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

Compare commits

base: jerome:abrazik
Branches Tags
jerome:abrazik
jerome:in_progress_old_board
jerome:new_ctrl_board
jerome:old_ctr_board
jerome:test_board
jerome:bluepill
jerome:stm32
jerome:master
jerome:debug_i2c
..
compare: jerome:master
Branches Tags
jerome:abrazik
jerome:in_progress_old_board
jerome:new_ctrl_board
jerome:old_ctr_board
jerome:test_board
jerome:bluepill
jerome:stm32
jerome:master
jerome:debug_i2c

No commits in common. 'abrazik' and 'master' have entirely different histories.
abrazik ... master

4 changed files with 258 additions and 294 deletions
Show Stats

1
.gitignore vendored
Unescape View File

@ -1,7 +1,6 @@
.pio/ .pio/
.pioenvs/ .pioenvs/
.vscode/ .vscode/
build/
hoverserial.code-workspace hoverserial.code-workspace
.piolibdeps/ .piolibdeps/
hoverserial.ino hoverserial.ino

21
platformio.ini
Unescape View File

@ -9,7 +9,8 @@
; https://docs.platformio.org/page/projectconf.html ; https://docs.platformio.org/page/projectconf.html
[platformio] [platformio]
default_envs = leonardo ; default_envs = leonardo
default_envs = stm32-411
[common_env_data] [common_env_data]
@ -18,10 +19,7 @@ board = leonardo
framework = arduino framework = arduino
platform = atmelavr platform = atmelavr
lib_deps = lib_deps =
fastled/FastLED @ ^3.3.3 Nintendo Extension Ctrl
platform_packages =
; use GCC AVR 7.3.0+
toolchain-atmelavr@>=1.70300.0
monitor_port = /dev/ttyACM* monitor_port = /dev/ttyACM*
upload_port = /dev/ttyACM* upload_port = /dev/ttyACM*
monitor_speed = 115200 monitor_speed = 115200
@ -32,8 +30,8 @@ framework = arduino
board = leonardo board = leonardo
lib_deps = lib_deps =
Nintendo Extension Ctrl Nintendo Extension Ctrl
marcoschwartz/LiquidCrystal_I2C@^1.1.4
upload_protocol = usbasp upload_protocol = usbasp
; each flag in a new line
upload_flags = upload_flags =
-Pusb -Pusb
@ -45,11 +43,9 @@ build_flags =
-Wno-deprecated -Wno-deprecated
lib_deps = lib_deps =
Nintendo Extension Ctrl Nintendo Extension Ctrl
adafruit/Adafruit GFX Library@^1.10.3
adafruit/Adafruit SSD1306@^2.4.1
adafruit/Adafruit BusIO@^1.6.0
marcoschwartz/LiquidCrystal_I2C@^1.1.4
debug_tool = stlink debug_tool = stlink
monitor_port = /dev/ttyACM* monitor_port = /dev/ttyACM*
monitor_speed = 115200 monitor_speed = 115200
@ -61,7 +57,4 @@ build_flags =
-Wno-deprecated -Wno-deprecated
lib_deps = lib_deps =
Nintendo Extension Ctrl Nintendo Extension Ctrl
adafruit/Adafruit GFX Library@^1.10.3
adafruit/Adafruit SSD1306@^2.4.1
adafruit/Adafruit BusIO@^1.6.0
marcoschwartz/LiquidCrystal_I2C@^1.1.4

