From b3fe48a832fbd68fb85ed65ac33b72b420ce029e Mon Sep 17 00:00:00 2001 From: Niklas Fauth Date: Mon, 11 Jun 2018 14:29:39 +0200 Subject: [PATCH] ADD: control via uart. Send two int16 (4 bytes) to usart 2 to control the motors with an arduino or a raspberry pi --- Inc/config.h | 9 +- Src/control.c | 14 + Src/main.c | 24 +- Src/setup.c | 77 +++ Src/stm32f1xx_it.c | 30 + build/hover.hex | 1637 +++++++++++++++++--------------------------- 6 files changed, 786 insertions(+), 1005 deletions(-) diff --git a/Inc/config.h b/Inc/config.h index b4d98a4..4436ab1 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -14,12 +14,15 @@ // ################################################################################ -#define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! +#define DEBUG_SERIAL_USART3 // left sensor board cable, disable if ADC or PPM is used! //#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck) is used! #define DEBUG_BAUD 115200 // UART baud rate //#define DEBUG_SERIAL_SERVOTERM #define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r" +#define CONTROL_SERIAL_USART2 +#define CONTROL_BAUD 9600 + //#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable #define TIMEOUT 5 // number of wrong / missing commands before emergency off @@ -27,7 +30,7 @@ // ################################################################################ // ###### CONTROL VIA RC REMOTE ###### -// left sensor board cable. Channel 1: steering, Channel 2: speed. +// left sensor board cable. Channel 1: steering, Channel 2: speed. //#define CONTROL_PPM // use PPM-Sum as input. disable DEBUG_SERIAL_USART2! //#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used. @@ -41,7 +44,7 @@ // ###### CONTROL VIA NINTENDO NUNCHUCK ###### // left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups. -#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3! +//#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3! // ################################################################################ diff --git a/Src/control.c b/Src/control.c index c3ec8df..de8bb6d 100644 --- a/Src/control.c +++ b/Src/control.c @@ -17,6 +17,12 @@ extern I2C_HandleTypeDef hi2c2; DMA_HandleTypeDef hdma_i2c2_rx; DMA_HandleTypeDef hdma_i2c2_tx; +typedef struct{ + float motorR; + float motorL; + //uint32_t crc; +} Serialcommand; + #ifdef CONTROL_PPM uint16_t ppm_captured_value[PPM_NUM_CHANNELS + 1] = {500, 500}; uint16_t ppm_captured_value_buffer[PPM_NUM_CHANNELS+1] = {500, 500}; @@ -24,8 +30,16 @@ uint32_t ppm_timeout = 0; bool ppm_valid = true; +volatile Serialcommand command; + #define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up))) +#ifdef CONTROL_SERIAL_USART2 +void Telemetry_Init(){ + HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 8); +} +#endif + void PPM_ISR_Callback() { // Dummy loop with 16 bit count wrap around uint16_t rc_delay = TIM2->CNT; diff --git a/Src/main.c b/Src/main.c index 791d8dc..a98429d 100644 --- a/Src/main.c +++ b/Src/main.c @@ -34,11 +34,21 @@ extern ADC_HandleTypeDef hadc2; extern volatile adc_buf_t adc_buffer; //LCD_PCF8574_HandleTypeDef lcd; extern I2C_HandleTypeDef hi2c2; +extern UART_HandleTypeDef huart2; int cmd1; // normalized input values. -1000 to 1000 int cmd2; int cmd3; + +typedef struct{ + int16_t motorR; + int16_t motorL; + //uint32_t crc; +} Serialcommand; + +volatile Serialcommand command; + uint8_t button1, button2; int steer; // global variable for steering. -1000 to 1000 @@ -122,6 +132,11 @@ int main(void) { Nunchuck_Init(); #endif + #ifdef CONTROL_SERIAL_USART2 + UART_Control_Init(); + HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 4); + #endif + #ifdef DEBUG_I2C_LCD I2C_Init(); HAL_Delay(50); @@ -148,7 +163,7 @@ int main(void) { while(1) { HAL_Delay(5); - + #ifdef CONTROL_NUNCHUCK Nunchuck_Read(); cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230 @@ -169,7 +184,7 @@ int main(void) { // ADC values range: 0-4095, see ADC-calibration in config.h cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) / (ADC1_MAX / 1000.0f); // ADC1 cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) / (ADC2_MAX / 1000.0f); // ADC2 - + // use ADCs as button inputs: button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1 button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2 @@ -177,6 +192,11 @@ int main(void) { timeout = 0; #endif + #ifdef CONTROL_SERIAL_USART2 + cmd1 = CLAMP((int16_t)command.motorR, -1000, 1000); + cmd2 = CLAMP((int16_t)command.motorL, -1000, 1000); + #endif + // ####### LOW-PASS FILTER ####### steer = steer * (1.0 - FILTER) + cmd1 * FILTER; diff --git a/Src/setup.c b/Src/setup.c index 771b163..fb984dd 100644 --- a/Src/setup.c +++ b/Src/setup.c @@ -43,8 +43,85 @@ TIM_HandleTypeDef htim_left; ADC_HandleTypeDef hadc1; ADC_HandleTypeDef hadc2; I2C_HandleTypeDef hi2c2; +UART_HandleTypeDef huart2; + +DMA_HandleTypeDef hdma_usart2_rx; +DMA_HandleTypeDef hdma_usart2_tx; volatile adc_buf_t adc_buffer; + +#ifdef CONTROL_SERIAL_USART2 + + +void UART_Control_Init() { + GPIO_InitTypeDef GPIO_InitStruct; + __HAL_RCC_USART2_CLK_ENABLE(); + /* DMA1_Channel6_IRQn interrupt configuration */ + //HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6); + //HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn); + HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6); + HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn); + /* DMA1_Channel7_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7); + HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn); + + huart2.Instance = USART2; + huart2.Init.BaudRate = CONTROL_BAUD; + huart2.Init.WordLength = UART_WORDLENGTH_8B; + huart2.Init.StopBits = UART_STOPBITS_1; + huart2.Init.Parity = UART_PARITY_NONE; + huart2.Init.Mode = UART_MODE_TX_RX; + huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; + // huart2.Init.OverSampling = UART_OVERSAMPLING_16; + HAL_UART_Init(&huart2); + + + __HAL_RCC_DMA1_CLK_ENABLE(); + /* USER CODE BEGIN USART2_MspInit 0 */ + __HAL_RCC_GPIOA_CLK_ENABLE(); + /* USER CODE END USART2_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_USART2_CLK_ENABLE(); + + GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL; + GPIO_InitStruct.Pin = GPIO_PIN_2; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_3; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP; +// GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* Peripheral DMA init*/ + + hdma_usart2_rx.Instance = DMA1_Channel6; + hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL; + hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW; + HAL_DMA_Init(&hdma_usart2_rx); + + __HAL_LINKDMA(&huart2,hdmarx,hdma_usart2_rx); + + hdma_usart2_tx.Instance = DMA1_Channel7; + hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; + hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart2_tx.Init.Mode = DMA_NORMAL; + hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW; +HAL_DMA_Init(&hdma_usart2_tx); + __HAL_LINKDMA(&huart2,hdmatx,hdma_usart2_tx); +} + +#endif + #ifdef DEBUG_SERIAL_USART3 void UART_Init() { __HAL_RCC_USART3_CLK_ENABLE(); diff --git a/Src/stm32f1xx_it.c b/Src/stm32f1xx_it.c index 6ba73dc..8ca24ee 100644 --- a/Src/stm32f1xx_it.c +++ b/Src/stm32f1xx_it.c @@ -40,6 +40,9 @@ extern DMA_HandleTypeDef hdma_i2c2_rx; extern DMA_HandleTypeDef hdma_i2c2_tx; extern I2C_HandleTypeDef hi2c2; +extern DMA_HandleTypeDef hdma_usart2_rx; +extern DMA_HandleTypeDef hdma_usart2_tx; + /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ @@ -223,6 +226,33 @@ void EXTI3_IRQHandler(void) } #endif +#ifdef CONTROL_SERIAL_USART2 +void DMA1_Channel6_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */ + + /* USER CODE END DMA1_Channel4_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart2_rx); + /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */ + + /* USER CODE END DMA1_Channel4_IRQn 1 */ +} + +/** +* @brief This function handles DMA1 channel5 global interrupt. +*/ +void DMA1_Channel7_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */ + + /* USER CODE END DMA1_Channel5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart2_tx); + /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */ + + /* USER CODE END DMA1_Channel5_IRQn 1 */ +} +#endif + /******************************************************************************/ /* STM32F1xx Peripheral Interrupt Handlers */ /* Add here the Interrupt Handlers for the used peripherals. */ diff --git a/build/hover.hex b/build/hover.hex index f00c617..cdf06eb 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C0002021570008B5560008B956000866 -:10001000BD560008C1560008C55600080000000083 -:10002000000000000000000000000000C9560008A9 -:10003000CD56000800000000D1560008D556000833 -:100040007157000871570008715700087157000870 -:100050007157000871570008715700087157000860 -:10006000715700087157000871570008514F000878 -:100070007157000871570008015700081157000810 -:100080007157000871570008715700087157000830 -:100090007157000871570008715700087157000820 -:1000A0007157000871570008715700087157000810 -:1000B000715700087157000871570008E156000891 -:1000C000F156000871570008715700087157000871 -:1000D00071570008715700087157000871570008E0 -:1000E00071570008715700087157000871570008D0 -:1000F00071570008715700087157000871570008C0 -:1001000071570008715700087157000871570008AF 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