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Merge pull request #9 from Mezgrman/transpotter 

Implemented TranspOtter modifications
This commit is contained in:
EmanuelFeru 2019-12-23 10:13:54 +01:00 committed by GitHub
parent ed31ac07a5 814af15adc
commit fdbfe28749
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GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 2260 additions and 163 deletions
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93
Inc/config.h
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@ -1,11 +1,18 @@
#pragma once
#include "stm32f1xx_hal.h"
// ############################### DEFINE FIRMWARE VARIANT ###############################
// #define TRANSPOTTER // Uncomment this line for TRANSPORTER configuration
// ############################### DO-NOT-TOUCH SETTINGS ###############################
#define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime
#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
#ifdef TRANSPOTTER
#define DELAY_IN_MAIN_LOOP 2
#else
#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
#endif
#define TIMEOUT 5 // number of wrong / missing input commands before emergency off
#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
@ -79,8 +86,10 @@
// ############################### SERIAL DEBUG ###############################
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
#ifndef TRANSPOTTER
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
#endif
// ############################### INPUT ###############################
@ -95,11 +104,13 @@
// #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
// #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! For Arduino control check the hoverSerial.ino
// #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#ifndef TRANSPOTTER
#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
// #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! For Arduino control check the hoverSerial.ino
// #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#endif
#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
#define UART_DMA_CHANNEL DMA1_Channel7
@ -122,15 +133,17 @@
* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
* Make, flash and test it.
*/
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
#define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
// #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
#define ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
#ifndef TRANSPOTTER
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
#define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
// #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
#define ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
#endif
// ###### CONTROL VIA NINTENDO NUNCHUCK ######
/* left sensor board cable.
@ -192,29 +205,53 @@
* - speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
*/
// Beep in Reverse
#define BEEPS_BACKWARD 0 // 0 or 1
// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
#define RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
// Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0, 1.0].
#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
// Value of COEFFICIENT is in fixdt(1,16,14)
// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
#define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
// ################################# DEFAULT SETTINGS ############################
#ifndef TRANSPOTTER
// Value of COEFFICIENT is in fixdt(1,16,14)
// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
#define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
#define INVERT_R_DIRECTION
#define INVERT_L_DIRECTION
#define BEEPS_BACKWARD 0 // 0 or 1
#define INVERT_R_DIRECTION
#define INVERT_L_DIRECTION
#endif
// ###### SIMPLE BOBBYCAR ######
// ################################# TRANSPOTTER SETTINGS ############################
#ifdef TRANSPOTTER
#define CONTROL_GAMETRAK
#define SUPPORT_LCD
#define SUPPORT_NUNCHUCK
#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
//#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
//#define INVERT_R_DIRECTION // Invert right motor
#define INVERT_L_DIRECTION // Invert left motor
// during nunchuck control (only relevant when activated)
#define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0?
#define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
#endif
// ################################# SIMPLE BOBBYCAR #################################
// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
// #define FILTER 6553 // 0.1f
// #define SPEED_COEFFICIENT 49152 // -1.0f
// #define STEER_COEFFICIENT 0 // 0.0f
// ###### ARMCHAIR ######
// ################################# ARMCHAIR #################################
// #define FILTER 3276 // 0.05f
// #define SPEED_COEFFICIENT 8192 // 0.5f
// #define STEER_COEFFICIENT 62259 // -0.2f

12
Inc/defines.h
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@ -157,8 +157,18 @@ typedef struct {
uint16_t l_rx2;
} adc_buf_t;
// Define Beep functions
void longBeep(uint8_t freq);
void shortBeep(uint8_t freq);
// Define low-pass filter functions. Implementation is in main.c
void filtLowPass16(int16_t u, uint16_t coef, int16_t *y);
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
// Define I2C and Nunchuck functions
void I2C_Init(void);
void Nunchuck_Init(void);
void Nunchuck_Read(void);
uint8_t Nunchuck_Ping(void);

223
Inc/eeprom.h Normal file
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@ -0,0 +1,223 @@
/**
******************************************************************************
* @file EEPROM_Emulation/inc/eeprom.h
