#
|
||||
# sudo: false
|
||||
# cache:
|
||||
# directories:
|
||||
# - "~/.platformio"
|
||||
#
|
||||
# env:
|
||||
# - PLATFORMIO_CI_SRC=path/to/test/file.c
|
||||
# - PLATFORMIO_CI_SRC=examples/file.ino
|
||||
# - PLATFORMIO_CI_SRC=path/to/test/directory
|
||||
#
|
||||
# install:
|
||||
# - pip install -U platformio
|
||||
# - platformio update
|
||||
#
|
||||
# script:
|
||||
# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N
|
||||
|
|
@ -0,0 +1,142 @@
|
|||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "!!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags"
|
||||
},
|
||||
{
|
||||
"name": "Linux",
|
||||
"includePath": [
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/include",
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/src",
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433",
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SPI/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/cores/maple",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/include",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/stm32f1/include",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/stm32f1",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/usb_lib",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/variants/generic_stm32f103c",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/A_STM32_Examples",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_GFX_AS",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341_STM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_SSD1306",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/EEPROM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Ethernet_STM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS900",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Lcd7920_STM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/LiquidCrystal",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OLED_I2C",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OneWireSTM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/RTClock/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SDIO",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/STM32ADC/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_EtherCard_STM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_VS1003B_STM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_XPT2046_touch/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Servo/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Touch-Screen-Library_STM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/USBComposite",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WS2812B/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WireSlave/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/stm_fft",
|
||||
"/home/fisch/.platformio/packages/tool-unity",
|
||||
""
|
||||
],
|
||||
"browse": {
|
||||
"limitSymbolsToIncludedHeaders": true,
|
||||
"path": [
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/include",
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/src",
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433",
|
||||
"/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/libdeps/genericSTM32F103C8/RF24_ID433/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SPI/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/cores/maple",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/include",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/stm32f1/include",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/stm32f1",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usb/usb_lib",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/variants/generic_stm32f103c",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/A_STM32_Examples",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_GFX_AS",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_ILI9341_STM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Adafruit_SSD1306",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/EEPROM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Ethernet_STM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS701/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS821/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/FreeRTOS900",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Lcd7920_STM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/LiquidCrystal",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/MapleCoOS116/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OLED_I2C",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/OneWireSTM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/RTClock/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/SDIO",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/STM32ADC/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_EtherCard_STM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_VS1003B_STM/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Serasidis_XPT2046_touch/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Servo/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Touch-Screen-Library_STM",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/USBComposite",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WS2812B/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/Wire/utility",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/WireSlave/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoststm32-maple/STM32F1/libraries/stm_fft",
