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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
Src/comms.c
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@@ -30,11 +30,11 @@ void consoleScope(void) {
uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
uart_buf[9] = '\n';
if(UART_DMA_CHANNEL->CNDTR == 0) {
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = 10;
UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
if(UART_DMA_CHANNEL_TX->CNDTR == 0) {
UART_DMA_CHANNEL_TX->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL_TX->CNDTR = 10;
UART_DMA_CHANNEL_TX->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL_TX->CCR |= DMA_CCR_EN;
}
#endif
@@ -45,11 +45,11 @@ void consoleScope(void) {
"1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n",
ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
if(UART_DMA_CHANNEL->CNDTR == 0) {
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = strLength;
UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
if(UART_DMA_CHANNEL_TX->CNDTR == 0) {
UART_DMA_CHANNEL_TX->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL_TX->CNDTR = strLength;
UART_DMA_CHANNEL_TX->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL_TX->CCR |= DMA_CCR_EN;
}
#endif
}
@@ -57,11 +57,11 @@ void consoleScope(void) {
void consoleLog(char *message)
{
#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
if(UART_DMA_CHANNEL->CNDTR == 0) {
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = strlen((char *)(uintptr_t)message);
UART_DMA_CHANNEL->CMAR = (uint32_t)message;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
if(UART_DMA_CHANNEL_TX->CNDTR == 0) {
UART_DMA_CHANNEL_TX->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL_TX->CNDTR = strlen((char *)(uintptr_t)message);
UART_DMA_CHANNEL_TX->CMAR = (uint32_t)message;
UART_DMA_CHANNEL_TX->CCR |= DMA_CCR_EN;
}
#endif
}