* @author MCD Application Team
* @version V1.3.0
* @date 18-December-2015
* @brief This file contains all the functions prototypes for the EEPROM
* emulation firmware library.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __EEPROM_H
#define __EEPROM_H
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
/* Exported constants --------------------------------------------------------*/
/* Base address of the Flash sectors */
#define ADDR_FLASH_PAGE_0 ((uint32_t)0x08000000) /* Base @ of Page 0, 1 Kbytes */
#define ADDR_FLASH_PAGE_1 ((uint32_t)0x08000400) /* Base @ of Page 1, 1 Kbytes */
#define ADDR_FLASH_PAGE_2 ((uint32_t)0x08000800) /* Base @ of Page 2, 1 Kbytes */
#define ADDR_FLASH_PAGE_3 ((uint32_t)0x08000C00) /* Base @ of Page 3, 1 Kbytes */
#define ADDR_FLASH_PAGE_4 ((uint32_t)0x08001000) /* Base @ of Page 4, 1 Kbytes */
#define ADDR_FLASH_PAGE_5 ((uint32_t)0x08001400) /* Base @ of Page 5, 1 Kbytes */
#define ADDR_FLASH_PAGE_6 ((uint32_t)0x08001800) /* Base @ of Page 6, 1 Kbytes */
#define ADDR_FLASH_PAGE_7 ((uint32_t)0x08001C00) /* Base @ of Page 7, 1 Kbytes */
#define ADDR_FLASH_PAGE_8 ((uint32_t)0x08002000) /* Base @ of Page 8, 1 Kbytes */
#define ADDR_FLASH_PAGE_9 ((uint32_t)0x08002400) /* Base @ of Page 9, 1 Kbytes */
#define ADDR_FLASH_PAGE_10 ((uint32_t)0x08002800) /* Base @ of Page 10, 1 Kbytes */
#define ADDR_FLASH_PAGE_11 ((uint32_t)0x08002C00) /* Base @ of Page 11, 1 Kbytes */
#define ADDR_FLASH_PAGE_12 ((uint32_t)0x08003000) /* Base @ of Page 12, 1 Kbytes */
#define ADDR_FLASH_PAGE_13 ((uint32_t)0x08003400) /* Base @ of Page 13, 1 Kbytes */
#define ADDR_FLASH_PAGE_14 ((uint32_t)0x08003800) /* Base @ of Page 14, 1 Kbytes */
#define ADDR_FLASH_PAGE_15 ((uint32_t)0x08003C00) /* Base @ of Page 15, 1 Kbytes */
#define ADDR_FLASH_PAGE_16 ((uint32_t)0x08004000) /* Base @ of Page 16, 1 Kbytes */
#define ADDR_FLASH_PAGE_17 ((uint32_t)0x08004400) /* Base @ of Page 17, 1 Kbytes */
#define ADDR_FLASH_PAGE_18 ((uint32_t)0x08004800) /* Base @ of Page 18, 1 Kbytes */
#define ADDR_FLASH_PAGE_19 ((uint32_t)0x08004C00) /* Base @ of Page 19, 1 Kbytes */
#define ADDR_FLASH_PAGE_20 ((uint32_t)0x08005000) /* Base @ of Page 20, 1 Kbytes */
#define ADDR_FLASH_PAGE_21 ((uint32_t)0x08005400) /* Base @ of Page 21, 1 Kbytes */
#define ADDR_FLASH_PAGE_22 ((uint32_t)0x08005800) /* Base @ of Page 22, 1 Kbytes */
#define ADDR_FLASH_PAGE_23 ((uint32_t)0x08005C00) /* Base @ of Page 23, 1 Kbytes */
#define ADDR_FLASH_PAGE_24 ((uint32_t)0x08006000) /* Base @ of Page 24, 1 Kbytes */
#define ADDR_FLASH_PAGE_25 ((uint32_t)0x08006400) /* Base @ of Page 25, 1 Kbytes */
#define ADDR_FLASH_PAGE_26 ((uint32_t)0x08006800) /* Base @ of Page 26, 1 Kbytes */
#define ADDR_FLASH_PAGE_27 ((uint32_t)0x08006C00) /* Base @ of Page 27, 1 Kbytes */
#define ADDR_FLASH_PAGE_28 ((uint32_t)0x08007000) /* Base @ of Page 28, 1 Kbytes */
#define ADDR_FLASH_PAGE_29 ((uint32_t)0x08007400) /* Base @ of Page 29, 1 Kbytes */
#define ADDR_FLASH_PAGE_30 ((uint32_t)0x08007800) /* Base @ of Page 30, 1 Kbytes */
#define ADDR_FLASH_PAGE_31 ((uint32_t)0x08007C00) /* Base @ of Page 31, 1 Kbytes */
#define ADDR_FLASH_PAGE_32 ((uint32_t)0x08008000) /* Base @ of Page 32, 1 Kbytes */
#define ADDR_FLASH_PAGE_33 ((uint32_t)0x08008400) /* Base @ of Page 33, 1 Kbytes */
#define ADDR_FLASH_PAGE_34 ((uint32_t)0x08008800) /* Base @ of Page 34, 1 Kbytes */
#define ADDR_FLASH_PAGE_35 ((uint32_t)0x08008C00) /* Base @ of Page 35, 1 Kbytes */
#define ADDR_FLASH_PAGE_36 ((uint32_t)0x08009000) /* Base @ of Page 36, 1 Kbytes */
#define ADDR_FLASH_PAGE_37 ((uint32_t)0x08009400) /* Base @ of Page 37, 1 Kbytes */
#define ADDR_FLASH_PAGE_38 ((uint32_t)0x08009800) /* Base @ of Page 38, 1 Kbytes */
#define ADDR_FLASH_PAGE_39 ((uint32_t)0x08009C00) /* Base @ of Page 39, 1 Kbytes */
#define ADDR_FLASH_PAGE_40 ((uint32_t)0x0800A000) /* Base @ of Page 40, 1 Kbytes */
#define ADDR_FLASH_PAGE_41 ((uint32_t)0x0800A400) /* Base @ of Page 41, 1 Kbytes */
#define ADDR_FLASH_PAGE_42 ((uint32_t)0x0800A800) /* Base @ of Page 42, 1 Kbytes */
#define ADDR_FLASH_PAGE_43 ((uint32_t)0x0800AC00) /* Base @ of Page 43, 1 Kbytes */
#define ADDR_FLASH_PAGE_44 ((uint32_t)0x0800B000) /* Base @ of Page 44, 1 Kbytes */
#define ADDR_FLASH_PAGE_45 ((uint32_t)0x0800B400) /* Base @ of Page 45, 1 Kbytes */
#define ADDR_FLASH_PAGE_46 ((uint32_t)0x0800B800) /* Base @ of Page 46, 1 Kbytes */
#define ADDR_FLASH_PAGE_47 ((uint32_t)0x0800BC00) /* Base @ of Page 47, 1 Kbytes */
#define ADDR_FLASH_PAGE_48 ((uint32_t)0x0800C000) /* Base @ of Page 48, 1 Kbytes */
#define ADDR_FLASH_PAGE_49 ((uint32_t)0x0800C400) /* Base @ of Page 49, 1 Kbytes */
#define ADDR_FLASH_PAGE_50 ((uint32_t)0x0800C800) /* Base @ of Page 50, 1 Kbytes */
#define ADDR_FLASH_PAGE_51 ((uint32_t)0x0800CC00) /* Base @ of Page 51, 1 Kbytes */
#define ADDR_FLASH_PAGE_52 ((uint32_t)0x0800D000) /* Base @ of Page 52, 1 Kbytes */
#define ADDR_FLASH_PAGE_53 ((uint32_t)0x0800D400) /* Base @ of Page 53, 1 Kbytes */
#define ADDR_FLASH_PAGE_54 ((uint32_t)0x0800D800) /* Base @ of Page 54, 1 Kbytes */
#define ADDR_FLASH_PAGE_55 ((uint32_t)0x0800DC00) /* Base @ of Page 55, 1 Kbytes */
#define ADDR_FLASH_PAGE_56 ((uint32_t)0x0800E000) /* Base @ of Page 56, 1 Kbytes */
#define ADDR_FLASH_PAGE_57 ((uint32_t)0x0800E400) /* Base @ of Page 57, 1 Kbytes */
#define ADDR_FLASH_PAGE_58 ((uint32_t)0x0800E800) /* Base @ of Page 58, 1 Kbytes */
#define ADDR_FLASH_PAGE_59 ((uint32_t)0x0800EC00) /* Base @ of Page 59, 1 Kbytes */
#define ADDR_FLASH_PAGE_60 ((uint32_t)0x0800F000) /* Base @ of Page 60, 1 Kbytes */
