368 lines
11 KiB
C++
368 lines
11 KiB
C++
//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 DEBUG
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uint8_t error = 0;
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#define IMU_NO_CHANGE 2 //IMU values did not change for too long
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uint8_t imu_no_change_counter = 0;
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#define PIN_LED PC13
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#define PIN_VBAT PA0 //battery voltage after voltage divider
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#define VBAT_DIV_FACTOR 0.010700 //how much voltage (V) equals one adc unit. measured at 40V and averaged
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#define PIN_CURRENT PA1 //output of hall sensor for current measurement
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#define CURRENT_OFFSET 2034 //adc reading at 0A, with CJMCU-758 typically at Vcc/2
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#define CURRENT_FACTOR 0.4320376 //how much current (A) equals one adc unit
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double vbat=0; //battery voltage
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double ibat=0; //battery current
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long last_uiupdated=0;
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#define UI_UPDATEPERIOD 10 //in ms
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#define SENDPERIOD 20 //ms
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#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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#define IMUUPDATEPERIOD 10 //ms
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long last_imuupdated = 0;
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#define MAX_YAWCHANGE 90 //in degrees, if exceeded in one update intervall error will be triggered
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#include <IMUGY85.h>
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//https://github.com/fookingthg/GY85
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//ITG3200 and ADXL345 from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino
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//https://github.com/mechasolution/Mecha_QMC5883L //because QMC5883 on GY85 instead of HMC5883, source: https://circuitdigest.com/microcontroller-projects/digital-compass-with-arduino-and-hmc5883l-magnetometer
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//in qmc5883L library read values changed from uint16_t to int16_t
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IMUGY85 imu;
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double ax, ay, az, gx, gy, gz, roll, pitch, yaw, mx, my, mz, ma;
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double old_ax, old_ay, old_az, old_gx, old_gy, old_gz, old_roll, old_pitch, old_yaw, old_mx, old_my, old_mz, old_ma;
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double setYaw = 0;
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float magalign_multiplier = 0; //how much the magnetometer should influence steering, 0=none, 1=stay aligned
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//from left to right. pins at bottom. chips on top
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//1 GND (black)
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//2 Data
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//3 Clock
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//4 Reset
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//5 +5V (red)
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//6 Right BTN
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//7 Middle BTN
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//8 Left BTN
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//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
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//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
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#include <SPI.h>
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#include "nRF24L01.h"
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#include "RF24.h"
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RF24 radio(PB0, PB1); //ce, cs
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//SCK D13 (Pro mini), A5 (bluepill)
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//Miso D12 (Pro mini), A6 (bluepill)
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//Mosi D11 (Pro mini), A7 (bluepill)
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// Radio pipe addresses for the 2 nodes to communicate.
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const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
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#define NRF24CHANNEL 75
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struct nrfdata {
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uint8_t steer;
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uint8_t speed;
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uint8_t commands; //bit 0 set = motor enable
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uint8_t checksum;
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};
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nrfdata lastnrfdata;
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long last_nrfreceive = 0; //last time values were received and checksum ok
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long nrf_delay = 0;
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#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
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//command variables
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boolean motorenabled = false; //set by nrfdata.commands
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long last_send = 0;
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int16_t out_steer = 0; //between -1000 and 1000
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int16_t out_speed = 0;
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uint8_t out_checksum = 0; //0= disable motors, 255=reserved, 1<=checksum<255
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#define NRFDATA_CENTER 127
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boolean armed = false;
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boolean lastpacketOK = false;
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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, HIGH);
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pinMode(PIN_VBAT,INPUT_ANALOG);
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pinMode(PIN_CURRENT,INPUT_ANALOG);
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Serial.println("Initializing nrf24");
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radio.begin();
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radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
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radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
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radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
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radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
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radio.openWritingPipe(pipes[0]); //write on pipe 0
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radio.openReadingPipe(1, pipes[1]); //read on pipe 1
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radio.startListening();
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Serial.println("Initializing IMU");
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imu.init();
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Serial.println("Initialized");
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}
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void loop() {
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if (millis() - last_imuupdated > IMUUPDATEPERIOD) {
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updateIMU();
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last_imuupdated = millis();
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}
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if (millis() - last_uiupdated > UI_UPDATEPERIOD) { //update current and voltage
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vbat=analogRead(PIN_VBAT)*VBAT_DIV_FACTOR;
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ibat=(analogRead(PIN_CURRENT)-CURRENT_OFFSET)*CURRENT_FACTOR;
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last_uiupdated = millis();
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/*
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Serial.print("vbat=");
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Serial.print(vbat);
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Serial.print(", ibat=");
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Serial.println(ibat);*/
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}
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//NRF24
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nrf_delay = millis() - last_nrfreceive; //update nrf delay
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if ( radio.available() )
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{
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//Serial.println("radio available ...");
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bool done = false;
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while (!done)
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{
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lastpacketOK = false; //initialize with false, if checksum ok gets set to true
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digitalWrite(PIN_LED, !digitalRead(PIN_LED));
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done = radio.read( &lastnrfdata, sizeof(nrfdata) );
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if (lastnrfdata.speed == NRFDATA_CENTER && lastnrfdata.steer == NRFDATA_CENTER) { //arm only when centered
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armed = true; //arm at first received packet
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}
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uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
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if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
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lastpacketOK = true;
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last_nrfreceive = millis();
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//parse commands
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motorenabled = (lastnrfdata.commands & (1 << 0)); //check bit 0
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if (!motorenabled) { //disable motors?