|
||||
"/home/fisch/.platformio/packages/tool-unity",
|
||||
""
|
||||
]
|
||||
},
|
||||
"defines": [
|
||||
"PLATFORMIO=40304",
|
||||
"STM32F103xB",
|
||||
"STM32F1",
|
||||
"ARDUINO=10808",
|
||||
"ARDUINO_ARCH_STM32",
|
||||
"ARDUINO_ARCH_STM32F1",
|
||||
"ARDUINO_GENERIC_STM32F103C",
|
||||
"MCU_STM32F103C8",
|
||||
"__STM32F1__",
|
||||
"BOARD_generic_stm32f103c",
|
||||
"F_CPU=72000000L",
|
||||
"VECT_TAB_ADDR=0x8000000",
|
||||
"ERROR_LED_PORT=GPIOC",
|
||||
"ERROR_LED_PIN=13",
|
||||
"CONFIG_MAPLE_MINI_NO_DISABLE_DEBUG=1",
|
||||
""
|
||||
],
|
||||
"intelliSenseMode": "clang-x64",
|
||||
"cStandard": "c11",
|
||||
"cppStandard": "c++11",
|
||||
"compilerPath": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin/arm-none-eabi-gcc",
|
||||
"compilerArgs": [
|
||||
"-mcpu=cortex-m3",
|
||||
"-mthumb",
|
||||
"-march=armv7-m",
|
||||
""
|
||||
]
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
{
|
||||
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
||||
// for the documentation about the extensions.json format
|
||||
"recommendations": [
|
||||
"platformio.platformio-ide"
|
||||
]
|
||||
}
|
||||
|
|
@ -0,0 +1,34 @@
|
|||
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
|
||||
|
||||
// PIO Unified Debugger
|
||||
//
|
||||
// Documentation: https://docs.platformio.org/page/plus/debugging.html
|
||||
// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html
|
||||
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug",
|
||||
"executable": "/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/build/genericSTM32F103C8/firmware.elf",
|
||||
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin",
|
||||
"svdPath": "/home/fisch/.platformio/platforms/ststm32/misc/svd/STM32F103xx.svd",
|
||||
"preLaunchTask": {
|
||||
"type": "PlatformIO",
|
||||
"task": "Pre-Debug"
|
||||
},
|
||||
"internalConsoleOptions": "openOnSessionStart"
|
||||
},
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug (skip Pre-Debug)",
|
||||
"executable": "/media/fisch/HDD/Projects/hoverbrett/controller_pio/.pio/build/genericSTM32F103C8/firmware.elf",
|
||||
"toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.70201.0/bin",
|
||||
"svdPath": "/home/fisch/.platformio/platforms/ststm32/misc/svd/STM32F103xx.svd",
|
||||
"internalConsoleOptions": "openOnSessionStart"
|
||||
}
|
||||
]
|
||||
}
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
|
||||
This directory is intended for project header files.
|
||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
|
||||
|
||||
#include "header.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Including a header file produces the same results as copying the header file
|
||||
into each source file that needs it. Such copying would be time-consuming
|
||||
and error-prone. With a header file, the related declarations appear
|
||||
in only one place. If they need to be changed, they can be changed in one
|
||||
place, and programs that include the header file will automatically use the
|
||||
new version when next recompiled. The header file eliminates the labor of
|
||||
finding and changing all the copies as well as the risk that a failure to
|
||||
find one copy will result in inconsistencies within a program.
|
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'.
|
||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
|
||||
|
||||
Read more about using header files in official GCC documentation:
|
||||
|
||||
* Include Syntax
|
||||
* Include Operation
|
||||
* Once-Only Headers
|
||||
* Computed Includes
|
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
|
||||
This directory is intended for project specific (private) libraries.
|
||||
PlatformIO will compile them to static libraries and link into executable file.
|
||||
|
||||
The source code of each library should be placed in a an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
|
||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
|
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
|
||||
| | |- Foo.c
|
||||
| | |- Foo.h
|
||||
| |
|
||||
| |- README --> THIS FILE
|
||||
|
|
||||
|- platformio.ini
|
||||
|--src
|
||||
|- main.c
|
||||
|
||||
and a contents of `src/main.c`:
|
||||
```
|
||||
#include <Foo.h>
|
||||
#include <Bar.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
||||
libraries scanning project source files.
