234 lines
7.1 KiB
C
234 lines
7.1 KiB
C
/*
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
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* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef DEFINES_H
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#define DEFINES_H
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#include "stm32f1xx_hal.h"
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#include "config.h"
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#define LEFT_HALL_U_PIN GPIO_PIN_5
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#define LEFT_HALL_V_PIN GPIO_PIN_6
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#define LEFT_HALL_W_PIN GPIO_PIN_7
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#define LEFT_HALL_U_PORT GPIOB
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#define LEFT_HALL_V_PORT GPIOB
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#define LEFT_HALL_W_PORT GPIOB
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#define RIGHT_HALL_U_PIN GPIO_PIN_10
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#define RIGHT_HALL_V_PIN GPIO_PIN_11
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#define RIGHT_HALL_W_PIN GPIO_PIN_12
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#define RIGHT_HALL_U_PORT GPIOC
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#define RIGHT_HALL_V_PORT GPIOC
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#define RIGHT_HALL_W_PORT GPIOC
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#define LEFT_TIM TIM8
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#define LEFT_TIM_U CCR1
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#define LEFT_TIM_UH_PIN GPIO_PIN_6
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#define LEFT_TIM_UH_PORT GPIOC
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#define LEFT_TIM_UL_PIN GPIO_PIN_7
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#define LEFT_TIM_UL_PORT GPIOA
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#define LEFT_TIM_V CCR2
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#define LEFT_TIM_VH_PIN GPIO_PIN_7
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#define LEFT_TIM_VH_PORT GPIOC
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#define LEFT_TIM_VL_PIN GPIO_PIN_0
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#define LEFT_TIM_VL_PORT GPIOB
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#define LEFT_TIM_W CCR3
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#define LEFT_TIM_WH_PIN GPIO_PIN_8
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#define LEFT_TIM_WH_PORT GPIOC
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#define LEFT_TIM_WL_PIN GPIO_PIN_1
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#define LEFT_TIM_WL_PORT GPIOB
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#define RIGHT_TIM TIM1
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#define RIGHT_TIM_U CCR1
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#define RIGHT_TIM_UH_PIN GPIO_PIN_8
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#define RIGHT_TIM_UH_PORT GPIOA
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#define RIGHT_TIM_UL_PIN GPIO_PIN_13
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#define RIGHT_TIM_UL_PORT GPIOB
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#define RIGHT_TIM_V CCR2
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#define RIGHT_TIM_VH_PIN GPIO_PIN_9
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#define RIGHT_TIM_VH_PORT GPIOA
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#define RIGHT_TIM_VL_PIN GPIO_PIN_14
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#define RIGHT_TIM_VL_PORT GPIOB
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#define RIGHT_TIM_W CCR3
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#define RIGHT_TIM_WH_PIN GPIO_PIN_10
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#define RIGHT_TIM_WH_PORT GPIOA
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#define RIGHT_TIM_WL_PIN GPIO_PIN_15
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#define RIGHT_TIM_WL_PORT GPIOB
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// #define LEFT_DC_CUR_ADC ADC1
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// #define LEFT_U_CUR_ADC ADC1
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// #define LEFT_V_CUR_ADC ADC1
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#define LEFT_DC_CUR_PIN GPIO_PIN_0
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#define LEFT_U_CUR_PIN GPIO_PIN_0
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#define LEFT_V_CUR_PIN GPIO_PIN_3
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#define LEFT_DC_CUR_PORT GPIOC
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#define LEFT_U_CUR_PORT GPIOA
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#define LEFT_V_CUR_PORT GPIOC
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// #define RIGHT_DC_CUR_ADC ADC2
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// #define RIGHT_U_CUR_ADC ADC2
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// #define RIGHT_V_CUR_ADC ADC2
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#define RIGHT_DC_CUR_PIN GPIO_PIN_1
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#define RIGHT_U_CUR_PIN GPIO_PIN_4
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#define RIGHT_V_CUR_PIN GPIO_PIN_5
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#define RIGHT_DC_CUR_PORT GPIOC
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#define RIGHT_U_CUR_PORT GPIOC
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#define RIGHT_V_CUR_PORT GPIOC
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// #define DCLINK_ADC ADC3
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// #define DCLINK_CHANNEL
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#define DCLINK_PIN GPIO_PIN_2
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#define DCLINK_PORT GPIOC
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// #define DCLINK_PULLUP 30000
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// #define DCLINK_PULLDOWN 1000
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#define LED_PIN GPIO_PIN_2
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#define LED_PORT GPIOB
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#define BUZZER_PIN GPIO_PIN_4
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#define BUZZER_PORT GPIOA
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#define SWITCH_PIN GPIO_PIN_1
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#define SWITCH_PORT GPIOA
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#define OFF_PIN GPIO_PIN_5
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#define OFF_PORT GPIOA
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#define BUTTON_PIN GPIO_PIN_1
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#define BUTTON_PORT GPIOA
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#define CHARGER_PIN GPIO_PIN_12
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#define CHARGER_PORT GPIOA
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#if defined(CONTROL_PPM_LEFT)
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#define PPM_PIN GPIO_PIN_3
