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Visual update and minor fixes

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- minor bug fixes
- added LED board picture
This commit is contained in:
EmanuelFeru 2020-02-13 18:19:18 +01:00
parent 4a470e97b6
commit e849a9ded8
19 changed files with 493 additions and 464 deletions
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9
.gitignore vendored
View File

@ -2,15 +2,14 @@
.pioenvs/ .pioenvs/
.vscode/ .vscode/
MDK-ARM/DebugConfig/ MDK-ARM/DebugConfig/
MDK-ARM/Listing/
MDK-ARM/Objects/
MDK-ARM/RTE/ MDK-ARM/RTE/
MDK-ARM/sideboard_CobeMX_prj/ MDK-ARM/*.uvguix.*
MDK-ARM/*.uvguix build/
MDK-ARM/.lst
!build/VARIANT_DEBUG/firmware.hex !build/VARIANT_DEBUG/firmware.hex
!build/VARIANT_DEBUG/firmware.bin !build/VARIANT_DEBUG/firmware.bin
!build/VARIANT_DEBUG/firmware.elf !build/VARIANT_DEBUG/firmware.elf
!build/VARIANT_DEBUG/firmware.axf
!build/VARIANT_HOVERBOARD/firmware.hex !build/VARIANT_HOVERBOARD/firmware.hex
!build/VARIANT_HOVERBOARD/firmware.bin !build/VARIANT_HOVERBOARD/firmware.bin
!build/VARIANT_HOVERBOARD/firmware.elf !build/VARIANT_HOVERBOARD/firmware.elf
!build/VARIANT_HOVERBOARD/firmware.axf

2
Inc/config.h
View File

@ -28,7 +28,6 @@
#endif #endif
/* ==================================== DO NOT TOUCH SETTINGS ==================================== */ /* ==================================== DO NOT TOUCH SETTINGS ==================================== */
#define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size!
#define BYPASS_CUBEMX_DEFINES // [-] Use this flag to bypass the Ports definitions generated by CUBE MX in main.h and use the ones in defines.h #define BYPASS_CUBEMX_DEFINES // [-] Use this flag to bypass the Ports definitions generated by CUBE MX in main.h and use the ones in defines.h
#define MPU6050 // [-] Define IMU sensor type #define MPU6050 // [-] Define IMU sensor type
#define MPU_GYRO_FSR 2000 // [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !! #define MPU_GYRO_FSR 2000 // [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !!
@ -37,6 +36,7 @@
#define MPU_I2C_SPEED 400000 // [bit/s] Define I2C speed for communicating with the MPU6050 #define MPU_I2C_SPEED 400000 // [bit/s] Define I2C speed for communicating with the MPU6050
#endif #endif
#define DELAY_IN_MAIN_LOOP 1 // [ms] Delay in the main loop #define DELAY_IN_MAIN_LOOP 1 // [ms] Delay in the main loop
// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
/* =============================================================================================== */ /* =============================================================================================== */

8
Inc/defines.h
View File

@ -31,7 +31,7 @@
#define UART_DMA_CHANNEL_RX DMA1_Channel6 #define UART_DMA_CHANNEL_RX DMA1_Channel6
#if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__) #if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
asm(".global _printf_float"); // this is the magic trick for printf to support float asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
#endif #endif
/* =========================== Defines General =========================== */ /* =========================== Defines General =========================== */
@ -58,6 +58,12 @@
#define LED5_GPIO_Port GPIOB #define LED5_GPIO_Port GPIOB
#define LED5_Pin GPIO_PIN_4 // BLUE2 #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 =========================== */ /* =========================== Defines SENSORS =========================== */
#define SENSOR1_GPIO_Port GPIOA #define SENSOR1_GPIO_Port GPIOA
#define SENSOR1_Pin GPIO_PIN_4 #define SENSOR1_Pin GPIO_PIN_4

2
Inc/util.h
View File

@ -27,7 +27,7 @@
/* general functions */ /* general functions */
void consoleLog(char *message); void consoleLog(char *message);
void get_tick_count_ms(unsigned long *count); void get_tick_count_ms(unsigned long *count);
void introDemoLED(uint32_t tDelay); void intro_demo_led(uint32_t tDelay);
/* i2c write/read functions */ /* i2c write/read functions */
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data); int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);

