hoverboard-firmware-hack-se.../Src/main.c

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/*
* This file is part of the stmbl project.
*
* Copyright (C) 2013-2018 Rene Hopf <renehopf@mac.com>
* Copyright (C) 2013-2018 Nico Stute <crinq@crinq.de>
*
* 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/>.
*/
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#include "stm32f1xx_hal.h"
#include "defines.h"
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#include "setup.h"
#include "config.h"
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void SystemClock_Config(void);
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extern float adccmd1;
extern float adccmd2;
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extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
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extern volatile adc_buf_t adc_buffer;
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extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
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extern volatile int pwml;
extern volatile int pwmr;
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extern volatile int weakl;
extern volatile int weakr;
volatile int pwmrl = 0;
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extern uint8_t buzzerFreq;
extern uint8_t buzzerPattern;
extern uint8_t enable;
extern volatile uint32_t timeout;
extern float batteryVoltage;
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extern uint8_t nunchuck_data[6];
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int milli_vel_error_sum = 0;
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int main(void) {
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HAL_Init();
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__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);
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SystemClock_Config();
__HAL_RCC_DMA1_CLK_DISABLE();
MX_GPIO_Init();
MX_TIM_Init();
MX_ADC1_Init();
MX_ADC2_Init();
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UART_Init();
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
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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);
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int lastSpeedL = 0, lastSpeedR = 0;
int speedL = 0, speedR = 0;
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float direction = 1;
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#ifdef CONTROL_PPM
PPM_Init();
#endif
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#ifdef CONTROL_NUNCHUCK
I2C_Init();
Nunchuck_Init();
#endif
enable = 1;
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while(1) {
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HAL_Delay(2);
#ifdef CONTROL_NUNCHUCK
Nunchuck_Read();
setScopeChannel(0, (int)nunchuck_data[0]);
setScopeChannel(1, (int)nunchuck_data[1]);
setScopeChannel(2, (int)nunchuck_data[5] & 1);
setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1);
#endif
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#ifdef CONTROL_PPM
speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
//pwmr = speedR;
//pwml = speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
//setScopeChannel(0, (int)pwmrl);
//setScopeChannel(1, (int)speedL);
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#endif
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#ifdef CONTROL_ADC
//adccmd1 = adccmd1 * 0.9 + (float)adc_buffer.l_rx2 * 0.1; // throttle
adccmd2 = adccmd2 * 0.9 + (float)adc_buffer.l_tx2 * 0.1; // button
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pwmrl = pwmrl * 0.9 + (CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35) * 0.1 * direction;
// pwmrl has to be 0-1000 (or negative when driving backwards)
setScopeChannel(0, (int)adccmd1);
setScopeChannel(1, (int)adccmd2);
// adccmd2 = button, ranges 0 in idle and 4096 when pressed
if (adccmd2 > 2000 && pwmrl < 300) { // driving backwards at low speeds
direction = -0.2;
} else {
direction = 1;
}
if (adccmd2 > 2000 && pwmrl > 700) { // field weakening at high speeds
weakl = pwmrl - 600; // weak should never exceed 400 or 450 MAX!!
weakr = pwmrl - 600;
} else {
weakl = 0;
weakr = 0;
}
if (pwml < 1000) {
pwml +=1;
}
pwml = pwmrl;
pwmr = -pwmrl;
#endif
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consoleScope();
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timeout=0;
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
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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 < 36.0 && batteryVoltage > 33.0) {
buzzerFreq = 5;
buzzerPattern = 8;
} else if (batteryVoltage < 33.0 && batteryVoltage > 30.0) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (batteryVoltage < 30.0) {
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;
}
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}
}
/** System Clock Configuration
*/
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void SystemClock_Config(void) {
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RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
/**Initializes the CPU, AHB and APB busses clocks
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = 16;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
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HAL_RCC_OscConfig(&RCC_OscInitStruct);
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/**Initializes the CPU, AHB and APB busses clocks
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*/
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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;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
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PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8;
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HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
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/**Configure the Systick interrupt time
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*/
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HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
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/**Configure the Systick
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*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}