#define ADDR_FLASH_PAGE_61 ((uint32_t)0x0800F400) /* Base @ of Page 61, 1 Kbytes */
#define ADDR_FLASH_PAGE_62 ((uint32_t)0x0800F800) /* Base @ of Page 62, 1 Kbytes */
#define ADDR_FLASH_PAGE_63 ((uint32_t)0x0800FC00) /* Base @ of Page 63, 1 Kbytes */
#define ADDR_FLASH_PAGE_64 ((uint32_t)0x08010000) /* Base @ of Page 64, 1 Kbytes */
#define ADDR_FLASH_PAGE_65 ((uint32_t)0x08010400) /* Base @ of Page 65, 1 Kbytes */
#define ADDR_FLASH_PAGE_66 ((uint32_t)0x08010800) /* Base @ of Page 66, 1 Kbytes */
#define ADDR_FLASH_PAGE_67 ((uint32_t)0x08010C00) /* Base @ of Page 67, 1 Kbytes */
#define ADDR_FLASH_PAGE_68 ((uint32_t)0x08011000) /* Base @ of Page 68, 1 Kbytes */
#define ADDR_FLASH_PAGE_69 ((uint32_t)0x08011400) /* Base @ of Page 69, 1 Kbytes */
#define ADDR_FLASH_PAGE_70 ((uint32_t)0x08011800) /* Base @ of Page 70, 1 Kbytes */
#define ADDR_FLASH_PAGE_71 ((uint32_t)0x08011C00) /* Base @ of Page 71, 1 Kbytes */
#define ADDR_FLASH_PAGE_72 ((uint32_t)0x08012000) /* Base @ of Page 72, 1 Kbytes */
#define ADDR_FLASH_PAGE_73 ((uint32_t)0x08012400) /* Base @ of Page 73, 1 Kbytes */
#define ADDR_FLASH_PAGE_74 ((uint32_t)0x08012800) /* Base @ of Page 74, 1 Kbytes */
#define ADDR_FLASH_PAGE_75 ((uint32_t)0x08012C00) /* Base @ of Page 75, 1 Kbytes */
#define ADDR_FLASH_PAGE_76 ((uint32_t)0x08013000) /* Base @ of Page 76, 1 Kbytes */
#define ADDR_FLASH_PAGE_77 ((uint32_t)0x08013400) /* Base @ of Page 77, 1 Kbytes */
#define ADDR_FLASH_PAGE_78 ((uint32_t)0x08013800) /* Base @ of Page 78, 1 Kbytes */
#define ADDR_FLASH_PAGE_79 ((uint32_t)0x08013C00) /* Base @ of Page 79, 1 Kbytes */
#define ADDR_FLASH_PAGE_80 ((uint32_t)0x08014000) /* Base @ of Page 80, 1 Kbytes */
#define ADDR_FLASH_PAGE_81 ((uint32_t)0x08014400) /* Base @ of Page 81, 1 Kbytes */
#define ADDR_FLASH_PAGE_82 ((uint32_t)0x08014800) /* Base @ of Page 82, 1 Kbytes */
#define ADDR_FLASH_PAGE_83 ((uint32_t)0x08014C00) /* Base @ of Page 83, 1 Kbytes */
#define ADDR_FLASH_PAGE_84 ((uint32_t)0x08015000) /* Base @ of Page 84, 1 Kbytes */
#define ADDR_FLASH_PAGE_85 ((uint32_t)0x08015400) /* Base @ of Page 85, 1 Kbytes */
#define ADDR_FLASH_PAGE_86 ((uint32_t)0x08015800) /* Base @ of Page 86, 1 Kbytes */
#define ADDR_FLASH_PAGE_87 ((uint32_t)0x08015C00) /* Base @ of Page 87, 1 Kbytes */
#define ADDR_FLASH_PAGE_88 ((uint32_t)0x08016000) /* Base @ of Page 88, 1 Kbytes */
#define ADDR_FLASH_PAGE_89 ((uint32_t)0x08016400) /* Base @ of Page 89, 1 Kbytes */
#define ADDR_FLASH_PAGE_90 ((uint32_t)0x08016800) /* Base @ of Page 90, 1 Kbytes */
#define ADDR_FLASH_PAGE_91 ((uint32_t)0x08016C00) /* Base @ of Page 91, 1 Kbytes */
#define ADDR_FLASH_PAGE_92 ((uint32_t)0x08017000) /* Base @ of Page 92, 1 Kbytes */
#define ADDR_FLASH_PAGE_93 ((uint32_t)0x08017400) /* Base @ of Page 93, 1 Kbytes */
#define ADDR_FLASH_PAGE_94 ((uint32_t)0x08017800) /* Base @ of Page 94, 1 Kbytes */
#define ADDR_FLASH_PAGE_95 ((uint32_t)0x08017C00) /* Base @ of Page 95, 1 Kbytes */
#define ADDR_FLASH_PAGE_96 ((uint32_t)0x08018000) /* Base @ of Page 96, 1 Kbytes */
#define ADDR_FLASH_PAGE_97 ((uint32_t)0x08018400) /* Base @ of Page 97, 1 Kbytes */
#define ADDR_FLASH_PAGE_98 ((uint32_t)0x08018800) /* Base @ of Page 98, 1 Kbytes */
#define ADDR_FLASH_PAGE_99 ((uint32_t)0x08018C00) /* Base @ of Page 99, 1 Kbytes */
#define ADDR_FLASH_PAGE_100 ((uint32_t)0x08019000) /* Base @ of Page 100, 1 Kbytes */
#define ADDR_FLASH_PAGE_101 ((uint32_t)0x08019400) /* Base @ of Page 101, 1 Kbytes */
#define ADDR_FLASH_PAGE_102 ((uint32_t)0x08019800) /* Base @ of Page 102, 1 Kbytes */
#define ADDR_FLASH_PAGE_103 ((uint32_t)0x08019C00) /* Base @ of Page 103, 1 Kbytes */
#define ADDR_FLASH_PAGE_104 ((uint32_t)0x0801A000) /* Base @ of Page 104, 1 Kbytes */
#define ADDR_FLASH_PAGE_105 ((uint32_t)0x0801A400) /* Base @ of Page 105, 1 Kbytes */
#define ADDR_FLASH_PAGE_106 ((uint32_t)0x0801A800) /* Base @ of Page 106, 1 Kbytes */
#define ADDR_FLASH_PAGE_107 ((uint32_t)0x0801AC00) /* Base @ of Page 107, 1 Kbytes */
#define ADDR_FLASH_PAGE_108 ((uint32_t)0x0801B000) /* Base @ of Page 108, 1 Kbytes */
#define ADDR_FLASH_PAGE_109 ((uint32_t)0x0801B400) /* Base @ of Page 109, 1 Kbytes */
#define ADDR_FLASH_PAGE_110 ((uint32_t)0x0801B800) /* Base @ of Page 110, 1 Kbytes */
#define ADDR_FLASH_PAGE_111 ((uint32_t)0x0801BC00) /* Base @ of Page 111, 1 Kbytes */
#define ADDR_FLASH_PAGE_112 ((uint32_t)0x0801C000) /* Base @ of Page 112, 1 Kbytes */
#define ADDR_FLASH_PAGE_113 ((uint32_t)0x0801C400) /* Base @ of Page 113, 1 Kbytes */
#define ADDR_FLASH_PAGE_114 ((uint32_t)0x0801C800) /* Base @ of Page 114, 1 Kbytes */
#define ADDR_FLASH_PAGE_115 ((uint32_t)0x0801CC00) /* Base @ of Page 115, 1 Kbytes */
#define ADDR_FLASH_PAGE_116 ((uint32_t)0x0801D000) /* Base @ of Page 116, 1 Kbytes */
#define ADDR_FLASH_PAGE_117 ((uint32_t)0x0801D400) /* Base @ of Page 117, 1 Kbytes */
#define ADDR_FLASH_PAGE_118 ((uint32_t)0x0801D800) /* Base @ of Page 118, 1 Kbytes */
#define ADDR_FLASH_PAGE_119 ((uint32_t)0x0801DC00) /* Base @ of Page 119, 1 Kbytes */
#define ADDR_FLASH_PAGE_120 ((uint32_t)0x0801E000) /* Base @ of Page 120, 1 Kbytes */
#define ADDR_FLASH_PAGE_121 ((uint32_t)0x0801E400) /* Base @ of Page 121, 1 Kbytes */
#define ADDR_FLASH_PAGE_122 ((uint32_t)0x0801E800) /* Base @ of Page 122, 1 Kbytes */
#define ADDR_FLASH_PAGE_123 ((uint32_t)0x0801EC00) /* Base @ of Page 123, 1 Kbytes */
#define ADDR_FLASH_PAGE_124 ((uint32_t)0x0801F000) /* Base @ of Page 124, 1 Kbytes */
#define ADDR_FLASH_PAGE_125 ((uint32_t)0x0801F400) /* Base @ of Page 125, 1 Kbytes */
#define ADDR_FLASH_PAGE_126 ((uint32_t)0x0801F800) /* Base @ of Page 126, 1 Kbytes */
#define ADDR_FLASH_PAGE_127 ((uint32_t)0x0801FC00) /* Base @ of Page 127, 1 Kbytes */
/* Define the size of the sectors to be used */
#define PAGE_SIZE (uint32_t)FLASH_PAGE_SIZE /* Page size */
/* EEPROM start address in Flash */
#define EEPROM_START_ADDRESS ((uint32_t)ADDR_FLASH_PAGE_32) /* EEPROM emulation start address */
/* Pages 0 and 1 base and end addresses */
#define PAGE0_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x0000))
#define PAGE0_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (PAGE_SIZE - 1)))
#define PAGE0_ID ADDR_FLASH_PAGE_32
#define PAGE1_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x10000))
#define PAGE1_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x10000 + PAGE_SIZE - 1))
#define PAGE1_ID ADDR_FLASH_PAGE_96
/* Used Flash pages for EEPROM emulation */
#define PAGE0 ((uint16_t)0x0000)
#define PAGE1 ((uint16_t)0x0040)
/* No valid page define */
#define NO_VALID_PAGE ((uint16_t)0x00AB)
/* Page status definitions */
#define ERASED ((uint16_t)0xFFFF) /* Page is empty */
#define RECEIVE_DATA ((uint16_t)0xEEEE) /* Page is marked to receive data */
#define VALID_PAGE ((uint16_t)0x0000) /* Page containing valid data */
/* Valid pages in read and write defines */
#define READ_FROM_VALID_PAGE ((uint8_t)0x00)
#define WRITE_IN_VALID_PAGE ((uint8_t)0x01)
/* Page full define */
#define PAGE_FULL ((uint8_t)0x80)
/* Variables' number */
#define NB_OF_VAR ((uint8_t)0x03)
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
uint16_t EE_Init(void);
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
#endif /* __EEPROM_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

294
Inc/hd44780.h Normal file
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@ -0,0 +1,294 @@
/*
* hd44780.h
*
* Created on: Feb 20, 2014
* Author: Peter
*/
#ifndef HD44780_H_
#define HD44780_H_
#include <stdio.h>
#include <stdint.h>
#include "stm32f1xx_hal.h"
#include "pcf8574.h"
/**
* @file hd44780.h
* @brief Header file for communication with the HD44780 LCD driver.
* To use it you will have to create a variable of type LCD_PCF8574_HandleTypeDef (e.g. "lcd") and then
* set the I2C address based on the address pins on your PCF8574 (0-7) (lcd.pcf8574.PCF_I2C_ADDRESS),
* set the I2C timeout (in milliseconds) (lcd.pcf8574.PCF_I2C_TIMEOUT),
* set the I2C instance (e.g. I2C1 or I2C2) (lcd.pcf8574.i2c.Instance),
* set the I2C clock speed (in Hertz) (lcd.pcf8574.i2c.Init.ClockSpeed),
* set the number of lines (has to be type of LCD_NUMBER_OF_LINES) (lcd.NUMBER_OF_LINES),
* set the interface type (has to be type of LCD_TYPE) (lcd.type).
*
* Example:
* example.c
* example_msp.c
*/
/** LCD Interface possibilities
*/
typedef enum{
PCF8574, /*!< Use PCF8574 I2C IO expander as the interface */
GPIO /*!< Use GPIO pins directly */
} LCD_INTERFACE;
/** Possible return values for the functions
*/
typedef enum{
LCD_OK, /*!< Everything went OK */
LCD_ERROR /*!< An error occured */
} LCD_RESULT;
/** Type of hardware to use
*/
typedef enum{
TYPE0,
TYPE1,
TYPE2
} LCD_TYPE;
/** Number of lines on your LCD
*/
typedef enum{
NUMBER_OF_LINES_1=0,
NUMBER_OF_LINES_4=3,
NUMBER_OF_LINES_2=1
} LCD_NUMBER_OF_LINES;
/**
* Structure that hold all the required variables in
* order to simplify the communication process
*/
typedef struct{
LCD_NUMBER_OF_LINES NUMBER_OF_LINES; /**< Number of lines on your LCD */
uint8_t D;
uint8_t C;
uint8_t B;
char lcdbuf[2][16]; /**< Buffer for the LCD */
int x, oldx, y, oldy;
uint8_t state; /**< Holds current state of the PCF8574 expander */
uint32_t* pins; /**< Array of pins based on your hardware (wiring) */
LCD_TYPE type; /**< Type of hardware you want to use */
PCF8574_HandleTypeDef pcf8574; /**< PCF8574_HandleTypeDef for communication with PCF8574 */
void (*errorCallback)(LCD_RESULT);
} LCD_PCF8574_HandleTypeDef;
/** @def INTERFACE - Selector for the type of interface you want to use (has to be a type of LCD_INTERFACE) */
#define LCD_INTERFACE_SELECTOR PCF8574
/** Enumeration of the LCD pins */
typedef enum{
LCD_PIN_D4=0,
LCD_PIN_D5=1,
LCD_PIN_D6=2,
LCD_PIN_D7=3,
LCD_PIN_RS=4,
LCD_PIN_RW=5,
LCD_PIN_E=6,
LCD_PIN_LED=7
} LCD_PIN;
/** Used to specify the direction in certain LCD operations */
typedef enum{
DIRECTION_LEFT=0,
DIRECTION_RIGHT=1
} LCD_DIRECTION;
/** */
typedef enum{
DIRECTION_INCREMENT=1,
DIRECTION_DECREMENT=2
} LCD_DIRECTION_INC_DEC;
/** */
typedef enum{
SHIFT_YES=1,
SHIFT_NO=0
} LCD_SHIFT;
#if LCD_INTERFACE_SELECTOR==PCF8574
/**
* LCD initialization function
* @param handle - a pointer to the LCD handle
* @return whether the function was successful or not
*/
LCD_RESULT LCD_Init(LCD_PCF8574_HandleTypeDef* handle);
/**
* LCD deinitialization function
* @param handle - a pointer to the LCD handle
* @return whether the function was successful or not
*/
LCD_RESULT LCD_DeInit(LCD_PCF8574_HandleTypeDef* handle);
/**
* Sends a command to the HD44780 controller
* @param handle - a pointer to the LCD handle
* @param cmd - a command you want to send
* @return whether the function was successful or not
*/
LCD_RESULT LCD_WriteCMD(LCD_PCF8574_HandleTypeDef* handle, uint8_t cmd);
/**
* Sends data to the HD44780 controller
* @param handle - a pointer to the LCD handle
* @param data - data you want to send
* @return whether the function was successful or not
*/
LCD_RESULT LCD_WriteDATA(LCD_PCF8574_HandleTypeDef* handle, uint8_t data);
/**
* Gets the state of the busy flag
* @param handle - a pointer to the LCD handle
* @param flag - a pointer to a variable that will contain the state of the flag
* @return whether the function was successful or not
*/