163
MDK-ARM/sideboard-hack.uvoptx
View File

@ -26,7 +26,7 @@
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName> <ToolsetName>ARM-ADS</ToolsetName>
<TargetOption> <TargetOption>
<CLKADS>64000000</CLKADS> <CLKADS>8000000</CLKADS>
<OPTTT> <OPTTT>
<gFlags>1</gFlags> <gFlags>1</gFlags>
<BeepAtEnd>0</BeepAtEnd> <BeepAtEnd>0</BeepAtEnd>
@ -45,7 +45,7 @@
<PageWidth>79</PageWidth> <PageWidth>79</PageWidth>
<PageLength>66</PageLength> <PageLength>66</PageLength>
<TabStop>8</TabStop> <TabStop>8</TabStop>
<ListingPath></ListingPath> <ListingPath>.\Listings\</ListingPath>
</OPTLEX> </OPTLEX>
<ListingPage> <ListingPage>
<CreateCListing>1</CreateCListing> <CreateCListing>1</CreateCListing>
@ -93,7 +93,7 @@
<tRbreak>1</tRbreak> <tRbreak>1</tRbreak>
<tRwatch>1</tRwatch> <tRwatch>1</tRwatch>
<tRmem>1</tRmem> <tRmem>1</tRmem>
<tRfunc>1</tRfunc> <tRfunc>0</tRfunc>
<tRbox>1</tRbox> <tRbox>1</tRbox>
<tRtrace>1</tRtrace> <tRtrace>1</tRtrace>
<sRSysVw>1</sRSysVw> <sRSysVw>1</sRSysVw>
@ -117,13 +117,18 @@
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>UL2CM3</Key> <Key>ULP2CM3</Key>
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM))</Name> <Name>-U -O206 -S8 -C0 -P00 -N00("") -D00(00000000) -L00(0) -TO18 -TC10000000 -TP18 -TDX0 -TDD0 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key> <Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O142 -O2254 -S0 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL010000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name> <Name>-U-O718 -O718 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM))</Name>
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint/> <Breakpoint/>
@ -207,8 +212,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Src/main.c</PathWithFileName> <PathWithFileName>..\Src\dma.c</PathWithFileName>
<FilenameWithoutPath>main.c</FilenameWithoutPath> <FilenameWithoutPath>dma.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -219,7 +224,7 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Src/gpio.c</PathWithFileName> <PathWithFileName>..\Src\gpio.c</PathWithFileName>
<FilenameWithoutPath>gpio.c</FilenameWithoutPath> <FilenameWithoutPath>gpio.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
@ -231,8 +236,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Src/dma.c</PathWithFileName> <PathWithFileName>..\Src\i2c.c</PathWithFileName>
<FilenameWithoutPath>dma.c</FilenameWithoutPath> <FilenameWithoutPath>i2c.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -243,8 +248,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Src/i2c.c</PathWithFileName> <PathWithFileName>..\Src\main.c</PathWithFileName>
<FilenameWithoutPath>i2c.c</FilenameWithoutPath> <FilenameWithoutPath>main.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -255,42 +260,6 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Src/usart.c</PathWithFileName>
<FilenameWithoutPath>usart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>7</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Src/stm32f1xx_it.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_it.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>8</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Src/stm32f1xx_hal_msp.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_msp.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>9</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\mpu6050.c</PathWithFileName> <PathWithFileName>..\Src\mpu6050.c</PathWithFileName>
<FilenameWithoutPath>mpu6050.c</FilenameWithoutPath> <FilenameWithoutPath>mpu6050.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -298,7 +267,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>10</FileNumber> <FileNumber>7</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -308,6 +277,42 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>8</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\stm32f1xx_hal_msp.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_msp.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>9</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\stm32f1xx_it.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_it.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>10</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\usart.c</PathWithFileName>
<FilenameWithoutPath>usart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>11</FileNumber> <FileNumber>11</FileNumber>
@ -347,8 +352,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_gpio_ex.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -359,8 +364,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_i2c.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_cortex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -371,8 +376,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_tim.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_dma.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -383,8 +388,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_tim_ex.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_flash.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -395,8 +400,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_uart.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_flash_ex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -407,8 +412,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_gpio.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -419,8 +424,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_rcc.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_gpio_ex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -431,8 +436,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_rcc_ex.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_i2c.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -443,8 +448,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_gpio.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_pwr.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -455,8 +460,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_dma.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_rcc.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -467,8 +472,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_cortex.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_rcc_ex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -479,8 +484,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_pwr.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_tim.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -491,8 +496,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_flash.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_tim_ex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -503,8 +508,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c</PathWithFileName> <PathWithFileName>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_flash_ex.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_uart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -523,7 +528,7 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Src/system_stm32f1xx.c</PathWithFileName> <PathWithFileName>..\Src\system_stm32f1xx.c</PathWithFileName>
<FilenameWithoutPath>system_stm32f1xx.c</FilenameWithoutPath> <FilenameWithoutPath>system_stm32f1xx.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>

