aleks/hoverboard-sideboard-hack-GD
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UART with mainboard works

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- the sideboard can now send and receive Serial data from the mainboard
- fixed Processing sketch
This commit is contained in:
EmanuelFeru 2020-03-01 09:42:48 +01:00
parent 0f3bd3f7d9
commit f088bd6a87
14 changed files with 88 additions and 81 deletions
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2
.gitignore vendored
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@ -1,7 +1,7 @@
.pio/
.pioenvs/
.vscode/
MDK-ARM/Listing/
MDK-ARM/Listings/
MDK-ARM/Objects/
MDK-ARM/*.uvgui.*
!build/VARIANT_DEBUG/firmware.hex

4
Inc/config.h
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@ -67,8 +67,8 @@
#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
#endif
#define USART_MAIN_BAUD 38400 // [bit/s] MAIN Serial Tx/Rx baud rate
#define SERIAL_START_FRAME 0xAAAA // [-] Start frame definition for reliable serial communication
#define SERIAL_TIMEOUT 300 // [-] Numer of wrong received data for Serial timeout detection
#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for reliable serial communication
#define SERIAL_TIMEOUT 500 // [-] Numer of wrong received data for Serial timeout detection
/* ==================================== SETTINGS AUX ==================================== */

1
Inc/defines.h
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@ -134,6 +134,7 @@ typedef enum {READ = 0, WRITE = !READ} i2c_cmd;
/* =========================== Defines MPU-6050 =========================== */
#define log_i printf // redirect the log_i debug function to printf
#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
#define q30 1073741824 // 1073741824 = 2^30
#define ACCEL_ON (0x01)
#define GYRO_ON (0x02)
#define COMPASS_ON (0x04)

2
MDK-ARM/sideboard-hack.uvopt
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@ -677,7 +677,7 @@
<Group>
<GroupName>Src</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

4
README.md
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@ -89,14 +89,14 @@ make flash
This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) or [config.h](/Inc/config.h)):
- **VARIANT_DEBUG**: In this variant the user can interact with sideboard by sending commands 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).
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 [3D visualization example](/docs/sketch_processing/sketch_processing.pde) in [Processing](https://processing.org/) as shown below. For this Demo VARIANT_HOVERBOARD was used.
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 below. For this Demo VARIANT_DEBUG was used.
![sketch_pic](/docs/pictures/sketch_processing_pic.png)

2
Src/i2c_it.c
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@ -346,7 +346,7 @@ void I2C1_ErrorIRQ_Handler(void)
i2c_interrupt_flag_clear(I2C1, I2C_INT_FLAG_PECERR);
}
/* disable the error interrupt */
i2c_interrupt_disable(I2C0,I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
i2c_interrupt_disable(I2C1,I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
}
#endif

57
Src/main.c
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@ -46,8 +46,6 @@ 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;
@ -63,7 +61,7 @@ static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial comman
#endif
extern MPU_Data mpu; // holds the MPU-6050 data
ErrStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR
ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
uint8_t userCommand; // holds the user command input
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
@ -81,10 +79,10 @@ int main(void)
i2c_nvic_config(); // NVIC peripheral config
#ifdef SERIAL_CONTROL
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
#endif
#ifdef SERIAL_FEEDBACK
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
#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.
@ -93,6 +91,7 @@ int main(void)
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED
}
else {
mpuStatus = SUCCESS;
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
}
mpu_handle_input('h'); // Print the User Help commands to serial
@ -131,11 +130,13 @@ int main(void)
// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
if (SUCCESS == mpuStatus) {
mpu_get_data();
} else if (ERROR == mpuStatus && main_loop_counter % 100 == 0) {
toggle_led(LED1_GPIO_Port, LED1_Pin); // Toggle the Red LED every 100 ms
}
// Print MPU data to Console
if (main_loop_counter % 50 == 0) {
mpu_print_to_console();
}
}
// ==================================== SENSORS Handling ====================================
@ -174,13 +175,12 @@ int main(void)
// ==================================== SERIAL Tx/Rx Handling ====================================
#ifdef SERIAL_CONTROL
// To transmit on USART
if (main_loop_counter % 50 == 0 && SET == dma_flag_get(DMA_CH3, DMA_FLAG_FTF)) { // check if DMA channel transfer complete (Full Transfer Finish flag == 1)
if (main_loop_counter % 5 == 0 && SET == dma_flag_get(DMA_CH3, DMA_FLAG_FTF)) { // check if DMA channel transfer complete (Full Transfer Finish flag == 1)
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.sensors = (uint16_t)(sensor1 | (sensor2 << 1) | (mpuStatus << 2));
Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
dma_channel_disable(DMA_CH3);
@ -192,36 +192,33 @@ 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.cmdLed);
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ 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
}
if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
timeoutFlagSerial = 0; // Timeout flag cleared
} else {
memcpy(&Feedback, &NewFeedback, sizeof(Feedback)); // 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) {
// Most probably we are out-of-sync. Try to re-sync by reseting the DMA
if (main_loop_counter % 150 == 0) {
dma_channel_disable(DMA_CH4);
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
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
if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
toggle_led(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
}
#endif
main_loop_counter++;

