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hoverboard-sideboard-hack-GD

Build Status License: GPL v3 paypal

This repository implements the firmware for the hoveboard sideboards. The hoveboard comes with two identical sideboards that can be flashed with this firmware.

► If you have an STM32 sideboard check-out the repo hoverboard-sideboard-hack-STM

Hardware

The original sideboard hardware supports one 4-pin cable that originally were connected to the hoveboard mainboard. They break out GND, 12/15V and USART. Additionally, two ports are used to connect to the LED boards. On the back of the board, two Photo Interrupter Optical Switches can be found, originally used to detect if a human is standing on the hoverboard. sideboard

The heart of the sideboard is a GD32F130C6T6 with the pinout shown in the follwing figure: MCU_pinout

A very important component of the sideboard is the IMU MPU-6050 from Invensense. The MPU-6050 determines the board orientation by combining a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die, together with an onboard Digital Motion Processor™ (DMP™), which processes complex 6-axis MotionFusion algorithms. The DMP™ offers many features, such as:

  • Accelerometer and Gyroscope raw data output
  • Quaternion output
  • Temperature output
  • Pedometer
  • Interrupts on gesture events such as Tap on all axes or Orientation change
  • Low-power modes
  • Self-test and calibration

The MPU-6050 pinout and orientation of axes is shown in the follwing figure: MPU6050_pinout

For more details see the MPU-6050 datasheet and MPU-6050 registers.

Flashing

On the sideboard, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your ST-Link V2 programmer. The 3V3 can be either obtained by connecting the pin to the ST-Link programmer or powering the sideboard with 12/15V.

If you have never flashed your sideboard before, the MCU is probably locked. To unlock the flash, check-out the wiki page How to Unlock MCU flash.

To build and flash choose one of the following methods:

Method 1: Using Keil uVision (recommended)

Method 2: Using Ubuntu

  • prerequisites: install ST-Flash utility.

  • open a terminal in the repo check-out folder and type:

make
  • flash the firmware by typing:
make flash

Note: If someone finds a way to build and flash the GD32 MCU via Platformio please let me know.

Example Variants

This firmware offers currently these variants (selectable in config.h):

  • VARIANT_DEBUG: In this variant the user can interact with sideboard 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. This Variant is not yet fully tested!

Of course the firmware can be further customized for other needs or projects.

3D Visualization Demo

By converting Quaternions to Euler angles, we can make a 3D visualization example in Processing as shown below. For this Demo use the VARIANT_HOVERBOARD.

sketch_pic

Contributions

Every contribution to this repository is highly appriciated! Feel free to create pull requests to improve this firmware as ultimately you are going to help everyone.

If you want to donate to keep this firmware updated, use the link below:

paypal