aleks/hoverboard-sideboard-hack-GD
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This repository implements the firmware for the hoveboard sideboards. The hoveboard comes with two identical sideboards that can be flashed with this firmware.
### If you have an STM32 sideboard check-out the repo [hoverboard-sideboard-hack-STM](link)
### ► If you have an STM32 sideboard check-out the repo [hoverboard-sideboard-hack-STM](link)
---
## Hardware
@ -14,7 +14,7 @@ This repository implements the firmware for the hoveboard sideboards. The hovebo
The original sideboard hardware supports one 4-pin cable that originally were connected to the hoveboard mainboard. They break out GND, 12/15V and USART. Additionally, two ports are used to connect to the LED boards. On the back of the board, two Photo Interrupter Optical Switches can be found, originally used to detect if a human is standing on the hoverboard.
![sideboard](/docs/pictures/sideboard_pinout.png)
The sideboard heart is a [GD32F130C6T6](/docs/GD32F130xx-Datasheet_Rev3.3.pdf) with the pinout shown in the follwing figure:
The heart of the sideboard is a [GD32F130C6T6](/docs/GD32F130xx-Datasheet_Rev3.3.pdf) with the pinout shown in the follwing figure:
![MCU_pinout](/docs/pictures/MCU_pinout.png)
A very important component of the sideboard is the IMU [MPU-6050](https://www.invensense.com/products/motion-tracking/6-axis/mpu-6050/) from Invensense. The [MPU-6050](https://www.invensense.com/products/motion-tracking/6-axis/mpu-6050/) determines the board orientation by combining a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die, together with an onboard Digital Motion Processor™ (DMP™), which processes complex 6-axis MotionFusion algorithms. The DMP™ offers many features, such as:
@ -42,7 +42,7 @@ To build and flash choose one of the following methods:
### Method 1: Using Keil uVision (recommended)
In [Keil uVision](https://www.keil.com/download/product/), open the [sideboard-hack.uvproj](/MDK-ARM/), click Build Target (or press F7), then click Load Code (or press F8).
In [Keil uVision](https://www.keil.com/download/product/), open the [sideboard-hack.uvproj](/MDK-ARM/) and click Build Target (or press F7). Then to flash the firmware, click Load Code (or press F8).
### Method 2: Using Ubuntu
@ -63,16 +63,16 @@ make flash
---
## Example Variants
This firmware offers currently these variants (selectable in [config.h](/Inc/config.h):
This firmware offers currently these variants (selectable in [config.h](/Inc/config.h)):
- **VARIANT_DEBUG**: In this variant the user can interact with sideboard via a Serial Monitor to observe and check the capabilities of the sideboard.
- **VARIANT_HOVERBOARD**: In this variant the sideboard is communicating with the mainboard of a hoverboard using the [FOC firmware repository](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC). !This Variant is not yet fully tested!
- **VARIANT_HOVERBOARD**: In this variant the sideboard is communicating with the mainboard of a hoverboard using the [FOC firmware repository](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC). This Variant is not yet fully tested!
Of course the firmware can be further customized for other needs or projects.
---
## 3D Visualization Demo
By [converting Quaternions to Euler angles](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles), we can make a simple 3D visualization example (see [sketch](/docs/sketch_processing/sketch_processing.pde)) in [Processing](https://processing.org/) as shown below:
By [converting Quaternions to Euler angles](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles), we can make a [3D visualization example](/docs/sketch_processing/sketch_processing.pde)) in [Processing](https://processing.org/) as shown here:
![sketch_pic](/docs/pictures/sketch_processing_pic.png)
@ -85,3 +85,5 @@ Every contribution to this repository is highly appriciated! Feel free to create
If you want to donate to keep this firmware updated, check-out the link below:
[![paypal](https://www.paypalobjects.com/en_US/NL/i/btn/btn_donateCC_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url)
---