2
src/build_opt.h
Unescape View File

@ -0,0 +1,2 @@
-DENABLE_HWSERIAL1
-DPIN_SERIAL1_RX=PA_10 -DPIN_SERIAL1_TX=PA_9

442
src/hoverserial.ino
Unescape View File

@ -30,26 +30,24 @@
// // #define DEBUG_SERIAL_USART3 // // #define DEBUG_SERIAL_USART3
// ******************************************************************* // *******************************************************************
#define VERSION_TAG "V test 0.2"
#define BTN_PLUS 4
#define BTN_MOINS 5
#define BTN_MARCHE 6
#define MAX_SPEED 420
// ########################## DEFINES ########################## // ########################## DEFINES ##########################
#define HOVER_SERIAL_BAUD 115200 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard) #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 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 START_FRAME 0xAAAA // [-] 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 490 // [-] 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 <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <NintendoExtensionCtrl.h> // https://github.com/dmadison/NintendoExtensionCtrl
#include <FastLED.h> // #include <SoftwareSerial.h>
// SoftwareSerial HoverSerial(2,3); // RX, TX
// Global variables // Global variables
uint8_t idx = 0; // Index for new data pointer uint8_t idx = 0; // Index for new data pointer
@ -70,67 +68,67 @@ 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;
uint16_t cmdLed; int16_t checksum;
uint16_t checksum;
} SerialFeedback; } SerialFeedback;
SerialFeedback Feedback; SerialFeedback Feedback;
SerialFeedback NewFeedback; SerialFeedback NewFeedback;
int accel_speed =10; int cmd1; // normalized input values. -1000 to 1000
int cmd2;
int eeprom_address = 0;
int consigne_speed = 10;
int actual_speed = 0;
int btn_control = 20;
bool last_run, last_plus, last_moins, last_marche = false; int motor_test_direction = 1;
bool rel_marche = true;
bool run_mode = false; // false by default
CRGB powerled;
// ################ Led definition ########################
#define LED_PIN 7 #define SCREEN_WIDTH 128 // OLED display width, in pixels
#define NUM_LEDS 9 #define SCREEN_HEIGHT 64 // OLED display height, in pixels
#define LED_TYPE WS2812B
#define COLOR_ORDER GRB
CRGB leds[NUM_LEDS];
// 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;
HardwareSerial Serial1(PA_10, PA_9);
// ########################## SETUP ########################## // ########################## SETUP ##########################
void setup() void setup()
{ {
pinMode(BTN_MARCHE, INPUT_PULLUP);
pinMode(BTN_PLUS, INPUT_PULLUP); nchuk.begin();
pinMode(BTN_MOINS, INPUT_PULLUP);
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x64)
// Clear the buffer
display.clearDisplay();
display.display();
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.setCursor(int
((display.width() -
(strlen("Hoverboard Serial") * 6)) / 2), 0);
display.println("Hoverboard Serial");
display.setCursor(int
((display.width() -(strlen("v STM32 0.1") *6))/2), 8);
display.println("v STM32 0.1");
/*
display.print("Nunchuk ");
nchuk.connect()? display.print("") : display.print("not ");
display.println("connected");
display.drawCircle(80, 41, 22, SSD1306_WHITE);
*/
display.display();
Serial1.begin(HOVER_SERIAL_BAUD); // RX, TX from arduino to TX RX on hoverboard board. ! be carreful 3v3 Serial1.begin(HOVER_SERIAL_BAUD); // RX, TX from arduino to TX RX on hoverboard board. ! be carreful 3v3
pinMode(LED_BUILTIN, OUTPUT); pinMode(LED_BUILTIN, OUTPUT);
consigne_speed = EEPROMReadInt(eeprom_address);
if (consigne_speed < 0) {
consigne_speed =0;
}
if (consigne_speed > MAX_SPEED) {
consigne_speed = MAX_SPEED ;
}
LEDS.addLeds<LED_TYPE,LED_PIN,COLOR_ORDER>(leds,NUM_LEDS);
LEDS.setBrightness(32);
memset(leds, 0, NUM_LEDS * 3); // all leds off
// FastLED.clear ();
powerled = CRGB(128,32,0);
leds[0] = powerled;
LEDS.show();
Serial.begin(SERIAL_BAUD); Serial.begin(SERIAL_BAUD);
if (Serial) { if (Serial) {
Serial.println(VERSION_TAG); Serial.println("Hoverboard Serial v STM32 0.1");
} }
} }
@ -146,18 +144,18 @@ void Send(int16_t uSteer, int16_t uSpeed)
// Write to Serial // Write to Serial
Serial1.write((uint8_t *) & Command, sizeof(Command)); Serial1.write((uint8_t *) & Command, sizeof(Command));
// Serial.println(uSpeed);
} }
// ########################## RECEIVE ########################## // ########################## RECEIVE ##########################
void Receive() void Receive()
{ {
int old_cursorX, old_cursorY;
