First commit pwm

- buttons not yet support
2020-03-21 19:24:29 +01:00 · 2020-03-21 19:24:29 +01:00 · 7d80e564f0
parent 9d6cec8889
commit 7d80e564f0
7 changed files with 243 additions and 3 deletions
--- a/Inc/config.h
+++ b/Inc/config.h
@ -14,6 +14,7 @@
  //#define VARIANT_USART       // Variant for Serial control via USART3 input
  //#define VARIANT_NUNCHUK     // Variant for Nunchuk controlled vehicle build
  //#define VARIANT_PPM         // Variant for RC-Remote with PPM-Sum Signal
+  //#define VARIANT_PWM         // Variant for RC-Remote with PWM Signal
  //#define VARIANT_IBUS        // Variant for RC-Remotes with FLYSKY IBUS
  //#define VARIANT_HOVERCAR    // Variant for HOVERCAR build
  //#define VARIANT_HOVERBOARD  // Variant for HOVERBOARD build
@ -276,6 +277,30 @@
 // ############################# END OF VARIANT_PPM SETTINGS ############################


+// ################################# VARIANT_PWM SETTINGS ##############################
+#ifdef VARIANT_PWM
+/* ###### CONTROL VIA RC REMOTE ######
+ * left sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
+ * Channel 1: steering, Channel 2: speed.
+*/
+  #define CONTROL_PWM                         // use RC PWM as input. disable DEBUG_SERIAL_USART2!
+  #define PWM_DEADBAND                100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  // Min / Max values of each channel (use DEBUG to determine these values)
+  #define PWM_CH1_MAX                 1000    // (0 - 1000)
+  #define PWM_CH1_MIN                 -1000   // (-1000 - 0)
+  #define PWM_CH2_MAX                 500     // (0 - 1000)
+  #define PWM_CH2_MIN                 -800    // (-1000 - 0)
+  // right sensor board cable. Only read once during startup
+  #define BUTTONS_RIGHT               // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
+  #define FILTER                      6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
+  #define SPEED_COEFFICIENT           16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
+  #define STEER_COEFFICIENT           0       // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case     0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
+  // #define INVERT_R_DIRECTION
+  // #define INVERT_L_DIRECTION
+#endif
+// ############################# END OF VARIANT_PPM SETTINGS ############################
+
+

 // ################################# VARIANT_IBUS SETTINGS ##############################
 #ifdef VARIANT_IBUS
@ -402,8 +427,8 @@


 // ############################### VALIDATE SETTINGS ###############################
-#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_IBUS) && \
-    !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
+#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
+    !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
  #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
 #endif

--- a/Inc/defines.h
+++ b/Inc/defines.h
@ -160,13 +160,18 @@ typedef struct {
  uint16_t l_rx2;
 } adc_buf_t;

-// Define I2C, Nunchuk, PPM functions
+// Define I2C, Nunchuk, PPM, PWM functions
 void I2C_Init(void);
 void Nunchuk_Init(void);
 void Nunchuk_Read(void);
 uint8_t Nunchuk_Ping(void);
 void PPM_Init(void);
 void PPM_ISR_Callback(void);
+void PWM_Init(void);
+//void PWM_ISR_CH1_Callback(void);
+void PWM_ISR_CH2_Callback(void);
+void PWM_SysTick_Callback(void);
+int PWM_Signal_Correct(int16_t x, int16_t max, int16_t min);

 // Sideboard definitions
 #define LED1_SET     				(0x01)
--- a/Src/control.c
+++ b/Src/control.c
@ -7,7 +7,9 @@
 #include "config.h"

 TIM_HandleTypeDef TimHandle;
+TIM_HandleTypeDef TimHandle2;
 uint8_t ppm_count = 0;
+uint8_t pwm_count = 0;
 uint32_t timeout = 100;
 uint8_t nunchuk_data[6] = {0};

