mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 09:39:33 +00:00
Improved UART Timeout
Major: - Improved UART Timeout: Apparently, the UART data Rx/Tx is quite unreliable (especially under motor load) leading to very often out-of-sync issues. This change allows to reset the DMA more often, leading to a faster re-sync of the UART transmission and thus avoiding UART timeout Minor: - added #define MPU_SENSOR_ENABLE to allow to enable/disable the MPU6050 sensor and save code size if the sensors is not needed - fixed the orientation in the Processing sketch - updated ReadMe
This commit is contained in:
EmanuelFeru
parent
c703b30930
commit
e9d74bea29
@ -42,6 +42,7 @@
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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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#define MPU_DEFAULT_HZ 20 // [Hz] Default MPU frequecy: must be between 1Hz and 200Hz.
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#define TEMP_READ_MS 500 // [ms] Temperature read time interval
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@ -68,7 +69,7 @@
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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_TIMEOUT 500 // [-] Numer of wrong received data for Serial timeout detection
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#define SERIAL_TIMEOUT 800 // [-] Numer of wrong received data for Serial timeout detection
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/* ==================================== SETTINGS AUX ==================================== */
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@ -23,6 +23,7 @@
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// Define to prevent recursive inclusion
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#ifndef MPU6050_H
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#define MPU6050_H
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#ifdef MPU_SENSOR_ENABLE
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#include <stdint.h>
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#include "defines.h"
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@ -142,5 +143,5 @@ void mpu_android_orient_func(unsigned char orientation);
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void mpu_handle_input(char c);
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void mpu_print_to_console(void);
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#endif
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#endif // MPU_SENSOR_ENABLE
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#endif // MPU6050_H
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@ -23,6 +23,7 @@
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// Define to prevent recursive inclusion
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#ifndef MPU6050_DMP_H
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#define MPU6050_DMP_H
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#ifdef MPU_SENSOR_ENABLE
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#include <stdint.h>
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@ -102,6 +103,6 @@ int dmp_enable_gyro_cal(unsigned char enable);
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int dmp_read_fifo(short *gyro, short *accel, long *quat,
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unsigned long *timestamp, short *sensors, unsigned char *more);
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#endif
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#endif // MPU_SENSOR_ENABLE
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#endif // MPU6050_DMP_H
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@ -5,6 +5,7 @@
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*/
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#ifndef DMPKEY_H__
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#define DMPKEY_H__
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#ifdef MPU_SENSOR_ENABLE
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#define KEY_CFG_25 (0)
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@ -491,5 +492,5 @@ typedef struct {
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#define DINBC6 0xc6
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#endif // MPU_SENSOR_ENABLE
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#endif // DMPKEY_H__
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@ -5,6 +5,7 @@
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*/
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#ifndef DMPMAP_H
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#define DMPMAP_H
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#ifdef MPU_SENSOR_ENABLE
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#ifdef __cplusplus
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extern "C"
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@ -261,4 +262,6 @@ extern "C"
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#ifdef __cplusplus
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}
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#endif
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#endif // MPU_SENSOR_ENABLE
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#endif // DMPMAP_H
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11
README.md
11
README.md
@ -43,7 +43,7 @@ If you have never flashed your sideboard before, the MCU is probably locked. To
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To build and flash choose one of the following methods:
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### Method 1: Using PlatformIO
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### Method 1: Using Platformio IDE
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Because the [GD32F130C6T6](/docs/GD32F130xx-Datasheet_Rev3.3.pdf) is not yet supported by [PlatformIO](https://platformio.org/), we have to make two extra steps. These steps can be skipped once the board is supported (see [this thread](https://community.platformio.org/t/build-gd32-project-with-platformio/11944)).
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@ -70,14 +70,17 @@ packages/
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- click Build Target (or press F7) to build the firmware
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- click Load Code (or press F8) to flash the firmware.
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### Method 3: Using Ubuntu
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### Method 3: Using Linux CLI
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- prerequisites: install [ST-Flash utility](https://github.com/texane/stlink).