|
||||
|
||||
More information about PlatformIO Library Dependency Finder
|
||||
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[env:genericSTM32F103C8]
|
||||
platform = ststm32
|
||||
board = genericSTM32F103C8
|
||||
framework = arduino
|
||||
|
||||
upload_protocol = serial
|
||||
|
||||
monitor_speed = 115200
|
||||
|
||||
lib_deps =
|
||||
RF24@>=1.3.4
|
||||
|
|
@ -0,0 +1,658 @@
|
|||
#include <Arduino.h>
|
||||
|
||||
void ReceiveSerial2();
|
||||
void SendSerial2(int16_t uSpeedLeft, int16_t uSpeedRight);
|
||||
|
||||
//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
|
||||
|
||||
//Flashing the hoverbrett controller:
|
||||
/*
|
||||
* connect uart adapter to serial port cable (the one with more red heatshrink)
|
||||
* (disconnect xt30 power connector)
|
||||
* set jumper on usb uart adapter to output 5V
|
||||
* hold boot0 button (black, the outermost) while powering up (or restarting with small button next to it)
|
||||
* flash
|
||||
*/
|
||||
|
||||
//PA2 may be defective on my bluepill
|
||||
|
||||
#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
|
||||
//#define PARAMETEROUTPUT
|
||||
uint8_t error = 0;
|
||||
#define IMU_NO_CHANGE 2 //IMU values did not change for too long
|
||||
uint8_t imu_no_change_counter = 0;
|
||||
|
||||
#define PIN_LED PC13
|
||||
|
||||
#define PIN_VBAT PA0 //battery voltage after voltage divider
|
||||
//#define VBAT_DIV_FACTOR 0.010700 //how much voltage (V) equals one adc unit. measured at 40V and averaged
|
||||
#define VBAT_DIV_FACTOR 0.01399535423925667828 //how much voltage (V) equals one adc unit. 3444=48.2V
|
||||
#define PIN_CURRENT PA1 //output of hall sensor for current measurement
|
||||
#define CURRENT_OFFSET 2048 //adc reading at 0A, with CJMCU-758 typically at Vcc/2. measured with actual voltage supply in hoverbrett
|
||||
#define CURRENT_FACTOR 0.38461538461538461538 //how much current (A) equals one adc unit. 2045-2032=13 at 5A
|
||||
float vbat=0; //battery voltage
|
||||
float ibat=0; //battery current
|
||||
long last_adcupdated=0;
|
||||
#define ADC_UPDATEPERIOD 10 //in ms
|
||||
|
||||
|
||||
#define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
|
||||
|
||||
//Status information sending
|
||||
#define PARAMETERSENDPERIOD 50 //delay for sending stat data via nrf24
|
||||
long last_parametersend=0;
|
||||
|
||||
#define CONTROLUPDATEPERIOD 10
|
||||
long last_controlupdate = 0;
|
||||
|
||||
#define PIN_GAMETRAK_LENGTH PA1 //yellow (connector) / orange (gametrak module wires): length
|
||||
#define PIN_GAMETRAK_VERTICAL PA3 //orange / red: vertical
|
||||
#define PIN_GAMETRAK_HORIZONTAL PA4 //blue / yellow: horizontal
|
||||
|
||||
|
||||
#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
|
||||
#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
|
||||
#define GT_LENGTH_SCALE -0.73 //(adcvalue-offset)*scale = length[mm] (+length_min)
|
||||
//2720 at 1000mm+220mm -> 1370 for 1000mm ->
|
||||
#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
|
||||
uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
|
||||
|
||||
#define GT_VERTICAL_CENTER 2048 //adc value for center position
|
||||
#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
|
||||
int8_t gt_vertical=0; //0=center. joystick can rotate +-30 degrees. -127 = -30 deg
|
||||
//left = -30 deg, right= 30deg
|
||||
|
||||
#define GT_HORIZONTAL_CENTER 2048 //adc value for center position
|
||||
#define GT_HORIZONTAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
|
||||
int8_t gt_horizontal=0; //0=center
|
||||
|
||||
uint16_t gt_length_set=1000; //set length to keep [mm]
|
||||
#define GT_LENGTH_MINDIFF 10 //[mm] threshold, do not move within gt_length_set-GT_LENGTH_MINDIFF and gt_length_set+GT_LENGTH_MINDIFF
|
||||
float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
|
||||
float gt_speedbackward_p=0.7;
|
||||
float gt_steer_p=2.0;
|
||||
#define GT_SPEED_LIMIT 300 //maximum out_speed value +
|
||||
#define GT_SPEEDBACKWARD_LIMIT 100//maximum out_speed value (for backward driving) -