@ -84,6 +86,143 @@ void PPM_Init(void) {
 }
 #endif

+
+#ifdef BUTTONS_RIGHT
+
+uint8_t btn1 = 0;
+uint8_t btn2 = 0;
+
+void BUTTONS_RIGHT_Init() {
+  GPIO_InitTypeDef GPIO_InitStruct;
+  /*Configure GPIO pin : PB10 */
+  GPIO_InitStruct.Pin = GPIO_PIN_10;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  btn1 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10);
+
+  GPIO_InitTypeDef GPIO_InitStruct2;
+  /*Configure GPIO pin : PB11 */
+  GPIO_InitStruct2.Pin = GPIO_PIN_11;
+  GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  GPIO_InitStruct2.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct2);
+
+  btn2 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_11);
+}
+
+#endif
+
+#ifdef CONTROL_PWM
+//uint16_t pwm_captured_ch1_value = 500;
+uint16_t pwm_captured_ch2_value = 500;
+uint32_t pwm_timeout = 0;
+
+#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
+
+int PWM_Signal_Correct(int16_t x, int16_t max, int16_t min) {
+  int outVal = 0;
+  if(x > -PWM_DEADBAND && x < PWM_DEADBAND) {
+    outVal = 0;
+  } else if(x > 0) {
+    outVal = (float)CLAMP(x-PWM_DEADBAND, 0, max - PWM_DEADBAND) / (max - PWM_DEADBAND) * 1000;
+  } else {
+    outVal = 0 - ((float)CLAMP(x+PWM_DEADBAND, min + PWM_DEADBAND, 0) / (min + PWM_DEADBAND) * 1000);
+  }
+  return outVal;
+}
+
+/*
+void PWM_ISR_CH1_Callback(void) {
+  // Dummy loop with 16 bit count wrap around
+  uint16_t rc_signal = TIM3->CNT;
+  TIM3->CNT = 0;
+
+  if (IN_RANGE(rc_signal, 900, 2100)){
+    timeout = 0;
+    pwm_timeout = 0;
+    pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
+  }
+}
+*/
+
+void PWM_ISR_CH2_Callback(void) {
+  // Dummy loop with 16 bit count wrap around
+  uint16_t rc_signal = TIM2->CNT;
+  TIM2->CNT = 0;
+
+  if (IN_RANGE(rc_signal, 900, 2100)){
+    timeout = 0;
+    pwm_timeout = 0;
+    pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
+  }
+}
+
+// SysTick executes once each ms
+void PWM_SysTick_Callback(void) {
+  pwm_timeout++;
+  // Stop after 500 ms without PPM signal
+  if(pwm_timeout > 500) {
+    //pwm_captured_ch1_value = 500;
+    pwm_captured_ch2_value = 500;
+    pwm_timeout = 0;
+  }
+}
+
+void PWM_Init(void) {
+  // Channel 1 (steering)
+  /*
+  GPIO_InitTypeDef GPIO_InitStruct2;
+  // Configure GPIO pin : PA2
+  GPIO_InitStruct2.Pin = GPIO_PIN_2;
+  GPIO_InitStruct2.Mode = GPIO_MODE_IT_RISING_FALLING;
+  GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct2.Pull = GPIO_PULLDOWN;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct2);
+
+  __HAL_RCC_TIM3_CLK_ENABLE();
+  TimHandle2.Instance = TIM3;
+  TimHandle2.Init.Period = UINT16_MAX;
+  TimHandle2.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
+  TimHandle2.Init.ClockDivision = 0;
+  TimHandle2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  HAL_TIM_Base_Init(&TimHandle2);
+
+  // EXTI interrupt init
+  HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+  HAL_TIM_Base_Start(&TimHandle2);
+*/
+
+  // Channel 2 (speed)
+
+  GPIO_InitTypeDef GPIO_InitStruct;
+  /*Configure GPIO pin : PA3 */
+  GPIO_InitStruct.Pin = GPIO_PIN_3;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  __HAL_RCC_TIM2_CLK_ENABLE();
+  TimHandle.Instance = TIM2;
+  TimHandle.Init.Period = UINT16_MAX;
+  TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
+  TimHandle.Init.ClockDivision = 0;
+  TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
+  HAL_TIM_Base_Init(&TimHandle);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI3_IRQn);
+  HAL_TIM_Base_Start(&TimHandle);
+}
+#endif
+
+
 uint8_t Nunchuk_Ping(void) {
  if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 1, 10) == HAL_OK) {
    return 1;
--- a/Src/main.c
+++ b/Src/main.c
@ -82,6 +82,10 @@ extern SerialSideboard Sideboard_L;
 #if defined(SIDEBOARD_SERIAL_USART3)
 extern SerialSideboard Sideboard_R;
 #endif
+#if defined(CONTROL_PWM) && defined(DEBUG_SERIAL_USART3)
+//extern volatile uint16_t pwm_captured_ch1_value;
+extern volatile uint16_t pwm_captured_ch2_value;
+#endif