174
MDK-ARM/sideboard-hack.uvprojx
View File

@ -17,12 +17,12 @@
<Vendor>STMicroelectronics</Vendor> <Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.3.0</PackID> <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL> <PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu> <Cpu>IRAM(0x20000000,0x00005000) IROM(0x08000000,0x00010000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile> <StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll> <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM))</FlashDriverDll>
<DeviceId></DeviceId> <DeviceId>4235</DeviceId>
<RegisterFile></RegisterFile> <RegisterFile>$$Device:STM32F103C8$Device\Include\stm32f10x.h</RegisterFile>
<MemoryEnv></MemoryEnv> <MemoryEnv></MemoryEnv>
<Cmp></Cmp> <Cmp></Cmp>
<Asm></Asm> <Asm></Asm>
@ -47,14 +47,14 @@
<NotGenerated>0</NotGenerated> <NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash> <InvalidFlash>1</InvalidFlash>
</TargetStatus> </TargetStatus>
<OutputDirectory>.\sideboard_CubeMX_prj\</OutputDirectory> <OutputDirectory>.\Objects\</OutputDirectory>
<OutputName>firmware</OutputName> <OutputName>firmware</OutputName>
<CreateExecutable>1</CreateExecutable> <CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib> <CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile> <CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation> <DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation> <BrowseInformation>1</BrowseInformation>
<ListingPath></ListingPath> <ListingPath>.\Listings\</ListingPath>
<HexFormatSelection>1</HexFormatSelection> <HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K> <Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile> <CreateBatchFile>0</CreateBatchFile>
@ -79,9 +79,9 @@
<nStopB2X>0</nStopB2X> <nStopB2X>0</nStopB2X>
</BeforeMake> </BeforeMake>
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>1</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name>$K\ARM\ARMCC\bin\fromelf.exe --bin --output=.\Objects\@L.bin !L</UserProg1Name>
<UserProg2Name></UserProg2Name> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
@ -105,7 +105,7 @@
<StopOnExitCode>3</StopOnExitCode> <StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<DllOption> <DllOption>
<SimDllName>SARMCM3.DLL</SimDllName> <SimDllName>SARMCM3.DLL</SimDllName>
@ -133,10 +133,10 @@
<RunIndependent>0</RunIndependent> <RunIndependent>0</RunIndependent>
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging> <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
<Capability>1</Capability> <Capability>1</Capability>
<DriverSelection>4100</DriverSelection> <DriverSelection>4096</DriverSelection>
</Flash1> </Flash1>
<bUseTDR>1</bUseTDR> <bUseTDR>1</bUseTDR>
<Flash2>STLink\ST-LINKIII-KEIL_SWO.dll</Flash2> <Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3> <Flash3>"" ()</Flash3>
<Flash4></Flash4> <Flash4></Flash4>
<pFcarmOut></pFcarmOut> <pFcarmOut></pFcarmOut>
@ -335,7 +335,7 @@
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xB</Define> <Define>USE_HAL_DRIVER,STM32F103xB</Define>
<Undefine></Undefine> <Undefine></Undefine>
<IncludePath>../Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath> <IncludePath>..\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include</IncludePath>
</VariousControls> </VariousControls>
</Cads> </Cads>
<Aads> <Aads>
@ -390,39 +390,24 @@
<GroupName>Src</GroupName> <GroupName>Src</GroupName>
<Files> <Files>
<File> <File>
<FileName>main.c</FileName> <FileName>dma.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Src/main.c</FilePath> <FilePath>..\Src\dma.c</FilePath>
</File> </File>
<File> <File>
<FileName>gpio.c</FileName> <FileName>gpio.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Src/gpio.c</FilePath> <FilePath>..\Src\gpio.c</FilePath>
</File>
<File>
<FileName>dma.c</FileName>
<FileType>1</FileType>
<FilePath>../Src/dma.c</FilePath>
</File> </File>
<File> <File>
<FileName>i2c.c</FileName> <FileName>i2c.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Src/i2c.c</FilePath> <FilePath>..\Src\i2c.c</FilePath>
</File> </File>
<File> <File>
<FileName>usart.c</FileName> <FileName>main.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Src/usart.c</FilePath> <FilePath>..\Src\main.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_it.c</FileName>
<FileType>1</FileType>
<FilePath>../Src/stm32f1xx_it.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_msp.c</FileName>
<FileType>1</FileType>
<FilePath>../Src/stm32f1xx_hal_msp.c</FilePath>
</File> </File>
<File> <File>
<FileName>mpu6050.c</FileName> <FileName>mpu6050.c</FileName>
@ -434,6 +419,21 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\Src\mpu6050_dmp.c</FilePath> <FilePath>..\Src\mpu6050_dmp.c</FilePath>
</File> </File>
<File>
<FileName>stm32f1xx_hal_msp.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\stm32f1xx_hal_msp.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_it.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\stm32f1xx_it.c</FilePath>
</File>
<File>
<FileName>usart.c</FileName>
<FileType>1</FileType>
<FilePath>..\Src\usart.c</FilePath>
</File>
<File> <File>
<FileName>util.c</FileName> <FileName>util.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -449,75 +449,75 @@
<Group> <Group>
<GroupName>HAL_Driver</GroupName> <GroupName>HAL_Driver</GroupName>
<Files> <Files>
<File>
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_i2c.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_uart.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c</FilePath>
</File>
<File> <File>
<FileName>stm32f1xx_hal.c</FileName> <FileName>stm32f1xx_hal.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c</FilePath> <FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_gpio.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_dma.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f1xx_hal_cortex.c</FileName> <FileName>stm32f1xx_hal_cortex.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c</FilePath> <FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f1xx_hal_pwr.c</FileName> <FileName>stm32f1xx_hal_dma.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c</FilePath> <FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f1xx_hal_flash.c</FileName> <FileName>stm32f1xx_hal_flash.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c</FilePath> <FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f1xx_hal_flash_ex.c</FileName> <FileName>stm32f1xx_hal_flash_ex.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c</FilePath> <FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_gpio.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_i2c.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_pwr.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_uart.c</FileName>
<FileType>1</FileType>
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</FilePath>
</File> </File>
</Files> </Files>
</Group> </Group>
@ -527,7 +527,7 @@
<File> <File>
<FileName>system_stm32f1xx.c</FileName> <FileName>system_stm32f1xx.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Src/system_stm32f1xx.c</FilePath> <FilePath>..\Src\system_stm32f1xx.c</FilePath>
</File> </File>
</Files> </Files>
</Group> </Group>
@ -541,8 +541,8 @@
<RTE> <RTE>
<apis/> <apis/>
<components> <components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core"> <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/> <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
<targetInfos> <targetInfos>
<targetInfo name="sideboard-hack"/> <targetInfo name="sideboard-hack"/>
</targetInfos> </targetInfos>