LCD_RESULT LCD_GetBusyFlag(LCD_PCF8574_HandleTypeDef* handle,uint8_t* flag);
/**
* Writes lower 4bits of data to the data bus of the controller
* @param handle - a pointer to the LCD handle
* @param data - data you want to put on the data bus (lower 4bits)
* @return whether the function was successful or not
*/
LCD_RESULT LCD_WriteToDataBus(LCD_PCF8574_HandleTypeDef* handle, uint8_t data);
/**
* Clears the LCD
* @param handle - a pointer to the LCD handle
* @return whether the function was successful or not
*/
LCD_RESULT LCD_ClearDisplay(LCD_PCF8574_HandleTypeDef* handle);
/**
* Writes a string to the LCD
* @param handle - a pointer to the LCD handle
* @param s - string you want to write to the LCD
* @return whether the function was successful or not
*/
LCD_RESULT LCD_WriteString(LCD_PCF8574_HandleTypeDef* handle, char *s);
/**
* Sets the location of the memory pointer in the controller (used to control other operations (for example where to write a string))
* @param handle - a pointer to the LCD handle
* @param x - x-coordinate of the location
* @param y - y-coordinate of the location
* @return whether the function was successful or not
*/
LCD_RESULT LCD_SetLocation(LCD_PCF8574_HandleTypeDef* handle, uint8_t x, uint8_t y);
/**
* Turns ON the display
* @param handle - a pointer to the LCD handle
* @return whether the function was successful or not
*/
LCD_RESULT LCD_DisplayON(LCD_PCF8574_HandleTypeDef* handle);
/**
* Turns OFF the display
* @param handle - a pointer to the LCD handle
* @return whether the function was successful or not
*/
LCD_RESULT LCD_DisplayOFF(LCD_PCF8574_HandleTypeDef* handle);
/**
* Turns ON the cursor
* @param handle - a pointer to the LCD handle
* @param blink - if you want the cursor to blink set this to 1, else 0
* @return whether the function was successful or not
*/
LCD_RESULT LCD_CursorON(LCD_PCF8574_HandleTypeDef* handle, uint8_t blink);
/**
* Turns OFF the cursor
* @param handle - a pointer to the LCD handle
* @return whether the function was successful or not
*/
LCD_RESULT LCD_CursorOFF(LCD_PCF8574_HandleTypeDef* handle);
/**
* Shifts the cursor in the specified direction certain number of steps
* @param handle - a pointer to the LCD handle
* @param direction - specifies the direction
* @param steps - specifies how many positions to shift the cursor by
* @return whether the function was successful or not
*/
LCD_RESULT LCD_ShiftCursor(LCD_PCF8574_HandleTypeDef* handle, LCD_DIRECTION direction,uint8_t steps);
/**
* Shifts the contents of the LCD
* @param handle - a pointer to the LCD handle
* @param direction - directions of the shift
* @param steps - how many positions to shift the contents by
* @return whether the function was successful or not
*/
LCD_RESULT LCD_ShiftDisplay(LCD_PCF8574_HandleTypeDef* handle, uint8_t direction, uint8_t steps);
/**
* Writes a number to the LCD
* @param handle - a pointer to the LCD handle
* @param n - a number you want to write to the LCD
* @return whether the function was successful or not
*/
LCD_RESULT LCD_WriteNumber(LCD_PCF8574_HandleTypeDef* handle, unsigned long n, uint8_t base);
LCD_RESULT LCD_WriteFloat(LCD_PCF8574_HandleTypeDef* handle, double number, uint8_t digits);
/**
* Sets the mode by which data is written to the LCD
* @param handle - a pointer to the LCD handle
* @param direction
* @param shift
* @return whether the function was successful or not
*/
LCD_RESULT LCD_EntryModeSet(LCD_PCF8574_HandleTypeDef* handle, LCD_DIRECTION_INC_DEC direction,LCD_SHIFT shift);
/**
* Creates a custom character at the given address
* @param handle - a pointer to the LCD handle
* @param pattern - pointer to the bit pattern of the character
* @param address - an address to which the character will be written
* @return whether the function was successful or not
*/
LCD_RESULT LCD_CustomChar(LCD_PCF8574_HandleTypeDef* handle, uint8_t *pattern,uint8_t address);
/**
* Writes the current state to the PCF8574 expander
* @param handle - a pointer to the LCD handle
* @return whether the function was successful or not
*/
LCD_RESULT LCD_I2C_WriteOut(LCD_PCF8574_HandleTypeDef* handle);
/**
* Controls the state of the LCD backlight
* @param handle - a pointer to the LCD handle
* @param on - set it to 1 if you want to turn the backlight on, else 0
* @return whether the function was successful or not
*/
LCD_RESULT LCD_StateLEDControl(LCD_PCF8574_HandleTypeDef* handle, uint8_t on);
/**
* Rewrites a bit in the state variable with the value specified
* @param handle - a pointer to the LCD handle
* @param value - value of the bit (0 or 1)
* @param pin - pin which you want to write to
* @return whether the function was successful or not
*/
LCD_RESULT LCD_StateWriteBit(LCD_PCF8574_HandleTypeDef* handle, uint8_t value, LCD_PIN pin);
/**
* Waits until the busy flag is reset
* @param handle - a pointer to the LCD handle
*/
void LCD_WaitForBusyFlag(LCD_PCF8574_HandleTypeDef* handle);
#endif
#endif /* HD44780_H_ */

82
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@ -0,0 +1,82 @@
/*
* pcf8574.h
*
* Created on: Dec 30, 2014
* Author: peter
*/
#ifndef INC_PCF8574_H_
#define INC_PCF8574_H_
#include "stm32f1xx_hal.h"
/** @file pcf8574.h
* @brief In order to use this you have to create a PCF8574_HandleTypeDef variable (e.g. "pcf").
* Then you will set the the address based on the configuration of your chip (pins A0, A1, A2) ( pcf.PCF_I2C_ADDRESS ) (0 to 7),
* timeout ( pcf.PCF_I2C_TIMEOUT ) (e.g. 1000 (=1 sec)),
* I2C instance to use ( pcf.i2c.Instance ) (e.g. I2C1 or I2C2 ...),
* speed of the communication ( pcf.i2c.Init.ClockSpeed ) (e.g. 100 000 (=100kHz)).
