mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 09:39:33 +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
parent
d80bde1d27
commit
46ee23e975
48
Inc/config.h
48
Inc/config.h
@ -28,6 +28,7 @@
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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_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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@ -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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@ -122,6 +122,20 @@ void SysTick_Handler(void)
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delay_decrement();
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}
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/*!
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\brief this function handles the USART0 interrupt request
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\param[in] none
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\param[out] none
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\retval none
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*/
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void USART0_IRQHandler(void)
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{
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if(RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) { // Check for IDLE line interrupt
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usart_flag_clear(USART0, USART_FLAG_IDLE); // Clear IDLE line flag (otherwise it will continue to enter interrupt)
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usart0_rx_check(); // Check for data to process
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}
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}
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/*!
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\brief this function handles the USART1 interrupt request
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\param[in] none
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@ -132,7 +146,7 @@ void USART1_IRQHandler(void)
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{
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if(RESET != usart_interrupt_flag_get(USART1, USART_INT_FLAG_IDLE)) { // Check for IDLE line interrupt
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usart_flag_clear(USART1, USART_FLAG_IDLE); // Clear IDLE line flag (otherwise it will continue to enter interrupt)
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usart_rx_check(); // Check for data to process
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usart1_rx_check(); // Check for data to process
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}
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}
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69
Src/main.c
69
Src/main.c
@ -35,8 +35,21 @@ extern SerialSideboard Sideboard;
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#ifdef SERIAL_FEEDBACK
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extern SerialFeedback Feedback;
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extern uint16_t timeoutCntSerial; // Timeout counter for Rx Serial command
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extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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extern uint16_t timeoutCntSerial; // Timeout counter for UART1 Rx Serial
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extern uint8_t timeoutFlagSerial; // Timeout Flag for UART1 Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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#endif
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#ifdef SERIAL_AUX_TX
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extern SerialAuxTx AuxTx;
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#endif
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#ifdef SERIAL_AUX_RX
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extern SerialCommand command;
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extern uint16_t timeoutCntSerial0; // Timeout counter for UART0 Rx Serial
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extern uint8_t timeoutFlagSerial0; // Timeout Flag for UART0Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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#ifdef CONTROL_IBUS
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uint16_t ibus_captured_value[IBUS_NUM_CHANNELS];
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#endif
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#endif
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extern MPU_Data mpu; // holds the MPU-6050 data