6
README.md
View File

@ -14,6 +14,9 @@ This repository implements the firmware for the hoveboard sideboards. The hovebo
The original sideboard hardware supports one 4-pin cable that originally was connected to the hoveboard mainboard. It breaks 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. The original sideboard hardware supports one 4-pin cable that originally was connected to the hoveboard mainboard. It breaks 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](/docs/pictures/sideboard_pinout.png) ![sideboard](/docs/pictures/sideboard_pinout.png)
The LED boards consist of colored LEDs (blue, red, green, orange) used for design and to inform the user about the current hoverboard state.
![ledboard](/docs/pictures/ledboard_pinout.png)
The heart of the sideboard is a [STM32F103C8T6](/docs/stm32f103c8-Datasheet.pdf) with the pinout shown in the follwing figure: The heart of the sideboard is a [STM32F103C8T6](/docs/stm32f103c8-Datasheet.pdf) with the pinout shown in the follwing figure:
![MCU_pinout](/docs/pictures/MCU_pinout.png) ![MCU_pinout](/docs/pictures/MCU_pinout.png)
@ -40,7 +43,7 @@ If you have never flashed your sideboard before, the MCU is probably locked. To
To build and flash choose one of the following methods: To build and flash choose one of the following methods:
### Method 1: Using Platformio (recommended) ### Method 1: Using Platformio
- open the folder in the IDE of choice (vscode or Atom) - open the folder in the IDE of choice (vscode or Atom)
- press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode). - press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode).
@ -48,6 +51,7 @@ To build and flash choose one of the following methods:
### Method 2: Using Keil uVision ### Method 2: Using Keil uVision
- in [Keil uVision](https://www.keil.com/download/product/), open the [sideboard-hack.uvproj](/MDK-ARM/) - in [Keil uVision](https://www.keil.com/download/product/), open the [sideboard-hack.uvproj](/MDK-ARM/)
- if you are asked to install missing package, click `Yes`
- click Build Target (or press F7) to build the firmware - click Build Target (or press F7) to build the firmware
- click Load Code (or press F8) to flash the firmware. - click Load Code (or press F8) to flash the firmware.

