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Nunchuk added - reformat of code from IDE !

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master
JbLb 6 years ago
parent fba4b39003
commit 0d462439e3
1 changed files with 175 additions and 134 deletions
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309
src/hoverserial.ino
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@ -33,152 +33,172 @@
// ########################## DEFINES ##########################
#define HOVER_SERIAL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
#define START_FRAME 0xAAAA // [-] Start frme definition for reliable serial communication
#define START_FRAME 0xAAAA // [-] Start frme definition for reliable serial communication
#define TIME_SEND 1000 // [ms] Sending time interval
#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <NintendoExtensionCtrl.h>
// #include <SoftwareSerial.h>
// SoftwareSerial HoverSerial(2,3); // RX, TX
// SoftwareSerial HoverSerial(2,3); // RX, TX
// Global variables
uint8_t idx = 0; // Index for new data pointer
uint16_t bufStartFrame; // Buffer Start Frame
byte *p; // Pointer declaration for the new received data
uint8_t idx = 0; // Index for new data pointer
uint16_t bufStartFrame; // Buffer Start Frame
byte *p; // Pointer declaration for the new received data
byte incomingByte;
byte incomingBytePrev;
typedef struct{
uint16_t start;
int16_t steer;
int16_t speed;
uint16_t checksum;
typedef struct {
uint16_t start;
int16_t steer;
int16_t speed;
uint16_t checksum;
} SerialCommand;
SerialCommand Command;
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;
int16_t boardTemp;
int16_t checksum;
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;
int16_t boardTemp;
int16_t checksum;
} SerialFeedback;
SerialFeedback Feedback;
SerialFeedback NewFeedback;
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire);
// Connect to a Nunchuk
Nunchuk nchuk;
// ########################## SETUP ##########################
void setup()
{
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x64)
// Clear the buffer
display.clearDisplay();
display.display();
display.setCursor(0, 0);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.println("Hoverboard Serial");
display.println("v1.0");
display.display();
Serial1.begin(HOVER_SERIAL_BAUD); // RX, TX from arduino to TX RX on hoverboard board. ! be carreful 3v3
pinMode(LED_BUILTIN, OUTPUT);
Serial.begin(SERIAL_BAUD);
if (Serial) {
Serial.println("Hoverboard Serial v1.0");
}
nchuk.begin();
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x64)
// Clear the buffer
display.clearDisplay();
display.display();
display.setCursor(0, 0);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.println("Hoverboard Serial");
display.println("v1.0");
display.print("Nunchuk ");
nchuk.connect()? display.print("") : display.print("not ");
display.println("connected");
display.display();
Serial1.begin(HOVER_SERIAL_BAUD); // RX, TX from arduino to TX RX on hoverboard board. ! be carreful 3v3
pinMode(LED_BUILTIN, OUTPUT);
Serial.begin(SERIAL_BAUD);
if (Serial) {
Serial.println("Hoverboard Serial v1.0");
}
}
// ########################## SEND ##########################
void Send(int16_t uSteer, int16_t uSpeed)
{
// Create command
Command.start = (uint16_t)START_FRAME;
Command.steer = (int16_t)uSteer;
Command.speed = (int16_t)uSpeed;
Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed);
// Write to Serial
Serial1.write((uint8_t *) &Command, sizeof(Command));
// Create command
Command.start = (uint16_t) START_FRAME;
Command.steer = (int16_t) uSteer;
Command.speed = (int16_t) uSpeed;
Command.checksum =
(uint16_t) (Command.start ^ Command.steer ^ Command.speed);
// Write to Serial
Serial1.write((uint8_t *) & Command, sizeof(Command));
}
// ########################## RECEIVE ##########################
void Receive()
{
// Check for new data availability in the Serial buffer
if (Serial1.available()) {
incomingByte = Serial1.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
}
else {
return;
}
// If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX
Serial.print(incomingByte);
return;
#endif
// Copy received data
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
p = (byte *)&NewFeedback;
*p++ = incomingBytePrev;
*p++ = incomingByte;
idx = 2;
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
*p++ = incomingByte;
idx++;
}
// Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) {
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
// Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Print data to CDC Serial if available
if (Serial) {
Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2);
Serial.print(" 3: "); Serial.print(Feedback.speedR);
Serial.print(" 4: "); Serial.print(Feedback.speedL);
Serial.print(" 5: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 6: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 7: "); Serial.print(Feedback.batVoltage);
Serial.print(" 8: "); Serial.println(Feedback.boardTemp);
}
} else {
if (Serial) Serial.println("Non-valid data skipped");
}
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
// Update previous states
incomingBytePrev = incomingByte;
// Check for new data availability in the Serial buffer
if (Serial1.available()) {
incomingByte = Serial1.read(); // Read the incoming byte
bufStartFrame = ((uint16_t) (incomingBytePrev) << 8) + incomingByte; // Construct the start frame
} else {
return;
}
// If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX
Serial.print(incomingByte);
return;
#endif
// Copy received data
if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
p = (byte *) & NewFeedback;
*p++ = incomingBytePrev;
*p++ = incomingByte;
idx = 2;
} else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
*p++ = incomingByte;
idx++;
}
// Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) {
uint16_t checksum;
checksum =
(uint16_t) (NewFeedback.start ^ NewFeedback.
cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.
speedR ^ NewFeedback.speedL ^ NewFeedback.
speedR_meas ^ NewFeedback.speedL_meas ^
NewFeedback.batVoltage ^ NewFeedback.boardTemp);
// Check validity of the new data
if (NewFeedback.start == START_FRAME
&& checksum == NewFeedback.checksum) {
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Print data to CDC Serial if available
if (Serial) {
Serial.print("1: ");
Serial.print(Feedback.cmd1);
Serial.print(" 2: ");
Serial.print(Feedback.cmd2);
Serial.print(" 3: ");
Serial.print(Feedback.speedR);
Serial.print(" 4: ");
Serial.print(Feedback.speedL);
Serial.print(" 5: ");
Serial.print(Feedback.speedR_meas);
Serial.print(" 6: ");
Serial.print(Feedback.speedL_meas);
Serial.print(" 7: ");
Serial.print(Feedback.batVoltage);
Serial.print(" 8: ");
Serial.println(Feedback.boardTemp);
}
} else {
if (Serial)
Serial.println("Non-valid data skipped");
}
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
// Update previous states
incomingBytePrev = incomingByte;
}
// ########################## LOOP ##########################
@ -189,34 +209,55 @@ int iTest = 0;
void loop(void)
{
unsigned long timeNow = millis();
// Check for new received data
Receive();
// Send commands
if (iTimeSend > timeNow)
return;
iTimeSend = timeNow + TIME_SEND;
Send(0, abs(iTest));
display.setCursor(0, 30);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("Speed : ");
display.setCursor(45, 30);
display.print(" ");
display.display();
display.setCursor(45, 30);
unsigned long timeNow = millis();
// Check for new received data
Receive();
// Get new data from the controller
if (!nchuk.update()) {
Serial.println("Controller disconnected!");
nchuk.reconnect();
} else {
// Read a button (on/off, C and Z)
Serial.print("Z: ");
nchuk.buttonZ()? Serial.print("On ") : Serial.print("Off ");
Serial.print("C: ");
nchuk.buttonC()? Serial.print("On ") : Serial.print("Off ");
// Read joystick axis (0-255, X and Y)
Serial.print("The joystick's Y axis is at ");
Serial.print(nchuk.joyY());
Serial.print(" and X axis is at ");
Serial.print(nchuk.joyX());
// Read an accelerometer and print values (0-1023, X, Y, and Z)
Serial.print(" - The accelerometer's X-axis is at ");
Serial.println(nchuk.accelX());
}
// Send commands
if (iTimeSend > timeNow)
return;
iTimeSend = timeNow + TIME_SEND;
Send(0, abs(iTest));
display.setCursor(0, 30);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("Speed : ");
display.setCursor(45, 30);
display.print(" ");
display.display();
display.setCursor(45, 30);
display.print(iTest);
display.display();
// Calculate test command signal
iTest += 10;
if (iTest > iTestMax)
iTest = -iTestMax;
// Blink the LED
digitalWrite(LED_BUILTIN, (timeNow % 2000) < 1000);
display.display();
// Calculate test command signal
iTest += 10;
if (iTest > iTestMax)
iTest = -iTestMax;
// Blink the LED
digitalWrite(LED_BUILTIN, (timeNow % 2000) < 1000);
}
// ########################## END ##########################

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