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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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22
Src/setup.c
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@@ -53,11 +53,12 @@ DMA_HandleTypeDef hdma_usart3_tx;
volatile adc_buf_t adc_buffer;
#if defined(CONTROL_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
#if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
defined(FEEDBACK_SERIAL_USAR2) || defined(DEBUG_SERIAL_USART2)
void UART2_Init(void) {
/* The code below is commented out - otwerwise Serial Receive does not work */
// #ifdef CONTROL_SERIAL_USART2
// #if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
// /* DMA1_Channel6_IRQn interrupt configuration */
// HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
// HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
@@ -81,7 +82,7 @@ void UART2_Init(void) {
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
#if defined(CONTROL_SERIAL_USART2)
#if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
huart2.Init.Mode = UART_MODE_TX_RX;
#elif defined(DEBUG_SERIAL_USART2)
huart2.Init.Mode = UART_MODE_TX;
@@ -99,7 +100,7 @@ void UART2_Init(void) {
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
#ifdef CONTROL_SERIAL_USART2
#if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -127,7 +128,7 @@ void UART2_Init(void) {
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(&hdma_usart2_tx);
#ifdef CONTROL_SERIAL_USART2
#if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
__HAL_LINKDMA(&huart2, hdmatx, hdma_usart2_tx);
#endif
#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
@@ -139,11 +140,12 @@ void UART2_Init(void) {
}
#endif
#if defined(CONTROL_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
#if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || \
defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
void UART3_Init(void) {
/* The code below is commented out - otwerwise Serial Receive does not work */
// #ifdef CONTROL_SERIAL_USART3
// #if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
// /* DMA1_Channel3_IRQn interrupt configuration */
// HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 5, 3);
// HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
@@ -167,7 +169,7 @@ void UART3_Init(void) {
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
#if defined(CONTROL_SERIAL_USART3)
#if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
huart3.Init.Mode = UART_MODE_TX_RX;
#elif defined(DEBUG_SERIAL_USART3)
huart3.Init.Mode = UART_MODE_TX;
@@ -185,7 +187,7 @@ void UART3_Init(void) {
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
#ifdef CONTROL_SERIAL_USART3
#if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -213,7 +215,7 @@ void UART3_Init(void) {
hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(&hdma_usart3_tx);
#ifdef CONTROL_SERIAL_USART3
#if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
__HAL_LINKDMA(&huart3, hdmatx, hdma_usart3_tx);
#endif
#if defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)