mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-08-16 16:46:11 +00:00
iBUS on AUX Serial is working
- implemented iBUS - updated the Tabs to spaces
This commit is contained in:
EmanuelFeru
14
Inc/config.h
14
Inc/config.h
@@ -78,6 +78,13 @@
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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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#define SERIAL_AUX_RX // [-] Use AUX4, AUX5 as USART port
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// #define SERIAL_AUX_TX // [-] 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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@@ -85,11 +92,11 @@
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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 SERIAL_AUX_TX // [-] 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_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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@@ -112,7 +119,8 @@
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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(SERIAL_AUX_RX) || defined(AUX45_USE_I2C)) || (defined(SERIAL_AUX_RX) && defined(AUX45_USE_I2C))
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#if defined(AUX45_USE_GPIO) && (defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX) || defined(AUX45_USE_I2C)) \
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|| ((defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX)) && 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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206
Inc/defines.h
206
Inc/defines.h
@@ -28,156 +28,158 @@
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#include "util.h"
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#if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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#endif
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/* =========================== Defines General =========================== */
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// #define _BV(bit) (1 << (bit))
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#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
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#define min(a, b) (((a) < (b)) ? (a) : (b))
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#define max(a, b) (((a) > (b)) ? (a) : (b))
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#define i2c_write i2c_writeBytes
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#define i2c_read i2c_readBytes
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#define delay_ms delay_1ms
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#define get_ms get_tick_count_ms
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#define log_i printf // redirect the log_i debug function to printf
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// #define _BV(bit) (1 << (bit))
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#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
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#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
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#define min(a, b) (((a) < (b)) ? (a) : (b))
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#define max(a, b) (((a) > (b)) ? (a) : (b))
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#define i2c_write i2c_writeBytes
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#define i2c_read i2c_readBytes
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#define delay_ms delay_1ms
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#define get_ms get_tick_count_ms
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#define log_i printf // redirect the log_i debug function to printf
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/* =========================== Defines LEDs =========================== */
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#define LED1_GPIO_Port GPIOA
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#define LED1_Pin GPIO_PIN_0 // RED
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#define LED2_GPIO_Port GPIOB
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#define LED2_Pin GPIO_PIN_9 // GREEN
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#define LED3_GPIO_Port GPIOB
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#define LED3_Pin GPIO_PIN_8 // YELLOW
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#define LED4_GPIO_Port GPIOB
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#define LED4_Pin GPIO_PIN_5 // BLUE1
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#define LED5_GPIO_Port GPIOB
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#define LED5_Pin GPIO_PIN_4 // BLUE2
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#define LED1_GPIO_Port GPIOA
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#define LED1_Pin GPIO_PIN_0 // RED
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#define LED2_GPIO_Port GPIOB
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#define LED2_Pin GPIO_PIN_9 // GREEN
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#define LED3_GPIO_Port GPIOB
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#define LED3_Pin GPIO_PIN_8 // YELLOW
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#define LED4_GPIO_Port GPIOB
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#define LED4_Pin GPIO_PIN_5 // BLUE1
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#define LED5_GPIO_Port GPIOB
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#define LED5_Pin GPIO_PIN_4 // BLUE2
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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/* =========================== Defines SENSORS =========================== */
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#define SENSOR1_GPIO_Port GPIOA
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#define SENSOR1_Pin GPIO_PIN_4
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#define SENSOR2_GPIO_Port GPIOC
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#define SENSOR2_Pin GPIO_PIN_14
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#define SENSOR1_GPIO_Port GPIOA
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#define SENSOR1_Pin GPIO_PIN_4
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#define SENSOR2_GPIO_Port GPIOC
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#define SENSOR2_Pin GPIO_PIN_14
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/* =========================== Defines USART =========================== */
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#define USART_GPIO_PORT GPIOA
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#define USART_GPIO_CLK RCU_GPIOA
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#define USART_AF GPIO_AF_1
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#define USART_GPIO_PORT GPIOA
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#define USART_GPIO_CLK RCU_GPIOA
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#define USART_AF GPIO_AF_1
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// USART ports number
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#define USARTn 2
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#define USARTn 2
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// USART AUX, connected to USART0
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#define USART_AUX USART0
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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 USART_AUX USART0