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@ -53,7 +66,10 @@ int main(void)
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systick_config(); // SysTick config
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gpio_config(); // GPIO config
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usart_nvic_config(); // USART interrupt configuration
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usart_config(USART_MAIN, USART_MAIN_BAUD); // USART config
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usart_config(USART_MAIN, USART_MAIN_BAUD); // USART MAIN config
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#if defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX)
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usart_config(USART_AUX, USART_AUX_BAUD); // USART AUX config
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#endif
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i2c_config(); // I2C config
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i2c_nvic_config(); // I2C interrupt configuration
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input_init(); // Input initialization
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@ -129,9 +145,9 @@ int main(void)
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// ==================================== SERIAL Tx/Rx Handling ====================================
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// Tx USART MAIN
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#ifdef SERIAL_CONTROL
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// To transmit on USART
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if (main_loop_counter % 5 == 0 && dma_transfer_number_get(DMA_CH3) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
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if (main_loop_counter % 5 == 0 && dma_transfer_number_get(USART1_TX_DMA_CH) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
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Sideboard.start = (uint16_t)SERIAL_START_FRAME;
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Sideboard.roll = (int16_t)mpu.euler.roll;
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Sideboard.pitch = (int16_t)mpu.euler.pitch;
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@ -139,13 +155,13 @@ int main(void)
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Sideboard.sensors = (uint16_t)(sensor1 | (sensor2 << 1) | (mpuStatus << 2));
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Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
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dma_channel_disable(DMA_CH3);
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DMA_CHCNT(DMA_CH3) = sizeof(Sideboard);
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DMA_CHMADDR(DMA_CH3) = (uint32_t)&Sideboard;
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dma_channel_enable(DMA_CH3);
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dma_channel_disable(USART1_TX_DMA_CH);
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DMA_CHCNT(USART1_TX_DMA_CH) = sizeof(Sideboard);
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DMA_CHMADDR(USART1_TX_DMA_CH) = (uint32_t)&Sideboard;
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dma_channel_enable(USART1_TX_DMA_CH);
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}
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#endif
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// Rx USART MAIN
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#ifdef SERIAL_FEEDBACK
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if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
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timeoutFlagSerial = 1; // Timeout detected
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@ -156,6 +172,39 @@ int main(void)
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}
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#endif
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// Tx USART AUX
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#ifdef SERIAL_AUX_TX
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if (main_loop_counter % 5 == 0 && dma_transfer_number_get(USART0_TX_DMA_CH) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
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AuxTx.start = (uint16_t)SERIAL_START_FRAME;
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AuxTx.signal1 = (int16_t)sensor1;
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AuxTx.signal2 = (int16_t)sensor2;
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AuxTx.checksum = (uint16_t)(AuxTx.start ^ AuxTx.signal1 ^ AuxTx.signal2);
