UART with mainboard works

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

.gitignore

@@ -2,7 +2,7 @@
 .pioenvs/
 .vscode/
 MDK-ARM/DebugConfig/
-MDK-ARM/Listing/
+MDK-ARM/Listings/
 MDK-ARM/Objects/
 MDK-ARM/RTE/
 MDK-ARM/*.uvguix.*

Inc/config.h

@@ -72,8 +72,8 @@
 #ifdef BYPASS_CUBEMX_DEFINES
   #define USART_MAIN_BAUD					38400				// [bit/s] MAIN Serial Tx/Rx baud rate
 #endif
-#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
 
 
 /* ==================================== VALIDATE SETTINGS ==================================== */

Inc/defines.h

@@ -90,6 +90,7 @@
 /* =========================== 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.uvoptx

@@ -75,7 +75,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
@@ -233,7 +233,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>

README.md

@@ -74,14 +74,14 @@ 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/main.c

@@ -100,8 +100,6 @@ 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;
@@ -117,10 +115,10 @@ static uint8_t timeoutFlagSerial  = 0;  				// Timeout Flag for Rx Serial comman
 #endif
 
 extern MPU_Data 	mpu;													// holds the MPU-6050 data
-ErrorStatus				mpuStatus = SUCCESS;					// holds the MPU-6050 status: SUCCESS or ERROR
+ErrorStatus				mpuStatus;					          // holds the MPU-6050 status: SUCCESS or ERROR
 
-FlagStatus 		  	sensor1, sensor2; 					  // holds the sensor1 and sensor 2 values
+GPIO_PinState	  	sensor1, sensor2; 					  // holds the sensor1 and sensor 2 values
-FlagStatus			  sensor1_read, sensor2_read;	  // holds the instantaneous Read for sensor1 and sensor 2
+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 */
@@ -177,6 +175,7 @@ int main(void)
 		HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);  // Turn on RED LED
 	}
 	else {
+		mpuStatus = SUCCESS;
 		HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);  // Turn on GREEN LED
 	}
 	mpu_handle_input('h'); 						  // Print the User Help commands to serial
@@ -216,6 +215,8 @@ 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) {
+			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) {
@@ -228,43 +229,43 @@ int main(void)
 		sensor2_read = HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin);
 
 		// SENSOR1
-		if (sensor1 == RESET && sensor1_read == SET) {
+		if (sensor1 == GPIO_PIN_RESET && sensor1_read == GPIO_PIN_SET) {
-      sensor1 = 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 == SET && sensor1_read == RESET) {
+		} else if(sensor1 == GPIO_PIN_SET && sensor1_read == GPIO_PIN_RESET) {
-      sensor1 = RESET;
+      sensor1 = GPIO_PIN_RESET;
 			HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);			
 		}
 		
 		// SENSOR2
-		if (sensor2 == RESET && sensor2_read == SET) {
+		if (sensor2 == GPIO_PIN_RESET && sensor2_read == GPIO_PIN_SET) {
-      sensor2 = 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 == SET && sensor2_read == RESET) {
+		} else if (sensor2 == GPIO_PIN_SET && sensor2_read == GPIO_PIN_RESET) {
-      sensor2 = RESET;
+      sensor2 = GPIO_PIN_RESET;
 			HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
 		}
 
-    if (sensor1 == SET) {
+    if (sensor1 == GPIO_PIN_SET) {
       // Sensor ACTIVE: Do something here (continuous task)
 		}
-		if (sensor2 == SET) {
+		if (sensor2 == GPIO_PIN_SET) {
 			// Sensor ACTIVE: Do something here (continuous task)
 		}
 		
 		
 		// ==================================== SERIAL Tx/Rx Handling ====================================
 		#ifdef SERIAL_CONTROL						
-      if (main_loop_counter % 50 == 0) {		//  Transmit Tx data periodically using DMA
+      if (main_loop_counter % 5 == 0) {		//  Transmit Tx data periodically using DMA
 				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);
 			
         HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));	
@@ -273,14 +274,14 @@ 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 (timeoutCntSerial-- <= 0)              // Timeout de-qualification
               timeoutFlagSerial = 0;                  // Timeout flag cleared           
           } 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
             timeoutCntSerial  = 0;                    // Reset the timeout counter         
           }
@@ -289,18 +290,15 @@ int main(void)
           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) {
           HAL_UART_DMAStop(&huart2);
           HAL_UART_Receive_DMA(&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
-            NewFeedback.start = 0xFFFF;                 // Change the Start Frame to avoid entering again here if no data is received
         }
       }
             
-			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
-				HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);	  // Turn on Red LED
+        HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin);					        // Toggle the Yellow LED every 100 ms
-      } else {
-        HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);  // Follow the Normal behavior
       }
 		#endif	
 

Src/mpu6050.c

@@ -3230,9 +3230,7 @@ void mpu_start_self_test(void)
 #elif defined (MPU6050) || defined (MPU9150)
     result = mpu_run_self_test(gyro, accel);
 #endif
-    if (result == 0x7) {
     #ifdef SERIAL_DEBUG
-            consoleLog("Passed!\n");
         log_i("accel: %ld %ld %ld\n",
                                 accel[0],
                                 accel[1],
@@ -3241,8 +3239,10 @@ void mpu_start_self_test(void)
                                 gyro[0],
                                 gyro[1],
                                 gyro[2]);
-            /* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
     #endif
+    if (result == 0x7) {
+        consoleLog("Passed!\n");
+        /* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
 
 #ifdef USE_CAL_HW_REGISTERS
         /*
@@ -3639,10 +3639,10 @@ 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

@@ -69,7 +69,7 @@ void intro_demo_led(uint32_t tDelay)
 {
 	int i;
 
-	for (i = 0; i < 6; i++) {
+	for (i = 0; i < 3; i++) {
 		HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
 		HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);		
 		HAL_Delay(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++;
-    if(bufWord == -21846) {     // check START_FRAME = 0xAAAA
+    if(idx > 20) {
-      idx = 0;         
+      myPort.write('e');
+      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);
@@ -53,7 +45,6 @@ void draw() {
   rotateY(radians(yaw));
   
   // 3D 0bject  
-  
   // Draw box with text
   fill(0, 76, 153);;     // Make board BLUE
   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;
+    }
+  }
+}