// Check for new data availability in the Serial buffer // Check for new data availability in the Serial buffer
if (Serial1.available()) { if (Serial1.available()) {
incomingByte = Serial1.read(); // Read the incoming byte incomingByte = Serial1.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame bufStartFrame = ((uint16_t) (incomingBytePrev) << 8) + incomingByte; // Construct the start frame
} } else {
else {
return; return;
} }
@ -177,240 +175,212 @@ void Receive()
*p++ = incomingByte; *p++ = incomingByte;
idx++; idx++;
} }
// Check if we reached the end of the package // Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) { if (idx == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas checksum =
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed); (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 // 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 // Copy the new data
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
// Print data to built-in Serial // Print data to CDC Serial if available
if (Serial) { if (Serial) {
Serial.print("1: "); Serial.print(Feedback.cmd1); Serial.print("1: ");
Serial.print(" 2: "); Serial.print(Feedback.cmd2); Serial.print(Feedback.cmd1);
Serial.print(" 3: "); Serial.print(Feedback.speedR_meas); Serial.print(" 2: ");
Serial.print(" 4: "); Serial.print(Feedback.speedL_meas); Serial.print(Feedback.cmd2);
Serial.print(" 5: "); Serial.print(Feedback.batVoltage); Serial.print(" 3: ");
Serial.print(" 6: "); Serial.print(Feedback.boardTemp); Serial.print(Feedback.speedR);
Serial.print(" 7: "); Serial.println(Feedback.cmdLed); 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);
}
display.setCursor(0, 30);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("V : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 5), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(Feedback.batVoltage);
display.display();
} else { } else {
if (Serial) if (Serial)
Serial.println("Non-valid data skipped"); 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 // Update previous states
incomingBytePrev = incomingByte; incomingBytePrev = incomingByte;
} }
// ############################# void Nunchuk_control()
//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)
{
byte lowByte = ((p_value >> 0) & 0xFF);
byte highByte = ((p_value >> 8) & 0xFF);
EEPROM.write(p_address, lowByte);
EEPROM.write(p_address + 1, highByte);
}
//This function will read a 2 byte integer from the eeprom at the specified address and address + 1
int EEPROMReadInt(int p_address)
{ {
byte lowByte = EEPROM.read(p_address); int old_cursorX, old_cursorY;
byte highByte = EEPROM.read(p_address + 1);
return ((lowByte << 0) & 0xFF) + ((highByte << 8) & 0xFF00); if (!nchuk.update()) {
} nchuk.reconnect();
} else {
cmd1 = map(nchuk.joyX(),0,256,150,-150); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = map(nchuk.joyY(),0,256,-150,150); // y - axis
Serial.print("X : "); Serial.println(nchuk.joyX());
Serial.print("Y : "); Serial.println(nchuk.joyY());
void run_control(void) {
if (!digitalRead(BTN_MARCHE)) {
if (last_marche){
if (!run_mode ){
if (rel_marche){
// run
run_mode = true;
rel_marche = false;
return;
}
} else {
if (rel_marche){
rel_marche = false;
run_mode = false;
actual_speed = 0;
if ( EEPROMReadInt(eeprom_address) != consigne_speed ){
EEPROMWriteInt(eeprom_address, consigne_speed);
}
return;
}
}
} else {
last_marche = true;
return;
}
} else {
rel_marche = true;
last_marche = false;
} }
/*
display.setCursor(0, 40);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("X : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 5), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(cmd1);
display.setCursor(0, 50);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("y : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 5), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(cmd2);
display.display();
*/
Send(cmd1, cmd2);
} }
// ########################## nunchuk ##########################
void speed_control(void) { void Nunchuk_display()
if (run_mode){ {
if (!digitalRead(BTN_PLUS)){ if (!nchuk.update()) {
if (last_plus){ if (Serial) {
consigne_speed = consigne_speed + 3; Serial.println("Controller disconnected!");
if (consigne_speed > MAX_SPEED) {
consigne_speed = MAX_SPEED ;
} }
nchuk.reconnect();
} else { } else {
last_plus = true; if (Serial) {
// 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());
} }
} else {
