mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 17:49:32 +00:00
f088bd6a87
- the sideboard can now send and receive Serial data from the mainboard - fixed Processing sketch
183 lines
5.4 KiB
C
183 lines
5.4 KiB
C
/**
|
|
* This file is part of the hoverboard-sideboard-hack project.
|
|
*
|
|
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
// Define to prevent recursive inclusion
|
|
#ifndef DEFINES_H
|
|
#define DEFINES_H
|
|
|
|
|
|
// Includes
|
|
#include "gd32f1x0.h"
|
|
#include "config.h"
|
|
|
|
#if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
|
|
asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
|
|
#endif
|
|
|
|
/* =========================== Defines General =========================== */
|
|
// #define _BV(bit) (1 << (bit))
|
|
// #define ARRAYNUM(arr_nanme) (uint32_t)(sizeof(arr_nanme) / sizeof(*(arr_nanme)))
|
|
#define min(a, b) (((a) < (b)) ? (a) : (b))
|
|
#define max(a, b) (((a) > (b)) ? (a) : (b))
|
|
#define i2c_write i2c_writeBytes
|
|
#define i2c_read i2c_readBytes
|
|
#define delay_ms delay_1ms
|
|
#define get_ms get_tick_count_ms
|
|
|
|
|
|
/* =========================== Defines LEDs =========================== */
|
|
#define LED1_GPIO_Port GPIOA
|
|
#define LED1_Pin GPIO_PIN_0 // RED
|
|
#define LED2_GPIO_Port GPIOB
|
|
#define LED2_Pin GPIO_PIN_9 // GREEN
|
|
#define LED3_GPIO_Port GPIOB
|
|
#define LED3_Pin GPIO_PIN_8 // YELLOW
|
|
#define LED4_GPIO_Port GPIOB
|
|
#define LED4_Pin GPIO_PIN_5 // BLUE1
|
|
#define LED5_GPIO_Port GPIOB
|
|
#define LED5_Pin GPIO_PIN_4 // BLUE2
|
|
|
|
#define LED1_SET (0x01)
|
|
#define LED2_SET (0x02)
|
|
#define LED3_SET (0x04)
|
|
#define LED4_SET (0x08)
|
|
#define LED5_SET (0x10)
|
|
|
|
|
|
/* =========================== Defines SENSORS =========================== */
|
|
#define SENSOR1_GPIO_Port GPIOA
|
|
#define SENSOR1_Pin GPIO_PIN_4
|
|
#define SENSOR2_GPIO_Port GPIOC
|
|
#define SENSOR2_Pin GPIO_PIN_14
|
|
|
|
|
|
/* =========================== Defines USART =========================== */
|
|
#define USART_GPIO_PORT GPIOA
|
|
#define USART_GPIO_CLK RCU_GPIOA
|
|
#define USART_AF GPIO_AF_1
|
|
|
|
// USART ports number
|
|
#define USARTn 2
|
|
|
|
|
|
// USART to Auxiliary, connected to USART0
|
|
#define USART_AUX USART0
|
|
#define USART_AUX_CLK RCU_USART0
|
|
#define USART_AUX_TX_PIN GPIO_PIN_9
|
|
#define USART_AUX_RX_PIN GPIO_PIN_10
|
|
|
|
|
|
// USART to Mainboard, connected to USART1
|
|
#define USART_MAIN USART1
|
|
#define USART_MAIN_CLK RCU_USART1
|
|
#define USART_MAIN_TX_PIN GPIO_PIN_2
|
|
#define USART_MAIN_RX_PIN GPIO_PIN_3
|
|
|
|
// USART address for DMA defines
|
|
#define USART0_TDATA_ADDRESS ((uint32_t)0x40013828) // USART0: 0x4001 3800 - 0x4001 3BFF
|
|
#define USART0_RDATA_ADDRESS ((uint32_t)0x40013824)
|
|
#define USART1_TDATA_ADDRESS ((uint32_t)0x40004428) // USART1: 0x4000 4400 - 0x4000 47FF
|
|
#define USART1_RDATA_ADDRESS ((uint32_t)0x40004424)
|
|
|
|
|
|
/* =========================== Defines AUX =========================== */
|
|
#define AUX1_PU_GPIO_Port GPIOC
|
|
#define AUX1_PU_Pin GPIO_PIN_15
|
|
#define AUX2_GPIO_Port GPIOA
|
|
#define AUX2_Pin GPIO_PIN_1
|
|
#define AUX3_GPIO_Port GPIOB
|
|
#define AUX3_Pin GPIO_PIN_10
|
|
#ifdef AUX45_USE_GPIO
|
|
#define AUX4_GPIO_Port GPIOA
|
|
#define AUX4_Pin GPIO_PIN_10
|
|
#define AUX5_GPIO_Port GPIOA
|
|
#define AUX5_Pin GPIO_PIN_9
|
|
#endif
|
|
|
|
|
|
/* =========================== Defines I2C =========================== */
|
|
typedef enum {READ = 0, WRITE = !READ} i2c_cmd;
|
|
#define MPU_I2C I2C0
|
|
#define MPU_RCU_I2C RCU_I2C0
|
|
#define MPU_SCL_GPIO_Port GPIOB
|
|
#define MPU_SCL_Pin GPIO_PIN_6
|
|
#define MPU_SDA_GPIO_Port GPIOB
|
|
#define MPU_SDA_Pin GPIO_PIN_7
|
|
#define I2C_OWN_ADDRESS7 0x24
|
|
|
|
#ifdef AUX45_USE_I2C
|
|
#define AUX_I2C I2C1
|
|
#define AUX_RCU_I2C RCU_I2C1
|
|
#define AUX_SCL_GPIO_Port GPIOA
|
|
#define AUX_SCL_Pin GPIO_PIN_9
|
|
#define AUX_SDA_GPIO_Port GPIOA
|
|
#define AUX_SDA_Pin GPIO_PIN_10
|
|
#define AUX_I2C_OWN_ADDRESS7 0x34
|
|
#endif
|
|
|
|
/* =========================== 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)
|
|
|
|
#define PRINT_ACCEL (0x01)
|
|
#define PRINT_GYRO (0x02)
|
|
#define PRINT_QUAT (0x04)
|
|
#define PRINT_EULER (0x08)
|
|
#define PRINT_TEMP (0x10)
|
|
#define PRINT_PEDO (0x20)
|
|
|
|
typedef struct{
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
} Gyro;
|
|
|
|
typedef struct{
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
} Accel;
|
|
|
|
typedef struct{
|
|
int32_t w;
|
|
int32_t x;
|
|
int32_t y;
|
|
int32_t z;
|
|
} Quaternion;
|
|
|
|
typedef struct{
|
|
int16_t roll;
|
|
int16_t pitch;
|
|
int16_t yaw;
|
|
} Euler;
|
|
|
|
typedef struct {
|
|
Gyro gyro;
|
|
Accel accel;
|
|
Quaternion quat;
|
|
Euler euler;
|
|
int16_t temp;
|
|
} MPU_Data;
|
|
|
|
#endif
|