*
* Example:
* example.c
* example_msp.c
*/
/**
* Provides possible return values for the functions
*/
typedef enum{
PCF8574_OK, /**< Everything went OK */
PCF8574_ERROR /**< An error occured */
} PCF8574_RESULT;
/** @def PCF8574_I2C_ADDRESS_MASK - Pulled from the datasheet
*/
#define PCF8574_I2C_ADDRESS_MASK 0x40
/**
* PCF8574 handle structure which wraps all the necessary variables together in
* order to simplify the communication with the chip
*/
typedef struct{
uint8_t PCF_I2C_ADDRESS; /**< address of the chip you want to communicate with */
uint32_t PCF_I2C_TIMEOUT; /**< timeout value for the communication in milliseconds */
I2C_HandleTypeDef i2c; /**< I2C_HandleTypeDef structure */
void (*errorCallback)(PCF8574_RESULT);
} PCF8574_HandleTypeDef;
/** @var PCF8574_Type0Pins[8] - characterization of pins for hardware of type 0
*/
extern uint32_t PCF8574_Type0Pins[];
/**
* Initializes the I2C for communication
* @param handle - a pointer to the PCF8574 handle
* @return whether the function was successful or not
*/
PCF8574_RESULT PCF8574_Init(PCF8574_HandleTypeDef* handle);
/**
* Deinitializes the I2C
* @param handle - a pointer to the PCF8574 handle
* @return whether the function was successful or not
*/
PCF8574_RESULT PCF8574_DeInit(PCF8574_HandleTypeDef* handle);
/**
* Writes a given value to the port of PCF8574
* @param handle - a pointer to the PCF8574 handle
* @param val - a value to be written to the port
* @return whether the function was successful or not
*/
PCF8574_RESULT PCF8574_Write(PCF8574_HandleTypeDef* handle, uint8_t val);
/**
* Reads the current state of the port of PCF8574
* @param handle - a pointer to the PCF8574 handle
* @param val - a pointer to the variable that will be assigned a value from the chip
* @return whether the function was successful or not
*/
PCF8574_RESULT PCF8574_Read(PCF8574_HandleTypeDef* handle, uint8_t* val);
#endif /* INC_PCF8574_H_ */

3
Makefile
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@ -40,6 +40,9 @@ Src/setup.c \
Src/control.c \
Src/main.c \
Src/bldc.c \
Src/eeprom.c \
Src/hd44780.c \
Src/pcf8574.c \
Src/comms.c \
Src/stm32f1xx_it.c \
Src/BLDC_controller_data.c \

15
Src/control.c
View File

@ -84,6 +84,13 @@ void PPM_Init(void) {
}
#endif
uint8_t Nunchuck_Ping(void) {
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 1, 10) == HAL_OK) {
return 1;
}
return 0;
}
void Nunchuck_Init(void) {
//-- START -- init WiiNunchuck
i2cBuffer[0] = 0xF0;
@ -101,18 +108,20 @@ void Nunchuck_Init(void) {
void Nunchuck_Read(void) {
i2cBuffer[0] = 0x00;
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
HAL_Delay(5);
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) {
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 10);
HAL_Delay(3);
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 10) == HAL_OK) {
timeout = 0;
} else {
timeout++;
}
#ifndef TRANSPOTTER
if (timeout > 3) {
HAL_Delay(50);
Nunchuck_Init();
}
#endif
//setScopeChannel(0, (int)nunchuck_data[0]);
//setScopeChannel(1, (int)nunchuck_data[1]);

730
Src/eeprom.c Normal file
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@ -0,0 +1,730 @@
/**
******************************************************************************
* @file EEPROM_Emulation/src/eeprom.c
* @author MCD Application Team
* @version V1.3.0
* @date 18-December-2015
* @brief This file provides all the EEPROM emulation firmware functions.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogroup EEPROM_Emulation
* @{
*/
/* Includes ------------------------------------------------------------------*/
#include "eeprom.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Global variable used to store variable value in read sequence */
uint16_t DataVar = 0;
/* Virtual address defined by the user: 0xFFFF value is prohibited */
extern uint16_t VirtAddVarTab[NB_OF_VAR];
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
static HAL_StatusTypeDef EE_Format(void);
static uint16_t EE_FindValidPage(uint8_t Operation);
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data);
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data);
static uint16_t EE_VerifyPageFullyErased(uint32_t Address);
/**
* @brief Restore the pages to a known good state in case of page's status
* corruption after a power loss.
* @param None.
* @retval - Flash error code: on write Flash error
* - FLASH_COMPLETE: on success
*/
uint16_t EE_Init(void)
{
uint16_t pagestatus0 = 6, pagestatus1 = 6;
uint16_t varidx = 0;
uint16_t eepromstatus = 0, readstatus = 0;
int16_t x = -1;
HAL_StatusTypeDef flashstatus;
uint32_t page_error = 0;
FLASH_EraseInitTypeDef s_eraseinit;
/* Get Page0 status */
pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
/* Get Page1 status */
pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
/* Fill EraseInit structure*/
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
s_eraseinit.PageAddress = PAGE0_ID;
s_eraseinit.NbPages = 1;
/* Check for invalid header states and repair if necessary */
switch (pagestatus0)
{
case ERASED:
if (pagestatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */
{
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
}
else if (pagestatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */
{
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
/* Mark Page1 as valid */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
else /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
{
/* Erase both Page0 and Page1 and set Page0 as valid page */
flashstatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
break;
case RECEIVE_DATA:
if (pagestatus1 == VALID_PAGE) /* Page0 receive, Page1 valid */
{
/* Transfer data from Page1 to Page0 */
for (varidx = 0; varidx < NB_OF_VAR; varidx++)
{
if (( *(__IO uint16_t*)(PAGE0_BASE_ADDRESS + 6)) == VirtAddVarTab[varidx])
{
x = varidx;
}
if (varidx != x)
{
/* Read the last variables' updates */
readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (readstatus != 0x1)
{
/* Transfer the variable to the Page0 */
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (eepromstatus != HAL_OK)
{
return eepromstatus;
}
}
}
}
/* Mark Page0 as valid */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
s_eraseinit.PageAddress = PAGE1_ID;
s_eraseinit.NbPages = 1;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
}
else if (pagestatus1 == ERASED) /* Page0 receive, Page1 erased */
{
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
s_eraseinit.PageAddress = PAGE1_ID;
s_eraseinit.NbPages = 1;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
/* Mark Page0 as valid */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
else /* Invalid state -> format eeprom */
{
/* Erase both Page0 and Page1 and set Page0 as valid page */
flashstatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
break;
case VALID_PAGE:
if (pagestatus1 == VALID_PAGE) /* Invalid state -> format eeprom */
{
/* Erase both Page0 and Page1 and set Page0 as valid page */
flashstatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
else if (pagestatus1 == ERASED) /* Page0 valid, Page1 erased */
{
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
s_eraseinit.PageAddress = PAGE1_ID;
s_eraseinit.NbPages = 1;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
}
else /* Page0 valid, Page1 receive */
{
/* Transfer data from Page0 to Page1 */
for (varidx = 0; varidx < NB_OF_VAR; varidx++)
{
if ((*(__IO uint16_t*)(PAGE1_BASE_ADDRESS + 6)) == VirtAddVarTab[varidx])
{
x = varidx;
}
if (varidx != x)
{
/* Read the last variables' updates */
readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (readstatus != 0x1)
{
/* Transfer the variable to the Page1 */
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (eepromstatus != HAL_OK)
{
return eepromstatus;
}
}
}
}
/* Mark Page1 as valid */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
s_eraseinit.PageAddress = PAGE0_ID;
s_eraseinit.NbPages = 1;
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
}
break;
default: /* Any other state -> format eeprom */
/* Erase both Page0 and Page1 and set Page0 as valid page */
flashstatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
break;
}
return HAL_OK;
}
/**
* @brief Verify if specified page is fully erased.
