diff --git a/Inc/defines.h b/Inc/defines.h index 45327d2..5bc2122 100644 --- a/Inc/defines.h +++ b/Inc/defines.h @@ -222,11 +222,11 @@ void PWM_ISR_CH2_Callback(void); #define SENSOR2_SET (0x02) #define SENSOR_MPU (0x04) -// RC iBUS switch definitions. Flysky FS-i6S has [SW1, SW2, SW3, SW4] = [2, 3, 3, 2] positions switch -#define SW1_SET (0x0100) // 0000 0001 0000 0000 -#define SW2_SET (0x0600) // 0000 0110 0000 0000 -#define SW3_SET (0x1800) // 0001 1000 0000 0000 -#define SW4_SET (0x2000) // 0010 0000 0000 0000 +// RC iBUS switch definitions. Flysky FS-i6S has [SWA, SWB, SWC, SWD] = [2, 3, 3, 2] positions switch +#define SWA_SET (0x0100) // 0000 0001 0000 0000 +#define SWB_SET (0x0600) // 0000 0110 0000 0000 +#define SWC_SET (0x1800) // 0001 1000 0000 0000 +#define SWD_SET (0x2000) // 0010 0000 0000 0000 #endif // DEFINES_H diff --git a/README.md b/README.md index 0de45dc..d789e1c 100644 --- a/README.md +++ b/README.md @@ -110,7 +110,7 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p - **VARIANT_PPM**: RC remote control with PPM Sum signal. - **VARIANT_PWM**: RC remote control with PWM signal. - **VARIANT_IBUS**: RC remote control with Flysky iBUS protocol connected to the Left sensor cable. -- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR video](https://www.youtube.com/watch?v=IgHCcj0NgWQ&t=). +- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR wiki](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/Variant-HOVERCAR). - **VARIANT_HOVERBOARD**: The mainboard reads the two sideboards data. The sideboards need to be flashed with the hacked version. The balancing controller is **not** yet implemented. - **VARIANT_TRANSPOTTER**: This is for transpotter build, which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng). - **VARIANT_SKATEBOARD**: This is for skateboard build, controlled using an RC remote with PWM signal connected to the right sensor cable. @@ -257,7 +257,7 @@ For a more detailed troubleshooting connect an [FTDI Serial adapter](https://s.c ## Projects and Links - **Original firmware:** [https://github.com/NiklasFauth/hoverboard-firmware-hack](https://github.com/NiklasFauth/hoverboard-firmware-hack) -- **[Candas](https://github.com/Candas1/) Hoverboard Web Serial Control:** [https://candas1.github.io/Hoverboard-Web-Serial-Control/](https://candas1.github.io/Hoverboard-Web-Serial-Control/) +- **[Candas](https://github.com/Candas1/) Hoverboard Web Serial Control:** [https://github.com/Candas1/Hoverboard-Web-Serial-Control](https://github.com/Candas1/Hoverboard-Web-Serial-Control) - **[RoboDurden's](https://github.com/RoboDurden) online compiler:** [https://pionierland.de/hoverhack/](https://pionierland.de/hoverhack/) - **Hoverboard hack for AT32F403RCT6 mainboards:** [https://github.com/cloidnerux/hoverboard-firmware-hack](https://github.com/cloidnerux/hoverboard-firmware-hack) - **Hoverboard hack for split mainboards:** [https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2](https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2) diff --git a/Src/util.c b/Src/util.c index 036aa9e..a282038 100644 --- a/Src/util.c +++ b/Src/util.c @@ -931,7 +931,7 @@ void handleTimeout(void) { #endif } else { // No Timeout #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2) - if (Sideboard_L.sensors & SW1_SET) { // If SW1 is set, switch to Sideboard control + if (Sideboard_L.sensors & SWA_SET) { // If SWA is set, switch to Sideboard control inIdx = SIDEBOARD_SERIAL_USART2; } else { inIdx = !SIDEBOARD_SERIAL_USART2; @@ -954,7 +954,7 @@ void handleTimeout(void) { #endif } else { // No Timeout #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3) - if (Sideboard_R.sensors & SW1_SET) { // If SW1 is set, switch to Sideboard control + if (Sideboard_R.sensors & SWA_SET) { // If SWA is set, switch to Sideboard control inIdx = SIDEBOARD_SERIAL_USART3; } else { inIdx = !SIDEBOARD_SERIAL_USART3; @@ -1360,32 +1360,27 @@ void sideboardSensors(uint8_t sensors) { static uint8_t