mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 09:39:33 +00:00
882d4b0115
- firmware can now be built in Platformio too - minor bug fixes - added LED board picture
182 lines
5.4 KiB
C
182 lines
5.4 KiB
C
/**
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* This file is part of the hoverboard-sideboard-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef DEFINES_H
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#define DEFINES_H
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// Includes
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#include "gd32f1x0.h"
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#include "config.h"
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#if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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#endif
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/* =========================== Defines General =========================== */
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// #define _BV(bit) (1 << (bit))
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// #define ARRAYNUM(arr_nanme) (uint32_t)(sizeof(arr_nanme) / sizeof(*(arr_nanme)))
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#define min(a, b) (((a) < (b)) ? (a) : (b))
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#define max(a, b) (((a) > (b)) ? (a) : (b))
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#define i2c_write i2c_writeBytes
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#define i2c_read i2c_readBytes
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#define delay_ms delay_1ms
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#define get_ms get_tick_count_ms
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/* =========================== Defines LEDs =========================== */
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#define LED1_GPIO_Port GPIOA
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#define LED1_Pin GPIO_PIN_0 // RED
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#define LED2_GPIO_Port GPIOB
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#define LED2_Pin GPIO_PIN_9 // GREEN
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#define LED3_GPIO_Port GPIOB
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#define LED3_Pin GPIO_PIN_8 // YELLOW
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#define LED4_GPIO_Port GPIOB
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#define LED4_Pin GPIO_PIN_5 // BLUE1
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#define LED5_GPIO_Port GPIOB
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#define LED5_Pin GPIO_PIN_4 // BLUE2
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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/* =========================== Defines SENSORS =========================== */
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#define SENSOR1_GPIO_Port GPIOA
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#define SENSOR1_Pin GPIO_PIN_4
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#define SENSOR2_GPIO_Port GPIOC
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#define SENSOR2_Pin GPIO_PIN_14
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/* =========================== Defines USART =========================== */
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#define USART_GPIO_PORT GPIOA
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#define USART_GPIO_CLK RCU_GPIOA
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#define USART_AF GPIO_AF_1
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// USART ports number
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#define USARTn 2
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// USART to Auxiliary, connected to USART0
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#define USART_AUX USART0
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#define USART_AUX_CLK RCU_USART0
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#define USART_AUX_TX_PIN GPIO_PIN_9
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#define USART_AUX_RX_PIN GPIO_PIN_10
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// USART to Mainboard, connected to USART1
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#define USART_MAIN USART1
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#define USART_MAIN_CLK RCU_USART1
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#define USART_MAIN_TX_PIN GPIO_PIN_2
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#define USART_MAIN_RX_PIN GPIO_PIN_3
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// USART address for DMA defines
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#define USART0_TDATA_ADDRESS ((uint32_t)0x40013828) // USART0: 0x4001 3800 - 0x4001 3BFF
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#define USART0_RDATA_ADDRESS ((uint32_t)0x40013824)
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#define USART1_TDATA_ADDRESS ((uint32_t)0x40004428) // USART1: 0x4000 4400 - 0x4000 47FF
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#define USART1_RDATA_ADDRESS ((uint32_t)0x40004424)
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/* =========================== Defines AUX =========================== */
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#define AUX1_PU_GPIO_Port GPIOC
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#define AUX1_PU_Pin GPIO_PIN_15
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#define AUX2_GPIO_Port GPIOA
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#define AUX2_Pin GPIO_PIN_1
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#define AUX3_GPIO_Port GPIOB
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#define AUX3_Pin GPIO_PIN_10
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#ifdef AUX45_USE_GPIO
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#define AUX4_GPIO_Port GPIOA
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#define AUX4_Pin GPIO_PIN_10
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#define AUX5_GPIO_Port GPIOA
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#define AUX5_Pin GPIO_PIN_9
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#endif
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/* =========================== Defines I2C =========================== */
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typedef enum {READ = 0, WRITE = !READ} i2c_cmd;
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#define MPU_I2C I2C0
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#define MPU_RCU_I2C RCU_I2C0
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#define MPU_SCL_GPIO_Port GPIOB
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#define MPU_SCL_Pin GPIO_PIN_6
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#define MPU_SDA_GPIO_Port GPIOB
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#define MPU_SDA_Pin GPIO_PIN_7
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#define I2C_OWN_ADDRESS7 0x24
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#ifdef AUX45_USE_I2C
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#define AUX_I2C I2C1
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#define AUX_RCU_I2C RCU_I2C1
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#define AUX_SCL_GPIO_Port GPIOA
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#define AUX_SCL_Pin GPIO_PIN_9
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#define AUX_SDA_GPIO_Port GPIOA
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#define AUX_SDA_Pin GPIO_PIN_10
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#define AUX_I2C_OWN_ADDRESS7 0x34
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#endif
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/* =========================== Defines MPU-6050 =========================== */
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#define log_i printf // redirect the log_i debug function to printf
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#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
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#define ACCEL_ON (0x01)
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#define GYRO_ON (0x02)
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#define COMPASS_ON (0x04)
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#define PRINT_ACCEL (0x01)
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#define PRINT_GYRO (0x02)
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#define PRINT_QUAT (0x04)
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#define PRINT_EULER (0x08)
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#define PRINT_TEMP (0x10)
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#define PRINT_PEDO (0x20)
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typedef struct{
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int16_t x;
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int16_t y;
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int16_t z;
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} Gyro;
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typedef struct{
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int16_t x;
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int16_t y;
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int16_t z;
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} Accel;
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typedef struct{
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int32_t w;
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int32_t x;
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int32_t y;
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int32_t z;
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} Quaternion;
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typedef struct{
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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} Euler;
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typedef struct {
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Gyro gyro;
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Accel accel;
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Quaternion quat;
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Euler euler;
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int16_t temp;
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} MPU_Data;
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#endif
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