61
Src/main.c
View File

@ -106,7 +106,8 @@ typedef struct{
int16_t speedL_meas; int16_t speedL_meas;
int16_t batVoltage; int16_t batVoltage;
int16_t boardTemp; int16_t boardTemp;
int16_t checksum; uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback; } SerialFeedback;
SerialFeedback Feedback; SerialFeedback Feedback;
SerialFeedback NewFeedback; SerialFeedback NewFeedback;
@ -118,8 +119,8 @@ static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial comman
extern MPU_Data mpu; // holds the MPU-6050 data extern MPU_Data mpu; // holds the MPU-6050 data
ErrorStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR ErrorStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
uint8_t sensor1, sensor2; // holds the sensor1 and sensor 2 values FlagStatus 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() static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
/* USER CODE END 0 */ /* USER CODE END 0 */
@ -170,9 +171,13 @@ int main(void)
HAL_UART_Receive_DMA (&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback)); HAL_UART_Receive_DMA (&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
#endif #endif
introDemoLED(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to initialize. intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
if(mpu_config()) { // IMU MPU-6050 config if(mpu_config()) { // IMU MPU-6050 config
mpuStatus = ERROR; mpuStatus = ERROR;
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on RED LED
}
else {
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 mpu_handle_input('h'); // Print the User Help commands to serial
@ -186,11 +191,15 @@ int main(void)
// ==================================== LEDs Handling ==================================== // ==================================== LEDs Handling ====================================
// HAL_GPIO_TogglePin(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED // HAL_GPIO_TogglePin(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
if (SUCCESS == mpuStatus) { #ifdef SERIAL_FEEDBACK
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED if (!timeoutFlagSerial) {
} else { 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); }
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); // Turn on RED LED 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
// ==================================== USER Handling ==================================== // ==================================== USER Handling ====================================
#ifdef SERIAL_DEBUG #ifdef SERIAL_DEBUG
@ -209,36 +218,44 @@ int main(void)
mpu_get_data(); mpu_get_data();
} }
// Print MPU data to Console // Print MPU data to Console
if (main_loop_counter % 50 == 0 && SUCCESS == mpuStatus) { if (main_loop_counter % 50 == 0) {
mpu_print_to_console(); mpu_print_to_console();
} }
// ==================================== SENSORS Handling ==================================== // ==================================== SENSORS Handling ====================================
sensor1_read = HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin);
sensor2_read = HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin);
// SENSOR1 // SENSOR1
if (HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin)) { if (sensor1 == RESET && sensor1_read == SET) {
sensor1 = 1; sensor1 = SET;
// Sensor ACTIVE: Do something here // Sensor ACTIVE: Do something here (one time task on activation)
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
consoleLog("-- SENSOR 1 Active --\n"); consoleLog("-- SENSOR 1 Active --\n");
HAL_Delay(50); } else if(sensor1 == SET && sensor1_read == RESET) {
} else { sensor1 = RESET;
sensor1 = 0;
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
} }
// SENSOR2 // SENSOR2
if (HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin)) { if (sensor2 == RESET && sensor2_read == SET) {
sensor2 = 1; sensor2 = SET;
// Sensor ACTIVE: Do something here // Sensor ACTIVE: Do something here (one time task on activation)
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
consoleLog("-- SENSOR 2 Active --\n"); consoleLog("-- SENSOR 2 Active --\n");
HAL_Delay(50); } else if (sensor2 == SET && sensor2_read == RESET) {
} else { sensor2 = RESET;
sensor2 = 0;
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
} }
if (sensor1 == SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
if (sensor2 == SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
// ==================================== SERIAL Tx/Rx Handling ==================================== // ==================================== SERIAL Tx/Rx Handling ====================================
#ifdef SERIAL_CONTROL #ifdef SERIAL_CONTROL
@ -257,7 +274,7 @@ int main(void)
#ifdef SERIAL_FEEDBACK #ifdef SERIAL_FEEDBACK
uint16_t checksum; 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 ^ NewFeedback.speedL
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp); ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) { if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
if (timeoutFlagSerial) { // Check for previous timeout flag if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCntSerial-- <= 0) // Timeout de-qualification if (timeoutCntSerial-- <= 0) // Timeout de-qualification

