ADD: support for chinese nunchuck

2018-05-06 20:11:53 +02:00 · 2018-05-06 20:11:53 +02:00 · 7337a8ae7e
parent 5326e558ae
commit 7337a8ae7e
5 changed files with 424 additions and 424 deletions
--- a/Inc/config.h
+++ b/Inc/config.h
@ -30,6 +30,8 @@
 #define DEBUG_SERIAL_ASCII
 //#define DEBUG_I2C_LCD

+#define TIMEOUT          5           //wrong commands before emergency off
+
 // ################################################################################

 // ###### CONTROL VIA RC REMOTE ######
--- a/Src/bldc.c
+++ b/Src/bldc.c
@ -175,7 +175,7 @@ void DMA1_Channel1_IRQHandler() {



-  if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
+  if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
    LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
    //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
  } else {
@ -183,7 +183,7 @@ void DMA1_Channel1_IRQHandler() {
    //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
  }

-  if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP)  > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
+  if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP)  > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
    RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
  } else {
    RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
--- a/Src/control.c
+++ b/Src/control.c
@ -9,7 +9,7 @@ uint8_t ppm_count = 0;
 uint32_t timeout = 100;
 uint8_t nunchuck_data[6] = {0};

-uint8_t ai2cBuffer[6];
+uint8_t i2cBuffer[2];

 extern I2C_HandleTypeDef hi2c2;
 DMA_HandleTypeDef hdma_i2c2_rx;
@ -60,27 +60,29 @@ void PPM_Init() {

 void Nunchuck_Init() {
    //-- START -- init WiiNunchuck
-  ai2cBuffer[0] = 0xF0;
-  ai2cBuffer[1] = 0x55;
-  //Originale
-  ai2cBuffer[0] = 0x40;
-  ai2cBuffer[1] = 0x00;
-  //HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2);
-  //while(wii_JOYdati.I2CTxDone ==0);
-  //wii_JOYdati.I2CTxDone = 0;
-  HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 2, 100);
+  i2cBuffer[0] = 0xF0;
+  i2cBuffer[1] = 0x55;
+
+  HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100);
+  HAL_Delay(10);
+
+  i2cBuffer[0] = 0xFB;
+  i2cBuffer[1] = 0x00;
+
+  HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100);
  HAL_Delay(10);
-  //wii_JOYdati.done = 0;
 }

 void Nunchuck_Read() {
-  ai2cBuffer[0] = 0x00;
-  HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 1, 100);
+  i2cBuffer[0] = 0x00;
+  HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
  HAL_Delay(2);
-  HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 6, 100);
-  for (int i = 0; i < 6; i++) {
-     nunchuck_data[i] = (ai2cBuffer[i] ^ 0x17) + 0x17;
+  if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) {
+    timeout = 0;
+  } else {
+    timeout++;
  }
+
  //setScopeChannel(0, (int)nunchuck_data[0]);
  //setScopeChannel(1, (int)nunchuck_data[1]);
  //setScopeChannel(2, (int)nunchuck_data[5] & 1);
--- a/Src/main.c
+++ b/Src/main.c
@ -123,13 +123,11 @@ int main(void) {

    #ifdef CONTROL_NUNCHUCK
      Nunchuck_Read();
-      cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000); // y - axis. Nunchuck joystick readings range 30 - 230
-      cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000); // x - axis
+      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;
-
-      timeout = 0;
    #endif

    #ifdef CONTROL_PPM
@ -145,8 +143,8 @@ int main(void) {
    #endif

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

    setScopeChannel(0, (int)speed);
    setScopeChannel(1, (int)steer);
@ -156,7 +154,7 @@ int main(void) {
    speedL = CLAMP(speed * SPEED_COEFFICIENT +  steer * STEER_COEFFICIENT, -1000, 1000);

    setScopeChannel(2, (int)speedR);
-    setScopeChannel(3, (int)speedL);
+    setScopeChannel(3, (int)timeout);

    // ####### ADDITIONAL CODE #######
    #ifdef ADDITIONAL_CODE
@ -164,7 +162,7 @@ int main(void) {
    #endif

    // ####### SET OUTPUTS #######
-    if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
+    if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
      pwmr = speedR;
      pwml = -speedL;
    }
@ -175,8 +173,6 @@ int main(void) {
    // ####### LOG TO CONSOLE #######
    consoleScope();

-    timeout=0;
-
    if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
      enable = 0;
      while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
--- a/build/hover.hex
+++ b/build/hover.hex
@ -1,23 +1,23 @@
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