|
||||
#define GT_STEER_LIMIT 300 //maximum out_steer value +-
|
||||
#define GT_LENGTH_MAXIMUMDIFFBACKWARD -200 //[mm]. if gt_length_set=1000 and GT_LENGTH_MAXIMUMDIFFBACKWARD=-200 then only drives backward if lenght is greater 800
|
||||
|
||||
|
||||
//#include <IMUGY85.h>
|
||||
//https://github.com/fookingthg/GY85
|
||||
//ITG3200 and ADXL345 from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino
|
||||
//https://github.com/mechasolution/Mecha_QMC5883L //because QMC5883 on GY85 instead of HMC5883, source: https://circuitdigest.com/microcontroller-projects/digital-compass-with-arduino-and-hmc5883l-magnetometer
|
||||
//in qmc5883L library read values changed from uint16_t to int16_t
|
||||
|
||||
#define IMUUPDATEPERIOD 10 //ms
|
||||
//long last_imuupdated = 0;
|
||||
//#define MAX_YAWCHANGE 90 //in degrees, if exceeded in one update intervall error will be triggered
|
||||
|
||||
/*
|
||||
IMUGY85 imu;
|
||||
double ax, ay, az, gx, gy, gz, roll, pitch, yaw, mx, my, mz, ma;
|
||||
double old_ax, old_ay, old_az, old_gx, old_gy, old_gz, old_roll, old_pitch, old_yaw, old_mx, old_my, old_mz, old_ma;
|
||||
|
||||
double setYaw = 0;
|
||||
float magalign_multiplier = 0; //how much the magnetometer should influence steering, 0=none, 1=stay aligned
|
||||
*/
|
||||
|
||||
// Lenovo Trackpoint pinout
|
||||
//from left to right. pins at bottom. chips on top
|
||||
//1 GND (black)
|
||||
//2 Data
|
||||
//3 Clock
|
||||
//4 Reset
|
||||
//5 +5V (red)
|
||||
//6 Right BTN
|
||||
//7 Middle BTN
|
||||
//8 Left BTN
|
||||
//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
|
||||
//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
|
||||
|
||||
#include <SPI.h>
|
||||
#include "nRF24L01.h"
|
||||
#include "RF24.h"
|
||||
|
||||
RF24 radio(PB0, PB1); //ce, cs
|
||||
//SCK D13 (Pro mini), A5 (bluepill)
|
||||
//Miso D12 (Pro mini), A6 (bluepill)
|
||||
//Mosi D11 (Pro mini), A7 (bluepill)
|
||||
|
||||
// Radio pipe addresses for the 2 nodes to communicate.
|
||||
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
|
||||
#define NRF24CHANNEL 75
|
||||
|
||||
struct nrfdata {
|
||||
uint8_t steer;
|
||||
uint8_t speed;
|
||||
uint8_t commands; //bit 0 set = motor enable
|
||||
uint8_t checksum;
|
||||
};
|
||||
|
||||
nrfdata lastnrfdata;
|
||||
long last_nrfreceive = 0; //last time values were received and checksum ok
|
||||
long nrf_delay = 0;
|
||||
#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
|
||||
|
||||
boolean radiosendOk=false;
|
||||
|
||||
|
||||
//command variables
|
||||
boolean motorenabled = false; //set by nrfdata.commands
|
||||
|
||||
|
||||
|
||||
|
||||
long last_send = 0;
|
||||
|
||||
int16_t out_speedl = 0; //between -1000 and 1000
|
||||
int16_t out_speedr = 0;
|
||||
int16_t lastsend_out_speedl = 0; //last value transmitted to motor controller
|
||||
int16_t lastsend_out_speedr = 0;
|
||||
int16_t set_speed = 0;
|
||||
int16_t set_steer = 0;
|
||||
uint8_t out_checksum = 0; //0= disable motors, 255=reserved, 1<=checksum<255
|
||||
#define NRFDATA_CENTER 127
|
||||
|
||||
//boolean armed = false;
|
||||
boolean lastpacketOK = false;
|
||||
|
||||
//Gametrak
|
||||
//boolean armed_gt = false;
|
||||
|
||||
uint8_t controlmode=0;
|
||||
#define MODE_DISARMED 0
|
||||
#define MODE_RADIONRF 1
|
||||
#define MODE_GAMETRAK 2
|
||||
|
||||
|
||||
|
||||
// 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 speedL;
|
||||
int16_t speedR;
|
||||
int16_t speedL_meas;
|
||||
int16_t speedR_meas;
|
||||
int16_t batVoltage;
|
||||
int16_t boardTemp;
|
||||
int16_t curL_DC;
|
||||
int16_t curR_DC;
|
||||
uint16_t checksum;
|
||||
} SerialFeedback;
|
||||
SerialFeedback Feedback;
|
||||
SerialFeedback NewFeedback;
|
||||
|
||||
|
||||
|
||||
|
||||
void setup() {
|
||||
|
||||
Serial.begin(SERIAL_BAUD); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
|
||||
|
||||
|
||||
Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
|
||||
//Serial1 may be dead on my board?
