mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-STM.git
synced 2026-02-17 15:31:11 +00:00
Visual update and minor fixes
- minor bug fixes - added LED board picture
This commit is contained in:
EmanuelFeru
97
Src/main.c
97
Src/main.c
@@ -59,10 +59,10 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
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void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
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{
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__HAL_UART_FLUSH_DRREGISTER(&huart2); // Clear the buffer to prevent overrun
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__HAL_UART_FLUSH_DRREGISTER(&huart2); // Clear the buffer to prevent overrun
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#ifdef SERIAL_DEBUG
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if (rxBuffer != '\n' && rxBuffer != '\r') { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
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if (rxBuffer != '\n' && rxBuffer != '\r') { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
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userCommand = rxBuffer;
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}
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#endif
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@@ -88,8 +88,8 @@ typedef struct{
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uint16_t start;
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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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uint16_t sensors;
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int16_t yaw;
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uint16_t sensors;
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uint16_t checksum;
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} SerialSideboard;
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SerialSideboard Sideboard;
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@@ -97,16 +97,17 @@ SerialSideboard Sideboard;
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#ifdef SERIAL_FEEDBACK
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typedef struct{
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedR;
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int16_t speedL;
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int16_t speedR_meas;
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int16_t speedL_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t checksum;
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedR;
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int16_t speedL;
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int16_t speedR_meas;
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int16_t speedL_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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SerialFeedback Feedback;
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SerialFeedback NewFeedback;
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@@ -118,8 +119,8 @@ static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial comman
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extern MPU_Data mpu; // holds the MPU-6050 data
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ErrorStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR
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uint8_t sensor1, sensor2; // holds the sensor1 and sensor 2 values
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FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
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FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
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static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
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/* USER CODE END 0 */
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@@ -170,11 +171,15 @@ int main(void)
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HAL_UART_Receive_DMA (&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
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#endif
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introDemoLED(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to initialize.
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if(mpu_config()) { // IMU MPU-6050 config
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intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
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if(mpu_config()) { // IMU MPU-6050 config
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mpuStatus = ERROR;
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}
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mpu_handle_input('h'); // Print the User Help commands to serial
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on RED LED
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}
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else {
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
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}
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mpu_handle_input('h'); // Print the User Help commands to serial
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/* USER CODE END 2 */
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@@ -186,11 +191,15 @@ int main(void)
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// ==================================== LEDs Handling ====================================
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// HAL_GPIO_TogglePin(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
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if (SUCCESS == mpuStatus) {
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
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} else {
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HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); // Turn on RED LED
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}
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#ifdef SERIAL_FEEDBACK
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if (!timeoutFlagSerial) {
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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); }
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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); }
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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); }
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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); }
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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); }
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}
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#endif
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// ==================================== USER Handling ====================================
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#ifdef SERIAL_DEBUG
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@@ -209,35 +218,43 @@ int main(void)
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mpu_get_data();
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}
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// Print MPU data to Console
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if (main_loop_counter % 50 == 0 && SUCCESS == mpuStatus) {
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if (main_loop_counter % 50 == 0) {
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mpu_print_to_console();
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}
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// ==================================== SENSORS Handling ====================================
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sensor1_read = HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin);
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sensor2_read = HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin);
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// SENSOR1
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if (HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin)) {
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sensor1 = 1;
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// Sensor ACTIVE: Do something here
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if (sensor1 == RESET && sensor1_read == SET) {
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sensor1 = SET;
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// Sensor ACTIVE: Do something here (one time task on activation)
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HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
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consoleLog("-- SENSOR 1 Active --\n");
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HAL_Delay(50);
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} else {
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sensor1 = 0;
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consoleLog("-- SENSOR 1 Active --\n");
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} else if(sensor1 == SET && sensor1_read == RESET) {
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sensor1 = RESET;
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HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
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}
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// SENSOR2
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if (HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin)) {
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sensor2 = 1;
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// Sensor ACTIVE: Do something here
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if (sensor2 == RESET && sensor2_read == SET) {
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sensor2 = SET;
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// Sensor ACTIVE: Do something here (one time task on activation)
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HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
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consoleLog("-- SENSOR 2 Active --\n");
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HAL_Delay(50);
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} else {
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sensor2 = 0;
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} else if (sensor2 == SET && sensor2_read == RESET) {
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sensor2 = RESET;
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HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
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}
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if (sensor1 == SET) {
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// Sensor ACTIVE: Do something here (continuous task)
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}
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if (sensor2 == SET) {
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// Sensor ACTIVE: Do something here (continuous task)
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}
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// ==================================== SERIAL Tx/Rx Handling ====================================
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@@ -257,7 +274,7 @@ int main(void)
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#ifdef SERIAL_FEEDBACK
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
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^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
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^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
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if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
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if (timeoutFlagSerial) { // Check for previous timeout flag
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if (timeoutCntSerial-- <= 0) // Timeout de-qualification
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