58
Src/mpu6050.c
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@ -2182,17 +2182,17 @@ static int accel_6500_self_test(long *bias_regular, long *bias_st, int debug)
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
st_shift_cust[i] = bias_st[i] - bias_regular[i]; st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug) { if(debug) {
log_i("Bias_Shift=%7.4f, Bias_Reg=%7.4f, Bias_HWST=%7.4f\r\n", log_i("Bias_Shift=%ld, Bias_Reg=%ld, Bias_HWST=%ld\r\n",
st_shift_cust[i]/1.f, bias_regular[i]/1.f, (long)st_shift_cust[i], bias_regular[i],
bias_st[i]/1.f); bias_st[i]);
log_i("OTP value: %7.4f\r\n", ct_shift_prod[i]/1.f); log_i("OTP value: %ld\r\n", (long)ct_shift_prod[i]);
} }
st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i] - 1.f; st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i] - 1.f;
if(debug) if(debug)
log_i("ratio=%7.4f, threshold=%7.4f\r\n", st_shift_ratio[i]/1.f, log_i("ratio=%ld, threshold=%ld\r\n", (long)st_shift_ratio[i],
test.max_accel_var/1.f); (long)test.max_accel_var);
if (fabs(st_shift_ratio[i]) > test.max_accel_var) { if (fabs(st_shift_ratio[i]) > test.max_accel_var) {
if(debug) if(debug)
@ -2208,15 +2208,15 @@ static int accel_6500_self_test(long *bias_regular, long *bias_st, int debug)
if(debug) { if(debug) {
log_i("ACCEL:CRITERIA B\r\n"); log_i("ACCEL:CRITERIA B\r\n");
log_i("Min MG: %7.4f\r\n", accel_st_al_min/1.f); log_i("Min MG: %ld\r\n", (long)accel_st_al_min);
log_i("Max MG: %7.4f\r\n", accel_st_al_max/1.f); log_i("Max MG: %ld\r\n", (long)accel_st_al_max);
} }
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
st_shift_cust[i] = bias_st[i] - bias_regular[i]; st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug) if(debug)
log_i("Bias_shift=%7.4f, st=%7.4f, reg=%7.4f\n", st_shift_cust[i]/1.f, bias_st[i]/1.f, bias_regular[i]/1.f); log_i("Bias_shift=%ld, st=%ld, reg=%ld\n", (long)st_shift_cust[i], bias_st[i], bias_regular[i]);
if(st_shift_cust[i] < accel_st_al_min || st_shift_cust[i] > accel_st_al_max) { if(st_shift_cust[i] < accel_st_al_min || st_shift_cust[i] > accel_st_al_max) {
if(debug) if(debug)
log_i("Accel FAIL axis:%d <= 225mg or >= 675mg\n", i); log_i("Accel FAIL axis:%d <= 225mg or >= 675mg\n", i);
@ -2229,7 +2229,7 @@ static int accel_6500_self_test(long *bias_regular, long *bias_st, int debug)
/* Self Test Pass/Fail Criteria C */ /* Self Test Pass/Fail Criteria C */
accel_offset_max = test.max_g_offset * 65536.f; accel_offset_max = test.max_g_offset * 65536.f;
if(debug) if(debug)
log_i("Accel:CRITERIA C: bias less than %7.4f\n", accel_offset_max/1.f); log_i("Accel:CRITERIA C: bias less than %ld\n", (long)accel_offset_max);
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
if(fabs(bias_regular[i]) > accel_offset_max) { if(fabs(bias_regular[i]) > accel_offset_max) {
if(debug) if(debug)
@ -2278,17 +2278,17 @@ static int gyro_6500_self_test(long *bias_regular, long *bias_st, int debug)
st_shift_cust[i] = bias_st[i] - bias_regular[i]; st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug) { if(debug) {
log_i("Bias_Shift=%7.4f, Bias_Reg=%7.4f, Bias_HWST=%7.4f\r\n", log_i("Bias_Shift=%ld, Bias_Reg=%ld, Bias_HWST=%ld\r\n",
st_shift_cust[i]/1.f, bias_regular[i]/1.f, (long)st_shift_cust[i], bias_regular[i],
