253 lines
7.1 KiB
C
253 lines
7.1 KiB
C
/*
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* This file is part of the stmbl project.
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*
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* Copyright (C) 2013-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2013-2018 Nico Stute <crinq@crinq.de>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "stm32f1xx_hal.h"
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#include "defines.h"
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#include "setup.h"
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#include "config.h"
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void SystemClock_Config(void);
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int cmd1;
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int cmd2;
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int cmd3;
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int steer;
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int speed;
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extern TIM_HandleTypeDef htim_left;
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extern TIM_HandleTypeDef htim_right;
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extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc2;
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extern volatile adc_buf_t adc_buffer;
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#ifdef CONTROL_PPM
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extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
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#endif
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extern volatile int pwml;
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extern volatile int pwmr;
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extern volatile int weakl;
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extern volatile int weakr;
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volatile int pwmrl = 0;
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extern uint8_t buzzerFreq;
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extern uint8_t buzzerPattern;
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extern uint8_t enable;
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extern volatile uint32_t timeout;
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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();
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HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
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/* System interrupt init*/
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/* MemoryManagement_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
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/* BusFault_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
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/* UsageFault_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
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/* SVCall_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
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/* DebugMonitor_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
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/* PendSV_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
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/* SysTick_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
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SystemClock_Config();
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__HAL_RCC_DMA1_CLK_DISABLE();
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MX_GPIO_Init();
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MX_TIM_Init();
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MX_ADC1_Init();
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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);
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HAL_ADC_Start(&hadc2);
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for (int i = 8; i >= 0; i--) {
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buzzerFreq = i;
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HAL_Delay(100);
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}
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buzzerFreq = 0;
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HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
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int lastSpeedL = 0, lastSpeedR = 0;
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int speedL = 0, speedR = 0;
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float direction = 1;
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#ifdef CONTROL_PPM
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PPM_Init();
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#endif
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#ifdef CONTROL_NUNCHUCK
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I2C_Init();
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Nunchuck_Init();
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#endif
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enable = 1;
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while(1) {
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HAL_Delay(2);
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#ifdef CONTROL_NUNCHUCK
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Nunchuck_Read();
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cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
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cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis
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//uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
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//uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
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#endif
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#ifdef CONTROL_PPM
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cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, -1000, 1000);
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cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, -1000, 1000);
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#endif
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#ifdef CONTROL_ADC
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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
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uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
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timeout = 0;
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#endif
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// ####### LOW-PASS FILTER #######
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steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
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speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
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setScopeChannel(0, (int)speed);
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setScopeChannel(1, (int)steer);
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// ####### MIXER #######
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speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000);
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speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
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setScopeChannel(2, (int)speedR);
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setScopeChannel(3, (int)speedL);
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// ####### ADDITIONAL CODE #######
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#ifdef ADDITIONAL_CODE
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ADDITIONAL_CODE;
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#endif
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// ####### SET OUTPUTS #######
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
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pwmr = speedR;
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pwml = -speedL;
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}
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lastSpeedL = speedL;
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lastSpeedR = speedR;
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// ####### LOG TO CONSOLE #######
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consoleScope();
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if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
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enable = 0;
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while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
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buzzerFreq = 0;
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buzzerPattern = 0;
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for (int i = 0; i < 8; i++) {
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buzzerFreq = i;
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HAL_Delay(100);
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}
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
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while(1) {}
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}
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if (batteryVoltage < BAT_LOW_LVL1 && batteryVoltage > BAT_LOW_LVL2) {
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buzzerFreq = 5;
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buzzerPattern = 8;
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} else if (batteryVoltage < BAT_LOW_LVL2 && batteryVoltage > BAT_LOW_DEAD) {
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buzzerFreq = 5;
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buzzerPattern = 1;
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} else if (batteryVoltage < BAT_LOW_DEAD) {
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buzzerPattern = 0;
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enable = 0;
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for (int i = 0; i < 8; i++) {
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buzzerFreq = i;
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HAL_Delay(100);
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}
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
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while(1) {}
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} else {
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buzzerFreq = 0;
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buzzerPattern = 0;
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}
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}
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}
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/** System Clock Configuration
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*/
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void SystemClock_Config(void) {
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RCC_OscInitTypeDef RCC_OscInitStruct;
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RCC_ClkInitTypeDef RCC_ClkInitStruct;
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RCC_PeriphCLKInitTypeDef PeriphClkInit;
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/**Initializes the CPU, AHB and APB busses clocks
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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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;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
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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;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
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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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*/
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HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
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/* SysTick_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
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}
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