132 lines
4.0 KiB
C
132 lines
4.0 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) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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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 UTIL_H
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#define UTIL_H
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#include <stdint.h>
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// Rx Structures USART
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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#ifdef CONTROL_IBUS
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typedef struct{
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uint8_t start;
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uint8_t type;
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uint8_t channels[IBUS_NUM_CHANNELS*2];
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uint8_t checksuml;
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uint8_t checksumh;
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} SerialCommand;
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#else
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typedef struct{
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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} SerialCommand;
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#endif
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#endif
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#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
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typedef struct{
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uint16_t start;
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int16_t pitch; // Angle
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int16_t dPitch; // Angle derivative
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int16_t cmd1; // RC Channel 1
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int16_t cmd2; // RC Channel 2
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uint16_t sensors; // RC Switches and Optical sideboard sensors
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uint16_t checksum;
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} SerialSideboard;
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#endif
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// Input Structure
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typedef struct {
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int16_t raw; // raw input
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int16_t cmd; // command
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uint8_t typ; // type
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uint8_t typDef; // type Defined
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int16_t min; // minimum
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int16_t mid; // middle
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int16_t max; // maximum
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int16_t dband; // deadband
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} InputStruct;
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// Initialization Functions
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void BLDC_Init(void);
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void Input_Lim_Init(void);
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void Input_Init(void);
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void UART_DisableRxErrors(UART_HandleTypeDef *huart);
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// General Functions
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void poweronMelody(void);
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void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern);
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void beepLong(uint8_t freq);
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void beepShort(uint8_t freq);
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void beepShortMany(uint8_t cnt, int8_t dir);
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void calcAvgSpeed(void);
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void adcCalibLim(void);
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void updateCurSpdLim(void);
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void standstillHold(void);
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void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
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void cruiseControl(uint8_t button);
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int checkInputType(int16_t min, int16_t mid, int16_t max);
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// Input Functions
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void calcInputCmd(InputStruct *in, int16_t out_min, int16_t out_max);
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void readInputRaw(void);
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void handleTimeout(void);
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void readCommand(void);
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void usart2_rx_check(void);
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void usart3_rx_check(void);
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#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
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void usart_process_debug(uint8_t *userCommand, uint32_t len);
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#endif
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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void usart_process_command(SerialCommand *command_in, SerialCommand *command_out, uint8_t usart_idx);
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#endif
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#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
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void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sideboard_out, uint8_t usart_idx);
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#endif
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// Sideboard functions
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void sideboardLeds(uint8_t *leds);
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void sideboardSensors(uint8_t sensors);
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// Poweroff Functions
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void saveConfig(void);
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void poweroff(void);
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void poweroffPressCheck(void);
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// Filtering Functions
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void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
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void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
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void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
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// Multiple Tap Function
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typedef struct {
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uint32_t t_timePrev;
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uint8_t z_pulseCntPrev;
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uint8_t b_hysteresis;
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uint8_t b_multipleTap;
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} MultipleTap;
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void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
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#endif
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