bias_st[i]/1.f); bias_st[i]);
log_i("OTP value: %7.4f\r\n", ct_shift_prod[i]/1.f); log_i("OTP value: %ld\r\n", (long)ct_shift_prod[i]);
} }
st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i]; st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i];
if(debug) if(debug)
log_i("ratio=%7.4f, threshold=%7.4f\r\n", st_shift_ratio[i]/1.f, log_i("ratio=%ld, threshold=%ld\r\n", (long)st_shift_ratio[i],
test.max_gyro_var/1.f); (long)test.max_gyro_var);
if (fabs(st_shift_ratio[i]) < test.max_gyro_var) { if (fabs(st_shift_ratio[i]) < test.max_gyro_var) {
if(debug) if(debug)
@ -2303,14 +2303,14 @@ static int gyro_6500_self_test(long *bias_regular, long *bias_st, int debug)
if(debug) { if(debug) {
log_i("GYRO:CRITERIA B\r\n"); log_i("GYRO:CRITERIA B\r\n");
log_i("Max DPS: %7.4f\r\n", gyro_st_al_max/1.f); log_i("Max DPS: %ld\r\n", (long)gyro_st_al_max);
} }
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
st_shift_cust[i] = bias_st[i] - bias_regular[i]; st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug) if(debug)
log_i("Bias_shift=%7.4f, st=%7.4f, reg=%7.4f\n", st_shift_cust[i]/1.f, bias_st[i]/1.f, bias_regular[i]/1.f); log_i("Bias_shift=%ld, st=%ld, reg=%ld\n", (long)st_shift_cust[i], bias_st[i], bias_regular[i]);
if(st_shift_cust[i] < gyro_st_al_max) { if(st_shift_cust[i] < gyro_st_al_max) {
if(debug) if(debug)
log_i("GYRO FAIL axis:%d greater than 60dps\n", i); log_i("GYRO FAIL axis:%d greater than 60dps\n", i);
@ -2323,7 +2323,7 @@ static int gyro_6500_self_test(long *bias_regular, long *bias_st, int debug)
/* Self Test Pass/Fail Criteria C */ /* Self Test Pass/Fail Criteria C */
gyro_offset_max = test.min_dps * 65536.f; gyro_offset_max = test.min_dps * 65536.f;
if(debug) if(debug)
log_i("Gyro:CRITERIA C: bias less than %7.4f\n", gyro_offset_max/1.f); log_i("Gyro:CRITERIA C: bias less than %ld\n", (long)gyro_offset_max);
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
if(fabs(bias_regular[i]) > gyro_offset_max) { if(fabs(bias_regular[i]) > gyro_offset_max) {
if(debug) if(debug)
@ -2455,8 +2455,8 @@ static int get_st_6500_biases(long *gyro, long *accel, unsigned char hw_test, in
if(debug) { if(debug) {
log_i("Accel offset data HWST bit=%d: %7.4f %7.4f %7.4f\r\n", hw_test, accel[0]/65536.f, accel[1]/65536.f, accel[2]/65536.f); log_i("Accel offset data HWST bit=%d: %ld %ld %ld\r\n", hw_test, accel[0], accel[1], accel[2]);
log_i("Gyro offset data HWST bit=%d: %7.4f %7.4f %7.4f\r\n", hw_test, gyro[0]/65536.f, gyro[1]/65536.f, gyro[2]/65536.f); log_i("Gyro offset data HWST bit=%d: %ld %ld %ld\r\n", hw_test, gyro[0], gyro[1], gyro[2]);
} }
return 0; return 0;
@ -3228,14 +3228,14 @@ void mpu_start_self_test(void)
if (result == 0x7) { if (result == 0x7) {
#ifdef SERIAL_DEBUG #ifdef SERIAL_DEBUG
consoleLog("Passed!\n"); consoleLog("Passed!\n");
log_i("accel: %7.4f %7.4f %7.4f\n", log_i("accel: %ld %ld %ld\n",
accel[0]/65536.f, accel[0],
accel[1]/65536.f, accel[1],
accel[2]/65536.f); accel[2]);
log_i("gyro: %7.4f %7.4f %7.4f\n", log_i("gyro: %ld %ld %ld\n",
gyro[0]/65536.f, gyro[0],
gyro[1]/65536.f, gyro[1],
gyro[2]/65536.f); gyro[2]);
/* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/ /* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
#endif #endif