|
||||
|
||||
|
||||
pinMode(PIN_LED, OUTPUT);
|
||||
digitalWrite(PIN_LED, HIGH);
|
||||
|
||||
|
||||
pinMode(PIN_VBAT,INPUT_ANALOG);
|
||||
pinMode(PIN_CURRENT,INPUT_ANALOG);
|
||||
|
||||
pinMode(PIN_GAMETRAK_LENGTH,INPUT_ANALOG);
|
||||
pinMode(PIN_GAMETRAK_VERTICAL,INPUT_ANALOG);
|
||||
pinMode(PIN_GAMETRAK_HORIZONTAL,INPUT_ANALOG);
|
||||
|
||||
|
||||
#ifdef DEBUG
|
||||
Serial.println("Initializing nrf24");
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
radio.begin();
|
||||
|
||||
|
||||
radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
|
||||
//radio.setDataRate( RF24_1MBPS );
|
||||
|
||||
radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
|
||||
|
||||
radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
|
||||
radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
|
||||
|
||||
radio.openWritingPipe(pipes[0]); //write on pipe 0
|
||||
radio.openReadingPipe(1, pipes[1]); //read on pipe 1
|
||||
|
||||
radio.startListening();
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef DEBUG
|
||||
Serial.println("Initialized");
|
||||
#endif
|
||||
|
||||
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
|
||||
ReceiveSerial2(); // Check for new received data
|
||||
|
||||
|
||||
if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
|
||||
vbat=analogRead(PIN_VBAT)*VBAT_DIV_FACTOR;
|
||||
ibat=(analogRead(PIN_CURRENT)-CURRENT_OFFSET)*CURRENT_FACTOR;
|
||||
|
||||
|
||||
gt_length = constrain((analogRead(PIN_GAMETRAK_LENGTH)-GT_LENGTH_OFFSET)*GT_LENGTH_SCALE +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
|
||||
if (gt_length<=GT_LENGTH_MIN){
|
||||
gt_length=0; //if below minimum measurable length set to 0mm
|
||||
}
|
||||
gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-GT_VERTICAL_CENTER, +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
|
||||
gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-GT_HORIZONTAL_CENTER, +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
|
||||
|
||||
last_adcupdated = millis();
|
||||
|
||||
/*
|
||||
Serial.print("gt_length=");
|
||||
Serial.print(gt_length);
|
||||
Serial.print(", gt_vertical=");
|
||||
Serial.print(gt_vertical);
|
||||
Serial.print(", gt_horizontal=");
|
||||
Serial.println(gt_horizontal);*/
|
||||
|
||||
/*
|
||||
Serial.print("PIN_GAMETRAK_LENGTH=");
|
||||
Serial.print(analogRead(PIN_GAMETRAK_LENGTH));
|
||||
Serial.print(", PIN_GAMETRAK_VERTICAL=");
|
||||
Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
|
||||
Serial.print(", PIN_GAMETRAK_HORIZONTAL=");
|
||||
Serial.println(analogRead(PIN_GAMETRAK_HORIZONTAL));
|
||||
*/
|
||||
}
|
||||
|
||||
//NRF24
|
||||
nrf_delay = millis() - last_nrfreceive; //update nrf delay
|
||||
if ( radio.available() )
|
||||
{
|
||||
//Serial.println("radio available ...");
|
||||
|
||||
lastpacketOK = false; //initialize with false, if checksum ok gets set to true
|
||||
digitalWrite(PIN_LED, !digitalRead(PIN_LED));
|
||||
radio.read( &lastnrfdata, sizeof(nrfdata) );
|
||||
|
||||
if (lastnrfdata.speed == NRFDATA_CENTER && lastnrfdata.steer == NRFDATA_CENTER) { //arm only when centered
|
||||
controlmode = MODE_RADIONRF;//set radionrf mode at first received packet
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
|
||||
if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
|
||||
lastpacketOK = true;
|
||||
last_nrfreceive = millis();
|
||||
|
||||
//parse commands
|
||||
motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0
|
||||
}
|
||||
|
||||
/*
|
||||
#ifdef DEBUG
|
||||
Serial.print("Received:");
