aleks/hoverboard-sideboard-hack-GD
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Added Platformio support

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- firmware can now be built in Platformio too
- minor bug fixes
- added LED board picture
This commit is contained in:
EmanuelFeru
2020-02-13 18:18:02 +01:00
parent b69942e80e
commit 882d4b0115
31 changed files with 801 additions and 3602 deletions
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176
Src/main.c
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@@ -31,28 +31,29 @@
#ifdef SERIAL_CONTROL
typedef struct{
uint16_t start;
int16_t roll;
int16_t pitch;
uint16_t start;
int16_t roll;
int16_t pitch;
int16_t yaw;
uint16_t sensors;
uint16_t checksum;
uint16_t sensors;
uint16_t checksum;
} SerialSideboard;
SerialSideboard Sideboard;
#endif
#ifdef SERIAL_FEEDBACK
typedef struct{
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedR;
int16_t speedL;
int16_t speedR_meas;
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
int16_t checksum;
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedR;
int16_t speedL;
int16_t speedR_meas;
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback;
SerialFeedback Feedback;
SerialFeedback NewFeedback;
@@ -61,22 +62,23 @@ static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial com
static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif
extern MPU_Data mpu; // holds the MPU-6050 data
ErrStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR
extern MPU_Data mpu; // holds the MPU-6050 data
ErrStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR
uint8_t userCommand; // holds the user command input
uint8_t sensor1, sensor2; // holds the sensor1 and sensor 2 values
uint8_t userCommand; // holds the user command input
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
int main(void)
{
systick_config(); // SysTick config
gpio_config(); // GPIO config
usart_config(USART_MAIN, USART_MAIN_BAUD); // USART config
i2c_config(); // I2C config
i2c_nvic_config(); // NVIC peripheral config
systick_config(); // SysTick config
gpio_config(); // GPIO config
usart_config(USART_MAIN, USART_MAIN_BAUD); // USART config
i2c_config(); // I2C config
i2c_nvic_config(); // NVIC peripheral config
#ifdef SERIAL_CONTROL
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
@@ -85,30 +87,39 @@ int main(void)
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
#endif
introDemoLED(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to initialize.
if(mpu_config()) { // IMU MPU-6050 config
intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
if(mpu_config()) { // IMU MPU-6050 config
mpuStatus = ERROR;
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED
}
mpu_handle_input('h'); // Print the User Help commands to serial
else {
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
}
mpu_handle_input('h'); // Print the User Help commands to serial
while(1){
while(1) {
delay_1ms(DELAY_IN_MAIN_LOOP);
// ==================================== LEDs Handling ====================================
// gpio_bit_write(LED4_GPIO_Port, LED4_Pin, (bit_status)(1-gpio_input_bit_get(LED4_GPIO_Port, LED4_Pin))); // Toggle BLUE1 LED
if (SUCCESS == mpuStatus) {
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
} else {
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED
}
// toggle_led(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
#ifdef SERIAL_FEEDBACK
if (!timeoutFlagSerial) {
if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); }
if (Feedback.cmdLed & LED2_SET) { gpio_bit_set(LED2_GPIO_Port, LED2_Pin); } else { gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); }
if (Feedback.cmdLed & LED3_SET) { gpio_bit_set(LED3_GPIO_Port, LED3_Pin); } else { gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); }
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(LED4_GPIO_Port, LED4_Pin); } else { gpio_bit_reset(LED4_GPIO_Port, LED4_Pin); }
if (Feedback.cmdLed & LED5_SET) { gpio_bit_set(LED5_GPIO_Port, LED5_Pin); } else { gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); }
}
#endif
// ==================================== USER Handling ====================================
#ifdef SERIAL_DEBUG
// Get the user Input as one character from Serial
if(SET == usart_flag_get(USART_MAIN, USART_FLAG_RBNE)) { // Check if Read Buffer Not Empty meanind Serial data is available
if(SET == usart_flag_get(USART_MAIN, USART_FLAG_RBNE)) { // Check if Read Buffer Not Empty meanind Serial data is available