last_plus = false;
} }
if (!digitalRead(BTN_MOINS)){
if (last_moins){
consigne_speed = consigne_speed - 3;
if (consigne_speed < 0 ) {
consigne_speed = 0 ;
} }
} else {
last_moins = true; // ########################## nunchuk ##########################
void show_dot()
{
int old_cursorX, old_cursorY;
char text[22];
if (nchuk.update()) {
display.setCursor(0, 20);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("X : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 4), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(nchuk.joyX());
display.setCursor(0, 50);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("Y : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 4), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(nchuk.joyY());
int y_d = int(41 + (44*(nchuk.joyY()-128))/256);
int x_d = int(80 + (44*(nchuk.joyX()-128))/256);
if (Serial) {
sprintf (text,"y_d : %d | x_d : %d", y_d , x_d );
Serial.println(text);
} }
} else { display.drawPixel(x_d,y_d,SSD1306_WHITE);
last_moins = false;
} }
else {
nchuk.reconnect();
} }
} }
// ########################## LOOP ########################## // ########################## LOOP ##########################
unsigned long iTimeSend = 0; unsigned long iTimeSend = 0;
int iTestMax = SPEED_MAX_TEST;
int iTest = 0;
int16_t old_cursorX;
int16_t old_cursorY;
void loop(void) void loop(void)
{ {
unsigned long timeNow = millis(); unsigned long timeNow = millis();
// Check for new received data // Check for new received data
Receive(); // Receive();
// Send(0,actual_speed);
// if (Serial) Serial.println(actual_speed);
if (iTimeSend > timeNow) return;
if (iTimeSend > timeNow)
return;
iTimeSend = timeNow + TIME_SEND; iTimeSend = timeNow + TIME_SEND;
Send(0,actual_speed); // Nunchuk_display();
if (Serial) { Nunchuk_control();
if (run_mode != last_run) { /*
last_run = run_mode; // Send commands
if (run_mode){ if (iTimeSend > timeNow)
Serial.println("Run"); return;
} else { iTimeSend = timeNow + TIME_SEND;
Serial.println("Stop"); Send(0, cmd2);
}
}
}
if (run_mode){
leds[1] = CRGB(0,255,0); // Green
if ( actual_speed != consigne_speed){
if ( actual_speed < consigne_speed){
actual_speed ++ ;
} else {
actual_speed --;
}
}
// indication vitesse sur barre leds
int max_vit = int(actual_speed / 70);
memset(leds, 0, NUM_LEDS * 3); // all leds off
leds[0] = powerled;
for (int i_led = 0; i_led-1 < max_vit ; i_led = i_led +1 )
{
leds[i_led + 1] = CRGB(0,255,0);
}
} else { // rouge si stop
FastLED.clear ();
leds[0] = powerled;
leds[1] = CRGB(255,0,0); // Red
}
LEDS.show(); // update LEDS
run_control();
btn_control --;
if (btn_control == 0){
btn_control = 6;
speed_control();
}
// Calculate test command signal
if (motor_test_direction == 1) cmd2 += 1;
else cmd2 -= 1;
if (abs(cmd2) > SPEED_MAX_TEST) motor_test_direction = -motor_test_direction;
*/
// Blink the LED // Blink the LED
//digitalWrite(LED_BUILTIN, (timeNow % 2000) < 1000); digitalWrite(LED_BUILTIN, (timeNow % 2000) < 1000);
((timeNow % 2000) < 1000)?powerled = CRGB(128,32,0):powerled = CRGB(0,0,0);
} }
// ########################## END ########################## // ########################## END ##########################
/*
*
if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); } // red
if (Feedback.cmdLed & LED2_SET) { gpio_bit_set(LED2_GPIO_Port, LED2_Pin); } else { gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); } // green
if (Feedback.cmdLed & LED3_SET) { gpio_bit_set(LED3_GPIO_Port, LED3_Pin); } else { gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); } // orange
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(LED4_GPIO_Port, LED4_Pin); } else { gpio_bit_reset(LED4_GPIO_Port, LED4_Pin); } // blue
if (Feedback.cmdLed & LED5_SET) { gpio_bit_set(LED5_GPIO_Port, LED5_Pin); } else { gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); } // blue
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(AUX3_GPIO_Port, AUX3_Pin); } else { gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin); }
}
*
*
#define LED1_SET (0x01)
#define LED2_SET (0x02)
#define LED3_SET (0x04)
#define LED4_SET (0x08)
#define LED5_SET (0x10)
***********************************************************************************************
cablage
Db9 arduino
1 GND
2 power_on
3 D7 led
4 D5 moins
5 5V
6 nc
7 power_on
8 D6 marche
9 D4 plus
cablage
HE10-10 arduino
1 gnd
2 nc
3 power_on
4 power_on
5 D7 led
6 D6 marche
7 D5 moin
8 D4 plus
9 5V
*/

Write Preview
Loading…
Cancel
Save