From ca525abe96b2be88ef6fddf3dfcf89fc783ee288 Mon Sep 17 00:00:00 2001 From: Niklas Fauth Date: Fri, 11 May 2018 22:04:12 +0200 Subject: [PATCH] ADD: re-initialize I2C after comms error --- Inc/config.h | 7 + Src/control.c | 7 +- Src/main.c | 51 +- build/hover.hex | 1656 +++++++++++++++++++++++++++-------------------- 4 files changed, 1020 insertions(+), 701 deletions(-) diff --git a/Inc/config.h b/Inc/config.h index aee27c1..a8180b2 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -74,4 +74,11 @@ else { \ // #define SPEED_COEFFICIENT 0.5 // #define STEER_COEFFICIENT -0.2 +// #define ADDITIONAL_CODE if (button1 && scale > 0.8) { /* field weakening at high speeds */ \ + weakl = speedL - 600; /* weak should never exceed 400 or 450 MAX!! */ \ + weakr = speedR - 600; } \ +else {\ + weakl = 0;\ + weakr = 0; + // #define BEEPS_BACKWARD diff --git a/Src/control.c b/Src/control.c index 64379f7..6412e49 100644 --- a/Src/control.c +++ b/Src/control.c @@ -76,13 +76,18 @@ void Nunchuck_Init() { void Nunchuck_Read() { i2cBuffer[0] = 0x00; HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100); - HAL_Delay(2); + HAL_Delay(5); if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) { timeout = 0; } else { timeout++; } + if (timeout > 3) { + HAL_Delay(50); + Nunchuck_Init(); + } + //setScopeChannel(0, (int)nunchuck_data[0]); //setScopeChannel(1, (int)nunchuck_data[1]); //setScopeChannel(2, (int)nunchuck_data[5] & 1); diff --git a/Src/main.c b/Src/main.c index b67fa4a..f0aae67 100644 --- a/Src/main.c +++ b/Src/main.c @@ -23,6 +23,7 @@ #include "defines.h" #include "setup.h" #include "config.h" +//#include "hd44780.h" void SystemClock_Config(void); @@ -32,11 +33,15 @@ extern ADC_HandleTypeDef hadc1; extern ADC_HandleTypeDef hadc2; extern volatile adc_buf_t adc_buffer; extern volatile adc_buf_t adc_buffer; +//LCD_PCF8574_HandleTypeDef lcd; +extern I2C_HandleTypeDef hi2c2; int cmd1; int cmd2; int cmd3; +uint8_t button1, button2; + int steer; // global variable for steering. -1000 to 1000 int speed; // global variable for speed. -1000 to 1000 @@ -87,7 +92,10 @@ int main(void) { MX_TIM_Init(); MX_ADC1_Init(); MX_ADC2_Init(); - UART_Init(); + + #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3) + UART_Init(); + #endif HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1); @@ -115,23 +123,48 @@ int main(void) { Nunchuck_Init(); #endif + #ifdef DEBUG_I2C_LCD + I2C_Init(); + HAL_Delay(50); + lcd.pcf8574.PCF_I2C_ADDRESS = 0x27; + lcd.pcf8574.PCF_I2C_TIMEOUT = 5; + lcd.pcf8574.i2c = hi2c2; + lcd.NUMBER_OF_LINES = NUMBER_OF_LINES_2; + lcd.type = TYPE0; + + if(LCD_Init(&lcd)!=LCD_OK){ + // error occured + //TODO while(1); + } + + LCD_ClearDisplay(&lcd); + HAL_Delay(5); + LCD_SetLocation(&lcd, 0, 0); + LCD_WriteString(&lcd, "Hover V2.0"); + LCD_SetLocation(&lcd, 0, 1); + LCD_WriteString(&lcd, "Initializing..."); + #endif + enable = 1; while(1) { - HAL_Delay(2); + 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 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; + button1 = (uint8_t)nunchuck_data[5] & 1; + 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); + button1 = ppm_captured_value[5] > 500; + float scale = ppm_captured_value[2] / 1000.0f; #endif #ifdef CONTROL_ADC @@ -141,17 +174,11 @@ int main(void) { 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); @@ -160,6 +187,10 @@ int main(void) { setScopeChannel(2, (int)speedR); setScopeChannel(3, (int)speedL); + #ifdef ADDITIONAL_CODE + ADDITIONAL_CODE; + #endif + // ####### SET OUTPUTS ####### if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) { pwmr = speedR; diff --git a/build/hover.hex b/build/hover.hex index 376f12b..f00c617 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C00020D9450008AD450008B1450008F2 -:10001000B5450008B9450008BD45000800000000CE -:10002000000000000000000000000000C1450008C2 -:10003000C545000800000000C9450008CD4500087E -:1000400029460008294600082946000829460008D4 -:1000500029460008294600082946000829460008C4 -:10006000294600082946000829460008493E00089C -:1000700029460008294600082946000829460008A4 -:100080002946000829460008294600082946000894 -:100090002946000829460008294600082946000884 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