userCommand = usart_data_receive(USART_MAIN);
if (userCommand != 10 && userCommand != 13) { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
if (userCommand != 10 && userCommand != 13) { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
log_i("Command = %c\n", userCommand);
mpu_handle_input(userCommand);
}
@@ -122,35 +133,42 @@ int main(void)
mpu_get_data();
}
// Print MPU data to Console
if (main_loop_counter % 50 == 0 && SUCCESS == mpuStatus) {
if (main_loop_counter % 50 == 0) {
mpu_print_to_console();
}
// ==================================== SENSORS Handling ====================================
sensor1_read = gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin);
sensor2_read = gpio_input_bit_get(SENSOR2_GPIO_Port, SENSOR2_Pin);
// SENSOR1
if (gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin)) {
sensor1 = 1;
// Sensor ACTIVE: Do something here
if (sensor1 == RESET && sensor1_read == SET) {
sensor1 = SET;
// Sensor ACTIVE: Do something here (one time task on activation)
gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
consoleLog("-- SENSOR 1 Active --\n");
delay_1ms(50);
} else {
sensor1 = 0;
consoleLog("-- SENSOR 1 Active --\n");
} else if(sensor1 == SET && sensor1_read == RESET) {
sensor1 = RESET;
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
}
// SENSOR2
if (gpio_input_bit_get(SENSOR2_GPIO_Port, SENSOR2_Pin)) {
sensor2 = 1;
// Sensor ACTIVE: Do something here
if (sensor2 == RESET && sensor2_read == SET) {
sensor2 = SET;
// Sensor ACTIVE: Do something here (one time task on activation)
gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
consoleLog("-- SENSOR 2 Active --\n");
delay_1ms(50);
} else {
sensor2 = 0;
} else if (sensor2 == SET && sensor2_read == RESET) {
sensor2 = RESET;
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
}
if (sensor1 == SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
if (sensor2 == SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
// ==================================== SERIAL Tx/Rx Handling ====================================
@@ -161,8 +179,8 @@ int main(void)
Sideboard.start = (uint16_t)SERIAL_START_FRAME;
Sideboard.roll = (int16_t)mpu.euler.roll;
Sideboard.pitch = (int16_t)mpu.euler.pitch;
Sideboard.yaw = (int16_t)mpu.euler.yaw;
Sideboard.sensors = (uint16_t)(sensor1 | (sensor2 << 1));
Sideboard.yaw = (int16_t)mpu.euler.yaw;
Sideboard.sensors = (uint16_t)(sensor1 | (sensor2 << 1));
Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
dma_channel_disable(DMA_CH3);
@@ -175,33 +193,33 @@ int main(void)
#ifdef SERIAL_FEEDBACK
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
timeoutFlagSerial = 0; // Timeout flag cleared
} else {
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); // Copy the new data
NewFeedback.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCntSerial = 0; // Reset the timeout counter
}
} else {
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
// Check periodically the received Start Frame. If it is NOT OK, most probably we are out-of-sync. Try to re-sync by reseting the DMA
if (main_loop_counter % 50 == 0 && NewFeedback.start != SERIAL_START_FRAME && NewFeedback.start != 0xFFFF) {
dma_channel_disable(DMA_CH4);
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
}
if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
timeoutFlagSerial = 0; // Timeout flag cleared
} else {
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); // Copy the new data
NewFeedback.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCntSerial = 0; // Reset the timeout counter
}
} else {
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
if (timeoutFlagSerial) { // In case of timeout bring the system to a Safe State and indicate error if desired
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on Red LED
} else {
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); // Follow the Normal behavior
}
// Check periodically the received Start Frame. If it is NOT OK, most probably we are out-of-sync. Try to re-sync by reseting the DMA
if (main_loop_counter % 50 == 0 && NewFeedback.start != SERIAL_START_FRAME && NewFeedback.start != 0xFFFF) {
dma_channel_disable(DMA_CH4);
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
}
}
if (timeoutFlagSerial) { // In case of timeout bring the system to a Safe State and indicate error if desired
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on Red LED
} else {
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); // Follow the Normal behavior
}
#endif