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
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
View File

@@ -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);