|
||||
Serial.print(" st=");
|
||||
Serial.print(lastnrfdata.steer);
|
||||
Serial.print(", sp=");
|
||||
Serial.print(lastnrfdata.speed);
|
||||
Serial.print(", c=");
|
||||
Serial.print(lastnrfdata.commands);
|
||||
Serial.print(", chks=");
|
||||
Serial.print(lastnrfdata.checksum);
|
||||
|
||||
Serial.print("nrfdelay=");
|
||||
Serial.print(nrf_delay);
|
||||
Serial.println();
|
||||
#endif
|
||||
*/
|
||||
|
||||
//y positive = forward
|
||||
//x positive = right
|
||||
|
||||
/*
|
||||
setYaw+=((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*10/127;
|
||||
while (setYaw<0){
|
||||
setYaw+=360;
|
||||
}
|
||||
while (setYaw>=360){
|
||||
setYaw-=360;
|
||||
}*/
|
||||
|
||||
/*
|
||||
Serial.print("setYaw=");
|
||||
Serial.print(setYaw);
|
||||
Serial.print(" Yaw=");
|
||||
Serial.println(yaw);*/
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
|
||||
controlmode = MODE_DISARMED;
|
||||
#ifdef DEBUG
|
||||
Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
|
||||
#endif
|
||||
}
|
||||
if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
|
||||
|
||||
|
||||
if (lastpacketOK) { //if lastnrfdata is valid
|
||||
if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) {
|
||||
last_controlupdate = millis();
|
||||
|
||||
//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
|
||||
//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
|
||||
set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
|
||||
set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
|
||||
|
||||
//align to compass
|
||||
/*
|
||||
double yawdiff = (setYaw - 180) - (yaw - 180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
|
||||
yawdiff += (yawdiff > 180) ? -360 : (yawdiff < -180) ? 360 : 0;
|
||||
//yawdiff/=2;
|
||||
int yawdiffsign = 1;
|
||||
if (yawdiff < 0) {
|
||||
yawdiffsign = -1;
|
||||
}
|
||||
yawdiff = yawdiff * yawdiff; //square
|
||||
yawdiff = constrain(yawdiff * 1 , 0, 800);
|
||||
yawdiff *= yawdiffsign; //redo sign
|
||||
int16_t set_steer_mag = (int16_t)( yawdiff );
|
||||
|
||||
float new_magalign_multiplier = map( abs((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER), 2, 10, 1.0, 0.0); //0=normal steering, 1=only mag steering
|
||||
new_magalign_multiplier = 0; //Force mag off
|
||||
new_magalign_multiplier = constrain(new_magalign_multiplier, 0.0, 1.0);
|
||||
|
||||
magalign_multiplier = min(new_magalign_multiplier, min(1.0, magalign_multiplier + 0.01)); //go down fast, slowly increase
|
||||
magalign_multiplier = constrain(magalign_multiplier, 0.0, 1.0); //safety constrain again
|
||||
|
||||
set_steer = set_steer * (1 - magalign_multiplier) + set_steer_mag * magalign_multiplier;
|
||||
*/
|
||||
|
||||
//calculate speed l and r from speed and steer
|
||||
#define SPEED_COEFFICIENT_NRF 1 // higher value == stronger
|
||||
#define STEER_COEFFICIENT_NRF 0.5 // higher value == stronger
|
||||
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF + set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
|
||||
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF - set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
|
||||
|
||||
/*
|
||||
Serial.print("Out steer=");
|
||||
Serial.println(out_steer);*/
|
||||
}
|
||||
}//if pastpacket not ok, keep last out_steer and speed values until disarmed
|
||||
|
||||
|
||||
#ifdef DEBUG
|
||||
if (!lastpacketOK) {
|
||||
Serial.println("Armed but packet not ok");
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
|
||||
if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
