mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-08-16 16:46:11 +00:00
Added iBUS on AUX Serial
- iBUS implementation - changed default baud rate to 115200 - updated platformio.ini, the chip is now supported by Platformio
This commit is contained in:
EmanuelFeru
52
Inc/config.h
52
Inc/config.h
@@ -27,8 +27,9 @@
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// Ubuntu: define the desired build variant here if you want to use make in console
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// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_DEBUG". Select only one at a time.
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#if !defined(PLATFORMIO)
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// #define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
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// #define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
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// #define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
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// #define VARIANT_HOVERCAR // Variant for using the side-boards connected to the Hoverboard mainboard
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// #define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
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#endif
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/* ==================================== DO NOT TOUCH SETTINGS ==================================== */
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@@ -40,7 +41,6 @@
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// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
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/* =============================================================================================== */
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/* ==================================== SETTINGS MPU-6050 ==================================== */
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#define MPU_SENSOR_ENABLE // [-] Enable flag for MPU-6050 sensor. Comment-out this flag to Disable the MPU sensor and reduce code size.
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#define MPU_DMP_ENABLE // [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality.
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@@ -59,32 +59,50 @@
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#define DMP_SHAKE_REJECT_TIME 40 // [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
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#define DMP_SHAKE_REJECT_TIMEOUT 10 // [ms] Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter.
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/* ==================================== SETTINGS USART ==================================== */
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#if defined(VARIANT_DEBUG)
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#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
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#elif defined(VARIANT_HOVERBOARD)
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#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
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#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
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#endif
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#define USART_MAIN_BAUD 38400 // [bit/s] MAIN Serial Tx/Rx baud rate
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#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for reliable serial communication
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#define SERIAL_BUFFER_SIZE 64 // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the 'Feedback' structure size
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#define SERIAL_TIMEOUT 600 // [-] Number of wrong received data for Serial timeout detection. Depends on DELAY_IN_MAIN_LOOP
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#define USART_MAIN_BAUD 115200 // [bit/s] MAIN Serial Tx/Rx baud rate
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#define USART_AUX_BAUD 115200 // [bit/s] AUX Serial Tx/Rx baud rate
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/* ==================================== SETTINGS AUX ==================================== */
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// #define AUX45_USE_GPIO // [-] Use AUX4, AUX5 as GPIO ports
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// #define AUX45_USE_I2C // [-] Use AUX4, AUX5 as I2C port
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#define AUX45_USE_USART // [-] Use AUX4, AUX5 as USART port
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#ifdef AUX45_USE_USART
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#define USART_AUX_BAUD 38400 // [bit/s] AUX Serial Tx/Rx baud rate
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#endif
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#ifdef AUX45_USE_I2C
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#define AUX_I2C_SPEED 100000 // [bit/s] Define I2C speed for communicating via AUX45 wires
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#endif
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/* ==================================== VARIANT DEBUG ==================================== */
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#ifdef VARIANT_DEBUG
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#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
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#endif
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/* ==================================== VARIANT HOVERCAR ==================================== */
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#ifdef VARIANT_HOVERCAR
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#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
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#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
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#define SERIAL_AUX_TX // [-] Use AUX4, AUX5 as USART port
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#define SERIAL_AUX_RX // [-] Use AUX4, AUX5 as USART port
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#define CONTROL_IBUS
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#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
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#define IBUS_LENGTH 0x20
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#define IBUS_COMMAND 0x40
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#endif
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/* ==================================== VARIANT HOVERBOARD ==================================== */
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#ifdef VARIANT_HOVERBOARD
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#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
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#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
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#endif
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/* ==================================== VALIDATE SETTINGS ==================================== */
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#if defined(SERIAL_DEBUG) && defined(SERIAL_CONTROL)
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#error SERIAL_DEBUG and SERIAL_CONTROL not allowed. It is on the same cable.
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@@ -94,7 +112,7 @@
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#error SERIAL_DEBUG and SERIAL_FEEDBACK not allowed. It is on the same cable.
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#endif
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#if defined(AUX45_USE_GPIO) && (defined(AUX45_USE_USART) || defined(AUX45_USE_I2C)) || (defined(AUX45_USE_USART) && defined(AUX45_USE_I2C))
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#if defined(AUX45_USE_GPIO) && (defined(SERIAL_AUX_RX) || defined(AUX45_USE_I2C)) || (defined(SERIAL_AUX_RX) && defined(AUX45_USE_I2C))
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#error AUX45_USE_(GPIO,USART,I2C) not allowed in the same time. It is on the same cable.