* @param Address: page address
* This parameter can be one of the following values:
* @arg PAGE0_BASE_ADDRESS: Page0 base address
* @arg PAGE1_BASE_ADDRESS: Page1 base address
* @retval page fully erased status:
* - 0: if Page not erased
* - 1: if Page erased
*/
uint16_t EE_VerifyPageFullyErased(uint32_t Address)
{
uint32_t readstatus = 1;
uint16_t addressvalue = 0x5555;
/* Check each active page address starting from end */
while (Address <= PAGE0_END_ADDRESS)
{
/* Get the current location content to be compared with virtual address */
addressvalue = (*(__IO uint16_t*)Address);
/* Compare the read address with the virtual address */
if (addressvalue != ERASED)
{
/* In case variable value is read, reset readstatus flag */
readstatus = 0;
break;
}
/* Next address location */
Address = Address + 4;
}
/* Return readstatus value: (0: Page not erased, 1: Page erased) */
return readstatus;
}
/**
* @brief Returns the last stored variable data, if found, which correspond to
* the passed virtual address
* @param VirtAddress: Variable virtual address
* @param Data: Global variable contains the read variable value
* @retval Success or error status:
* - 0: if variable was found
* - 1: if the variable was not found
* - NO_VALID_PAGE: if no valid page was found.
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
{
uint16_t validpage = PAGE0;
uint16_t addressvalue = 0x5555, readstatus = 1;
uint32_t address = EEPROM_START_ADDRESS, PageStartAddress = EEPROM_START_ADDRESS;
/* Get active Page for read operation */
validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
/* Check if there is no valid page */
if (validpage == NO_VALID_PAGE)
{
return NO_VALID_PAGE;
}
/* Get the valid Page start Address */
PageStartAddress = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
/* Get the valid Page end Address */
address = (uint32_t)((EEPROM_START_ADDRESS - 2) + (uint32_t)((1 + validpage) * PAGE_SIZE));
/* Check each active page address starting from end */
while (address > (PageStartAddress + 2))
{
/* Get the current location content to be compared with virtual address */
addressvalue = (*(__IO uint16_t*)address);
/* Compare the read address with the virtual address */
if (addressvalue == VirtAddress)
{
/* Get content of Address-2 which is variable value */
*Data = (*(__IO uint16_t*)(address - 2));
/* In case variable value is read, reset readstatus flag */
readstatus = 0;
break;
}
else
{
/* Next address location */
address = address - 4;
}
}
/* Return readstatus value: (0: variable exist, 1: variable doesn't exist) */
return readstatus;
}
/**
* @brief Writes/upadtes variable data in EEPROM.
* @param VirtAddress: Variable virtual address
* @param Data: 16 bit data to be written
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint16_t Status = 0;
/* Write the variable virtual address and value in the EEPROM */
Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* In case the EEPROM active page is full */
if (Status == PAGE_FULL)
{
/* Perform Page transfer */
Status = EE_PageTransfer(VirtAddress, Data);
}
/* Return last operation status */
return Status;
}
/**
* @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
* @param None
* @retval Status of the last operation (Flash write or erase) done during
* EEPROM formating
*/
static HAL_StatusTypeDef EE_Format(void)
{
HAL_StatusTypeDef flashstatus = HAL_OK;
uint32_t page_error = 0;
FLASH_EraseInitTypeDef s_eraseinit;
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
s_eraseinit.PageAddress = PAGE0_ID;
s_eraseinit.NbPages = 1;
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
/* Set Page0 as valid page: Write VALID_PAGE at Page0 base address */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
s_eraseinit.PageAddress = PAGE1_ID;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
}
return HAL_OK;
}
/**
* @brief Find valid Page for write or read operation
* @param Operation: operation to achieve on the valid page.
* This parameter can be one of the following values:
* @arg READ_FROM_VALID_PAGE: read operation from valid page
* @arg WRITE_IN_VALID_PAGE: write operation from valid page
* @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
* of no valid page was found
*/
static uint16_t EE_FindValidPage(uint8_t Operation)
{
uint16_t pagestatus0 = 6, pagestatus1 = 6;
/* Get Page0 actual status */
pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
/* Get Page1 actual status */
pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
/* Write or read operation */
switch (Operation)
{
case WRITE_IN_VALID_PAGE: /* ---- Write operation ---- */
if (pagestatus1 == VALID_PAGE)
{
/* Page0 receiving data */
if (pagestatus0 == RECEIVE_DATA)
{
return PAGE0; /* Page0 valid */
}
else
{
return PAGE1; /* Page1 valid */
}
}
else if (pagestatus0 == VALID_PAGE)
{
/* Page1 receiving data */
if (pagestatus1 == RECEIVE_DATA)
{
return PAGE1; /* Page1 valid */
}
else
{
return PAGE0; /* Page0 valid */
}
}
else
{
return NO_VALID_PAGE; /* No valid Page */
}
case READ_FROM_VALID_PAGE: /* ---- Read operation ---- */
if (pagestatus0 == VALID_PAGE)
{
return PAGE0; /* Page0 valid */
}
else if (pagestatus1 == VALID_PAGE)
{
return PAGE1; /* Page1 valid */
}
else
{
return NO_VALID_PAGE ; /* No valid Page */
}
default:
return PAGE0; /* Page0 valid */
}
}
/**
* @brief Verify if active page is full and Writes variable in EEPROM.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data)
{
HAL_StatusTypeDef flashstatus = HAL_OK;
uint16_t validpage = PAGE0;
uint32_t address = EEPROM_START_ADDRESS, pageendaddress = EEPROM_START_ADDRESS+PAGE_SIZE;
/* Get valid Page for write operation */
validpage = EE_FindValidPage(WRITE_IN_VALID_PAGE);
/* Check if there is no valid page */
if (validpage == NO_VALID_PAGE)
{
return NO_VALID_PAGE;
}
/* Get the valid Page start address */
address = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
/* Get the valid Page end address */
pageendaddress = (uint32_t)((EEPROM_START_ADDRESS - 1) + (uint32_t)((validpage + 1) * PAGE_SIZE));
/* Check each active page address starting from begining */
while (address < pageendaddress)
{
/* Verify if address and address+2 contents are 0xFFFFFFFF */
if ((*(__IO uint32_t*)address) == 0xFFFFFFFF)
{
/* Set variable data */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address, Data);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
/* Set variable virtual address */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address + 2, VirtAddress);
/* Return program operation status */
return flashstatus;
}
else
{
/* Next address location */
address = address + 4;
}
}