|
||||
controlmode=MODE_GAMETRAK; //enable gametrak mode
|
||||
}
|
||||
}else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
|
||||
//Gametrak Control Code
|
||||
motorenabled=true;
|
||||
if (gt_length<=GT_LENGTH_MIN){ //let go
|
||||
controlmode=MODE_DISARMED;
|
||||
motorenabled=false;
|
||||
}
|
||||
int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
|
||||
if (_gt_length_diff>-GT_LENGTH_MINDIFF & _gt_length_diff<GT_LENGTH_MINDIFF){ //minimum difference to drive
|
||||
_gt_length_diff=0; //threshold
|
||||
}
|
||||
|
||||
set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-GT_STEER_LIMIT,GT_STEER_LIMIT); //steer positive is left //gt_horizontal left is negative
|
||||
|
||||
if (_gt_length_diff>0) { //needs to drive forward
|
||||
set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,GT_SPEED_LIMIT);
|
||||
}else{ //drive backward
|
||||
if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
|
||||
set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-GT_SPEEDBACKWARD_LIMIT,0);
|
||||
}else{
|
||||
set_speed = 0; //stop
|
||||
set_steer = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//calculate speed l and r from speed and steer
|
||||
#define SPEED_COEFFICIENT_GT 1 // higher value == stronger
|
||||
#define STEER_COEFFICIENT_GT 0.5 // higher value == stronger
|
||||
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT + set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
|
||||
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT - set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
|
||||
}
|
||||
|
||||
|
||||
if (error > 0) { //disarm if error occured
|
||||
controlmode = MODE_DISARMED; //force disarmed
|
||||
}
|
||||
|
||||
if (controlmode == MODE_DISARMED){ //all disarmed
|
||||
out_speedl = 0;
|
||||
out_speedr = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (millis() - last_send > SENDPERIOD) {
|
||||
//calculate checksum
|
||||
out_checksum = ((uint8_t) ((uint8_t)out_speedl) * ((uint8_t)out_speedr)); //simple checksum
|
||||
if (out_checksum == 0 || out_checksum == 255) {
|
||||
out_checksum = 1; //cannot be 0 or 255 (special purpose)
|
||||
}
|
||||
|
||||
if (!motorenabled) { //disable motors?
|
||||
out_checksum = 0; //checksum=0 disables motors
|
||||
}
|
||||
|
||||
/*Serial2.write((uint8_t *) &out_speedl, sizeof(out_speedl));
|
||||
Serial2.write((uint8_t *) &out_speedr, sizeof(out_speedr));
|
||||
Serial2.write((uint8_t *) &out_checksum, sizeof(out_checksum));*/
|
||||
if (motorenabled) { //motors enabled
|
||||
SendSerial2(out_speedl,out_speedr);
|
||||
} else { //motors disabled
|
||||
SendSerial2(0,0);
|
||||
}
|
||||
lastsend_out_speedl = out_speedl; //remember last transmittet values (for stat sending)
|
||||
lastsend_out_speedr = out_speedr;
|
||||
last_send = millis();
|
||||
|
||||
|
||||
#ifdef DEBUG
|
||||
Serial.print(" out_speedl=");
|
||||
Serial.print(out_speedl);
|
||||
Serial.print(" out_speedr=");
|
||||
Serial.print(out_speedr);
|
||||
Serial.print(" checksum=");
|
||||
Serial.print(out_checksum);
|
||||
|
||||
Serial.print(" controlmode=");
|
||||
Serial.print(controlmode);
|
||||
|
||||
Serial.println();
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
//
|
||||
#ifdef PARAMETEROUTPUT
|
||||
if ( millis() - last_parametersend > PARAMETERSENDPERIOD) {
|
||||
//Serial.write((uint8_t *) &counter, sizeof(counter));//uint8_t, 1 byte
|
||||
//Serial.write((uint8_t *) &value1, sizeof(value1)); //uint16_t, 2 bytes
|
||||
//Serial.write((uint8_t *) &value2, sizeof(value2)); //int16_t, 2 bytes