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#endif
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@@ -77,24 +77,24 @@
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// USART ports number
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#define USARTn 2
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// USART to Auxiliary, connected to USART0
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// USART AUX, connected to USART0
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#define USART_AUX USART0
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#define USART_AUX_CLK RCU_USART0
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#define USART_AUX_TX_PIN GPIO_PIN_9
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#define USART_AUX_RX_PIN GPIO_PIN_10
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// USART to Mainboard, connected to USART1
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#define USART_MAIN USART1
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#define USART_MAIN_CLK RCU_USART1
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#define USART_MAIN_TX_PIN GPIO_PIN_2
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#define USART_MAIN_RX_PIN GPIO_PIN_3
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// USART address for DMA defines
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#define USART0_TDATA_ADDRESS ((uint32_t)0x40013828) // USART0: 0x4001 3800 - 0x4001 3BFF
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#define USART0_CLK RCU_USART0
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#define USART0_TX_PIN GPIO_PIN_9
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#define USART0_RX_PIN GPIO_PIN_10
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#define USART0_TX_DMA_CH DMA_CH1
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#define USART0_RX_DMA_CH DMA_CH2
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#define USART0_TDATA_ADDRESS ((uint32_t)0x40013828) // USART0: 0x4001 3800 - 0x4001 3BFF, Rx offset: 0x28, Tx offset: 0x24
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#define USART0_RDATA_ADDRESS ((uint32_t)0x40013824)
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#define USART1_TDATA_ADDRESS ((uint32_t)0x40004428) // USART1: 0x4000 4400 - 0x4000 47FF
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// USART MAIN, connected to USART1
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#define USART_MAIN USART1
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#define USART1_CLK RCU_USART1
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#define USART1_TX_PIN GPIO_PIN_2
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#define USART1_RX_PIN GPIO_PIN_3
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#define USART1_TX_DMA_CH DMA_CH3
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#define USART1_RX_DMA_CH DMA_CH4
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#define USART1_TDATA_ADDRESS ((uint32_t)0x40004428) // USART1: 0x4000 4400 - 0x4000 47FF, Rx offset: 0x28, Tx offset: 0x24
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#define USART1_RDATA_ADDRESS ((uint32_t)0x40004424)
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@@ -38,6 +38,8 @@ void PendSV_Handler(void);
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/* SysTick handle function */
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void SysTick_Handler(void);
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/* USART0 handle function */
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void USART0_IRQHandler(void);
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/* USART1 handle function */
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void USART1_IRQHandler(void);
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/* I2C0 event handle function */
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void I2C0_EV_IRQHandler(void);
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@@ -104,18 +104,13 @@ int mpu_get_compass_reg(short *data, unsigned long *timestamp);
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int mpu_get_temperature(long *data, unsigned long *timestamp);
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int mpu_get_int_status(short *status);
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int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
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unsigned char *sensors, unsigned char *more);
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int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
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unsigned char *more);
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int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more);
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int mpu_read_fifo_stream(unsigned short length, unsigned char *data, unsigned char *more);
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int mpu_reset_fifo(void);
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int mpu_write_mem(unsigned short mem_addr, unsigned short length,
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unsigned char *data);
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int mpu_read_mem(unsigned short mem_addr, unsigned short length,
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unsigned char *data);
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int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
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unsigned short start_addr, unsigned short sample_rate);
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int mpu_write_mem(unsigned short mem_addr, unsigned short length, unsigned char *data);
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int mpu_read_mem(unsigned short mem_addr, unsigned short length, unsigned char *data);
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int mpu_load_firmware(unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate);
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int mpu_reg_dump(void);
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int mpu_read_reg(unsigned char reg, unsigned char *data);
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32
Inc/util.h
32
Inc/util.h
@@ -23,8 +23,7 @@
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#include <stdint.h>
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/* Rx Structures USART */
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/* Tx structure USART MAIN */
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#ifdef SERIAL_CONTROL
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typedef struct{
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uint16_t start;
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@@ -35,6 +34,7 @@ typedef struct{
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uint16_t checksum;
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} SerialSideboard;
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#endif
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/* Rx structure USART MAIN */
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#ifdef SERIAL_FEEDBACK
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typedef struct{
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uint16_t start;
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@@ -49,6 +49,28 @@ typedef struct{
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} SerialFeedback;
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#endif
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/* Tx structure USART AUX */
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#ifdef SERIAL_AUX_TX
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typedef struct{
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uint16_t start;
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int16_t signal1;
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int16_t signal2;
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uint16_t checksum;
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} SerialAuxTx;
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#endif
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/* Rx structure USART AUX */
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#ifdef SERIAL_AUX_RX
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#ifdef CONTROL_IBUS
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typedef struct{
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uint8_t start;
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uint8_t type;
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uint8_t channels[IBUS_NUM_CHANNELS*2];
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uint8_t checksuml;
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uint8_t checksumh;
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} SerialCommand;
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#endif
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#endif
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/* general functions */
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void consoleLog(char *message);
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void toggle_led(uint32_t gpio_periph, uint32_t pin);
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@@ -58,13 +80,17 @@ void intro_demo_led(uint32_t tDelay);
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void input_init(void);
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/* usart read functions */
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void usart_rx_check(void);
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void usart0_rx_check(void);
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void usart1_rx_check(void);
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#ifdef SERIAL_DEBUG
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void usart_process_debug(uint8_t *userCommand, uint32_t len);
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#endif
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#ifdef SERIAL_FEEDBACK
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void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
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#endif
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#ifdef SERIAL_AUX_RX
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void usart_process_command(SerialCommand *command_in, SerialCommand *command_out);
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#endif
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/* i2c write/read functions */
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int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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