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dma_channel_disable(USART0_TX_DMA_CH);
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DMA_CHCNT(USART0_TX_DMA_CH) = sizeof(AuxTx);
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DMA_CHMADDR(USART0_TX_DMA_CH) = (uint32_t)&AuxTx;
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dma_channel_enable(USART0_TX_DMA_CH);
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}
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#endif
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// Rx USART AUX
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#ifdef SERIAL_AUX_RX
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#ifdef CONTROL_IBUS
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
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ibus_captured_value[(i/2)] = command.channels[i] + (command.channels[i+1] << 8) - 1000; // 1000-2000 -> 0-1000
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}
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//ch1 = (ibus_captured_value[0] - 500) * 2;
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//ch2 = (ibus_captured_value[1] - 500) * 2;
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log_i( "CH1: %d \t CH2: %d\n", (ibus_captured_value[0] - 500) * 2, (ibus_captured_value[1] - 500) * 2);
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#endif
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if (timeoutCntSerial0++ >= SERIAL_TIMEOUT) { // Timeout qualification
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timeoutFlagSerial0 = 1; // Timeout detected
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timeoutCntSerial0 = SERIAL_TIMEOUT; // Limit timout counter value
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}
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if (timeoutFlagSerial0 && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
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//toggle_led(LED2_GPIO_Port, LED2_Pin); // Toggle the Green LED every 100 ms
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}
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#endif
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main_loop_counter++;
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}
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77
Src/setup.c
77
Src/setup.c
@ -29,16 +29,32 @@
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// Private variables
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static rcu_periph_enum USART_CLK[USARTn] = { USART_AUX_CLK,
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USART_MAIN_CLK
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static rcu_periph_enum USART_CLK[USARTn] = { USART0_CLK,
|
||||
USART1_CLK
|
||||
};
|
||||
|
||||
static uint32_t USART_TX_PIN[USARTn] = { USART_AUX_TX_PIN,
|
||||
USART_MAIN_TX_PIN
|
||||
static uint32_t USART_TX_PIN[USARTn] = { USART0_TX_PIN,
|
||||
USART1_TX_PIN
|
||||
};
|
||||
|
||||
static uint32_t USART_RX_PIN[USARTn] = { USART_AUX_RX_PIN,
|
||||
USART_MAIN_RX_PIN
|
||||
static uint32_t USART_RX_PIN[USARTn] = { USART0_RX_PIN,
|
||||
USART1_RX_PIN
|
||||
};
|
||||
|
||||
static dma_channel_enum USART_TX_DMA_CH[USARTn] = { USART0_TX_DMA_CH,
|
||||
USART1_TX_DMA_CH
|
||||
};
|
||||
|
||||
static dma_channel_enum USART_RX_DMA_CH[USARTn] = { USART0_RX_DMA_CH,
|
||||
USART1_RX_DMA_CH
|
||||
};
|
||||
|
||||
static uint32_t USART_TDATA_ADDRESS[USARTn] = { USART0_TDATA_ADDRESS,
|
||||
USART1_TDATA_ADDRESS
|
||||
};
|
||||
|
||||
static uint32_t USART_RDATA_ADDRESS[USARTn] = { USART0_RDATA_ADDRESS,
|
||||
USART1_RDATA_ADDRESS
|
||||
};
|
||||
|
||||
|
||||
@ -147,14 +163,15 @@ void gpio_config(void) {
|
||||
|
||||
void usart_config(uint32_t selUSART, uint32_t selBaudRate) {
|
||||
|
||||
/* enable GPIO clock */
|
||||
uint32_t USART_ID = 0U;
|
||||
uint8_t USART_ID = 0U;
|
||||
if(selUSART == USART0){
|
||||
USART_ID = 0U;
|
||||
}
|
||||
if(selUSART == USART1){
|
||||
USART_ID = 1U;
|
||||
}
|
||||
|
||||
/* enable GPIO clock */
|
||||
rcu_periph_clock_enable(USART_GPIO_CLK);
|
||||
|
||||
/* enable USART clock */
|
||||
@ -199,34 +216,42 @@ void usart_Tx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t dSize) {
|
||||
|
||||
// --------------------------- TX Channel ---------------------------
|
||||
|
||||
uint8_t USART_ID = 0U;
|
||||
if(selUSART == USART0){
|
||||
USART_ID = 0U;
|
||||
}
|
||||
if(selUSART == USART1){
|
||||
USART_ID = 1U;
|
||||
}
|
||||
|
||||
/* enable DMA clock */
|
||||
rcu_periph_clock_enable(RCU_DMA);
|
||||
|
||||
/* deinitialize DMA channel2 */
|
||||
dma_deinit(DMA_CH3);
|
||||
dma_deinit(USART_TX_DMA_CH[USART_ID]);
|
||||
dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
|
||||
dma_init_struct.memory_addr = (uint32_t)pData;
|
||||
dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
|
||||
dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
|
||||
dma_init_struct.number = dSize;
|
||||
dma_init_struct.periph_addr = USART1_TDATA_ADDRESS;
|
||||
dma_init_struct.periph_addr = USART_TDATA_ADDRESS[USART_ID];
|
||||
dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
|
||||
dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
|
||||
dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
|
||||
dma_init(DMA_CH3, dma_init_struct);
|
||||
dma_init(USART_TX_DMA_CH[USART_ID], dma_init_struct);
|
||||
|
||||
/* configure DMA mode */
|
||||
dma_circulation_disable(DMA_CH3);
|
||||
dma_memory_to_memory_disable(DMA_CH3);
|
||||
dma_circulation_disable(USART_TX_DMA_CH[USART_ID]);
|
||||
dma_memory_to_memory_disable(USART_TX_DMA_CH[USART_ID]);
|
||||
|
||||
/* USART DMA enable for transmission */
|
||||
usart_dma_transmit_config(selUSART, USART_DENT_ENABLE);
|
||||
|
||||
/* enable DMA channel1 */
|
||||
dma_channel_enable(DMA_CH3);
|
||||
dma_channel_enable(USART_TX_DMA_CH[USART_ID]);
|
||||
|
||||
/* wait DMA channel transfer complete */
|
||||
// while (RESET == dma_flag_get(DMA_CH3, DMA_FLAG_FTF));
|
||||
// while (RESET == dma_flag_get(USART_TX_DMA[USART_ID], DMA_FLAG_FTF));
|
||||
|
||||
}
|
||||
|
||||
@ -236,34 +261,42 @@ void usart_Rx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t dSize) {
|
||||
|
||||
// --------------------------- RX Channel ---------------------------
|
||||
|
||||
uint8_t USART_ID = 0U;
|
||||
if(selUSART == USART0){
|
||||
USART_ID = 0U;
|
||||
}
|
||||
if(selUSART == USART1){
|
||||
USART_ID = 1U;
|
||||
}
|
||||
|
||||
/* enable DMA clock */
|
||||
rcu_periph_clock_enable(RCU_DMA);
|
||||
|
||||
/* deinitialize DMA channel4 */
|
||||
dma_deinit(DMA_CH4);
|
||||
dma_deinit(USART_RX_DMA_CH[USART_ID]);
|
||||
dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
|
||||
dma_init_struct.memory_addr = (uint32_t)pData;
|
||||
dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
|
||||
dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
|
||||
dma_init_struct.number = dSize;
|
||||
dma_init_struct.periph_addr = USART1_RDATA_ADDRESS;
|
||||
dma_init_struct.periph_addr = USART_RDATA_ADDRESS[USART_ID];
|
||||
dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
|
||||
dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
|
||||
dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
|
||||
dma_init(DMA_CH4, dma_init_struct);
|
||||
dma_init(USART_RX_DMA_CH[USART_ID], dma_init_struct);
|
||||
|
||||
/* configure DMA mode */
|
||||
dma_circulation_enable(DMA_CH4); // dma_circulation_disable(DMA_CH4);
|
||||
dma_memory_to_memory_disable(DMA_CH4);
|
||||
dma_circulation_enable(USART_RX_DMA_CH[USART_ID]); // dma_circulation_disable(USART_RX_DMA[USART_ID]);
|
||||
dma_memory_to_memory_disable(USART_RX_DMA_CH[USART_ID]);
|
||||
|
||||
/* USART DMA enable for reception */
|
||||
usart_dma_receive_config(selUSART, USART_DENR_ENABLE);
|
||||
|
||||
/* enable DMA channel */
|
||||
dma_channel_enable(DMA_CH4);
|
||||
dma_channel_enable(USART_RX_DMA_CH[USART_ID]);
|
||||
|
||||
/* wait DMA channel transfer complete */
|
||||
// while (RESET == dma_flag_get(DMA_CH4, DMA_FLAG_FTF));
|
||||
// while (RESET == dma_flag_get(USART_RX_DMA[USART_ID], DMA_FLAG_FTF));
|
||||
|
||||
}
|
||||
|
||||
|
||||
115
Src/util.c
115
Src/util.c
@ -34,18 +34,39 @@ SerialSideboard Sideboard;
|
||||
#endif
|
||||
|
||||
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
|
||||
static uint8_t rx_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
|
||||
static uint32_t rx_buffer_len = ARRAY_LEN(rx_buffer);
|
||||
static uint8_t rx1_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
|
||||
static uint32_t rx1_buffer_len = ARRAY_LEN(rx1_buffer);
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
SerialFeedback Feedback;
|
||||
SerialFeedback FeedbackRaw;
|
||||
uint16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
|
||||
uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
uint16_t timeoutCntSerial = 0; // Timeout counter for UART1 Rx Serial
|
||||
uint8_t timeoutFlagSerial = 0; // Timeout Flag for UART1 Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
static uint32_t Feedback_len = sizeof(Feedback);
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_AUX_TX
|
||||
SerialAuxTx AuxTx;
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_AUX_RX
|
||||
static uint8_t rx0_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
|
||||
static uint32_t rx0_buffer_len = ARRAY_LEN(rx0_buffer);
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_AUX_RX
|
||||
SerialCommand command;
