EFeru/hoverboard-firmware-hack-SIN
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ADD: control via uart. Send two int16 (4 bytes) to usart 2 to control the motors with an arduino or a raspberry pi

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This commit is contained in:
Niklas Fauth
2018-06-11 14:29:39 +02:00
parent 9332f59f82
commit b3fe48a832
6 changed files with 786 additions and 1005 deletions
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24
Src/main.c
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@@ -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;