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hoverserial
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change for motor control board new firmware

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in_progress_old_board
JbLb 4 years ago
parent 9ab58515a9
commit 482c09161b
1 changed files with 22 additions and 29 deletions
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51
src/hoverserial.ino
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@ -30,7 +30,7 @@
// // #define DEBUG_SERIAL_USART3 // // #define DEBUG_SERIAL_USART3
// ******************************************************************* // *******************************************************************
#define VERSION_TAG "V test 0.1" #define VERSION_TAG "V test 0.2"
#define BTN_PLUS 4 #define BTN_PLUS 4
#define BTN_MOINS 5 #define BTN_MOINS 5
#define BTN_MARCHE 6 #define BTN_MARCHE 6
@ -38,16 +38,16 @@
// ########################## DEFINES ########################## // ########################## DEFINES ##########################
#define HOVER_SERIAL_BAUD 38400 // [-] 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 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 0xABCD // [-] Start frme definition for reliable serial communication
#define TIME_SEND 25 // [ms] Sending time interval #define TIME_SEND 25 // [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) //#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
// ########################## macros ############################ // ########################## macros ############################
#include <EEPROM.h> #include <EEPROM.h>
#include <FastLED.h> #include <FastLED.h>
@ -76,13 +76,12 @@ typedef struct {
uint16_t start; uint16_t start;
int16_t cmd1; int16_t cmd1;
int16_t cmd2; int16_t cmd2;
int16_t speedR;
int16_t speedL;
int16_t speedR_meas; int16_t speedR_meas;
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;
@ -116,7 +115,7 @@ CRGB leds[NUM_LEDS];
// ########################## SETUP ########################## // ########################## SETUP ##########################
void setup() void setup()
{ {
pinMode(BTN_MARCHE, INPUT_PULLUP); pinMode(BTN_MARCHE, INPUT_PULLUP);
pinMode(BTN_PLUS, INPUT_PULLUP); pinMode(BTN_PLUS, INPUT_PULLUP);
pinMode(BTN_MOINS, INPUT_PULLUP); pinMode(BTN_MOINS, INPUT_PULLUP);
@ -188,11 +187,8 @@ void Receive()
if (idx == sizeof(SerialFeedback)) { if (idx == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = checksum =
(uint16_t) (NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback. (uint16_t) (NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
cmd2 ^ NewFeedback.speedR ^ NewFeedback. ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
speedL ^ NewFeedback.speedR_meas ^ NewFeedback.
speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.
boardTemp);
// Check validity of the new data // Check validity of the new data
if (NewFeedback.start == START_FRAME if (NewFeedback.start == START_FRAME
@ -207,17 +203,17 @@ void Receive()
Serial.print(" 2: "); Serial.print(" 2: ");
Serial.print(Feedback.cmd2); Serial.print(Feedback.cmd2);
Serial.print(" 3: "); Serial.print(" 3: ");
Serial.print(Feedback.speedR); Serial.print(Feedback.speedR_meas);
Serial.print(" 4: "); Serial.print(" 4: ");
Serial.print(Feedback.speedL); Serial.print(Feedback.speedL_meas);
Serial.print(" 5: "); Serial.print(" 5: ");
Serial.print(Feedback.speedR_meas); Serial.print(Feedback.batVoltage);
Serial.print(" 6: "); Serial.print(" 6: ");
Serial.print(Feedback.speedL_meas); Serial.print(Feedback.boardTemp);
Serial.print(" 7: "); Serial.print(" 7: ");
Serial.print(Feedback.batVoltage); Serial.println(Feedback.cmdLed);
Serial.print(" 8: ");
Serial.println(Feedback.boardTemp);
} }
} else { } else {
if (Serial) if (Serial)
@ -243,7 +239,7 @@ void EEPROMWriteInt(int p_address, int p_value)
} }
//This function will read a 2 byte integer from the eeprom at the specified address and address + 1 //This function will read a 2 byte integer from the eeprom at the specified address and address + 1
unsigned int EEPROMReadInt(int p_address) int EEPROMReadInt(int p_address)
{ {
byte lowByte = EEPROM.read(p_address); byte lowByte = EEPROM.read(p_address);
byte highByte = EEPROM.read(p_address + 1); byte highByte = EEPROM.read(p_address + 1);
@ -284,7 +280,7 @@ void run_control(void) {
last_marche = false; last_marche = false;
} }
} }
void speed_control(void) { void speed_control(void) {
if (run_mode){ if (run_mode){
if (!digitalRead(BTN_PLUS)){ if (!digitalRead(BTN_PLUS)){
@ -296,7 +292,7 @@ void speed_control(void) {
} else { } else {
last_plus = true; last_plus = true;
} }
} else { } else {
last_plus = false; last_plus = false;
} }
if (!digitalRead(BTN_MOINS)){ if (!digitalRead(BTN_MOINS)){
@ -309,7 +305,7 @@ void speed_control(void) {
last_moins = true; last_moins = true;
} }
} else { } else {
last_moins = false; last_moins = false;
} }
} }
@ -328,12 +324,9 @@ void loop(void)
// Check for new received data // Check for new received data
Receive(); Receive();
if (iTimeSend > timeNow) if (iTimeSend > timeNow)
return; return;
iTimeSend = timeNow + TIME_SEND; iTimeSend = timeNow + TIME_SEND;
// Nunchuk_display();
if (Serial) { if (Serial) {
if (run_mode != last_run) { if (run_mode != last_run) {
last_run = run_mode; last_run = run_mode;
@ -371,9 +364,9 @@ void loop(void)
speed_control(); speed_control();
} }
LEDS.show(); // update LEDS LEDS.show(); // update LEDS
// Nunchuk_control();
// Blink the LED // Blink the LED
digitalWrite(LED_BUILTIN, (timeNow % 2000) < 1000); digitalWrite(LED_BUILTIN, (timeNow % 2000) < 1000);
} }

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