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#define PPM_PORT GPIOA
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#elif defined(CONTROL_PPM_RIGHT)
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#define PPM_PIN GPIO_PIN_11
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#define PPM_PORT GPIOB
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#endif
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#if defined(CONTROL_PWM_LEFT)
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#define PWM_PIN_CH1 GPIO_PIN_2
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#define PWM_PORT_CH1 GPIOA
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#define PWM_PIN_CH2 GPIO_PIN_3
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#define PWM_PORT_CH2 GPIOA
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#elif defined(CONTROL_PWM_RIGHT)
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#define PWM_PIN_CH1 GPIO_PIN_10
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#define PWM_PORT_CH1 GPIOB
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#define PWM_PIN_CH2 GPIO_PIN_11
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#define PWM_PORT_CH2 GPIOB
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#endif
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#if defined(SUPPORT_BUTTONS_LEFT)
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#define BUTTON1_PIN GPIO_PIN_2
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#define BUTTON1_PORT GPIOA
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#define BUTTON2_PIN GPIO_PIN_3
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#define BUTTON2_PORT GPIOA
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#elif defined(SUPPORT_BUTTONS_RIGHT)
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#define BUTTON1_PIN GPIO_PIN_10
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#define BUTTON1_PORT GPIOB
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#define BUTTON2_PIN GPIO_PIN_11
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#define BUTTON2_PORT GPIOB
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#endif
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#define DELAY_TIM_FREQUENCY_US 1000000
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#define MILLI_R (R * 1000)
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#define MILLI_PSI (PSI * 1000)
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#define MILLI_V (V * 1000)
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#define NO 0
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#define YES 1
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#define ABS(a) (((a) < 0) ? -(a) : (a))
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#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
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#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
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#define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))
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#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
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#define DEG(a) ((a)*M_PI / 180.0f)
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#define RAD(a) ((a)*180.0f / M_PI)
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#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
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#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
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#define IN_RANGE(x, low, high) (((x) >= (low)) && ((x) <= (high)))
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#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
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#define MIN(a, b) (((a) < (b)) ? (a) : (b))
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#define MAX(a, b) (((a) > (b)) ? (a) : (b))
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#define MIN3(a, b, c) MIN(a, MIN(b, c))
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#define MAX3(a, b, c) MAX(a, MAX(b, c))
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#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
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#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
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#if defined(PRINTF_FLOAT_SUPPORT) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)) && defined(__GNUC__)
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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#endif
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typedef struct {
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uint16_t dcr;
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uint16_t dcl;
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uint16_t rlA;
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uint16_t rlB;
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uint16_t rrB;
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uint16_t rrC;
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uint16_t batt1;
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uint16_t l_tx2;
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uint16_t temp;
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uint16_t l_rx2;
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} adc_buf_t;
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// Define I2C, Nunchuk, PPM, PWM functions
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void I2C_Init(void);
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void Nunchuk_Init(void);
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void Nunchuk_Read(void);
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uint8_t Nunchuk_Ping(void);
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void PPM_Init(void);
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void PPM_ISR_Callback(void);
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void PWM_Init(void);
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void PWM_ISR_CH1_Callback(void);
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void PWM_ISR_CH2_Callback(void);
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// Sideboard definitions
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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#define SENSOR1_SET (0x01)
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#define SENSOR2_SET (0x02)
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#define SENSOR_MPU (0x04)
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// RC iBUS switch definitions. Flysky FS-i6S has [SWA, SWB, SWC, SWD] = [2, 3, 3, 2] positions switch
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#define SWA_SET (0x0100) // 0000 0001 0000 0000
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#define SWB_SET (0x0600) // 0000 0110 0000 0000
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#define SWC_SET (0x1800) // 0001 1000 0000 0000
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#define SWD_SET (0x2000) // 0010 0000 0000 0000
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#endif // DEFINES_H
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