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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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// 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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#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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#define PRINT_AUX (0x01)
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/* =========================== Defines AUX =========================== */
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#define AUX1_PU_GPIO_Port GPIOC
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#define AUX1_PU_Pin GPIO_PIN_15
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#define AUX2_GPIO_Port GPIOA
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#define AUX2_Pin GPIO_PIN_1
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#define AUX3_GPIO_Port GPIOB
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#define AUX3_Pin GPIO_PIN_10
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#define AUX1_PU_GPIO_Port GPIOC
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#define AUX1_PU_Pin GPIO_PIN_15
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#define AUX2_GPIO_Port GPIOA
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#define AUX2_Pin GPIO_PIN_1
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#define AUX3_GPIO_Port GPIOB
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#define AUX3_Pin GPIO_PIN_10
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#ifdef AUX45_USE_GPIO
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#define AUX4_GPIO_Port GPIOA
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#define AUX4_Pin GPIO_PIN_10
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#define AUX5_GPIO_Port GPIOA
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#define AUX5_Pin GPIO_PIN_9
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#define AUX4_GPIO_Port GPIOA
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#define AUX4_Pin GPIO_PIN_10
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#define AUX5_GPIO_Port GPIOA
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#define AUX5_Pin GPIO_PIN_9
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#endif
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/* =========================== Defines I2C =========================== */
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typedef enum {READ = 0, WRITE = !READ} i2c_cmd;
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#define MPU_I2C I2C0
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#define MPU_RCU_I2C RCU_I2C0
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#define MPU_SCL_GPIO_Port GPIOB
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#define MPU_SCL_Pin GPIO_PIN_6
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#define MPU_SDA_GPIO_Port GPIOB
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#define MPU_SDA_Pin GPIO_PIN_7
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#define I2C_OWN_ADDRESS7 0x24
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#define MPU_I2C I2C0
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#define MPU_RCU_I2C RCU_I2C0
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#define MPU_SCL_GPIO_Port GPIOB
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#define MPU_SCL_Pin GPIO_PIN_6
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#define MPU_SDA_GPIO_Port GPIOB
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#define MPU_SDA_Pin GPIO_PIN_7
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#define I2C_OWN_ADDRESS7 0x24
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#ifdef AUX45_USE_I2C
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#define AUX_I2C I2C1
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#define AUX_RCU_I2C RCU_I2C1
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#define AUX_SCL_GPIO_Port GPIOA
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#define AUX_SCL_Pin GPIO_PIN_9
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#define AUX_SDA_GPIO_Port GPIOA
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#define AUX_SDA_Pin GPIO_PIN_10
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#define AUX_I2C_OWN_ADDRESS7 0x34
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#define AUX_I2C I2C1
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#define AUX_RCU_I2C RCU_I2C1
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#define AUX_SCL_GPIO_Port GPIOA
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#define AUX_SCL_Pin GPIO_PIN_9
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#define AUX_SDA_GPIO_Port GPIOA
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#define AUX_SDA_Pin GPIO_PIN_10
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#define AUX_I2C_OWN_ADDRESS7 0x34
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#endif
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/* =========================== Defines MPU-6050 =========================== */
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#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
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#define q30 1073741824 // 1073741824 = 2^30
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#define ACCEL_ON (0x01)
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#define GYRO_ON (0x02)
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#define COMPASS_ON (0x04)
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#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
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#define q30 1073741824 // 1073741824 = 2^30
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#define ACCEL_ON (0x01)
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#define GYRO_ON (0x02)
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#define COMPASS_ON (0x04)
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#define PRINT_ACCEL (0x01)
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#define PRINT_GYRO (0x02)
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#define PRINT_QUAT (0x04)
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#define PRINT_EULER (0x08)
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#define PRINT_TEMP (0x10)
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#define PRINT_PEDO (0x20)
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#define PRINT_ACCEL (0x01)
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#define PRINT_GYRO (0x02)
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#define PRINT_QUAT (0x04)
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#define PRINT_EULER (0x08)
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#define PRINT_TEMP (0x10)
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#define PRINT_PEDO (0x20)
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typedef struct{
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int16_t x;
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int16_t y;
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int16_t z;
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int16_t x;
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int16_t y;
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int16_t z;
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} Gyro;
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typedef struct{
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int16_t x;
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int16_t y;
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int16_t z;
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int16_t x;
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int16_t y;
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int16_t z;
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} Accel;
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typedef struct{