12
Src/util.c
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@ -51,23 +51,21 @@ void get_tick_count_ms(unsigned long *count)
#else #else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f) #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif #endif
PUTCHAR_PROTOTYPE PUTCHAR_PROTOTYPE {
{
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000); HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
return ch; return ch;
} }
#ifdef __GNUC__ #ifdef __GNUC__
int _write(int file, char *ptr, int len) int _write(int file, char *data, int len) {
{ int i;
int DataIdx; for (i = 0; i < len; i++) { __io_putchar( *data++ );}
for (DataIdx = 0; DataIdx < len; DataIdx++) { __io_putchar( *ptr++ );}
return len; return len;
} }
#endif #endif
#endif #endif
void introDemoLED(uint32_t tDelay) void intro_demo_led(uint32_t tDelay)
{ {
int i; int i;

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2
platformio.ini
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@ -6,7 +6,7 @@ include_dir = Inc
src_dir = Src src_dir = Src
;=================== VARIANT SELECTION ========================== ;=================== VARIANT SELECTION ==========================
;default_envs = VARIANT_DEBUG ; DEFAULT Variant ;default_envs = VARIANT_DEBUG ; DEBUG Variant
;default_envs = VARIANT_HOVERBOARD ; HOVERBOARD Variant ;default_envs = VARIANT_HOVERBOARD ; HOVERBOARD Variant
;================================================================ ;================================================================