hoverboard-firmware-hack-serial-esc/Src/main.c

/*
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"

void SystemClock_Config(void);

extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
extern volatile adc_buf_t adc_buffer;

int cmd1;
int cmd2;
int cmd3;

int steer; // global variable for steering. -1000 to 1000
int speed; // global variable for speed. -1000 to 1000

extern volatile int pwml;  // global variable for pwm left. -1000 to 1000
extern volatile int pwmr;  // global variable for pwm right. -1000 to 1000
extern volatile int weakl; // global variable for field weakening left. -1000 to 1000
extern volatile int weakr; // global variable for field weakening right. -1000 to 1000

extern uint8_t buzzerFreq;    // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...

extern uint8_t enable; // global variable for motor enable

extern volatile uint32_t timeout; // global variable for timeout
extern float batteryVoltage; // global variable for battery voltage

extern uint8_t nunchuck_data[6];
#ifdef CONTROL_PPM
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
#endif

int milli_vel_error_sum = 0;

int main(void) {
  HAL_Init();
  __HAL_RCC_AFIO_CLK_ENABLE();
  HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
  /* System interrupt init*/
  /* MemoryManagement_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
  /* BusFault_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
  /* UsageFault_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
  /* SVCall_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
  /* DebugMonitor_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
  /* PendSV_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);

  SystemClock_Config();

  __HAL_RCC_DMA1_CLK_DISABLE();
  MX_GPIO_Init();
  MX_TIM_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  UART_Init();

  HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);

  HAL_ADC_Start(&hadc1);
  HAL_ADC_Start(&hadc2);

  for (int i = 8; i >= 0; i--) {
    buzzerFreq = i;
    HAL_Delay(100);
  }
  buzzerFreq = 0;

  HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);

  int lastSpeedL = 0, lastSpeedR = 0;
  int speedL = 0, speedR = 0;
  float direction = 1;

  #ifdef CONTROL_PPM
    PPM_Init();
  #endif

  #ifdef CONTROL_NUNCHUCK
    I2C_Init();
    Nunchuck_Init();
  #endif

  enable = 1;

  while(1) {
    HAL_Delay(2);

    #ifdef CONTROL_NUNCHUCK
      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

      uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
      uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
    #endif

    #ifdef CONTROL_PPM
      cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, -1000, 1000);
      cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, -1000, 1000);
    #endif

    #ifdef CONTROL_ADC
      cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
      uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);

      timeout = 0;
    #endif

    // ####### ADDITIONAL CODE #######
    #ifdef ADDITIONAL_CODE
    ADDITIONAL_CODE;
    #endif

    // ####### LOW-PASS FILTER #######
    steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
    speed = speed * (1.0 - FILTER) + cmd2 * FILTER;

    setScopeChannel(0, (int)speed);
    setScopeChannel(1, (int)steer);

    // ####### MIXER #######
    speedR = CLAMP(speed * SPEED_COEFFICIENT -  steer * STEER_COEFFICIENT, -1000, 1000);
    speedL = CLAMP(speed * SPEED_COEFFICIENT +  steer * STEER_COEFFICIENT, -1000, 1000);

    setScopeChannel(2, (int)speedR);
    setScopeChannel(3, (int)speedL);

    // ####### SET OUTPUTS #######
    if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
      pwmr = speedR;
      pwml = -speedL;
    }

    lastSpeedL = speedL;
    lastSpeedR = speedR;

    // ####### LOG TO CONSOLE #######
    consoleScope();

    if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
      enable = 0;
      while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
      buzzerFreq = 0;
      buzzerPattern = 0;
      for (int i = 0; i < 8; i++) {
        buzzerFreq = i;
        HAL_Delay(100);
      }
      HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
      while(1) {}
    }

    if (batteryVoltage < BAT_LOW_LVL1 && batteryVoltage > BAT_LOW_LVL2) {
      buzzerFreq = 5;
      buzzerPattern = 8;
    } else if  (batteryVoltage < BAT_LOW_LVL2 && batteryVoltage > BAT_LOW_DEAD) {
      buzzerFreq = 5;
      buzzerPattern = 1;
    } else if  (batteryVoltage < BAT_LOW_DEAD) {
      buzzerPattern = 0;
      enable = 0;
      for (int i = 0; i < 8; i++) {
        buzzerFreq = i;
        HAL_Delay(100);
      }
      HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
      while(1) {}
    } else {
      buzzerFreq = 0;
      buzzerPattern = 0;
    }
  }
}

/** System Clock Configuration
*/
void SystemClock_Config(void) {
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_PeriphCLKInitTypeDef PeriphClkInit;

  /**Initializes the CPU, AHB and APB busses clocks
    */
  RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI_DIV2;
  RCC_OscInitStruct.PLL.PLLMUL          = RCC_PLL_MUL16;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  /**Initializes the CPU, AHB and APB busses clocks
    */
  RCC_ClkInitStruct.ClockType      = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource   = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider  = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);

  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection    = RCC_ADCPCLK2_DIV8;
  HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);

  /**Configure the Systick interrupt time
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);

  /**Configure the Systick
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}