lucysrausch/hoverboard-firmware-hack
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FIX: Button poweroff. Firmware since merge still untested. Use firmware from before nov 2018 if you need it asap

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Niklas Fauth
2018-12-01 23:52:40 +01:00
parent 20ebed520f
commit b582fda321
3 changed files with 521 additions and 720 deletions
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3
Inc/config.h
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@@ -54,7 +54,7 @@
// ###### CONTROL VIA UART (serial) ###### // ###### CONTROL VIA UART (serial) ######
//#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! //#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry // #define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry
// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); } // for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }
// ###### CONTROL VIA RC REMOTE ###### // ###### CONTROL VIA RC REMOTE ######
@@ -75,6 +75,7 @@
//#define INVERT_GAMETRAK //#define INVERT_GAMETRAK
#define SUPPORT_LCD #define SUPPORT_LCD
#define SUPPORT_NUNCHUCK #define SUPPORT_NUNCHUCK
//#define SUPPORT_REMOTE
#define VEL_P 0.9 #define VEL_P 0.9
#define ROT_P 1.2 #define ROT_P 1.2

13
Src/main.c
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@@ -170,6 +170,7 @@ int main(void) {
int lastDistance = 0; int lastDistance = 0;
enable = 1; enable = 1;
uint8_t checkRemote = 0;
HAL_FLASH_Unlock(); HAL_FLASH_Unlock();
@@ -210,7 +211,9 @@ int main(void) {
LCD_WriteString(&lcd, "Initializing..."); LCD_WriteString(&lcd, "Initializing...");
int buttonTimeout = 0; int buttonTimeout = 0;
uint8_t checkRemote = 1;
#ifdef SUPPORT_REMOTE
checkRemote = 1;
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
buttonTimeout++; buttonTimeout++;
HAL_Delay(100); HAL_Delay(100);
@@ -225,6 +228,7 @@ int main(void) {
HAL_Delay(2000); HAL_Delay(2000);
} }
} }
#endif
LCD_ClearDisplay(&lcd); LCD_ClearDisplay(&lcd);
HAL_Delay(5); HAL_Delay(5);
@@ -385,15 +389,18 @@ int main(void) {
if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away! if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
enable = 0; enable = 0;
longBeep(); longBeep();
#ifdef SUPPORT_LCD
LCD_ClearDisplay(&lcd); LCD_ClearDisplay(&lcd);
HAL_Delay(5); HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 0); LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Emergency Off!"); LCD_WriteString(&lcd, "Emergency Off!");
LCD_SetLocation(&lcd, 0, 1); LCD_SetLocation(&lcd, 0, 1);
LCD_WriteString(&lcd, "Keeper to fast."); LCD_WriteString(&lcd, "Keeper to fast.");
#endif
poweroff(); poweroff();
} }
#ifdef SUPPORT_LCD
if (counter % 100 == 0) { if (counter % 100 == 0) {
LCD_SetLocation(&lcd, 4, 0); LCD_SetLocation(&lcd, 4, 0);
LCD_WriteFloat(&lcd,distance/1345.0,2); LCD_WriteFloat(&lcd,distance/1345.0,2);
@@ -405,8 +412,9 @@ int main(void) {
LCD_WriteFloat(&lcd,MAX(ABS(currentR), ABS(currentL)),2); LCD_WriteFloat(&lcd,MAX(ABS(currentR), ABS(currentL)),2);
} }
#endif #endif
#endif
#ifndef CONTROL_GAMETRAK
// ####### LOW-PASS FILTER ####### // ####### LOW-PASS FILTER #######
steer = steer * (1.0 - FILTER) + cmd1 * FILTER; steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER; speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
@@ -466,6 +474,7 @@ int main(void) {
while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {} while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
poweroff(); poweroff();
} }
#endif
// ####### BEEP AND EMERGENCY POWEROFF ####### // ####### BEEP AND EMERGENCY POWEROFF #######

1225
build/hover.hex
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