UART with mainboard works

- the sideboard can now send and receive Serial data from the mainboard
- fixed Processing sketch

.gitignore

@@ -1,7 +1,7 @@
 .pio/
 .pioenvs/
 .vscode/
-MDK-ARM/Listing/
+MDK-ARM/Listings/
 MDK-ARM/Objects/
 MDK-ARM/*.uvgui.*
 !build/VARIANT_DEBUG/firmware.hex

Inc/config.h

@@ -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_START_FRAME   			0xABCD     	// [-] Start frame definition for reliable serial communication
-#define SERIAL_TIMEOUT          	300         // [-] Numer of wrong received data for Serial timeout detection
+#define SERIAL_TIMEOUT          	500         // [-] Numer of wrong received data for Serial timeout detection
 
 
 /* ==================================== SETTINGS AUX ==================================== */

Inc/defines.h

@@ -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)

MDK-ARM/sideboard-hack.uvopt

@@ -677,7 +677,7 @@
 
   <Group>
     <GroupName>Src</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

README.md

@@ -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)
 

Src/i2c_it.c

@@ -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
 

Src/main.c

@@ -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
+			checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
-								^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
+								^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
 			if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
-			if (timeoutFlagSerial) {                    	// Check for previous timeout flag  
+				if (timeoutFlagSerial) {                	// Check for previous timeout flag  
-			if (timeoutCntSerial-- <= 0)              		// Timeout de-qualification
+					if (timeoutCntSerial-- <= 0)            // Timeout de-qualification
-				timeoutFlagSerial = 0;                  	// Timeout flag cleared           
+						timeoutFlagSerial = 0;              // Timeout flag cleared           
-			} else {
+				} else {
-				memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));	// Copy the new data 
+					memcpy(&Feedback, &NewFeedback, sizeof(Feedback));	// Copy the new data 
-				NewFeedback.start = 0xFFFF;             	// Change the Start Frame for timeout detection in the next cycle
+					NewFeedback.start = 0xFFFF;             // Change the Start Frame for timeout detection in the next cycle
-				timeoutCntSerial  = 0;                  	// Reset the timeout counter         
+					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
+				// 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) {
+				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
+			if (timeoutFlagSerial && main_loop_counter % 100 == 0) {  	// 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
+				toggle_led(LED3_GPIO_Port, LED3_Pin);					// Toggle the Yellow LED every 100 ms
-			} else {
+			}	
-				gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);   // Follow the Normal behavior
+		#endif		
-			}		
-		#endif	
-		
 		
 		main_loop_counter++;
 		

Src/mpu6050.c

@@ -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");
-            consoleLog("Passed!\n");
+        /* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
-            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
 
 #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
+	w = (float)mpu.quat.w / q30; 		// q30 = 2^30
-	x = (float)mpu.quat.x / 1073741824;
+	x = (float)mpu.quat.x / q30;
-	y = (float)mpu.quat.y / 1073741824;
+	y = (float)mpu.quat.y / q30;
-	z = (float)mpu.quat.z / 1073741824;
+	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)

Src/util.c

@@ -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);

docs/sketch_processing/sketch_processing.pde

@@ -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) {      
+  // If no data is received, send 'e' command to read the Euler angles
-    int inByte = myPort.read();
+  if(idx != -1 && myPort.available() == 0) {    
-    bufWord = (short)(inBytePrev | (inByte << 8));
+    idx++;
-    idx++;      
+    if(idx > 20) {
-    if(bufWord == -21846) {     // check START_FRAME = 0xAAAA
+      myPort.write('e');
-      idx = 0;         
+      idx = -1;
     }
-    if (idx == 2) {
+  } else {
-       roll   = float(bufWord) / 100;
+    idx = -1;
-    }
-    if (idx == 4) {
-       pitch  = float(bufWord) / 100;
-    }
-    if (idx == 6) {
-       yaw   = float(bufWord) / 100;
-    }      
-    inBytePrev = inByte;      
   }
-    
+  
-  // println(bufWord); //<>//
+  // Display text
-
+  translate(width/2, height/2, 0); //<>//
-  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;
+    }
+  }
+}