|
||||
SerialCommand command_raw;
|
||||
uint16_t timeoutCntSerial0 = 0; // Timeout counter for UART0 Rx Serial
|
||||
uint8_t timeoutFlagSerial0 = 0; // Timeout Flag for UART0 Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
static uint32_t command_len = sizeof(command);
|
||||
#ifdef CONTROL_IBUS
|
||||
static uint16_t ibus_chksum;
|
||||
uint16_t ibus_captured_value[IBUS_NUM_CHANNELS];
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// MPU variables
|
||||
ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
|
||||
|
||||
@ -149,7 +170,13 @@ void input_init(void) {
|
||||
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
|
||||
#endif
|
||||
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
|
||||
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)rx_buffer, sizeof(rx_buffer));
|
||||
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)rx1_buffer, sizeof(rx1_buffer));
|
||||
#endif
|
||||
#ifdef SERIAL_AUX_TX
|
||||
usart_Tx_DMA_config(USART_AUX, (uint8_t *)&AuxTx, sizeof(AuxTx));
|
||||
#endif
|
||||
#ifdef SERIAL_AUX_RX
|
||||
usart_Rx_DMA_config(USART_AUX, (uint8_t *)rx0_buffer, sizeof(rx0_buffer));
|
||||
#endif
|
||||
|
||||
intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
|
||||
@ -175,25 +202,54 @@ void input_init(void) {
|
||||
* Check for new data received on USART with DMA: refactored function from https://github.com/MaJerle/stm32-usart-uart-dma-rx-tx
|
||||
* - this function is called for every USART IDLE line detection, in the USART interrupt handler
|
||||
*/
|
||||
void usart_rx_check(void)
|
||||
void usart0_rx_check(void)
|
||||
{
|
||||
#ifdef SERIAL_AUX_RX
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
uint8_t *ptr;
|
||||
|
||||
pos = rx0_buffer_len - dma_transfer_number_get(USART0_RX_DMA_CH); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
ptr = (uint8_t *)&command_raw; // Initialize the pointer with structure address
|
||||
if (pos > old_pos && (pos - old_pos) == command_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
|
||||
memcpy(ptr, &rx0_buffer[old_pos], command_len); // Copy data. This is possible only if structure is contiguous! (meaning all the structure members have the same size)
|
||||
usart_process_command(&command_raw, &command); // Process data
|
||||
} else if ((rx0_buffer_len - old_pos + pos) == command_len) { // "Overflow" buffer mode: check if data length equals expected length
|
||||
memcpy(ptr, &rx0_buffer[old_pos], rx0_buffer_len - old_pos); // First copy data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
ptr += rx0_buffer_len - old_pos; // Update position
|
||||
memcpy(ptr, &rx0_buffer[0], pos); // Copy remaining data
|
||||
}
|
||||
usart_process_command(&command_raw, &command); // Process data
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Updated old position
|
||||
if (old_pos == rx0_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_AUX_RX
|
||||
}
|
||||
|
||||
void usart1_rx_check(void)
|
||||
{
|
||||
#ifdef SERIAL_DEBUG
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
|
||||
pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer
|
||||
pos = rx1_buffer_len - dma_transfer_number_get(USART1_RX_DMA_CH); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
|
||||
usart_process_debug(&rx_buffer[old_pos], pos - old_pos); // Process data
|
||||
usart_process_debug(&rx1_buffer[old_pos], pos - old_pos); // Process data
|
||||
} else { // "Overflow" buffer mode
|
||||
usart_process_debug(&rx_buffer[old_pos], rx_buffer_len - old_pos); // First Process data from the end of buffer
|
||||
usart_process_debug(&rx1_buffer[old_pos], rx1_buffer_len - old_pos); // First Process data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
usart_process_debug(&rx_buffer[0], pos); // Process remaining data
|
||||
usart_process_debug(&rx1_buffer[0], pos); // Process remaining data
|
||||
}
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Update old position
|
||||
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
if (old_pos == rx1_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_DEBUG
|
||||
@ -203,23 +259,23 @@ void usart_rx_check(void)
|
||||
uint32_t pos;
|
||||
uint8_t *ptr;
|
||||
|
||||
pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer
|
||||
pos = rx1_buffer_len - dma_transfer_number_get(USART1_RX_DMA_CH); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
ptr = (uint8_t *)&FeedbackRaw; // Initialize the pointer with FeedbackRaw address
|
||||
if (pos > old_pos && (pos - old_pos) == Feedback_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
|
||||
memcpy(ptr, &rx_buffer[old_pos], Feedback_len); // Copy data. This is possible only if FeedbackRaw is contiguous! (meaning all the structure members have the same size)
