lucysrausch/hoverboard-firmware-hack
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added lots of comments; added some validation to config.h; improved adc-input: added min and max adc-values, added poti calibration, added adc-values to debug-output; added support for a second button connected to adc2; added INVERT_R_DIRECTION and INVERT_L_DIRECTION; updated readme

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larsm
2018-05-27 22:16:52 +02:00
parent 057407ae24
commit 88b26123c2
3 changed files with 103 additions and 41 deletions
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53
Src/main.c
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@@ -32,11 +32,10 @@ extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
extern volatile adc_buf_t adc_buffer;
//LCD_PCF8574_HandleTypeDef lcd;
extern I2C_HandleTypeDef hi2c2;
int cmd1;
int cmd1; // normalized input values. -1000 to 1000
int cmd2;
int cmd3;
@@ -127,30 +126,29 @@ int main(void) {
I2C_Init();
HAL_Delay(50);
lcd.pcf8574.PCF_I2C_ADDRESS = 0x27;
lcd.pcf8574.PCF_I2C_TIMEOUT = 5;
lcd.pcf8574.i2c = hi2c2;
lcd.NUMBER_OF_LINES = NUMBER_OF_LINES_2;
lcd.type = TYPE0;
lcd.pcf8574.PCF_I2C_TIMEOUT = 5;
lcd.pcf8574.i2c = hi2c2;
lcd.NUMBER_OF_LINES = NUMBER_OF_LINES_2;
lcd.type = TYPE0;
if(LCD_Init(&lcd)!=LCD_OK){
// error occured
//TODO while(1);
}
if(LCD_Init(&lcd)!=LCD_OK){
// error occured
//TODO while(1);
}
LCD_ClearDisplay(&lcd);
LCD_ClearDisplay(&lcd);
HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Hover V2.0");
LCD_WriteString(&lcd, "Hover V2.0");
LCD_SetLocation(&lcd, 0, 1);
LCD_WriteString(&lcd, "Initializing...");
#endif
enable = 1;
enable = 1; // enable motors
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
@@ -168,8 +166,13 @@ int main(void) {
#endif
#ifdef CONTROL_ADC
cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
// 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
timeout = 0;
#endif
@@ -184,17 +187,31 @@ int main(void) {
speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000);
speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
// ####### DEBUG SERIAL OUT #######
#ifdef CONTROL_ADC
setScopeChannel(0, (int)adc_buffer.l_tx2); // ADC1
setScopeChannel(1, (int)adc_buffer.l_rx2); // ADC2
#endif
setScopeChannel(2, (int)speedR);
setScopeChannel(3, (int)speedL);
#ifdef ADDITIONAL_CODE
ADDITIONAL_CODE;
ADDITIONAL_CODE;
#endif
// ####### SET OUTPUTS #######
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
#else
pwmr = -speedR;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
#else
pwml = speedL;
#endif
}
lastSpeedL = speedL;