aleks/hoverboard-sideboard-hack-STM
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Added Hovercar variant

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- hovercar variant
- iBUS receiver support
- updated baud rate to 115200
This commit is contained in:
EmanuelFeru
2020-12-07 20:30:38 +01:00
parent 786baa4c06
commit 323e30b5bb
95 changed files with 35305 additions and 22056 deletions
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127
Src/main.c
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@@ -18,7 +18,6 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
@@ -66,25 +65,9 @@ void SystemClock_Config(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern UART_HandleTypeDef huart2;
#ifdef SERIAL_CONTROL
extern SerialSideboard Sideboard;
#endif
uint32_t main_loop_counter; // main loop counter to perform task scheduling inside main()
#ifdef SERIAL_FEEDBACK
extern SerialFeedback Feedback;
extern uint16_t timeoutCntSerial; // Timeout counter for Rx Serial command
extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif
extern MPU_Data mpu; // holds the MPU-6050 data
extern ErrorStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
GPIO_PinState sensor1, sensor2; // holds the sensor1 and sensor 2 values
GPIO_PinState sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
/* USER CODE END 0 */
/**
@@ -118,108 +101,25 @@ int main(void)
MX_DMA_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
input_init(); // Input initialization
input_init(); // Input initialization
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
{
HAL_Delay(DELAY_IN_MAIN_LOOP);
// ==================================== LEDs Handling ====================================
// HAL_GPIO_TogglePin(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
#ifdef SERIAL_FEEDBACK
if (!timeoutFlagSerial) {
if (Feedback.cmdLed & LED1_SET) { HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET); }
if (Feedback.cmdLed & LED2_SET) { HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET); }
if (Feedback.cmdLed & LED3_SET) { HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET); }
if (Feedback.cmdLed & LED4_SET) { HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET); }
if (Feedback.cmdLed & LED5_SET) { HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET); }
}
#endif
// ==================================== MPU-6050 Handling ====================================
#if defined(MPU_SENSOR_ENABLE) && defined(SERIAL_DEBUG)
// 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) {
HAL_GPIO_TogglePin(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();
}
#endif
// ==================================== SENSORS Handling ====================================
sensor1_read = HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin);
sensor2_read = HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin);
// SENSOR1
if (sensor1 == GPIO_PIN_RESET && sensor1_read == GPIO_PIN_SET) {
sensor1 = GPIO_PIN_SET;
// Sensor ACTIVE: Do something here (one time task on activation)
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
consoleLog("-- SENSOR 1 Active --\n");
} else if(sensor1 == GPIO_PIN_SET && sensor1_read == GPIO_PIN_RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor1 = GPIO_PIN_RESET;
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
consoleLog("-- SENSOR 1 Deactive --\n");
}
// SENSOR2
if (sensor2 == GPIO_PIN_RESET && sensor2_read == GPIO_PIN_SET) {
sensor2 = GPIO_PIN_SET;
// Sensor ACTIVE: Do something here (one time task on activation)
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
consoleLog("-- SENSOR 2 Active --\n");
} else if (sensor2 == GPIO_PIN_SET && sensor2_read == GPIO_PIN_RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor2 = GPIO_PIN_RESET;
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
consoleLog("-- SENSOR 2 Deactive --\n");
}
if (sensor1 == GPIO_PIN_SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
if (sensor2 == GPIO_PIN_SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
// ==================================== SERIAL Tx/Rx Handling ====================================
#ifdef SERIAL_CONTROL
if (main_loop_counter % 5 == 0 && __HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
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) | (mpuStatus << 2));
Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));
}
#endif
#ifdef SERIAL_FEEDBACK
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
}
#endif
handle_mpu6050(); // Handle of the MPU-6050 IMU sensor
handle_sensors(); // Handle of the optical sensors
handle_usart(); // Handle of the USART data
handle_leds(); // Handle of the sideboard LEDs
main_loop_counter++;
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
@@ -236,7 +136,8 @@ void SystemClock_Config(void)
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the CPU, AHB and APB busses clocks
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
@@ -248,7 +149,7 @@ void SystemClock_Config(void)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB busses clocks
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@@ -288,7 +189,7 @@ void Error_Handler(void)
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */