diff --git a/Inc/config.h b/Inc/config.h
index afb6c79..8b62f4a 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -1,11 +1,17 @@
#pragma once
#include "stm32f1xx_hal.h"
+#define TRANSPOTTER
+
// ############################### DO-NOT-TOUCH SETTINGS ###############################
#define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime
-#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
+#ifdef TRANSPOTTER
+ #define DELAY_IN_MAIN_LOOP 2
+#else
+ #define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
+#endif
#define TIMEOUT 5 // number of wrong / missing input commands before emergency off
#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
@@ -78,10 +84,12 @@
// ############################### SERIAL DEBUG ###############################
-#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
-#define DEBUG_BAUD 115200 // UART baud rate
-//#define DEBUG_SERIAL_SERVOTERM
-#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
+#ifndef TRANSPOTTER
+ #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
+ #define DEBUG_BAUD 115200 // UART baud rate
+ //#define DEBUG_SERIAL_SERVOTERM
+ #define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
+#endif
// ############################### INPUT ###############################
@@ -103,15 +111,17 @@
* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
* Make, flash and test it.
*/
-#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2!
-#define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
-#define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
-#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
-#define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
-#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
-#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
-#define ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
-#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
+#ifndef TRANSPOTTER
+ #define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2!
+ #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
+ #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
+ #define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
+ #define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
+ #define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
+ #define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
+ #define ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
+ #define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
+#endif
// ###### CONTROL VIA NINTENDO NUNCHUCK ######
/* left sensor board cable.
@@ -122,6 +132,27 @@
// #define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
+// ################################# TRANSPOTTER SETTINGS ############################
+#ifdef TRANSPOTTER
+ #define CONTROL_GAMETRAK
+ #define SUPPORT_LCD
+ #define SUPPORT_NUNCHUCK
+
+ #define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
+ //#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
+
+ #define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
+ #define FILTER 6553 // 0.1f - lower value == softer filter. do not use values <0.01, you will get float precision issues.
+
+ //#define INVERT_R_DIRECTION // Invert right motor
+ #define INVERT_L_DIRECTION // Invert left motor
+
+ // during nunchuck control (only relevant when activated)
+ #define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0?
+ #define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
+#endif
+
+
// ############################### MOTOR CONTROL (overwrite) #########################
#define CTRL_TYP_SEL 1 // [-] Control type selection: 0 = Commutation , 1 = FOC Field Oriented Control (default)
#define CTRL_MOD_REQ 1 // [-] Control mode request: 0 = Open mode, 1 = Voltage mode (default), 2 = Speed mode, 3 = Torque mode
@@ -160,17 +191,20 @@
// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
#define RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0 - 2047.9375]. Do NOT make rate negative (>32767)
-// Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
-#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
+#ifndef TRANSPOTTER
+ // Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
+ #define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
-// Value of COEFFICIENT is in fixdt(1,16,14)
-// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
-// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
-#define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
-#define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
+ // Value of COEFFICIENT is in fixdt(1,16,14)
+ // If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
+ // If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
+ #define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
+ #define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
+
+ #define INVERT_R_DIRECTION
+ #define INVERT_L_DIRECTION
+#endif
-#define INVERT_R_DIRECTION
-#define INVERT_L_DIRECTION
#define BEEPS_BACKWARD 0 // 0 or 1
// ###### SIMPLE BOBBYCAR ######
diff --git a/Inc/eeprom.h b/Inc/eeprom.h
new file mode 100644
index 0000000..6955187
--- /dev/null
+++ b/Inc/eeprom.h
@@ -0,0 +1,223 @@
+/**
+ ******************************************************************************
+ * @file EEPROM_Emulation/inc/eeprom.h
+ * @author MCD Application Team
+ * @version V1.3.0
+ * @date 18-December-2015
+ * @brief This file contains all the functions prototypes for the EEPROM
+ * emulation firmware library.
+ ******************************************************************************
+ * @attention
+ *
+ * © COPYRIGHT(c) 2015 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __EEPROM_H
+#define __EEPROM_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f1xx_hal.h"
+
+/* Exported constants --------------------------------------------------------*/
+/* Base address of the Flash sectors */
+#define ADDR_FLASH_PAGE_0 ((uint32_t)0x08000000) /* Base @ of Page 0, 1 Kbytes */
+#define ADDR_FLASH_PAGE_1 ((uint32_t)0x08000400) /* Base @ of Page 1, 1 Kbytes */
+#define ADDR_FLASH_PAGE_2 ((uint32_t)0x08000800) /* Base @ of Page 2, 1 Kbytes */
+#define ADDR_FLASH_PAGE_3 ((uint32_t)0x08000C00) /* Base @ of Page 3, 1 Kbytes */
+#define ADDR_FLASH_PAGE_4 ((uint32_t)0x08001000) /* Base @ of Page 4, 1 Kbytes */
+#define ADDR_FLASH_PAGE_5 ((uint32_t)0x08001400) /* Base @ of Page 5, 1 Kbytes */
+#define ADDR_FLASH_PAGE_6 ((uint32_t)0x08001800) /* Base @ of Page 6, 1 Kbytes */
+#define ADDR_FLASH_PAGE_7 ((uint32_t)0x08001C00) /* Base @ of Page 7, 1 Kbytes */
+#define ADDR_FLASH_PAGE_8 ((uint32_t)0x08002000) /* Base @ of Page 8, 1 Kbytes */
+#define ADDR_FLASH_PAGE_9 ((uint32_t)0x08002400) /* Base @ of Page 9, 1 Kbytes */
+#define ADDR_FLASH_PAGE_10 ((uint32_t)0x08002800) /* Base @ of Page 10, 1 Kbytes */
+#define ADDR_FLASH_PAGE_11 ((uint32_t)0x08002C00) /* Base @ of Page 11, 1 Kbytes */
+#define ADDR_FLASH_PAGE_12 ((uint32_t)0x08003000) /* Base @ of Page 12, 1 Kbytes */
+#define ADDR_FLASH_PAGE_13 ((uint32_t)0x08003400) /* Base @ of Page 13, 1 Kbytes */
+#define ADDR_FLASH_PAGE_14 ((uint32_t)0x08003800) /* Base @ of Page 14, 1 Kbytes */
+#define ADDR_FLASH_PAGE_15 ((uint32_t)0x08003C00) /* Base @ of Page 15, 1 Kbytes */
+#define ADDR_FLASH_PAGE_16 ((uint32_t)0x08004000) /* Base @ of Page 16, 1 Kbytes */
+#define ADDR_FLASH_PAGE_17 ((uint32_t)0x08004400) /* Base @ of Page 17, 1 Kbytes */
+#define ADDR_FLASH_PAGE_18 ((uint32_t)0x08004800) /* Base @ of Page 18, 1 Kbytes */
+#define ADDR_FLASH_PAGE_19 ((uint32_t)0x08004C00) /* Base @ of Page 19, 1 Kbytes */
+#define ADDR_FLASH_PAGE_20 ((uint32_t)0x08005000) /* Base @ of Page 20, 1 Kbytes */
+#define ADDR_FLASH_PAGE_21 ((uint32_t)0x08005400) /* Base @ of Page 21, 1 Kbytes */
+#define ADDR_FLASH_PAGE_22 ((uint32_t)0x08005800) /* Base @ of Page 22, 1 Kbytes */
+#define ADDR_FLASH_PAGE_23 ((uint32_t)0x08005C00) /* Base @ of Page 23, 1 Kbytes */
+#define ADDR_FLASH_PAGE_24 ((uint32_t)0x08006000) /* Base @ of Page 24, 1 Kbytes */
+#define ADDR_FLASH_PAGE_25 ((uint32_t)0x08006400) /* Base @ of Page 25, 1 Kbytes */
+#define ADDR_FLASH_PAGE_26 ((uint32_t)0x08006800) /* Base @ of Page 26, 1 Kbytes */
+#define ADDR_FLASH_PAGE_27 ((uint32_t)0x08006C00) /* Base @ of Page 27, 1 Kbytes */
+#define ADDR_FLASH_PAGE_28 ((uint32_t)0x08007000) /* Base @ of Page 28, 1 Kbytes */
+#define ADDR_FLASH_PAGE_29 ((uint32_t)0x08007400) /* Base @ of Page 29, 1 Kbytes */
+#define ADDR_FLASH_PAGE_30 ((uint32_t)0x08007800) /* Base @ of Page 30, 1 Kbytes */
+#define ADDR_FLASH_PAGE_31 ((uint32_t)0x08007C00) /* Base @ of Page 31, 1 Kbytes */
+#define ADDR_FLASH_PAGE_32 ((uint32_t)0x08008000) /* Base @ of Page 32, 1 Kbytes */
+#define ADDR_FLASH_PAGE_33 ((uint32_t)0x08008400) /* Base @ of Page 33, 1 Kbytes */
+#define ADDR_FLASH_PAGE_34 ((uint32_t)0x08008800) /* Base @ of Page 34, 1 Kbytes */
+#define ADDR_FLASH_PAGE_35 ((uint32_t)0x08008C00) /* Base @ of Page 35, 1 Kbytes */
+#define ADDR_FLASH_PAGE_36 ((uint32_t)0x08009000) /* Base @ of Page 36, 1 Kbytes */
+#define ADDR_FLASH_PAGE_37 ((uint32_t)0x08009400) /* Base @ of Page 37, 1 Kbytes */
+#define ADDR_FLASH_PAGE_38 ((uint32_t)0x08009800) /* Base @ of Page 38, 1 Kbytes */
+#define ADDR_FLASH_PAGE_39 ((uint32_t)0x08009C00) /* Base @ of Page 39, 1 Kbytes */
+#define ADDR_FLASH_PAGE_40 ((uint32_t)0x0800A000) /* Base @ of Page 40, 1 Kbytes */
+#define ADDR_FLASH_PAGE_41 ((uint32_t)0x0800A400) /* Base @ of Page 41, 1 Kbytes */
+#define ADDR_FLASH_PAGE_42 ((uint32_t)0x0800A800) /* Base @ of Page 42, 1 Kbytes */
+#define ADDR_FLASH_PAGE_43 ((uint32_t)0x0800AC00) /* Base @ of Page 43, 1 Kbytes */
+#define ADDR_FLASH_PAGE_44 ((uint32_t)0x0800B000) /* Base @ of Page 44, 1 Kbytes */
+#define ADDR_FLASH_PAGE_45 ((uint32_t)0x0800B400) /* Base @ of Page 45, 1 Kbytes */
+#define ADDR_FLASH_PAGE_46 ((uint32_t)0x0800B800) /* Base @ of Page 46, 1 Kbytes */
+#define ADDR_FLASH_PAGE_47 ((uint32_t)0x0800BC00) /* Base @ of Page 47, 1 Kbytes */
+#define ADDR_FLASH_PAGE_48 ((uint32_t)0x0800C000) /* Base @ of Page 48, 1 Kbytes */
+#define ADDR_FLASH_PAGE_49 ((uint32_t)0x0800C400) /* Base @ of Page 49, 1 Kbytes */
+#define ADDR_FLASH_PAGE_50 ((uint32_t)0x0800C800) /* Base @ of Page 50, 1 Kbytes */
+#define ADDR_FLASH_PAGE_51 ((uint32_t)0x0800CC00) /* Base @ of Page 51, 1 Kbytes */
+#define ADDR_FLASH_PAGE_52 ((uint32_t)0x0800D000) /* Base @ of Page 52, 1 Kbytes */
+#define ADDR_FLASH_PAGE_53 ((uint32_t)0x0800D400) /* Base @ of Page 53, 1 Kbytes */
+#define ADDR_FLASH_PAGE_54 ((uint32_t)0x0800D800) /* Base @ of Page 54, 1 Kbytes */
+#define ADDR_FLASH_PAGE_55 ((uint32_t)0x0800DC00) /* Base @ of Page 55, 1 Kbytes */
+#define ADDR_FLASH_PAGE_56 ((uint32_t)0x0800E000) /* Base @ of Page 56, 1 Kbytes */
+#define ADDR_FLASH_PAGE_57 ((uint32_t)0x0800E400) /* Base @ of Page 57, 1 Kbytes */
+#define ADDR_FLASH_PAGE_58 ((uint32_t)0x0800E800) /* Base @ of Page 58, 1 Kbytes */
+#define ADDR_FLASH_PAGE_59 ((uint32_t)0x0800EC00) /* Base @ of Page 59, 1 Kbytes */
+#define ADDR_FLASH_PAGE_60 ((uint32_t)0x0800F000) /* Base @ of Page 60, 1 Kbytes */
+#define ADDR_FLASH_PAGE_61 ((uint32_t)0x0800F400) /* Base @ of Page 61, 1 Kbytes */
+#define ADDR_FLASH_PAGE_62 ((uint32_t)0x0800F800) /* Base @ of Page 62, 1 Kbytes */
+#define ADDR_FLASH_PAGE_63 ((uint32_t)0x0800FC00) /* Base @ of Page 63, 1 Kbytes */
+#define ADDR_FLASH_PAGE_64 ((uint32_t)0x08010000) /* Base @ of Page 64, 1 Kbytes */
+#define ADDR_FLASH_PAGE_65 ((uint32_t)0x08010400) /* Base @ of Page 65, 1 Kbytes */
+#define ADDR_FLASH_PAGE_66 ((uint32_t)0x08010800) /* Base @ of Page 66, 1 Kbytes */
+#define ADDR_FLASH_PAGE_67 ((uint32_t)0x08010C00) /* Base @ of Page 67, 1 Kbytes */
+#define ADDR_FLASH_PAGE_68 ((uint32_t)0x08011000) /* Base @ of Page 68, 1 Kbytes */
+#define ADDR_FLASH_PAGE_69 ((uint32_t)0x08011400) /* Base @ of Page 69, 1 Kbytes */
+#define ADDR_FLASH_PAGE_70 ((uint32_t)0x08011800) /* Base @ of Page 70, 1 Kbytes */
+#define ADDR_FLASH_PAGE_71 ((uint32_t)0x08011C00) /* Base @ of Page 71, 1 Kbytes */
+#define ADDR_FLASH_PAGE_72 ((uint32_t)0x08012000) /* Base @ of Page 72, 1 Kbytes */
+#define ADDR_FLASH_PAGE_73 ((uint32_t)0x08012400) /* Base @ of Page 73, 1 Kbytes */
+#define ADDR_FLASH_PAGE_74 ((uint32_t)0x08012800) /* Base @ of Page 74, 1 Kbytes */
+#define ADDR_FLASH_PAGE_75 ((uint32_t)0x08012C00) /* Base @ of Page 75, 1 Kbytes */
+#define ADDR_FLASH_PAGE_76 ((uint32_t)0x08013000) /* Base @ of Page 76, 1 Kbytes */
+#define ADDR_FLASH_PAGE_77 ((uint32_t)0x08013400) /* Base @ of Page 77, 1 Kbytes */
+#define ADDR_FLASH_PAGE_78 ((uint32_t)0x08013800) /* Base @ of Page 78, 1 Kbytes */
+#define ADDR_FLASH_PAGE_79 ((uint32_t)0x08013C00) /* Base @ of Page 79, 1 Kbytes */
+#define ADDR_FLASH_PAGE_80 ((uint32_t)0x08014000) /* Base @ of Page 80, 1 Kbytes */
+#define ADDR_FLASH_PAGE_81 ((uint32_t)0x08014400) /* Base @ of Page 81, 1 Kbytes */
+#define ADDR_FLASH_PAGE_82 ((uint32_t)0x08014800) /* Base @ of Page 82, 1 Kbytes */
+#define ADDR_FLASH_PAGE_83 ((uint32_t)0x08014C00) /* Base @ of Page 83, 1 Kbytes */
+#define ADDR_FLASH_PAGE_84 ((uint32_t)0x08015000) /* Base @ of Page 84, 1 Kbytes */
+#define ADDR_FLASH_PAGE_85 ((uint32_t)0x08015400) /* Base @ of Page 85, 1 Kbytes */
+#define ADDR_FLASH_PAGE_86 ((uint32_t)0x08015800) /* Base @ of Page 86, 1 Kbytes */
+#define ADDR_FLASH_PAGE_87 ((uint32_t)0x08015C00) /* Base @ of Page 87, 1 Kbytes */
+#define ADDR_FLASH_PAGE_88 ((uint32_t)0x08016000) /* Base @ of Page 88, 1 Kbytes */
+#define ADDR_FLASH_PAGE_89 ((uint32_t)0x08016400) /* Base @ of Page 89, 1 Kbytes */
+#define ADDR_FLASH_PAGE_90 ((uint32_t)0x08016800) /* Base @ of Page 90, 1 Kbytes */
+#define ADDR_FLASH_PAGE_91 ((uint32_t)0x08016C00) /* Base @ of Page 91, 1 Kbytes */
+#define ADDR_FLASH_PAGE_92 ((uint32_t)0x08017000) /* Base @ of Page 92, 1 Kbytes */
+#define ADDR_FLASH_PAGE_93 ((uint32_t)0x08017400) /* Base @ of Page 93, 1 Kbytes */
+#define ADDR_FLASH_PAGE_94 ((uint32_t)0x08017800) /* Base @ of Page 94, 1 Kbytes */
+#define ADDR_FLASH_PAGE_95 ((uint32_t)0x08017C00) /* Base @ of Page 95, 1 Kbytes */
+#define ADDR_FLASH_PAGE_96 ((uint32_t)0x08018000) /* Base @ of Page 96, 1 Kbytes */
+#define ADDR_FLASH_PAGE_97 ((uint32_t)0x08018400) /* Base @ of Page 97, 1 Kbytes */
+#define ADDR_FLASH_PAGE_98 ((uint32_t)0x08018800) /* Base @ of Page 98, 1 Kbytes */
+#define ADDR_FLASH_PAGE_99 ((uint32_t)0x08018C00) /* Base @ of Page 99, 1 Kbytes */
+#define ADDR_FLASH_PAGE_100 ((uint32_t)0x08019000) /* Base @ of Page 100, 1 Kbytes */
+#define ADDR_FLASH_PAGE_101 ((uint32_t)0x08019400) /* Base @ of Page 101, 1 Kbytes */
+#define ADDR_FLASH_PAGE_102 ((uint32_t)0x08019800) /* Base @ of Page 102, 1 Kbytes */
+#define ADDR_FLASH_PAGE_103 ((uint32_t)0x08019C00) /* Base @ of Page 103, 1 Kbytes */
+#define ADDR_FLASH_PAGE_104 ((uint32_t)0x0801A000) /* Base @ of Page 104, 1 Kbytes */
+#define ADDR_FLASH_PAGE_105 ((uint32_t)0x0801A400) /* Base @ of Page 105, 1 Kbytes */
+#define ADDR_FLASH_PAGE_106 ((uint32_t)0x0801A800) /* Base @ of Page 106, 1 Kbytes */
+#define ADDR_FLASH_PAGE_107 ((uint32_t)0x0801AC00) /* Base @ of Page 107, 1 Kbytes */
+#define ADDR_FLASH_PAGE_108 ((uint32_t)0x0801B000) /* Base @ of Page 108, 1 Kbytes */
+#define ADDR_FLASH_PAGE_109 ((uint32_t)0x0801B400) /* Base @ of Page 109, 1 Kbytes */
+#define ADDR_FLASH_PAGE_110 ((uint32_t)0x0801B800) /* Base @ of Page 110, 1 Kbytes */
+#define ADDR_FLASH_PAGE_111 ((uint32_t)0x0801BC00) /* Base @ of Page 111, 1 Kbytes */
+#define ADDR_FLASH_PAGE_112 ((uint32_t)0x0801C000) /* Base @ of Page 112, 1 Kbytes */
+#define ADDR_FLASH_PAGE_113 ((uint32_t)0x0801C400) /* Base @ of Page 113, 1 Kbytes */
+#define ADDR_FLASH_PAGE_114 ((uint32_t)0x0801C800) /* Base @ of Page 114, 1 Kbytes */
+#define ADDR_FLASH_PAGE_115 ((uint32_t)0x0801CC00) /* Base @ of Page 115, 1 Kbytes */
+#define ADDR_FLASH_PAGE_116 ((uint32_t)0x0801D000) /* Base @ of Page 116, 1 Kbytes */
+#define ADDR_FLASH_PAGE_117 ((uint32_t)0x0801D400) /* Base @ of Page 117, 1 Kbytes */
+#define ADDR_FLASH_PAGE_118 ((uint32_t)0x0801D800) /* Base @ of Page 118, 1 Kbytes */
+#define ADDR_FLASH_PAGE_119 ((uint32_t)0x0801DC00) /* Base @ of Page 119, 1 Kbytes */
+#define ADDR_FLASH_PAGE_120 ((uint32_t)0x0801E000) /* Base @ of Page 120, 1 Kbytes */
+#define ADDR_FLASH_PAGE_121 ((uint32_t)0x0801E400) /* Base @ of Page 121, 1 Kbytes */
+#define ADDR_FLASH_PAGE_122 ((uint32_t)0x0801E800) /* Base @ of Page 122, 1 Kbytes */
+#define ADDR_FLASH_PAGE_123 ((uint32_t)0x0801EC00) /* Base @ of Page 123, 1 Kbytes */
+#define ADDR_FLASH_PAGE_124 ((uint32_t)0x0801F000) /* Base @ of Page 124, 1 Kbytes */
+#define ADDR_FLASH_PAGE_125 ((uint32_t)0x0801F400) /* Base @ of Page 125, 1 Kbytes */
+#define ADDR_FLASH_PAGE_126 ((uint32_t)0x0801F800) /* Base @ of Page 126, 1 Kbytes */
+#define ADDR_FLASH_PAGE_127 ((uint32_t)0x0801FC00) /* Base @ of Page 127, 1 Kbytes */
+
+/* Define the size of the sectors to be used */
+#define PAGE_SIZE (uint32_t)FLASH_PAGE_SIZE /* Page size */
+
+/* EEPROM start address in Flash */
+#define EEPROM_START_ADDRESS ((uint32_t)ADDR_FLASH_PAGE_32) /* EEPROM emulation start address */
+
+/* Pages 0 and 1 base and end addresses */
+#define PAGE0_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x0000))
+#define PAGE0_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (PAGE_SIZE - 1)))
+#define PAGE0_ID ADDR_FLASH_PAGE_32
+
+#define PAGE1_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x10000))
+#define PAGE1_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x10000 + PAGE_SIZE - 1))
+#define PAGE1_ID ADDR_FLASH_PAGE_96
+
+/* Used Flash pages for EEPROM emulation */
+#define PAGE0 ((uint16_t)0x0000)
+#define PAGE1 ((uint16_t)0x0040)
+
+/* No valid page define */
+#define NO_VALID_PAGE ((uint16_t)0x00AB)
+
+/* Page status definitions */
+#define ERASED ((uint16_t)0xFFFF) /* Page is empty */
+#define RECEIVE_DATA ((uint16_t)0xEEEE) /* Page is marked to receive data */
+#define VALID_PAGE ((uint16_t)0x0000) /* Page containing valid data */
+
+/* Valid pages in read and write defines */
+#define READ_FROM_VALID_PAGE ((uint8_t)0x00)
+#define WRITE_IN_VALID_PAGE ((uint8_t)0x01)
+
+/* Page full define */
+#define PAGE_FULL ((uint8_t)0x80)
+
+/* Variables' number */
+#define NB_OF_VAR ((uint8_t)0x03)
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+uint16_t EE_Init(void);
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
+
+#endif /* __EEPROM_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Inc/hd44780.h b/Inc/hd44780.h
new file mode 100644
index 0000000..71e051c
--- /dev/null
+++ b/Inc/hd44780.h
@@ -0,0 +1,294 @@
+/*
+ * hd44780.h
+ *
+ * Created on: Feb 20, 2014
+ * Author: Peter
+ */
+
+#ifndef HD44780_H_
+#define HD44780_H_
+
+#include
+#include
+#include "stm32f1xx_hal.h"
+#include "pcf8574.h"
+
+/**
+ * @file hd44780.h
+ * @brief Header file for communication with the HD44780 LCD driver.
+ * To use it you will have to create a variable of type LCD_PCF8574_HandleTypeDef (e.g. "lcd") and then
+ * set the I2C address based on the address pins on your PCF8574 (0-7) (lcd.pcf8574.PCF_I2C_ADDRESS),
+ * set the I2C timeout (in milliseconds) (lcd.pcf8574.PCF_I2C_TIMEOUT),
+ * set the I2C instance (e.g. I2C1 or I2C2) (lcd.pcf8574.i2c.Instance),
+ * set the I2C clock speed (in Hertz) (lcd.pcf8574.i2c.Init.ClockSpeed),
+ * set the number of lines (has to be type of LCD_NUMBER_OF_LINES) (lcd.NUMBER_OF_LINES),
+ * set the interface type (has to be type of LCD_TYPE) (lcd.type).
+ *
+ * Example:
+ * example.c
+ * example_msp.c
+ */
+
+/** LCD Interface possibilities
+ */
+typedef enum{
+ PCF8574, /*!< Use PCF8574 I2C IO expander as the interface */
+ GPIO /*!< Use GPIO pins directly */
+} LCD_INTERFACE;
+
+/** Possible return values for the functions
+ */
+typedef enum{
+ LCD_OK, /*!< Everything went OK */
+ LCD_ERROR /*!< An error occured */
+} LCD_RESULT;
+
+/** Type of hardware to use
+ */
+typedef enum{
+ TYPE0,
+ TYPE1,
+ TYPE2
+} LCD_TYPE;
+
+
+/** Number of lines on your LCD
+ */
+typedef enum{
+ NUMBER_OF_LINES_1=0,
+ NUMBER_OF_LINES_4=3,
+ NUMBER_OF_LINES_2=1
+} LCD_NUMBER_OF_LINES;
+
+/**
+ * Structure that hold all the required variables in
+ * order to simplify the communication process
+ */
+typedef struct{
+ LCD_NUMBER_OF_LINES NUMBER_OF_LINES; /**< Number of lines on your LCD */
+ uint8_t D;
+ uint8_t C;
+ uint8_t B;
+ char lcdbuf[2][16]; /**< Buffer for the LCD */
+ int x, oldx, y, oldy;
+ uint8_t state; /**< Holds current state of the PCF8574 expander */
+ uint32_t* pins; /**< Array of pins based on your hardware (wiring) */
+ LCD_TYPE type; /**< Type of hardware you want to use */
+ PCF8574_HandleTypeDef pcf8574; /**< PCF8574_HandleTypeDef for communication with PCF8574 */
+ void (*errorCallback)(LCD_RESULT);
+} LCD_PCF8574_HandleTypeDef;
+
+/** @def INTERFACE - Selector for the type of interface you want to use (has to be a type of LCD_INTERFACE) */
+#define LCD_INTERFACE_SELECTOR PCF8574
+
+/** Enumeration of the LCD pins */
+typedef enum{
+ LCD_PIN_D4=0,
+ LCD_PIN_D5=1,
+ LCD_PIN_D6=2,
+ LCD_PIN_D7=3,
+ LCD_PIN_RS=4,
+ LCD_PIN_RW=5,
+ LCD_PIN_E=6,
+ LCD_PIN_LED=7
+} LCD_PIN;
+
+/** Used to specify the direction in certain LCD operations */
+typedef enum{
+ DIRECTION_LEFT=0,
+ DIRECTION_RIGHT=1
+} LCD_DIRECTION;
+
+/** */
+typedef enum{
+ DIRECTION_INCREMENT=1,
+ DIRECTION_DECREMENT=2
+} LCD_DIRECTION_INC_DEC;
+
+/** */
+typedef enum{
+ SHIFT_YES=1,
+ SHIFT_NO=0
+} LCD_SHIFT;
+
+#if LCD_INTERFACE_SELECTOR==PCF8574
+
+/**
+ * LCD initialization function
+ * @param handle - a pointer to the LCD handle
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_Init(LCD_PCF8574_HandleTypeDef* handle);
+
+/**
+ * LCD deinitialization function
+ * @param handle - a pointer to the LCD handle
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_DeInit(LCD_PCF8574_HandleTypeDef* handle);
+
+/**
+ * Sends a command to the HD44780 controller
+ * @param handle - a pointer to the LCD handle
+ * @param cmd - a command you want to send
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_WriteCMD(LCD_PCF8574_HandleTypeDef* handle, uint8_t cmd);
+
+/**
+ * Sends data to the HD44780 controller
+ * @param handle - a pointer to the LCD handle
+ * @param data - data you want to send
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_WriteDATA(LCD_PCF8574_HandleTypeDef* handle, uint8_t data);
+
+/**
+ * Gets the state of the busy flag
+ * @param handle - a pointer to the LCD handle
+ * @param flag - a pointer to a variable that will contain the state of the flag
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_GetBusyFlag(LCD_PCF8574_HandleTypeDef* handle,uint8_t* flag);
+
+/**
+ * Writes lower 4bits of data to the data bus of the controller
+ * @param handle - a pointer to the LCD handle
+ * @param data - data you want to put on the data bus (lower 4bits)
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_WriteToDataBus(LCD_PCF8574_HandleTypeDef* handle, uint8_t data);
+
+/**
+ * Clears the LCD
+ * @param handle - a pointer to the LCD handle
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_ClearDisplay(LCD_PCF8574_HandleTypeDef* handle);
+
+/**
+ * Writes a string to the LCD
+ * @param handle - a pointer to the LCD handle
+ * @param s - string you want to write to the LCD
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_WriteString(LCD_PCF8574_HandleTypeDef* handle, char *s);
+
+/**
+ * Sets the location of the memory pointer in the controller (used to control other operations (for example where to write a string))
+ * @param handle - a pointer to the LCD handle
+ * @param x - x-coordinate of the location
+ * @param y - y-coordinate of the location
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_SetLocation(LCD_PCF8574_HandleTypeDef* handle, uint8_t x, uint8_t y);
+
+/**
+ * Turns ON the display
+ * @param handle - a pointer to the LCD handle
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_DisplayON(LCD_PCF8574_HandleTypeDef* handle);
+
+/**
+ * Turns OFF the display
+ * @param handle - a pointer to the LCD handle
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_DisplayOFF(LCD_PCF8574_HandleTypeDef* handle);
+
+/**
+ * Turns ON the cursor
+ * @param handle - a pointer to the LCD handle
+ * @param blink - if you want the cursor to blink set this to 1, else 0
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_CursorON(LCD_PCF8574_HandleTypeDef* handle, uint8_t blink);
+
+/**
+ * Turns OFF the cursor
+ * @param handle - a pointer to the LCD handle
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_CursorOFF(LCD_PCF8574_HandleTypeDef* handle);
+
+/**
+ * Shifts the cursor in the specified direction certain number of steps
+ * @param handle - a pointer to the LCD handle
+ * @param direction - specifies the direction
+ * @param steps - specifies how many positions to shift the cursor by
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_ShiftCursor(LCD_PCF8574_HandleTypeDef* handle, LCD_DIRECTION direction,uint8_t steps);
+
+/**
+ * Shifts the contents of the LCD
+ * @param handle - a pointer to the LCD handle
+ * @param direction - directions of the shift
+ * @param steps - how many positions to shift the contents by
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_ShiftDisplay(LCD_PCF8574_HandleTypeDef* handle, uint8_t direction, uint8_t steps);
+
+/**
+ * Writes a number to the LCD
+ * @param handle - a pointer to the LCD handle
+ * @param n - a number you want to write to the LCD
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_WriteNumber(LCD_PCF8574_HandleTypeDef* handle, unsigned long n, uint8_t base);
+
+
+LCD_RESULT LCD_WriteFloat(LCD_PCF8574_HandleTypeDef* handle, double number, uint8_t digits);
+
+/**
+ * Sets the mode by which data is written to the LCD
+ * @param handle - a pointer to the LCD handle
+ * @param direction
+ * @param shift
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_EntryModeSet(LCD_PCF8574_HandleTypeDef* handle, LCD_DIRECTION_INC_DEC direction,LCD_SHIFT shift);
+
+/**
+ * Creates a custom character at the given address
+ * @param handle - a pointer to the LCD handle
+ * @param pattern - pointer to the bit pattern of the character
+ * @param address - an address to which the character will be written
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_CustomChar(LCD_PCF8574_HandleTypeDef* handle, uint8_t *pattern,uint8_t address);
+
+/**
+ * Writes the current state to the PCF8574 expander
+ * @param handle - a pointer to the LCD handle
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_I2C_WriteOut(LCD_PCF8574_HandleTypeDef* handle);
+
+/**
+ * Controls the state of the LCD backlight
+ * @param handle - a pointer to the LCD handle
+ * @param on - set it to 1 if you want to turn the backlight on, else 0
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_StateLEDControl(LCD_PCF8574_HandleTypeDef* handle, uint8_t on);
+
+/**
+ * Rewrites a bit in the state variable with the value specified
+ * @param handle - a pointer to the LCD handle
+ * @param value - value of the bit (0 or 1)
+ * @param pin - pin which you want to write to
+ * @return whether the function was successful or not
+ */
+LCD_RESULT LCD_StateWriteBit(LCD_PCF8574_HandleTypeDef* handle, uint8_t value, LCD_PIN pin);
+
+/**
+ * Waits until the busy flag is reset
+ * @param handle - a pointer to the LCD handle
+ */
+void LCD_WaitForBusyFlag(LCD_PCF8574_HandleTypeDef* handle);
+
+#endif
+
+#endif /* HD44780_H_ */
diff --git a/Inc/pcf8574.h b/Inc/pcf8574.h
new file mode 100644
index 0000000..397f26f
--- /dev/null
+++ b/Inc/pcf8574.h
@@ -0,0 +1,82 @@
+/*
+ * pcf8574.h
+ *
+ * Created on: Dec 30, 2014
+ * Author: peter
+ */
+
+#ifndef INC_PCF8574_H_
+#define INC_PCF8574_H_
+
+#include "stm32f1xx_hal.h"
+
+/** @file pcf8574.h
+ * @brief In order to use this you have to create a PCF8574_HandleTypeDef variable (e.g. "pcf").
+ * Then you will set the the address based on the configuration of your chip (pins A0, A1, A2) ( pcf.PCF_I2C_ADDRESS ) (0 to 7),
+ * timeout ( pcf.PCF_I2C_TIMEOUT ) (e.g. 1000 (=1 sec)),
+ * I2C instance to use ( pcf.i2c.Instance ) (e.g. I2C1 or I2C2 ...),
+ * speed of the communication ( pcf.i2c.Init.ClockSpeed ) (e.g. 100 000 (=100kHz)).
+ *
+ * Example:
+ * example.c
+ * example_msp.c
+ */
+
+/**
+ * Provides possible return values for the functions
+ */
+typedef enum{
+ PCF8574_OK, /**< Everything went OK */
+ PCF8574_ERROR /**< An error occured */
+} PCF8574_RESULT;
+
+/** @def PCF8574_I2C_ADDRESS_MASK - Pulled from the datasheet
+ */
+#define PCF8574_I2C_ADDRESS_MASK 0x40
+
+/**
+ * PCF8574 handle structure which wraps all the necessary variables together in
+ * order to simplify the communication with the chip
+ */
+typedef struct{
+ uint8_t PCF_I2C_ADDRESS; /**< address of the chip you want to communicate with */
+ uint32_t PCF_I2C_TIMEOUT; /**< timeout value for the communication in milliseconds */
+ I2C_HandleTypeDef i2c; /**< I2C_HandleTypeDef structure */
+ void (*errorCallback)(PCF8574_RESULT);
+} PCF8574_HandleTypeDef;
+
+/** @var PCF8574_Type0Pins[8] - characterization of pins for hardware of type 0
+ */
+extern uint32_t PCF8574_Type0Pins[];
+
+/**
+ * Initializes the I2C for communication
+ * @param handle - a pointer to the PCF8574 handle
+ * @return whether the function was successful or not
+ */
+PCF8574_RESULT PCF8574_Init(PCF8574_HandleTypeDef* handle);
+
+/**
+ * Deinitializes the I2C
+ * @param handle - a pointer to the PCF8574 handle
+ * @return whether the function was successful or not
+ */
+PCF8574_RESULT PCF8574_DeInit(PCF8574_HandleTypeDef* handle);
+
+/**
+ * Writes a given value to the port of PCF8574
+ * @param handle - a pointer to the PCF8574 handle
+ * @param val - a value to be written to the port
+ * @return whether the function was successful or not
+ */
+PCF8574_RESULT PCF8574_Write(PCF8574_HandleTypeDef* handle, uint8_t val);
+
+/**
+ * Reads the current state of the port of PCF8574
+ * @param handle - a pointer to the PCF8574 handle
+ * @param val - a pointer to the variable that will be assigned a value from the chip
+ * @return whether the function was successful or not
+ */
+PCF8574_RESULT PCF8574_Read(PCF8574_HandleTypeDef* handle, uint8_t* val);
+
+#endif /* INC_PCF8574_H_ */
diff --git a/Makefile b/Makefile
index 3a90439..b0fe3e3 100644
--- a/Makefile
+++ b/Makefile
@@ -40,6 +40,9 @@ Src/setup.c \
Src/control.c \
Src/main.c \
Src/bldc.c \
+Src/eeprom.c \
+Src/hd44780.c \
+Src/pcf8574.c \
Src/comms.c \
Src/stm32f1xx_it.c \
Src/BLDC_controller_data.c \
@@ -52,7 +55,7 @@ startup_stm32f103xe.s
#######################################
# binaries
#######################################
-PREFIX = arm-none-eabi-
+PREFIX = /usr/local/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
CC = $(PREFIX)gcc
AS = $(PREFIX)gcc -x assembler-with-cpp
CP = $(PREFIX)objcopy
diff --git a/Src/control.c b/Src/control.c
index 3e36bd9..4306954 100644
--- a/Src/control.c
+++ b/Src/control.c
@@ -84,6 +84,13 @@ void PPM_Init(void) {
}
#endif
+uint8_t Nunchuck_Ping(void) {
+ if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 1, 10) == HAL_OK) {
+ return 1;
+ }
+ return 0;
+}
+
void Nunchuck_Init(void) {
//-- START -- init WiiNunchuck
i2cBuffer[0] = 0xF0;
@@ -101,18 +108,20 @@ void Nunchuck_Init(void) {
void Nunchuck_Read(void) {
i2cBuffer[0] = 0x00;
- HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
- HAL_Delay(5);
- if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) {
+ HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 10);
+ HAL_Delay(3);
+ if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 10) == HAL_OK) {
timeout = 0;
} else {
timeout++;
}
+#ifndef TRANSPOTTER
if (timeout > 3) {
HAL_Delay(50);
Nunchuck_Init();
}
+#endif
//setScopeChannel(0, (int)nunchuck_data[0]);
//setScopeChannel(1, (int)nunchuck_data[1]);
diff --git a/Src/eeprom.c b/Src/eeprom.c
new file mode 100644
index 0000000..8470153
--- /dev/null
+++ b/Src/eeprom.c
@@ -0,0 +1,730 @@
+/**
+ ******************************************************************************
+ * @file EEPROM_Emulation/src/eeprom.c
+ * @author MCD Application Team
+ * @version V1.3.0
+ * @date 18-December-2015
+ * @brief This file provides all the EEPROM emulation firmware functions.
+ ******************************************************************************
+ * @attention
+ *
+ * © COPYRIGHT(c) 2015 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/** @addtogroup EEPROM_Emulation
+ * @{
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "eeprom.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+
+/* Global variable used to store variable value in read sequence */
+uint16_t DataVar = 0;
+
+/* Virtual address defined by the user: 0xFFFF value is prohibited */
+extern uint16_t VirtAddVarTab[NB_OF_VAR];
+
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+static HAL_StatusTypeDef EE_Format(void);
+static uint16_t EE_FindValidPage(uint8_t Operation);
+static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data);
+static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data);
+static uint16_t EE_VerifyPageFullyErased(uint32_t Address);
+
+/**
+ * @brief Restore the pages to a known good state in case of page's status
+ * corruption after a power loss.
+ * @param None.
+ * @retval - Flash error code: on write Flash error
+ * - FLASH_COMPLETE: on success
+ */
+uint16_t EE_Init(void)
+{
+ uint16_t pagestatus0 = 6, pagestatus1 = 6;
+ uint16_t varidx = 0;
+ uint16_t eepromstatus = 0, readstatus = 0;
+ int16_t x = -1;
+ HAL_StatusTypeDef flashstatus;
+ uint32_t page_error = 0;
+ FLASH_EraseInitTypeDef s_eraseinit;
+
+
+ /* Get Page0 status */
+ pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
+ /* Get Page1 status */
+ pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
+
+ /* Fill EraseInit structure*/
+ s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
+ s_eraseinit.PageAddress = PAGE0_ID;
+ s_eraseinit.NbPages = 1;
+
+ /* Check for invalid header states and repair if necessary */
+ switch (pagestatus0)
+ {
+ case ERASED:
+ if (pagestatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */
+ {
+ /* Erase Page0 */
+ if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ }
+ else if (pagestatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */
+ {
+ /* Erase Page0 */
+ if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ /* Mark Page1 as valid */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ else /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
+ {
+ /* Erase both Page0 and Page1 and set Page0 as valid page */
+ flashstatus = EE_Format();
+ /* If erase/program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ break;
+
+ case RECEIVE_DATA:
+ if (pagestatus1 == VALID_PAGE) /* Page0 receive, Page1 valid */
+ {
+ /* Transfer data from Page1 to Page0 */
+ for (varidx = 0; varidx < NB_OF_VAR; varidx++)
+ {
+ if (( *(__IO uint16_t*)(PAGE0_BASE_ADDRESS + 6)) == VirtAddVarTab[varidx])
+ {
+ x = varidx;
+ }
+ if (varidx != x)
+ {
+ /* Read the last variables' updates */
+ readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
+ /* In case variable corresponding to the virtual address was found */
+ if (readstatus != 0x1)
+ {
+ /* Transfer the variable to the Page0 */
+ eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
+ /* If program operation was failed, a Flash error code is returned */
+ if (eepromstatus != HAL_OK)
+ {
+ return eepromstatus;
+ }
+ }
+ }
+ }
+ /* Mark Page0 as valid */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
+ s_eraseinit.PageAddress = PAGE1_ID;
+ s_eraseinit.NbPages = 1;
+ /* Erase Page1 */
+ if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ }
+ else if (pagestatus1 == ERASED) /* Page0 receive, Page1 erased */
+ {
+ s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
+ s_eraseinit.PageAddress = PAGE1_ID;
+ s_eraseinit.NbPages = 1;
+ /* Erase Page1 */
+ if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ /* Mark Page0 as valid */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ else /* Invalid state -> format eeprom */
+ {
+ /* Erase both Page0 and Page1 and set Page0 as valid page */
+ flashstatus = EE_Format();
+ /* If erase/program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ break;
+
+ case VALID_PAGE:
+ if (pagestatus1 == VALID_PAGE) /* Invalid state -> format eeprom */
+ {
+ /* Erase both Page0 and Page1 and set Page0 as valid page */
+ flashstatus = EE_Format();
+ /* If erase/program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ else if (pagestatus1 == ERASED) /* Page0 valid, Page1 erased */
+ {
+ s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
+ s_eraseinit.PageAddress = PAGE1_ID;
+ s_eraseinit.NbPages = 1;
+ /* Erase Page1 */
+ if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ }
+ else /* Page0 valid, Page1 receive */
+ {
+ /* Transfer data from Page0 to Page1 */
+ for (varidx = 0; varidx < NB_OF_VAR; varidx++)
+ {
+ if ((*(__IO uint16_t*)(PAGE1_BASE_ADDRESS + 6)) == VirtAddVarTab[varidx])
+ {
+ x = varidx;
+ }
+ if (varidx != x)
+ {
+ /* Read the last variables' updates */
+ readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
+ /* In case variable corresponding to the virtual address was found */
+ if (readstatus != 0x1)
+ {
+ /* Transfer the variable to the Page1 */
+ eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
+ /* If program operation was failed, a Flash error code is returned */
+ if (eepromstatus != HAL_OK)
+ {
+ return eepromstatus;
+ }
+ }
+ }
+ }
+ /* Mark Page1 as valid */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
+ s_eraseinit.PageAddress = PAGE0_ID;
+ s_eraseinit.NbPages = 1;
+ /* Erase Page0 */
+ if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ }
+ break;
+
+ default: /* Any other state -> format eeprom */
+ /* Erase both Page0 and Page1 and set Page0 as valid page */
+ flashstatus = EE_Format();
+ /* If erase/program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ break;
+ }
+
+ return HAL_OK;
+}
+
+/**
+ * @brief Verify if specified page is fully erased.
+ * @param Address: page address
+ * This parameter can be one of the following values:
+ * @arg PAGE0_BASE_ADDRESS: Page0 base address
+ * @arg PAGE1_BASE_ADDRESS: Page1 base address
+ * @retval page fully erased status:
+ * - 0: if Page not erased
+ * - 1: if Page erased
+ */
+uint16_t EE_VerifyPageFullyErased(uint32_t Address)
+{
+ uint32_t readstatus = 1;
+ uint16_t addressvalue = 0x5555;
+
+ /* Check each active page address starting from end */
+ while (Address <= PAGE0_END_ADDRESS)
+ {
+ /* Get the current location content to be compared with virtual address */
+ addressvalue = (*(__IO uint16_t*)Address);
+
+ /* Compare the read address with the virtual address */
+ if (addressvalue != ERASED)
+ {
+
+ /* In case variable value is read, reset readstatus flag */
+ readstatus = 0;
+
+ break;
+ }
+ /* Next address location */
+ Address = Address + 4;
+ }
+
+ /* Return readstatus value: (0: Page not erased, 1: Page erased) */
+ return readstatus;
+}
+
+/**
+ * @brief Returns the last stored variable data, if found, which correspond to
+ * the passed virtual address
+ * @param VirtAddress: Variable virtual address
+ * @param Data: Global variable contains the read variable value
+ * @retval Success or error status:
+ * - 0: if variable was found
+ * - 1: if the variable was not found
+ * - NO_VALID_PAGE: if no valid page was found.
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
+{
+ uint16_t validpage = PAGE0;
+ uint16_t addressvalue = 0x5555, readstatus = 1;
+ uint32_t address = EEPROM_START_ADDRESS, PageStartAddress = EEPROM_START_ADDRESS;
+
+ /* Get active Page for read operation */
+ validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
+
+ /* Check if there is no valid page */
+ if (validpage == NO_VALID_PAGE)
+ {
+ return NO_VALID_PAGE;
+ }
+
+ /* Get the valid Page start Address */
+ PageStartAddress = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
+
+ /* Get the valid Page end Address */
+ address = (uint32_t)((EEPROM_START_ADDRESS - 2) + (uint32_t)((1 + validpage) * PAGE_SIZE));
+
+ /* Check each active page address starting from end */
+ while (address > (PageStartAddress + 2))
+ {
+ /* Get the current location content to be compared with virtual address */
+ addressvalue = (*(__IO uint16_t*)address);
+
+ /* Compare the read address with the virtual address */
+ if (addressvalue == VirtAddress)
+ {
+ /* Get content of Address-2 which is variable value */
+ *Data = (*(__IO uint16_t*)(address - 2));
+
+ /* In case variable value is read, reset readstatus flag */
+ readstatus = 0;
+
+ break;
+ }
+ else
+ {
+ /* Next address location */
+ address = address - 4;
+ }
+ }
+
+ /* Return readstatus value: (0: variable exist, 1: variable doesn't exist) */
+ return readstatus;
+}
+
+/**
+ * @brief Writes/upadtes variable data in EEPROM.
+ * @param VirtAddress: Variable virtual address
+ * @param Data: 16 bit data to be written
+ * @retval Success or error status:
+ * - FLASH_COMPLETE: on success
+ * - PAGE_FULL: if valid page is full
+ * - NO_VALID_PAGE: if no valid page was found
+ * - Flash error code: on write Flash error
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+ uint16_t Status = 0;
+
+ /* Write the variable virtual address and value in the EEPROM */
+ Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
+
+ /* In case the EEPROM active page is full */
+ if (Status == PAGE_FULL)
+ {
+ /* Perform Page transfer */
+ Status = EE_PageTransfer(VirtAddress, Data);
+ }
+
+ /* Return last operation status */
+ return Status;
+}
+
+/**
+ * @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
+ * @param None
+ * @retval Status of the last operation (Flash write or erase) done during
+ * EEPROM formating
+ */
+static HAL_StatusTypeDef EE_Format(void)
+{
+ HAL_StatusTypeDef flashstatus = HAL_OK;
+ uint32_t page_error = 0;
+ FLASH_EraseInitTypeDef s_eraseinit;
+
+ s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
+ s_eraseinit.PageAddress = PAGE0_ID;
+ s_eraseinit.NbPages = 1;
+ /* Erase Page0 */
+ if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+ /* Set Page0 as valid page: Write VALID_PAGE at Page0 base address */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+
+ s_eraseinit.PageAddress = PAGE1_ID;
+ /* Erase Page1 */
+ if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
+ {
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ }
+
+ return HAL_OK;
+}
+
+/**
+ * @brief Find valid Page for write or read operation
+ * @param Operation: operation to achieve on the valid page.
+ * This parameter can be one of the following values:
+ * @arg READ_FROM_VALID_PAGE: read operation from valid page
+ * @arg WRITE_IN_VALID_PAGE: write operation from valid page
+ * @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
+ * of no valid page was found
+ */
+static uint16_t EE_FindValidPage(uint8_t Operation)
+{
+ uint16_t pagestatus0 = 6, pagestatus1 = 6;
+
+ /* Get Page0 actual status */
+ pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
+
+ /* Get Page1 actual status */
+ pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
+
+ /* Write or read operation */
+ switch (Operation)
+ {
+ case WRITE_IN_VALID_PAGE: /* ---- Write operation ---- */
+ if (pagestatus1 == VALID_PAGE)
+ {
+ /* Page0 receiving data */
+ if (pagestatus0 == RECEIVE_DATA)
+ {
+ return PAGE0; /* Page0 valid */
+ }
+ else
+ {
+ return PAGE1; /* Page1 valid */
+ }
+ }
+ else if (pagestatus0 == VALID_PAGE)
+ {
+ /* Page1 receiving data */
+ if (pagestatus1 == RECEIVE_DATA)
+ {
+ return PAGE1; /* Page1 valid */
+ }
+ else
+ {
+ return PAGE0; /* Page0 valid */
+ }
+ }
+ else
+ {
+ return NO_VALID_PAGE; /* No valid Page */
+ }
+
+ case READ_FROM_VALID_PAGE: /* ---- Read operation ---- */
+ if (pagestatus0 == VALID_PAGE)
+ {
+ return PAGE0; /* Page0 valid */
+ }
+ else if (pagestatus1 == VALID_PAGE)
+ {
+ return PAGE1; /* Page1 valid */
+ }
+ else
+ {
+ return NO_VALID_PAGE ; /* No valid Page */
+ }
+
+ default:
+ return PAGE0; /* Page0 valid */
+ }
+}
+
+/**
+ * @brief Verify if active page is full and Writes variable in EEPROM.
+ * @param VirtAddress: 16 bit virtual address of the variable
+ * @param Data: 16 bit data to be written as variable value
+ * @retval Success or error status:
+ * - FLASH_COMPLETE: on success
+ * - PAGE_FULL: if valid page is full
+ * - NO_VALID_PAGE: if no valid page was found
+ * - Flash error code: on write Flash error
+ */
+static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+ HAL_StatusTypeDef flashstatus = HAL_OK;
+ uint16_t validpage = PAGE0;
+ uint32_t address = EEPROM_START_ADDRESS, pageendaddress = EEPROM_START_ADDRESS+PAGE_SIZE;
+
+ /* Get valid Page for write operation */
+ validpage = EE_FindValidPage(WRITE_IN_VALID_PAGE);
+
+ /* Check if there is no valid page */
+ if (validpage == NO_VALID_PAGE)
+ {
+ return NO_VALID_PAGE;
+ }
+
+ /* Get the valid Page start address */
+ address = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
+
+ /* Get the valid Page end address */
+ pageendaddress = (uint32_t)((EEPROM_START_ADDRESS - 1) + (uint32_t)((validpage + 1) * PAGE_SIZE));
+
+ /* Check each active page address starting from begining */
+ while (address < pageendaddress)
+ {
+ /* Verify if address and address+2 contents are 0xFFFFFFFF */
+ if ((*(__IO uint32_t*)address) == 0xFFFFFFFF)
+ {
+ /* Set variable data */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address, Data);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+ /* Set variable virtual address */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address + 2, VirtAddress);
+ /* Return program operation status */
+ return flashstatus;
+ }
+ else
+ {
+ /* Next address location */
+ address = address + 4;
+ }
+ }
+
+ /* Return PAGE_FULL in case the valid page is full */
+ return PAGE_FULL;
+}
+
+/**
+ * @brief Transfers last updated variables data from the full Page to
+ * an empty one.
+ * @param VirtAddress: 16 bit virtual address of the variable
+ * @param Data: 16 bit data to be written as variable value
+ * @retval Success or error status:
+ * - FLASH_COMPLETE: on success
+ * - PAGE_FULL: if valid page is full
+ * - NO_VALID_PAGE: if no valid page was found
+ * - Flash error code: on write Flash error
+ */
+static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+ HAL_StatusTypeDef flashstatus = HAL_OK;
+ uint32_t newpageaddress = EEPROM_START_ADDRESS;
+ uint32_t oldpageid = 0;
+ uint16_t validpage = PAGE0, varidx = 0;
+ uint16_t eepromstatus = 0, readstatus = 0;
+ uint32_t page_error = 0;
+ FLASH_EraseInitTypeDef s_eraseinit;
+
+ /* Get active Page for read operation */
+ validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
+
+ if (validpage == PAGE1) /* Page1 valid */
+ {
+ /* New page address where variable will be moved to */
+ newpageaddress = PAGE0_BASE_ADDRESS;
+
+ /* Old page ID where variable will be taken from */
+ oldpageid = PAGE1_ID;
+ }
+ else if (validpage == PAGE0) /* Page0 valid */
+ {
+ /* New page address where variable will be moved to */
+ newpageaddress = PAGE1_BASE_ADDRESS;
+
+ /* Old page ID where variable will be taken from */
+ oldpageid = PAGE0_ID;
+ }
+ else
+ {
+ return NO_VALID_PAGE; /* No valid Page */
+ }
+
+ /* Set the new Page status to RECEIVE_DATA status */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, RECEIVE_DATA);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+
+ /* Write the variable passed as parameter in the new active page */
+ eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
+ /* If program operation was failed, a Flash error code is returned */
+ if (eepromstatus != HAL_OK)
+ {
+ return eepromstatus;
+ }
+
+ /* Transfer process: transfer variables from old to the new active page */
+ for (varidx = 0; varidx < NB_OF_VAR; varidx++)
+ {
+ if (VirtAddVarTab[varidx] != VirtAddress) /* Check each variable except the one passed as parameter */
+ {
+ /* Read the other last variable updates */
+ readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
+ /* In case variable corresponding to the virtual address was found */
+ if (readstatus != 0x1)
+ {
+ /* Transfer the variable to the new active page */
+ eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
+ /* If program operation was failed, a Flash error code is returned */
+ if (eepromstatus != HAL_OK)
+ {
+ return eepromstatus;
+ }
+ }
+ }
+ }
+
+ s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
+ s_eraseinit.PageAddress = oldpageid;
+ s_eraseinit.NbPages = 1;
+
+ /* Erase the old Page: Set old Page status to ERASED status */
+ flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
+ /* If erase operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+
+ /* Set new Page status to VALID_PAGE status */
+ flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, VALID_PAGE);
+ /* If program operation was failed, a Flash error code is returned */
+ if (flashstatus != HAL_OK)
+ {
+ return flashstatus;
+ }
+
+
+
+ /* Return last operation flash status */
+ return flashstatus;
+}
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Src/hd44780.c b/Src/hd44780.c
new file mode 100644
index 0000000..f23f042
--- /dev/null
+++ b/Src/hd44780.c
@@ -0,0 +1,402 @@
+/*
+ * * hd44780.c
+ *
+ * Created on: Feb 20, 2014
+ * Author: Peter
+ */
+
+#include "hd44780.h"
+
+uint32_t PCF8574_Type0Pins[8] = { 4, 5, 6, 7, 0, 1, 2, 3 };
+uint8_t LCDerrorFlag = 0;
+
+void LCD_WaitForBusyFlag(LCD_PCF8574_HandleTypeDef* handle) {
+ uint8_t flag;
+ LCD_GetBusyFlag(handle, &flag);
+ //uint32_t startTick=HAL_GetTick();
+ //while (flag == 1 && HAL_GetTick()-startTickpcf8574.PCF_I2C_TIMEOUT) {
+ // LCD_GetBusyFlag(handle, &flag);
+ //}
+ return;
+}
+
+LCD_RESULT LCD_I2C_WriteOut(LCD_PCF8574_HandleTypeDef* handle) {
+ if (!LCDerrorFlag) {
+ if (PCF8574_Write(&handle->pcf8574, handle->state) != PCF8574_OK) {
+ //handle->errorCallback(LCD_ERROR);
+ LCDerrorFlag = 1;
+ return LCD_ERROR;
+ }
+ return LCD_OK;
+ }
+ return LCD_ERROR;
+}
+
+LCD_RESULT LCD_StateLEDControl(LCD_PCF8574_HandleTypeDef* handle, uint8_t on) {
+ return LCD_StateWriteBit(handle, on & 1, LCD_PIN_LED);
+}
+
+LCD_RESULT LCD_StateWriteBit(LCD_PCF8574_HandleTypeDef* handle, uint8_t value,
+ LCD_PIN pin) {
+
+ if (value) {
+ handle->state |= 1 << handle->pins[pin];
+ } else {
+ handle->state &= ~(1 << handle->pins[pin]);
+ }
+ return LCD_I2C_WriteOut(handle);
+}
+
+LCD_RESULT LCD_Init(LCD_PCF8574_HandleTypeDef* handle) {
+ handle->D = 1;
+ handle->B = 0;
+ handle->C = 0;
+ if (handle->type == TYPE0) {
+ handle->pins = PCF8574_Type0Pins;
+ } else {
+ //handle->errorCallback(LCD_ERROR);
+ return LCD_ERROR; // no type of subinterface was specified
+ }
+ if (PCF8574_Init(&handle->pcf8574) != PCF8574_OK) {
+ //handle->errorCallback(LCD_ERROR);
+ return LCD_ERROR;
+ }
+
+ //HAL_Delay(50);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_RW);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+
+ LCD_WriteToDataBus(handle, 3);
+
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ HAL_Delay(1);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ HAL_Delay(5);
+
+ LCD_WriteToDataBus(handle, 3);
+
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ HAL_Delay(1);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ HAL_Delay(1);
+
+ LCD_WriteToDataBus(handle, 3);
+
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ HAL_Delay(1);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ HAL_Delay(1);
+
+ LCD_WriteToDataBus(handle, 2);
+
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ HAL_Delay(1);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ HAL_Delay(1);
+
+ uint8_t cmd = 0;
+ cmd = cmd | (handle->NUMBER_OF_LINES << 3);
+ cmd = cmd | (1 << 5);
+
+ LCD_WriteCMD(handle, cmd); // setting interface
+
+ cmd = 0;
+ cmd = cmd | (1 << 3);
+ cmd = cmd | (handle->C << 1);
+ cmd = cmd | handle->B;
+
+ LCD_WriteCMD(handle, cmd); // setting display/cursor
+
+ LCD_ClearDisplay(handle);
+
+ LCD_EntryModeSet(handle, DIRECTION_INCREMENT, SHIFT_NO);
+
+ LCD_DisplayON(handle);
+
+ LCD_StateLEDControl(handle, 1); // LED power on
+
+ return LCD_OK;
+
+}
+
+LCD_RESULT LCD_WriteToDataBus(LCD_PCF8574_HandleTypeDef* handle, uint8_t data) {
+ if ((data & 1) == 1) {
+ handle->state |= 1 << handle->pins[LCD_PIN_D4];
+ } else {
+ handle->state &= ~(1 << handle->pins[LCD_PIN_D4]);
+ }
+
+ if ((data & 2) == 2) {
+ handle->state |= 1 << handle->pins[LCD_PIN_D5];
+ } else {
+ handle->state &= ~(1 << handle->pins[LCD_PIN_D5]);
+ }
+
+ if ((data & 4) == 4) {
+ handle->state |= 1 << handle->pins[LCD_PIN_D6];
+ } else {
+ handle->state &= ~(1 << handle->pins[LCD_PIN_D6]);
+ }
+
+ if ((data & 8) == 8) {
+ handle->state |= 1 << handle->pins[LCD_PIN_D7];
+ } else {
+ handle->state &= ~(1 << handle->pins[LCD_PIN_D7]);
+ }
+
+ return LCD_I2C_WriteOut(handle);
+}
+
+LCD_RESULT LCD_GetBusyFlag(LCD_PCF8574_HandleTypeDef* handle, uint8_t* flag) {
+
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
+ LCD_StateWriteBit(handle, 1, LCD_PIN_RW);
+
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+
+ //PCF8574_Read(&handle->pcf8574, flag);
+
+ //*flag &= 1 << handle->pins[LCD_PIN_D7];
+ //*flag >>= handle->pins[LCD_PIN_D7];
+
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+
+ //uint8_t flag2;
+ //PCF8574_Read(&handle->pcf8574, &flag2);
+
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_RW);
+
+ return LCD_OK;
+
+}
+
+LCD_RESULT LCD_WriteCMD(LCD_PCF8574_HandleTypeDef* handle, uint8_t cmd) {
+ if (!LCDerrorFlag) {
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
+
+ LCD_WriteToDataBus(handle, cmd >> 4);
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+
+ LCD_WriteToDataBus(handle, cmd);
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+
+ LCD_WaitForBusyFlag(handle);
+
+ return LCD_OK;
+ } return LCD_ERROR;
+
+}
+
+LCD_RESULT LCD_WriteDATA(LCD_PCF8574_HandleTypeDef* handle, uint8_t data) {
+
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 1, LCD_PIN_RS);
+
+ LCD_WriteToDataBus(handle, data >> 4);
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+
+ LCD_WriteToDataBus(handle, data);
+ LCD_StateWriteBit(handle, 1, LCD_PIN_E);
+ LCD_StateWriteBit(handle, 0, LCD_PIN_E);
+
+ LCD_WaitForBusyFlag(handle);
+
+ return LCD_OK;
+
+}
+
+LCD_RESULT LCD_SetLocation(LCD_PCF8574_HandleTypeDef* handle, uint8_t x,
+ uint8_t y) {
+
+ uint8_t add = 0x40 * y + x;
+ uint8_t cmd = 1 << 7;
+ cmd = cmd | add;
+ return LCD_WriteCMD(handle, cmd);
+
+}
+
+LCD_RESULT LCD_WriteString(LCD_PCF8574_HandleTypeDef* handle, char *s) {
+ int i = 0;
+
+ if (s != 0) {
+
+ while (i < 80 && s[i] != 0) {
+ LCD_WaitForBusyFlag(handle);
+ LCD_WriteDATA(handle, s[i]);
+ i++;
+ }
+ }
+ return LCD_OK;
+}
+
+LCD_RESULT LCD_ClearDisplay(LCD_PCF8574_HandleTypeDef* handle) {
+ return LCD_WriteCMD(handle, 1);
+}
+
+LCD_RESULT LCD_DisplayON(LCD_PCF8574_HandleTypeDef* handle) {
+ handle->D = 1;
+ uint8_t cmd = 0;
+ cmd = cmd | (1 << 3);
+ cmd = cmd | (handle->D << 2);
+ cmd = cmd | (handle->C << 1);
+ cmd = cmd | handle->B;
+ return LCD_WriteCMD(handle, cmd);
+}
+
+LCD_RESULT LCD_DisplayOFF(LCD_PCF8574_HandleTypeDef* handle) {
+ handle->D = 0;
+ uint8_t cmd = 0;
+ cmd = cmd | (1 << 3);
+ cmd = cmd | (handle->D << 2);
+ cmd = cmd | (handle->C << 1);
+ cmd = cmd | handle->B;
+ return LCD_WriteCMD(handle, cmd);
+}
+
+LCD_RESULT LCD_CursorON(LCD_PCF8574_HandleTypeDef* handle, uint8_t blink) {
+ handle->C = 1;
+ blink &= 1;
+ handle->B = blink;
+ uint8_t cmd = 0;
+ cmd = cmd | (1 << 3);
+ cmd = cmd | (handle->D << 2);
+ cmd = cmd | (handle->C << 1);
+ cmd = cmd | handle->B;
+ return LCD_WriteCMD(handle, cmd);
+}
+
+LCD_RESULT LCD_CursorOFF(LCD_PCF8574_HandleTypeDef* handle) {
+ handle->C = 0;
+ uint8_t cmd = 0;
+ cmd = cmd | (1 << 3);
+ cmd = cmd | (handle->D << 2);
+ cmd = cmd | (handle->C << 1);
+ cmd = cmd | handle->B;
+ return LCD_WriteCMD(handle, cmd);
+}
+
+LCD_RESULT LCD_ShiftCursor(LCD_PCF8574_HandleTypeDef* handle, uint8_t direction,
+ uint8_t steps) {
+ direction &= 1;
+
+ uint8_t cmd = 0;
+ cmd |= 1 << 4;
+ cmd |= direction << 2;
+
+ int i = 0;
+ for (i = 0; i < steps; i++) {
+ if (LCD_WriteCMD(handle, cmd) != LCD_OK) {
+ //handle->errorCallback(LCD_ERROR);
+ return LCD_ERROR;
+ }
+ }
+ return LCD_OK;
+}
+
+LCD_RESULT LCD_ShiftDisplay(LCD_PCF8574_HandleTypeDef* handle,
+ uint8_t direction, uint8_t steps) {
+ direction &= 1;
+
+ uint8_t cmd = 0;
+ cmd |= 1 << 4;
+ cmd |= 1 << 3;
+ cmd |= direction << 2;
+
+ int i = 0;
+ for (i = 0; i < steps; i++) {
+ if (LCD_WriteCMD(handle, cmd) != LCD_OK) {
+ //handle->errorCallback(LCD_ERROR);
+ return LCD_ERROR;
+ }
+ }
+ return LCD_OK;
+}
+
+LCD_RESULT LCD_WriteNumber(LCD_PCF8574_HandleTypeDef* handle, unsigned long n,
+ uint8_t base) {
+
+ char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
+ char *str = &buf[sizeof(buf) - 1];
+
+ *str = '\0';
+
+ // prevent crash if called with base == 1
+ if (base < 2)
+ base = 10;
+
+ do {
+ unsigned long m = n;
+ n /= base;
+ char c = m - base * n;
+ *--str = c < 10 ? c + '0' : c + 'A' - 10;
+ } while (n);
+ return LCD_WriteString(handle, str);
+}
+
+LCD_RESULT LCD_WriteFloat(LCD_PCF8574_HandleTypeDef* handle, double number,
+ uint8_t digits) {
+ // Handle negative numbers
+ if (number < 0.0) {
+ LCD_WriteString(handle,"-");
+ number = -number;
+ }
+
+ // Round correctly so that print(1.999, 2) prints as "2.00"
+ double rounding = 0.5;
+ for (uint8_t i = 0; i < digits; ++i)
+ rounding /= 10.0;
+
+ number += rounding;
+
+ // Extract the integer part of the number and print it
+ unsigned long int_part = (unsigned long) number;
+ double remainder = number - (double) int_part;
+ LCD_WriteNumber(handle,int_part,10);
+
+ // Print the decimal point, but only if there are digits beyond
+ if (digits > 0) {
+ LCD_WriteString(handle,".");
+ }
+
+ // Extract digits from the remainder one at a time
+ while (digits-- > 0) {
+ remainder *= 10.0;
+ int toPrint = (int)(remainder);
+ LCD_WriteNumber(handle,toPrint,10);
+ remainder -= toPrint;
+ }
+ return LCD_OK;
+}
+
+LCD_RESULT LCD_EntryModeSet(LCD_PCF8574_HandleTypeDef* handle,
+ LCD_DIRECTION_INC_DEC direction, LCD_SHIFT shift) {
+
+ uint8_t cmd = 0;
+ cmd |= 1 << 2;
+ cmd |= direction << 1;
+ cmd |= shift;
+
+ return LCD_WriteCMD(handle, cmd);
+
+}
+
+LCD_RESULT LCD_CustomChar(LCD_PCF8574_HandleTypeDef* handle, uint8_t *pattern,
+ uint8_t address) {
+ uint8_t a = 0;
+ int i = 0;
+ a = 8 * address;
+ LCD_WriteCMD(handle, a | 0x40);
+ for (i = 0; i < 8; i++) {
+ LCD_WriteDATA(handle, pattern[i]);
+ }
+ return LCD_OK;
+}
diff --git a/Src/main.c b/Src/main.c
index 690069d..d46a913 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -25,7 +25,14 @@
#include "setup.h"
#include "config.h"
#include "comms.h"
-//#include "hd44780.h"
+
+#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
+ #include "hd44780.h"
+#endif
+
+#ifdef TRANSPOTTER
+ #include "eeprom.h"
+#endif
// Matlab includes and defines - from auto-code generation
// ###############################################################################
@@ -59,10 +66,34 @@ extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
-//LCD_PCF8574_HandleTypeDef lcd;
+#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
+ LCD_PCF8574_HandleTypeDef lcd;
+#endif
extern I2C_HandleTypeDef hi2c2;
extern UART_HandleTypeDef huart2;
+#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
+ extern uint8_t LCDerrorFlag;
+#endif
+
+#ifdef TRANSPOTTER
+ uint8_t nunchuck_connected = 0;
+ float steering;
+ int feedforward;
+
+ void saveConfig(void);
+ void longBeep(void);
+ void shortBeep(void);
+
+ /* Virtual address defined by the user: 0xFFFF value is prohibited */
+ uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337};
+ uint16_t VarDataTab[NB_OF_VAR] = {0};
+ uint16_t VarValue = 0;
+ uint16_t saveValue = 0;
+
+ uint16_t counter = 0;
+#endif
+
typedef struct{
int16_t steer;
int16_t speed;
@@ -199,6 +230,24 @@ int main(void) {
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
+#ifdef TRANSPOTTER
+ int lastDistance = 0;
+ enable = 1;
+ uint8_t checkRemote = 0;
+
+ HAL_FLASH_Unlock();
+
+ /* EEPROM Init */
+ EE_Init();
+
+ EE_ReadVariable(VirtAddVarTab[0], &saveValue);
+
+ HAL_FLASH_Lock();
+ float setDistance = saveValue / 1000.0;
+ if (setDistance < 0.2) {
+ setDistance = 1.0;
+ }
+#endif
#ifdef CONTROL_PPM
PPM_Init();
@@ -214,7 +263,7 @@ int main(void) {
HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 4);
#endif
- #ifdef DEBUG_I2C_LCD
+ #if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
I2C_Init();
HAL_Delay(50);
lcd.pcf8574.PCF_I2C_ADDRESS = 0x27;
@@ -231,11 +280,34 @@ int main(void) {
LCD_ClearDisplay(&lcd);
HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 0);
- LCD_WriteString(&lcd, "Hover V2.0");
+ #ifdef TRANSPOTTER
+ LCD_WriteString(&lcd, "TranspOtter V2.1");
+ #else
+ LCD_WriteString(&lcd, "Hover V2.0");
+ #endif
LCD_SetLocation(&lcd, 0, 1);
LCD_WriteString(&lcd, "Initializing...");
#endif
+ #if defined(TRANSPOTTER) && defined(SUPPORT_LCD)
+ LCD_ClearDisplay(&lcd);
+ HAL_Delay(5);
+ LCD_SetLocation(&lcd, 0, 1);
+ LCD_WriteString(&lcd, "Bat:");
+ LCD_SetLocation(&lcd, 8, 1);
+ LCD_WriteString(&lcd, "V");
+
+ LCD_SetLocation(&lcd, 15, 1);
+ LCD_WriteString(&lcd, "A");
+
+ LCD_SetLocation(&lcd, 0, 0);
+ LCD_WriteString(&lcd, "Len:");
+ LCD_SetLocation(&lcd, 8, 0);
+ LCD_WriteString(&lcd, "m(");
+ LCD_SetLocation(&lcd, 14, 0);
+ LCD_WriteString(&lcd, "m)");
+ #endif
+
int16_t lastSpeedL = 0, lastSpeedR = 0;
int16_t speedL = 0, speedR = 0;
@@ -248,13 +320,95 @@ int main(void) {
while(1) {
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
- #ifdef CONTROL_NUNCHUCK
+ #ifdef TRANSPOTTER
+ if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+ enable = 0;
+ while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+ HAL_Delay(10);
+ }
+ shortBeep();
+ HAL_Delay(300);
+ if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+ while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+ HAL_Delay(10);
+ }
+ longBeep();
+ HAL_Delay(350);
+ poweroff();
+ } else {
+ setDistance += 0.25;
+ if (setDistance > 2.6) {
+ setDistance = 0.5;
+ }
+ saveValue = setDistance * 1000;
+ saveConfig();
+ }
+ }
+
+ #ifdef GAMETRAK_CONNECTION_NORMAL
+ uint16_t distance = CLAMP((adc_buffer.l_rx2) - 180, 0, 4095);
+ steering = (adc_buffer.l_tx2 - 2048) / 2048.0;
+ #endif
+ #ifdef GAMETRAK_CONNECTION_ALTERNATE
+ uint16_t distance = CLAMP((adc_buffer.l_tx2) - 180, 0, 4095);
+ steering = (adc_buffer.l_rx2 - 2048) / 2048.0;
+ #endif
+
+ feedforward = ((distance - (int)(setDistance * 1345)));
+
+ if (nunchuck_connected == 0) {
+ speedL = speedL * 0.8f + (CLAMP(feedforward + ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
+ speedR = speedR * 0.8f + (CLAMP(feedforward - ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
+ if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
+ if (distance - (int)(setDistance * 1345) > 0) {
+ enable = 1;
+ }
+ if (distance - (int)(setDistance * 1345) > -300) {
+ #ifdef INVERT_R_DIRECTION
+ pwmr = -speedR;
+ #endif
+ #ifndef INVERT_R_DIRECTION
+ pwmr = speedR;
+ #endif
+
+ #ifdef INVERT_L_DIRECTION
+ pwml = -speedL;
+ #endif
+ #ifndef INVERT_L_DIRECTION
+ pwml = speedL;
+ #endif
+
+ if (checkRemote) {
+ if (!HAL_GPIO_ReadPin(LED_PORT, LED_PIN)) {
+ //enable = 1;
+ } else {
+ enable = 0;
+ }
+ }
+ } else {
+ enable = 0;
+ }
+ }
+ lastSpeedL = speedL;
+ lastSpeedR = speedR;
+
+ timeout = 0;
+ }
+ #endif
+
+ #if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK)
+ #ifdef TRANSPOTTER
+ if (nunchuck_connected != 0) {
+ #endif
Nunchuck_Read();
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis
button1 = (uint8_t)nunchuck_data[5] & 1;
button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
+ #ifdef TRANSPOTTER
+ }
+ #endif
#endif
#ifdef CONTROL_PPM
@@ -294,51 +448,127 @@ int main(void) {
timeout = 0;
#endif
+ #ifndef TRANSPOTTER
+ // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
+ if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
+ buzzerPattern = 0;
+ buzzerFreq = 6; HAL_Delay(100); // make 2 beeps indicating the motor enable
+ buzzerFreq = 4; HAL_Delay(200);
+ buzzerFreq = 0;
+ enable = 1; // enable motors
+ }
- // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
- if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
- buzzerPattern = 0;
- buzzerFreq = 6; HAL_Delay(100); // make 2 beeps indicating the motor enable
- buzzerFreq = 4; HAL_Delay(200);
- buzzerFreq = 0;
- enable = 1; // enable motors
- }
+ // ####### LOW-PASS FILTER #######
+ rateLimiter16(cmd1, RATE, &steerRateFixdt);
+ rateLimiter16(cmd2, RATE, &speedRateFixdt);
+ filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt);
+ filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt);
+ steer = steerFixdt >> 4; // convert fixed-point to integer
+ speed = speedFixdt >> 4; // convert fixed-point to integer
- // ####### LOW-PASS FILTER #######
- rateLimiter16(cmd1, RATE, &steerRateFixdt);
- rateLimiter16(cmd2, RATE, &speedRateFixdt);
- filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt);
- filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt);
- steer = steerFixdt >> 4; // convert fixed-point to integer
- speed = speedFixdt >> 4; // convert fixed-point to integer
+ // ####### MIXER #######
+ // speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
+ // speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
+ mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above
- // ####### MIXER #######
- // speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
- // speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
- mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above
+ #ifdef ADDITIONAL_CODE
+ ADDITIONAL_CODE;
+ #endif
- #ifdef ADDITIONAL_CODE
- ADDITIONAL_CODE;
+
+ // ####### SET OUTPUTS (if the target change is less than +/- 50) #######
+ if ((speedL > lastSpeedL-50 && speedL < lastSpeedL+50) && (speedR > lastSpeedR-50 && speedR < lastSpeedR+50) && timeout < TIMEOUT) {
+ #ifdef INVERT_R_DIRECTION
+ pwmr = speedR;
+ #else
+ pwmr = -speedR;
+ #endif
+ #ifdef INVERT_L_DIRECTION
+ pwml = -speedL;
+ #else
+ pwml = speedL;
+ #endif
+ }
#endif
+ #ifdef TRANSPOTTER
+ if (timeout > TIMEOUT) {
+ pwml = 0;
+ pwmr = 0;
+ enable = 0;
+ #ifdef SUPPORT_LCD
+ LCD_SetLocation(&lcd, 0, 0);
+ LCD_WriteString(&lcd, "Len:");
+ LCD_SetLocation(&lcd, 8, 0);
+ LCD_WriteString(&lcd, "m(");
+ LCD_SetLocation(&lcd, 14, 0);
+ LCD_WriteString(&lcd, "m)");
+ #endif
- // ####### SET OUTPUTS (if the target change is less than +/- 50) #######
- if ((speedL > lastSpeedL-50 && speedL < lastSpeedL+50) && (speedR > lastSpeedR-50 && speedR < lastSpeedR+50) && timeout < TIMEOUT) {
- #ifdef INVERT_R_DIRECTION
- pwmr = speedR;
- #else
- pwmr = -speedR;
- #endif
- #ifdef INVERT_L_DIRECTION
- pwml = -speedL;
- #else
- pwml = speedL;
- #endif
- }
+ HAL_Delay(1000);
+
+ nunchuck_connected = 0;
+ }
+ #endif
lastSpeedL = speedL;
lastSpeedR = speedR;
+ #ifdef TRANSPOTTER
+ if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
+ enable = 0;
+ longBeep();
+ #ifdef SUPPORT_LCD
+ LCD_ClearDisplay(&lcd);
+ HAL_Delay(5);
+ LCD_SetLocation(&lcd, 0, 0);
+ LCD_WriteString(&lcd, "Emergency Off!");
+ LCD_SetLocation(&lcd, 0, 1);
+ LCD_WriteString(&lcd, "Keeper too fast.");
+ #endif
+ poweroff();
+ }
+
+ #ifdef SUPPORT_NUNCHUCK
+ if (counter % 500 == 0) {
+ if (nunchuck_connected == 0 && enable == 0) {
+ if (Nunchuck_Ping()) {
+ HAL_Delay(500);
+ Nunchuck_Init();
+ #ifdef SUPPORT_LCD
+ LCD_SetLocation(&lcd, 0, 0);
+ LCD_WriteString(&lcd, "Nunchuck Control");
+ #endif
+ timeout = 0;
+ HAL_Delay(1000);
+ nunchuck_connected = 1;
+ }
+ }
+ }
+ #endif
+
+ #ifdef SUPPORT_LCD
+ if (counter % 100 == 0) {
+ if (LCDerrorFlag == 1 && enable == 0) {
+
+ } else {
+ if (nunchuck_connected == 0) {
+ LCD_SetLocation(&lcd, 4, 0);
+ LCD_WriteFloat(&lcd,distance/1345.0,2);
+ LCD_SetLocation(&lcd, 10, 0);
+ LCD_WriteFloat(&lcd,setDistance,2);
+ }
+ LCD_SetLocation(&lcd, 4, 1);
+ LCD_WriteFloat(&lcd,batVoltage, 1);
+ LCD_SetLocation(&lcd, 11, 1);
+ //LCD_WriteFloat(&lcd,MAX(ABS(currentR), ABS(currentL)),2);
+ }
+ }
+ #endif
+
+ counter++;
+ #endif
+
if (inactivity_timeout_counter % 25 == 0) {
// ####### CALC BOARD TEMPERATURE #######
@@ -409,6 +639,26 @@ int main(void) {
}
}
+#ifdef TRANSPOTTER
+ void longBeep(){
+ buzzerFreq = 5;
+ HAL_Delay(500);
+ buzzerFreq = 0;
+ }
+
+ void shortBeep(){
+ buzzerFreq = 5;
+ HAL_Delay(100);
+ buzzerFreq = 0;
+ }
+
+ void saveConfig() {
+ HAL_FLASH_Unlock();
+ EE_WriteVariable(VirtAddVarTab[0], saveValue);
+ HAL_FLASH_Lock();
+ }
+#endif
+
/** System Clock Configuration
*/
void SystemClock_Config(void) {
diff --git a/Src/pcf8574.c b/Src/pcf8574.c
new file mode 100644
index 0000000..d4afd8f
--- /dev/null
+++ b/Src/pcf8574.c
@@ -0,0 +1,58 @@
+/*
+ * pcf8574.c
+ *
+ * Created on: Dec 30, 2014
+ * Author: peter
+ */
+
+#include "pcf8574.h"
+
+PCF8574_RESULT PCF8574_Init(PCF8574_HandleTypeDef* handle) {
+
+ handle->PCF_I2C_ADDRESS &= 0x07;
+
+ /*if (handle->i2c.State == HAL_I2C_STATE_RESET) {
+ handle->i2c.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
+ handle->i2c.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
+ handle->i2c.Init.DutyCycle = I2C_DUTYCYCLE_2;
+ handle->i2c.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
+ handle->i2c.Init.OwnAddress1 = 0xFE;
+ if (HAL_I2C_Init(&handle->i2c) != HAL_OK) {
+ handle->errorCallback(PCF8574_ERROR);
+ return PCF8574_ERROR;
+ }
+ }*/
+ return PCF8574_OK;
+}
+
+PCF8574_RESULT PCF8574_DeInit(PCF8574_HandleTypeDef* handle) {
+ HAL_I2C_DeInit(&handle->i2c);
+ return PCF8574_OK;
+}
+
+PCF8574_RESULT PCF8574_Write(PCF8574_HandleTypeDef* handle, uint8_t val) {
+ if (HAL_I2C_Master_Transmit(&handle->i2c,
+ (handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, &val, 1,
+ handle->PCF_I2C_TIMEOUT) != HAL_OK) {
+ //handle->errorCallback(PCF8574_ERROR);
+ return PCF8574_ERROR;
+ }
+
+ /*if (HAL_I2C_Master_Transmit_DMA(&handle->i2c,
+ (handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, &val, 1) != HAL_OK) {
+ handle->errorCallback(PCF8574_ERROR);
+ //i2c,
+ (handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, val, 1,
+ handle->PCF_I2C_TIMEOUT) != HAL_OK) {
+ return PCF8574_ERROR;
+ }
+ return PCF8574_OK;
+}
diff --git a/Src/setup.c b/Src/setup.c
index 8c5804b..53d01f5 100644
--- a/Src/setup.c
+++ b/Src/setup.c
@@ -238,7 +238,11 @@ void I2C_Init(void)
HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
hi2c2.Instance = I2C2;
+#ifdef TRANSPOTTER
+ hi2c2.Init.ClockSpeed = 200000;
+#else
hi2c2.Init.ClockSpeed = 100000;
+#endif
hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c2.Init.OwnAddress1 = 0;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;