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armed = false;
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}
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}
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#ifdef DEBUG
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Serial.print("Received:");
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Serial.print(" st=");
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Serial.print(lastnrfdata.steer);
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Serial.print(", sp=");
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Serial.print(lastnrfdata.speed);
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Serial.print(", c=");
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Serial.print(lastnrfdata.commands);
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Serial.print(", chks=");
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Serial.print(lastnrfdata.checksum);
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Serial.print("nrfdelay=");
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Serial.print(nrf_delay);
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Serial.println();
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#endif
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//y positive = forward
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//x positive = right
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/*
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setYaw+=((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*10/127;
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while (setYaw<0){
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setYaw+=360;
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}
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while (setYaw>=360){
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setYaw-=360;
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}*/
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/*
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Serial.print("setYaw=");
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Serial.print(setYaw);
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Serial.print(" Yaw=");
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Serial.println(yaw);*/
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}
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}
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if (error > 0) { //disarm if error occured
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armed = false;
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}
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if (armed && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
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armed = false;
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#ifdef DEBUG
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Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
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#endif
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}
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if (armed) { //is armed
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if (lastpacketOK) { //if lastnrfdata is valid
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if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) {
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last_controlupdate = millis();
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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out_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
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out_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
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//align to compass
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double yawdiff = (setYaw - 180) - (yaw - 180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
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yawdiff += (yawdiff > 180) ? -360 : (yawdiff < -180) ? 360 : 0;
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//yawdiff/=2;
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int yawdiffsign = 1;
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if (yawdiff < 0) {
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yawdiffsign = -1;
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}
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yawdiff = yawdiff * yawdiff; //square
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yawdiff = constrain(yawdiff * 1 , 0, 800);
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yawdiff *= yawdiffsign; //redo sign
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int16_t out_steer_mag = (int16_t)( yawdiff );
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float new_magalign_multiplier = map( abs((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER), 2, 10, 1.0, 0.0); //0=normal steering, 1=only mag steering
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new_magalign_multiplier = 0; //Force mag off
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new_magalign_multiplier = constrain(new_magalign_multiplier, 0.0, 1.0);
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magalign_multiplier = min(new_magalign_multiplier, min(1.0, magalign_multiplier + 0.01)); //go down fast, slowly increase
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magalign_multiplier = constrain(magalign_multiplier, 0.0, 1.0); //safety constrain again
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out_steer = out_steer * (1 - magalign_multiplier) + out_steer_mag * magalign_multiplier;
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setYaw = setYaw * magalign_multiplier + yaw * (1 - magalign_multiplier); //if magalign_multiplier 0, setYaw equals current yaw
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/*
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Serial.print("Out steer=");
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Serial.println(out_steer);*/
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}
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}//if pastpacket not ok, keep last out_steer and speed values until disarmed
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#ifdef DEBUG
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if (!lastpacketOK)
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Serial.println("Armed but packet not ok");
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}
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#endif
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} else { //disarmed
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out_steer = 0;
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out_speed = 0;
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setYaw = yaw;
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magalign_multiplier = 0;
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}
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if (millis() - last_send > SENDPERIOD) {
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//calculate checksum
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out_checksum = ((uint8_t) ((uint8_t)out_steer) * ((uint8_t)out_speed)); //simple checksum
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if (out_checksum == 0 || out_checksum == 255) {
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out_checksum = 1; //cannot be 0 or 255 (special purpose)
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}
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if (!motorenabled) { //disable motors?
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out_checksum = 0; //checksum=0 disables motors
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}
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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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Serial2.write((uint8_t *) &out_checksum, sizeof(out_checksum));
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last_send = millis();
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#ifdef DEBUG
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Serial.print(" steer=");
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Serial.print(out_steer);
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Serial.print(" speed=");
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Serial.print(out_speed);
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Serial.print(" checksum=");
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Serial.print(out_checksum);
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Serial.println();
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#endif
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}
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}
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void updateIMU()
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{
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if (old_ax == ax && old_ay == ay && old_az == az && old_gx == gx && old_gy == gy && old_gz == gz && old_mx == mx && old_my == my && old_mz == mz) {
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imu_no_change_counter++;
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if (imu_no_change_counter > 10) {
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error = IMU_NO_CHANGE;
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Serial.println("Error: IMU_NO_CHANGE");
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}
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} else {
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imu_no_change_counter = 0;
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}
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old_ax = ax;
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old_ay = ay;
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old_az = az;
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old_gx = gx;
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old_gy = gy;
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old_gz = gz;
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old_mx = mx;
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old_my = my;
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old_mz = mz;
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old_roll = roll;
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old_pitch = pitch;
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old_yaw = yaw;
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//Update Imu and write to variables
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imu.update();
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imu.getAcceleration(&ax, &ay, &az);
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imu.getGyro(&gx, &gy, &gz);
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imu.getMag(&mx, &my, &mz, &ma); //calibration data such as bias is set in IMUGY85.h
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roll = imu.getRoll();
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pitch = imu.getPitch();
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yaw = imu.getYaw();
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/*Directions:
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Components on top.
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Roll: around Y axis (pointing to the right), left negative
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Pitch: around X axis (pointing forward), up positive
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Yaw: around Z axis, CCW positive, 0 to 360
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*/
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}
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