111 lines
2.5 KiB
Arduino
111 lines
2.5 KiB
Arduino
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//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
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//Board: Generic STM32F103C series
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//Upload method: serial
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//20k RAM 64k Flash
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// RX ist A10, TX ist A9 (3v3 level)
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//to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately
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//set boot0 back to 0 to run program on powerup
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#define PIN_LED PC13
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#define PIN_POTI1 PA7
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#define PIN_POTI2 PA6
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#define SENDPERIOD 50
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uint16_t poti1=0;
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uint16_t poti2=0;
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long last_send=0;
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int16_t out_steer=0;
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int16_t out_speed=0;
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uint16_t ch1_in;
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uint16_t ch2_in;
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uint16_t ch3_in;
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uint16_t ch4_in;
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//RC Input Pins
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#define PIN_CH1 PB9
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#define PIN_CH2 PB8
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#define PIN_CH3 PB7
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#define PIN_CH4 PB6
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void setup() {
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Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
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Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
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pinMode(PIN_LED, OUTPUT);
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digitalWrite(PIN_LED,LOW);
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pinMode(PIN_POTI1, INPUT);
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pinMode(PIN_POTI2, INPUT);
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pinMode(PIN_CH1, INPUT);
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pinMode(PIN_CH2, INPUT);
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pinMode(PIN_CH3, INPUT);
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pinMode(PIN_CH4, INPUT);
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}
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void loop() {
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//RC Input. chn_in between 0 and 1000
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ch1_in = constrain(map(pulseIn(PIN_CH1, HIGH, 25000),1000,2000, 0,1000), 0,1000); //Read Pulse Width. (pulseIn values typically between 1000 and 2000). Map and constrain between 0 and 1000
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ch2_in = constrain(map(pulseIn(PIN_CH2, HIGH, 25000),1000,2000, 0,1000), 0,1000);
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//ch3_in = constrain(map(pulseIn(PIN_CH3, HIGH, 25000),1000,2000, 0,1000), 0,1000);
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//ch4_in = constrain(map(pulseIn(PIN_CH4, HIGH, 25000),1000,2000, 0,1000), 0,1000);
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//ch1 = steer (ail)
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//ch2 = speed (ele)
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//ch3 = speed multiplier (thr)
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//Potis
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/*poti1=analogRead(PIN_POTI1);
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#define POTIMIN 100
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#define POTIMAX 4000
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if (poti1<POTIMIN){
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poti1=POTIMIN;
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}else if(poti1>POTIMAX){
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poti1=POTIMAX;
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}
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poti1=(poti1-POTIMIN)*1000/(POTIMAX-POTIMIN);
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poti2=analogRead(PIN_POTI2);
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if (poti2<POTIMIN){
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poti2=POTIMIN;
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}else if(poti2>POTIMAX){
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poti2=POTIMAX;
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}
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poti2=(poti2-POTIMIN)*1000/(POTIMAX-POTIMIN);
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out_speed=poti1;
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out_steer=0;
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*/
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//out_speed=(int16_t)( (ch2_in*2-1000)*(ch3_in/1000.0) );
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out_speed=(int16_t)( (ch2_in*2-1000));
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out_steer=ch1_in*2-1000;
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if (millis()-last_send>SENDPERIOD){
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Serial2.write((uint8_t *) &out_steer, sizeof(out_steer));
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Serial2.write((uint8_t *) &out_speed, sizeof(out_speed));
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last_send=millis();
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Serial.print("Steer=");
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Serial.println(out_steer);
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Serial.print("Speed=");
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Serial.println(out_speed);
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Serial.println();
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}
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}
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