jerome
/
hoverserial
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

clean up code"

Browse Source
abrazik
JbLb 4 years ago
parent d836b77b09
commit 275af8599b
1 changed files with 38 additions and 59 deletions
Show Stats Download Patch File Download Diff File

97
src/hoverserial.ino
Unescape View File

@ -34,16 +34,16 @@
#define BTN_PLUS 4
#define BTN_MOINS 5
#define BTN_MARCHE 6
#define MAX_SPEED 400
#define MAX_SPEED 420
// ########################## DEFINES ##########################
#define HOVER_SERIAL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
#define HOVER_SERIAL_BAUD 115200 // [-] 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 0xABCD // [-] Start frme definition for reliable serial communication
#define TIME_SEND 25 // [ms] Sending time interval
#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
#define TIME_SEND 25 // [ms] Sending time interval
#define SPEED_MAX_TEST 490 // [-] Maximum speed for testing
//#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
// ########################## macros ############################
@ -51,12 +51,6 @@
#include <FastLED.h>
// #include <SoftwareSerial.h>
// SoftwareSerial HoverSerial(2,3); // RX, TX
// Global variables
uint8_t idx = 0; // Index for new data pointer
uint16_t bufStartFrame; // Buffer Start Frame
@ -86,11 +80,6 @@ typedef struct {
SerialFeedback Feedback;
SerialFeedback NewFeedback;
int cmd1; // normalized input values. -1000 to 1000
int cmd2;
int motor_test_direction = 1;
int accel_speed =10;
int eeprom_address = 0;
@ -154,80 +143,70 @@ void Send(int16_t uSteer, int16_t uSpeed)
// Write to Serial
Serial1.write((uint8_t *) & Command, sizeof(Command));
// Serial.println(uSpeed);
}
// ########################## 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 {
incomingByte = Serial1.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
}
else {
return;
}
// If DEBUG_RX is defined print all incoming bytes
#ifdef DEBUG_RX
Serial.print(incomingByte);
return;
#endif
// 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;
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_meas ^ NewFeedback.speedL_meas
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
// Check validity of the new data
if (NewFeedback.start == START_FRAME
&& checksum == NewFeedback.checksum) {
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
// Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Print data to CDC Serial if available
// Print data to built-in Serial
if (Serial) {
Serial.print("1: ");
Serial.print(Feedback.cmd1);
Serial.print(" 2: ");
Serial.print(Feedback.cmd2);
Serial.print(" 3: ");
Serial.print(Feedback.speedR_meas);
Serial.print(" 4: ");
Serial.print(Feedback.speedL_meas);
Serial.print(" 5: ");
Serial.print(Feedback.batVoltage);
Serial.print(" 6: ");
Serial.print(Feedback.boardTemp);
Serial.print(" 7: ");
Serial.println(Feedback.cmdLed);
}
Serial.print("1: "); Serial.print(Feedback.cmd1);
Serial.print(" 2: "); Serial.print(Feedback.cmd2);
Serial.print(" 3: "); Serial.print(Feedback.speedR_meas);
Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
}
} else {
if (Serial)
Serial.println("Non-valid data skipped");
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)
idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
}
// Update previous states
incomingBytePrev = incomingByte;
}
// #############################
//This function will write a 2 byte integer to the eeprom at the specified address and address + 1
void EEPROMWriteInt(int p_address, int p_value)

Write Preview
Loading…
Cancel
Save