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int32_t w;
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int32_t x;
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int32_t y;
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int32_t z;
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int32_t w;
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int32_t x;
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int32_t y;
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int32_t z;
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} Quaternion;
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typedef struct{
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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} Euler;
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typedef struct {
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Gyro gyro;
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Accel accel;
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Quaternion quat;
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Euler euler;
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int16_t temp;
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Gyro gyro;
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Accel accel;
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Quaternion quat;
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Euler euler;
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int16_t temp;
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} MPU_Data;
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#endif // DEFINES_H
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@@ -24,12 +24,12 @@
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#include "config.h"
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/* Interrupt function declarations */
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void I2C0_EventIRQ_Handler(void); // handle I2C0 event interrupt request
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void I2C0_ErrorIRQ_Handler(void); // handle I2C0 error interrupt request
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void I2C0_EventIRQ_Handler(void); // handle I2C0 event interrupt request
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void I2C0_ErrorIRQ_Handler(void); // handle I2C0 error interrupt request
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#ifdef AUX45_USE_I2C
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void I2C1_EventIRQ_Handler(void); // handle I2C1 event interrupt request
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void I2C1_ErrorIRQ_Handler(void); // handle I2C1 error interrupt request
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void I2C1_EventIRQ_Handler(void); // handle I2C1 event interrupt request
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void I2C1_ErrorIRQ_Handler(void); // handle I2C1 error interrupt request
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#endif
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@@ -54,7 +54,6 @@
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/* Set up APIs */
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int mpu_init(void);
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int mpu_init_slave(void);
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int mpu_set_bypass(unsigned char bypass_on);
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/* Configuration APIs */
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@@ -134,9 +133,13 @@ void mpu_calc_euler_angles(void);
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void mpu_tap_func(unsigned char direction, unsigned char count);
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void mpu_android_orient_func(unsigned char orientation);
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/* Handle user input commands */
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void mpu_handle_input(char c);
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/* MPU Print data */
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void mpu_print_to_console(void);
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#endif // MPU_SENSOR_ENABLE
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/* Handle user input commands */
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void mpu_handle_input(char c);
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#endif // MPU6050_H
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25
Inc/util.h
25
Inc/util.h
@@ -27,10 +27,11 @@
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#ifdef SERIAL_CONTROL
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typedef struct{
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uint16_t start;
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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uint16_t sensors;
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int16_t pitch; // Angle
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int16_t dPitch; // Angle derivative
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int16_t cmd1; // RC Channel 1
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int16_t cmd2; // RC Channel 2
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uint16_t sensors; // RC Switches and Optical sideboard sensors
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uint16_t checksum;
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} SerialSideboard;
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#endif
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@@ -75,12 +76,18 @@ typedef struct{
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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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void intro_demo_led(uint32_t tDelay);
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uint8_t switch_check(uint16_t ch, uint8_t type);
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/* input initialization function */
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void input_init(void);
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/* usart read functions */
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void usart0_rx_check(void);
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/* handle functions */
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void handle_mpu6050(void);
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void handle_sensors(void);
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void handle_usart(void);
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void handle_leds(void);
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/* usart1 read functions */
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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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@@ -88,10 +95,16 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len);
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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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/* usart0 read functions */
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void usart0_rx_check(void);
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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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/* AUX Serial Print data */
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void aux_print_to_console(void);
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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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int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);
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