|
||||
memcpy(ptr, &rx1_buffer[old_pos], Feedback_len); // Copy data. This is possible only if FeedbackRaw is contiguous! (meaning all the structure members have the same size)
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
} else if ((rx_buffer_len - old_pos + pos) == Feedback_len) { // "Overflow" buffer mode: check if data length equals expected length
|
||||
memcpy(ptr, &rx_buffer[old_pos], rx_buffer_len - old_pos); // First copy data from the end of buffer
|
||||
} else if ((rx1_buffer_len - old_pos + pos) == Feedback_len) { // "Overflow" buffer mode: check if data length equals expected length
|
||||
memcpy(ptr, &rx1_buffer[old_pos], rx1_buffer_len - old_pos); // First copy data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
ptr += rx_buffer_len - old_pos; // Move to correct position in FeedbackRaw
|
||||
memcpy(ptr, &rx_buffer[0], pos); // Copy remaining data
|
||||
ptr += rx1_buffer_len - old_pos; // Move to correct position in FeedbackRaw
|
||||
memcpy(ptr, &rx1_buffer[0], pos); // Copy remaining data
|
||||
}
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Updated old position
|
||||
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
if (old_pos == rx1_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_FEEDBACK
|
||||
@ -262,6 +318,29 @@ void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_ou
|
||||
}
|
||||
#endif // SERIAL_FEEDBACK
|
||||
|
||||
/*
|
||||
* Process command UART0 Rx data
|
||||
* - if the command_in data is valid (correct START_FRAME and checksum) copy the command_in to command_out
|
||||
*/
|
||||
#ifdef SERIAL_AUX_RX
|
||||
void usart_process_command(SerialCommand *command_in, SerialCommand *command_out)
|
||||
{
|
||||
#ifdef CONTROL_IBUS
|
||||
if (command_in->start == IBUS_LENGTH && command_in->type == IBUS_COMMAND) {
|
||||
ibus_chksum = 0xFFFF - IBUS_LENGTH - IBUS_COMMAND;
|
||||
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i++) {
|
||||
ibus_chksum -= command_in->channels[i];
|
||||
}
|
||||
if (ibus_chksum == (uint16_t)((command_in->checksumh << 8) + command_in->checksuml)) {
|
||||
*command_out = *command_in;
|
||||
timeoutCntSerial0 = 0; // Reset timeout counter
|
||||
timeoutFlagSerial0 = 0; // Clear timeout flag
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
/* =========================== I2C WRITE Functions =========================== */
|
||||
|
||||
/*
|
||||
|
||||
@ -1,2 +1,3 @@
|
||||
Import("env")
|
||||
env.Append(LINKFLAGS=["--specs=nano.specs"])
|
||||
#env.Append(LINKFLAGS=["--specs=nano.specs"])
|
||||
env.Append(LINKFLAGS=["--specs=nosys.specs", "--specs=nano.specs"])
|
||||
@ -15,9 +15,13 @@ src_dir = Src
|
||||
|
||||
;=================== VARIANT SELECTION ==========================
|
||||
;default_envs = VARIANT_DEBUG ; DEFAULT Variant
|
||||
;default_envs = VARIANT_HOVERCAR ; HOVERCAR Variant
|
||||
;default_envs = VARIANT_HOVERBOARD ; HOVERBOARD Variant
|
||||
;================================================================
|
||||
|
||||
[env]
|
||||
platform_packages = maxgerhardt/framework-spl@2.10300.0 ; Add GD32 support package: globally override framework-spl for all environments
|
||||
|
||||
;================================================================
|
||||
|
||||
[env:VARIANT_DEBUG]
|
||||
@ -31,19 +35,41 @@ extra_scripts = add_nanolib.py ; adds nanolib to reduce printf memory f
|
||||
|
||||
; Serial Port settings (make sure the COM port is correct)
|
||||
monitor_port = COM5
|
||||
monitor_speed = 38400
|
||||
monitor_speed = 115200
|
||||
|
||||
build_flags =
|
||||
-IInc
|
||||
-ISrc
|
||||
-DUSE_STDPERIPH_DRIVER
|
||||
-DGD32F130_150
|
||||
-Wl,-T./GD32F130C6T_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
-T./GD32F130C6T_FLASH.ld
|
||||
-lc
|
||||
-lm
|
||||
-g -ggdb
|
||||
-D VARIANT_DEBUG
|
||||
|
||||
|
||||
;================================================================
|
||||
|
||||
[env:VARIANT_HOVERCAR]
|
||||
platform = ststm32
|
||||
board = gd32f130c6
|
||||
debug_tool = stlink
|
||||
upload_protocol = stlink
|
||||
framework = spl
|
||||
extra_scripts = add_nanolib.py
|
||||
|
||||
build_flags =
|
||||
-IInc
|
||||
-ISrc
|
||||
-DUSE_STDPERIPH_DRIVER
|
||||
-DGD32F130_150
|
||||
-T./GD32F130C6T_FLASH.ld
|
||||
-lc
|
||||
-lm
|
||||
-g -ggdb
|
||||
-D VARIANT_HOVERCAR
|
||||
|
||||
;================================================================
|
||||
|
||||
[env:VARIANT_HOVERBOARD]
|
||||
@ -59,9 +85,9 @@ build_flags =
|
||||
-ISrc
|
||||
-DUSE_STDPERIPH_DRIVER
|
||||
-DGD32F130_150
|
||||
-Wl,-T./GD32F130C6T_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
-T./GD32F130C6T_FLASH.ld
|
||||
-lc
|
||||
-lm
|
||||
-g -ggdb
|
||||
-D VARIANT_HOVERBOARD
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user