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- open a terminal in the repo check-out folder and type:
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- open a terminal in the repo check-out folder and if you have definded the variant in [config.h](/Inc/config.h) type:
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```
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make
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```
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or you can set the variant like this
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```
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make -e VARIANT=VARIANT_####
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```
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- flash the firmware by typing:
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```
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make flash
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13
Src/main.c
13
Src/main.c
@ -86,6 +86,8 @@ int main(void)
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#endif
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intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
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#ifdef MPU_SENSOR_ENABLE
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if(mpu_config()) { // IMU MPU-6050 config
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mpuStatus = ERROR;
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gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED
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@ -95,6 +97,9 @@ int main(void)
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gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
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}
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mpu_handle_input('h'); // Print the User Help commands to serial
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#else
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gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
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#endif
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while(1) {
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@ -115,7 +120,7 @@ int main(void)
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// ==================================== USER Handling ====================================
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#ifdef SERIAL_DEBUG
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#if defined(MPU_SENSOR_ENABLE) && defined(SERIAL_DEBUG)
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// Get the user Input as one character from Serial
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if(SET == usart_flag_get(USART_MAIN, USART_FLAG_RBNE)) { // Check if Read Buffer Not Empty meanind Serial data is available
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userCommand = usart_data_receive(USART_MAIN);
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@ -128,6 +133,7 @@ int main(void)
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// ==================================== MPU-6050 Handling ====================================
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#ifdef MPU_SENSOR_ENABLE
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// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
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if (SUCCESS == mpuStatus) {
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mpu_get_data();
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@ -138,7 +144,7 @@ int main(void)
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if (main_loop_counter % 50 == 0) {
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mpu_print_to_console();
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}
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#endif
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// ==================================== SENSORS Handling ====================================
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sensor1_read = gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin);
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@ -175,7 +181,6 @@ int main(void)
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// Sensor ACTIVE: Do something here (continuous task)
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}
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// ==================================== SERIAL Tx/Rx Handling ====================================
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#ifdef SERIAL_CONTROL
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// To transmit on USART
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@ -213,7 +218,7 @@ int main(void)
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timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
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}
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// Most probably we are out-of-sync. Try to re-sync by reseting the DMA
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if (main_loop_counter % 150 == 0) {
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if (NewFeedback.start != SERIAL_START_FRAME && NewFeedback.start != 0xFFFF && main_loop_counter % 5 == 0) {
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dma_channel_disable(DMA_CH4);
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usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
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}
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@ -44,8 +44,11 @@
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* min(int a, int b)
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*/
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MPU_Data mpu; // holds the MPU-6050 data
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static signed char MPU_ORIENTATION[9] = {1, 0, 0, // [-] MPU Sensor orientation matrix: set this according to the sensor installation
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#ifdef MPU_SENSOR_ENABLE
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static signed char MPU_ORIENTATION[9] = {1, 0, 0, // [-] MPU Sensor orientation matrix: set this according to the sensor installation
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0, 1, 0,
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0, 0, 1};
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@ -3470,8 +3473,6 @@ int mpu_config(void)
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/* =========================== MPU-6050 Get Packet Data =========================== */
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MPU_Data mpu;
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void mpu_get_data(void)
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{
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@ -3953,5 +3954,5 @@ void mpu_print_to_console(void)
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#endif
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}
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#endif // MPU_SENSOR_ENABLE
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@ -23,11 +23,13 @@
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#include <stdio.h>
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#include <string.h>
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#include "systick.h"
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#include "config.h"
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#include "mpu6050.h"
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#include "mpu6050_dmp.h"
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#include "mpu6050_dmpKey.h"
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#include "mpu6050_dmpmap.h"
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#ifdef MPU_SENSOR_ENABLE
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/* The following functions must be defined for this platform:
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* i2c_write(unsigned char slave_addr, unsigned char reg_addr,
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@ -1329,6 +1331,8 @@ int dmp_register_android_orient_cb(void (*func)(unsigned char))
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return 0;
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}
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#endif // MPU_SENSOR_ENABLE
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/**
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* @}
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*/
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@ -40,8 +40,8 @@ void draw() {
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text("Roll: " + roll + " Pitch: " + pitch + " Yaw: " + yaw, -200, 300);
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// Rotate the object
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rotateX(radians(roll));
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rotateZ(radians(-pitch));
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rotateZ(radians(roll));
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rotateX(radians(pitch));
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rotateY(radians(yaw));
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// 3D 0bject
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