32
Src/mpu6050.c
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@ -3231,19 +3231,19 @@ void mpu_start_self_test(void)
#elif defined (MPU6050) || defined (MPU9150)
result = mpu_run_self_test(gyro, accel);
#endif
#ifdef SERIAL_DEBUG
log_i("accel: %ld %ld %ld\n",
accel[0],
accel[1],
accel[2]);
log_i("gyro: %ld %ld %ld\n",
gyro[0],
gyro[1],
gyro[2]);
#endif
if (result == 0x7) {
#ifdef SERIAL_DEBUG
consoleLog("Passed!\n");
log_i("accel: %ld %ld %ld\n",
accel[0],
accel[1],
accel[2]);
log_i("gyro: %ld %ld %ld\n",
gyro[0],
gyro[1],
gyro[2]);
/* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
#endif
consoleLog("Passed!\n");
/* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
#ifdef USE_CAL_HW_REGISTERS
/*
@ -3640,10 +3640,10 @@ void mpu_calc_euler_angles(void) {
float yaw, pitch, roll;
// Convert quaternions[q30] to quaternion[float]
w = (float)mpu.quat.w / 1073741824; // 1073741824 = 2^30
x = (float)mpu.quat.x / 1073741824;
y = (float)mpu.quat.y / 1073741824;
z = (float)mpu.quat.z / 1073741824;
w = (float)mpu.quat.w / q30; // q30 = 2^30
x = (float)mpu.quat.x / q30;
y = (float)mpu.quat.y / q30;
z = (float)mpu.quat.z / q30;
// Calculate Euler angles: source <https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles>
roll = atan2(2*(w*x + y*z), 1 - 2*(x*x + y*y)); // roll (x-axis rotation)

2
Src/util.c
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@ -92,7 +92,7 @@ void intro_demo_led(uint32_t tDelay)
{
int i;
for (i = 0; i < 6; i++) {
for (i = 0; i < 3; i++) {
gpio_bit_set(LED1_GPIO_Port, LED1_Pin);
gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
delay_1ms(tDelay);

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build/VARIANT_DEBUG/firmware.bin
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build/VARIANT_DEBUG/firmware.elf
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build/VARIANT_HOVERBOARD/firmware.bin
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build/VARIANT_HOVERBOARD/firmware.elf
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63
docs/sketch_processing/sketch_processing.pde
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@ -1,5 +1,5 @@
/*
hoverboard-sidebboard-hack MPU6050 IMU - 3D Visualization Example
hoverboard-sidebboard-hack MPU6050 IMU - 3D Visualization Example. Use with VARIANT_DEBUG.
Copyright (C) 2020-2021 Emanuel FERU
*/
import processing.serial.*;
@ -9,40 +9,32 @@ import java.io.IOException;
Serial myPort;
float roll, pitch,yaw;
int idx = 0;
int inBytePrev;
short bufWord;
String data="";
String check="";
void setup() {
size (1400, 800, P3D);
printArray(Serial.list()); // List all the available serial ports
myPort = new Serial(this, "COM5", 38400); // starts the serial communication
myPort.bufferUntil('\n');
}
void draw() {
while (myPort.available() > 0) {
int inByte = myPort.read();
bufWord = (short)(inBytePrev | (inByte << 8));
idx++;
if(bufWord == -21846) { // check START_FRAME = 0xAAAA
idx = 0;
// If no data is received, send 'e' command to read the Euler angles
if(idx != -1 && myPort.available() == 0) {
idx++;
if(idx > 20) {
myPort.write('e');
idx = -1;
}
if (idx == 2) {
roll = float(bufWord) / 100;
}
if (idx == 4) {
pitch = float(bufWord) / 100;
}
if (idx == 6) {
yaw = float(bufWord) / 100;
}
inBytePrev = inByte;
} else {
idx = -1;
}
// println(bufWord); //<>//
translate(width/2, height/2, 0);
// Display text
translate(width/2, height/2, 0); //<>//
background(51);
textSize(22);
text("Roll: " + roll + " Pitch: " + pitch + " Yaw: " + yaw, -200, 300);
@ -52,8 +44,7 @@ void draw() {
rotateZ(radians(-pitch));
rotateY(radians(yaw));
// 3D 0bject
// 3D 0bject
// Draw box with text
fill(35, 133, 54); // Make board GREEN
box (426, 30, 220);
@ -80,3 +71,21 @@ void draw() {
box (40, 40, 15); // Blue Led connector
}
// Read data from the Serial Port
void serialEvent (Serial myPort) {
// reads the data from the Serial Port up to the character '\n' and puts it into the String variable "data".
data = myPort.readStringUntil('\n');
// if you got any bytes other than the linefeed:
if (data != null) {
data = trim(data);
// split the string at " " (character space)
String items[] = split(data, ' ');
if (items.length > 5) {
//--- Roll,Pitch in degrees
roll = float(items[2]) / 100;
pitch = float(items[4]) / 100;
yaw = float(items[6]) / 100;
}
}
}