 //------------------------------------------------------------------------
@ -381,6 +385,10 @@ int main(void) {
        setScopeChannel(0, (int16_t)adc_buffer.l_tx2);          // 1: ADC1
        setScopeChannel(1, (int16_t)adc_buffer.l_rx2);          // 2: ADC2
        #endif
+        #ifdef CONTROL_PWM
+        setScopeChannel(0, 0);//pwm_captured_ch1_value);        // 1: CH1
+        setScopeChannel(1, pwm_captured_ch2_value);             // 2: CH2
+        #endif
        setScopeChannel(2, (int16_t)speedR);                    // 3: output command: [-1000, 1000]
        setScopeChannel(3, (int16_t)speedL);                    // 4: output command: [-1000, 1000]
        setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration
--- a/Src/stm32f1xx_it.c
+++ b/Src/stm32f1xx_it.c
@ -165,6 +165,11 @@ void PendSV_Handler(void) {
 #ifdef CONTROL_PPM
 void PPM_SysTick_Callback(void);
 #endif
+
+#ifdef CONTROL_PWM
+void PWM_SysTick_Callback(void);
+#endif
+
 void SysTick_Handler(void) {
  /* USER CODE BEGIN SysTick_IRQn 0 */

@ -175,6 +180,10 @@ void SysTick_Handler(void) {
 #ifdef CONTROL_PPM
  PPM_SysTick_Callback();
 #endif
+
+#ifdef CONTROL_PWM
+  PWM_SysTick_Callback();
+#endif
  /* USER CODE END SysTick_IRQn 1 */
 }

@ -227,6 +236,21 @@ void EXTI3_IRQHandler(void)
 }
 #endif

+#ifdef CONTROL_PWM
+void EXTI3_IRQHandler(void)
+{
+    PWM_ISR_CH2_Callback();
+    __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3);
+}
+/*
+void EXTI2_IRQHandler(void)
+{
+    PWM_ISR_CH1_Callback();
+    __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_2);
+}*/
+
+#endif
+
 #ifdef CONTROL_SERIAL_USART2
 void DMA1_Channel6_IRQHandler(void)
 {
--- a/Src/util.c
+++ b/Src/util.c
@ -63,6 +63,16 @@ extern volatile uint32_t main_loop_counter;
 extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
 #endif

+#ifdef CONTROL_PWM
+//extern volatile uint16_t pwm_captured_ch1_value;
+extern volatile uint16_t pwm_captured_ch2_value;
+#endif
+
+#ifdef BUTTONS_RIGHT
+extern volatile uint8_t btn1;  // Blue
+extern volatile uint8_t btn2;  // Green
+#endif
+

 //------------------------------------------------------------------------
 // Global variables set here in util.c
@ -236,6 +246,10 @@ void Input_Init(void) {
    PPM_Init();
  #endif

+  #ifdef CONTROL_PWM
+    PWM_Init();
+  #endif
+
  #ifdef CONTROL_NUNCHUK
    I2C_Init();
    Nunchuk_Init();
@ -634,6 +648,11 @@ void readCommand(void) {
      // float scale = ppm_captured_value[2] / 1000.0f;     // not used for now, uncomment if needed
    #endif

+    #ifdef CONTROL_PWM
+      cmd1 = 0; // CLAMP(PWM_Signal_Correct((pwm_captured_ch1_value - 500) * 2, PWM_CH1_MAX, PWM_CH1_MIN), INPUT_MIN, INPUT_MAX);
+      cmd2 = CLAMP(PWM_Signal_Correct((pwm_captured_ch2_value - 500) * 2, PWM_CH2_MAX, PWM_CH2_MIN), INPUT_MIN, INPUT_MAX);
+    #endif
+
    #ifdef CONTROL_ADC
      // ADC values range: 0-4095, see ADC-calibration in config.h
      #ifdef ADC1_MID_POT
--- a/platformio.ini
+++ b/platformio.ini
@ -13,6 +13,7 @@ src_dir     = Src
 ;default_envs = VARIANT_USART       ; Variant for Serial control via USART3 input
 ;default_envs = VARIANT_NUNCHUK     ; Variant for Nunchuk controlled vehicle build
 ;default_envs = VARIANT_PPM         ; Variant for RC-Remotes with PPM-Sum signal
+default_envs = VARIANT_PWM         ; Variant for RC-Remotes with PWM signal
 ;default_envs = VARIANT_IBUS        ; Variant for RC-Remotes with FLYSKY IBUS
 ;default_envs = VARIANT_HOVERCAR    ; Variant for HOVERCAR build
 ;default_envs = VARIANT_HOVERBOARD  ; Variant for HOVERBOARD
@ -105,6 +106,25 @@ build_flags =

 ;================================================================

+[env:VARIANT_PWM]
+platform        = ststm32
+framework       = stm32cube
+board           = genericSTM32F103RC
+debug_tool      = stlink
+upload_protocol = stlink
+
+build_flags =
+    -DUSE_HAL_DRIVER
+    -DSTM32F103xE
+    -Wl,-T./STM32F103RCTx_FLASH.ld
+    -Wl,-lc
+    -Wl,-lm
+    -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
+#    -Wl,-lnosys
+    -D VARIANT_PWM
+
+;================================================================
+
 [env:VARIANT_IBUS]
 platform        = ststm32
 framework       = stm32cube