sensor1_prev, sensor2_prev; static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button uint8_t sensor1_trig, sensor2_trig; - sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection - sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection - sensor1_prev = sensors & SENSOR1_SET; - sensor2_prev = sensors & SENSOR2_SET; + #if defined(SIDEBOARD_SERIAL_USART2) + uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART2; + uint16_t sideboardSns = Sideboard_L.sensors; + #else + uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART3; + uint16_t sideboardSns = Sideboard_R.sensors; + #endif - // Override in case the Sideboard control is Active - #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2) - if (inIdx == SIDEBOARD_SERIAL_USART2) { - sensor1_index = 3 + ((Sideboard_L.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type - if (sensor1_index == 3) { // FOC control Type - sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode + if (inIdx == sideboardIdx) { // Use Sideboard data + sensor1_index = 2 + ((sideboardSns & SWB_SET) >> 9); // SWB on RC transmitter is used to change Control Type + if (sensor1_index == 2) { // FOC control Type + sensor1_index = (sideboardSns & SWC_SET) >> 11; // SWC on RC transmitter is used to change Control Mode } sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection sensor1_prev = sensor1_index; + } else { // Use Optical switches + sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection + sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection + sensor1_prev = sensors & SENSOR1_SET; + sensor2_prev = sensors & SENSOR2_SET; } - #endif - #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3) - if (inIdx == SIDEBOARD_SERIAL_USART3) { - sensor1_index = 3 + ((Sideboard_R.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type - if (sensor1_index == 3) { // FOC control Type - sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode - } - sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection - sensor1_prev = sensor1_index; - } - #endif // Control MODE and Control Type Handling if (sensor1_trig) { @@ -1422,20 +1417,11 @@ void sideboardSensors(uint8_t sensors) { static uint8_t sensor2_index = 1; // holds the press index number for sensor2, when used as a button // Override in case the Sideboard control is Active - #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2) - if (inIdx == SIDEBOARD_SERIAL_USART2) { - sensor2_index = (Sideboard_L.sensors & SW4_SET) >> 13; // SW4 on RC transmitter is used to Activate/Deactivate Field Weakening + if (inIdx == sideboardIdx) { // Use Sideboard data + sensor2_index = (sideboardSns & SWD_SET) >> 13; // SWD on RC transmitter is used to Activate/Deactivate Field Weakening sensor2_trig = sensor2_index != sensor2_prev; // rising or falling edge change detection sensor2_prev = sensor2_index; } - #endif - #if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3) - if (inIdx == SIDEBOARD_SERIAL_USART3) { - sensor2_index = (Sideboard_R.sensors & SW4_SET) >> 13; // SW4 on RC transmitter is used to Activate/Deactivate Field Weakening - sensor2_trig = sensor2_index != sensor2_prev; // rising or falling edge change detection - sensor2_prev = sensor2_index; - } - #endif if (sensor2_trig) { switch (sensor2_index) { diff --git a/docs/pictures/mainboard_pics.pptx b/docs/pictures/mainboard_pics.pptx index 70699f0..c22f015 100644 Binary files a/docs/pictures/mainboard_pics.pptx and b/docs/pictures/mainboard_pics.pptx differ diff --git a/docs/pictures/wiki_hovercar/hovercar_rc.png b/docs/pictures/wiki_hovercar/hovercar_rc.png index b6076a7..82d870e 100644 Binary files a/docs/pictures/wiki_hovercar/hovercar_rc.png and b/docs/pictures/wiki_hovercar/hovercar_rc.png differ diff --git a/docs/pictures/wiki_hovercar/hovercar_schematic.png b/docs/pictures/wiki_hovercar/hovercar_schematic.png index ce889b9..7ced5b9 100644 Binary files a/docs/pictures/wiki_hovercar/hovercar_schematic.png and b/docs/pictures/wiki_hovercar/hovercar_schematic.png differ