|
||||
//Serial.write((uint8_t *) &floatvalue, sizeof(floatvalue)); //float, 4 bytes
|
||||
|
||||
uint8_t booleanvalues=0; //reset
|
||||
booleanvalues |= motorenabled<<0; //bit 0
|
||||
booleanvalues |= (controlmode&0b00000011)<<1; //bit 1 and 2 (2bit number for controlmodes (3)
|
||||
|
||||
Serial.write((uint8_t *) &out_speedl, sizeof(out_speedl)); //int16_t, 2 bytes
|
||||
Serial.write((uint8_t *) &out_speedr, sizeof(out_speedr)); //int16_t, 2 bytes
|
||||
Serial.write((uint8_t *) &booleanvalues, sizeof(booleanvalues)); //uint8_t, 1 byte //booleanvalues
|
||||
Serial.write((uint8_t *) &vbat, sizeof(vbat)); //float, 4 bytes
|
||||
//Serial.write((uint8_t *) &ibat, sizeof(ibat)); //float, 4 bytes
|
||||
float yaw_float=yaw;
|
||||
Serial.write((uint8_t *) &yaw_float, sizeof(yaw_float)); //float, 4 bytes
|
||||
Serial.write((uint8_t *) >_length, sizeof(gt_length)); //uint16_t, 2 bytes
|
||||
Serial.write((uint8_t *) >_horizontal, sizeof(gt_horizontal)); //int8_t, 1 byte
|
||||
Serial.write((uint8_t *) >_vertical, sizeof(gt_vertical)); //int8_t, 1 byte
|
||||
|
||||
|
||||
|
||||
|
||||
last_parametersend = millis();
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
void sendRF(nrfstatdata senddata){
|
||||
#ifdef DEBUG
|
||||
Serial.println("Transmitting...");
|
||||
#endif
|
||||
|
||||
radio.stopListening(); //stop listening to be able to transmit
|
||||
radiosendOk = radio.write( &senddata, sizeof(nrfstatdata) );
|
||||
if (!radiosendOk){
|
||||
#ifdef DEBUG
|
||||
Serial.println("send failed");
|
||||
#endif
|
||||
}
|
||||
radio.startListening(); //start listening again
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
// ########################## SEND ##########################
|
||||
void SendSerial2(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
|
||||
Serial2.write((uint8_t *) &Command, sizeof(Command));
|
||||
}
|
||||
|
||||
// ########################## RECEIVE ##########################
|
||||
void ReceiveSerial2()
|
||||
{
|
||||
// Check for new data availability in the Serial buffer
|
||||
if (Serial2.available()) {
|
||||
incomingByte = Serial2.read(); // Read the incoming byte
|
||||
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
|
||||
}
|
||||
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 = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
|
||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC);
|
||||
// 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);
|
||||
Serial.print(" 9: "); Serial.print(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
|
||||
Serial.print(" 10: "); Serial.println(Feedback.curR_DC); //in A, in hoverbrett negative sign for forward
|
||||
*/
|
||||
Serial.print(" 9: "); Serial.println(Feedback.curL_DC); //in A, in hoverbrett negative sign for forward
|
||||
} 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;
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
|
||||
This directory is intended for PIO Unit Testing and project tests.
|
||||
|
||||
Unit Testing is a software testing method by which individual units of
|
||||
source code, sets of one or more MCU program modules together with associated
|
||||
control data, usage procedures, and operating procedures, are tested to
|
||||
determine whether they are fit for use. Unit testing finds problems early
|
||||
in the development cycle.
|
||||
|
||||
More information about PIO Unit Testing:
|
||||
- https://docs.platformio.org/page/plus/unit-testing.html
|
||||
Loading…
Reference in New Issue