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UART with sideboards works + major refactoring

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► the mainboard can now send and receive Serial data from the sideboards
► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created
► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general:
- ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off
- Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off
- added one sideboard functionality:
         - LEDs are used to display battery level,  Motor Enable, Errors, Reverse driving, Braking.
         - Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
This commit is contained in:
EmanuelFeru
2020-03-01 10:00:26 +01:00
parent 52e920c5ee
commit 72e6b30033
23 changed files with 1722 additions and 1223 deletions
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30
02_Arduino/hoverserial/hoverserial.ino
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@@ -25,7 +25,7 @@
// ########################## DEFINES ##########################
#define HOVER_SERIAL_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 START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
#define TIME_SEND 100 // [ms] Sending time interval
#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
@@ -52,12 +52,11 @@ 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;
uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback;
SerialFeedback Feedback;
@@ -92,7 +91,7 @@ void Receive()
// Check for new data availability in the Serial buffer
if (HoverSerial.available()) {
incomingByte = HoverSerial.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
}
else {
return;
@@ -107,9 +106,9 @@ void Receive()
// Copy received data
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
p = (byte *)&NewFeedback;
*p++ = incomingBytePrev;
*p++ = incomingByte;
idx = 2;
*p++ = incomingBytePrev;
*p++ = incomingByte;
idx = 2;
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
*p++ = incomingByte;
idx++;
@@ -118,8 +117,8 @@ void Receive()
// 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);
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
// Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
@@ -129,12 +128,11 @@ void Receive()
// 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(" 3: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
} else {
Serial.println("Non-valid data skipped");
}
@@ -161,7 +159,7 @@ void loop(void)
// Send commands
if (iTimeSend > timeNow) return;
iTimeSend = timeNow + TIME_SEND;
Send(0, abs(iTest));
Send(0, SPEED_MAX_TEST - 2*abs(iTest));
// Calculate test command signal
iTest += 10;