/* Return PAGE_FULL in case the valid page is full */
return PAGE_FULL;
}
/**
* @brief Transfers last updated variables data from the full Page to
* an empty one.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
HAL_StatusTypeDef flashstatus = HAL_OK;
uint32_t newpageaddress = EEPROM_START_ADDRESS;
uint32_t oldpageid = 0;
uint16_t validpage = PAGE0, varidx = 0;
uint16_t eepromstatus = 0, readstatus = 0;
uint32_t page_error = 0;
FLASH_EraseInitTypeDef s_eraseinit;
/* Get active Page for read operation */
validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
if (validpage == PAGE1) /* Page1 valid */
{
/* New page address where variable will be moved to */
newpageaddress = PAGE0_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
oldpageid = PAGE1_ID;
}
else if (validpage == PAGE0) /* Page0 valid */
{
/* New page address where variable will be moved to */
newpageaddress = PAGE1_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
oldpageid = PAGE0_ID;
}
else
{
return NO_VALID_PAGE; /* No valid Page */
}
/* Set the new Page status to RECEIVE_DATA status */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, RECEIVE_DATA);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
/* Write the variable passed as parameter in the new active page */
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* If program operation was failed, a Flash error code is returned */
if (eepromstatus != HAL_OK)
{
return eepromstatus;
}
/* Transfer process: transfer variables from old to the new active page */
for (varidx = 0; varidx < NB_OF_VAR; varidx++)
{
if (VirtAddVarTab[varidx] != VirtAddress) /* Check each variable except the one passed as parameter */
{
/* Read the other last variable updates */
readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (readstatus != 0x1)
{
/* Transfer the variable to the new active page */
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (eepromstatus != HAL_OK)
{
return eepromstatus;
}
}
}
}
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
s_eraseinit.PageAddress = oldpageid;
s_eraseinit.NbPages = 1;
/* Erase the old Page: Set old Page status to ERASED status */
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
/* If erase operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
/* Set new Page status to VALID_PAGE status */
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (flashstatus != HAL_OK)
{
return flashstatus;
}
/* Return last operation flash status */
return flashstatus;
}
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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Src/hd44780.c Normal file
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/*
* * hd44780.c
*
* Created on: Feb 20, 2014
* Author: Peter
*/
#include "hd44780.h"
uint32_t PCF8574_Type0Pins[8] = { 4, 5, 6, 7, 0, 1, 2, 3 };
uint8_t LCDerrorFlag = 0;
void LCD_WaitForBusyFlag(LCD_PCF8574_HandleTypeDef* handle) {
uint8_t flag;
LCD_GetBusyFlag(handle, &flag);
//uint32_t startTick=HAL_GetTick();
//while (flag == 1 && HAL_GetTick()-startTick<handle->pcf8574.PCF_I2C_TIMEOUT) {
// LCD_GetBusyFlag(handle, &flag);
//}
return;
}
LCD_RESULT LCD_I2C_WriteOut(LCD_PCF8574_HandleTypeDef* handle) {
if (!LCDerrorFlag) {
if (PCF8574_Write(&handle->pcf8574, handle->state) != PCF8574_OK) {
//handle->errorCallback(LCD_ERROR);
LCDerrorFlag = 1;
return LCD_ERROR;
}
return LCD_OK;
}
return LCD_ERROR;
}
LCD_RESULT LCD_StateLEDControl(LCD_PCF8574_HandleTypeDef* handle, uint8_t on) {
return LCD_StateWriteBit(handle, on & 1, LCD_PIN_LED);
}
LCD_RESULT LCD_StateWriteBit(LCD_PCF8574_HandleTypeDef* handle, uint8_t value,
LCD_PIN pin) {
if (value) {
handle->state |= 1 << handle->pins[pin];
} else {
handle->state &= ~(1 << handle->pins[pin]);
}
return LCD_I2C_WriteOut(handle);
}
LCD_RESULT LCD_Init(LCD_PCF8574_HandleTypeDef* handle) {
handle->D = 1;
handle->B = 0;
handle->C = 0;
if (handle->type == TYPE0) {
handle->pins = PCF8574_Type0Pins;
} else {
//handle->errorCallback(LCD_ERROR);
return LCD_ERROR; // no type of subinterface was specified
}
if (PCF8574_Init(&handle->pcf8574) != PCF8574_OK) {
//handle->errorCallback(LCD_ERROR);
return LCD_ERROR;
}
//HAL_Delay(50);
LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
LCD_StateWriteBit(handle, 0, LCD_PIN_RW);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_WriteToDataBus(handle, 3);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
HAL_Delay(1);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
HAL_Delay(5);
LCD_WriteToDataBus(handle, 3);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
HAL_Delay(1);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
HAL_Delay(1);
LCD_WriteToDataBus(handle, 3);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
HAL_Delay(1);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
HAL_Delay(1);
LCD_WriteToDataBus(handle, 2);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
HAL_Delay(1);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
HAL_Delay(1);
uint8_t cmd = 0;
cmd = cmd | (handle->NUMBER_OF_LINES << 3);
cmd = cmd | (1 << 5);
LCD_WriteCMD(handle, cmd); // setting interface
cmd = 0;
cmd = cmd | (1 << 3);
cmd = cmd | (handle->C << 1);
cmd = cmd | handle->B;
LCD_WriteCMD(handle, cmd); // setting display/cursor
LCD_ClearDisplay(handle);
LCD_EntryModeSet(handle, DIRECTION_INCREMENT, SHIFT_NO);
LCD_DisplayON(handle);
LCD_StateLEDControl(handle, 1); // LED power on
return LCD_OK;
}
LCD_RESULT LCD_WriteToDataBus(LCD_PCF8574_HandleTypeDef* handle, uint8_t data) {
if ((data & 1) == 1) {
handle->state |= 1 << handle->pins[LCD_PIN_D4];
} else {
handle->state &= ~(1 << handle->pins[LCD_PIN_D4]);
}
if ((data & 2) == 2) {
handle->state |= 1 << handle->pins[LCD_PIN_D5];
} else {
handle->state &= ~(1 << handle->pins[LCD_PIN_D5]);
}
if ((data & 4) == 4) {
handle->state |= 1 << handle->pins[LCD_PIN_D6];
} else {
handle->state &= ~(1 << handle->pins[LCD_PIN_D6]);
}
if ((data & 8) == 8) {
handle->state |= 1 << handle->pins[LCD_PIN_D7];
} else {
handle->state &= ~(1 << handle->pins[LCD_PIN_D7]);
}
return LCD_I2C_WriteOut(handle);
}
LCD_RESULT LCD_GetBusyFlag(LCD_PCF8574_HandleTypeDef* handle, uint8_t* flag) {
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
LCD_StateWriteBit(handle, 1, LCD_PIN_RW);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
//PCF8574_Read(&handle->pcf8574, flag);
//*flag &= 1 << handle->pins[LCD_PIN_D7];
//*flag >>= handle->pins[LCD_PIN_D7];
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
//uint8_t flag2;
//PCF8574_Read(&handle->pcf8574, &flag2);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_StateWriteBit(handle, 0, LCD_PIN_RW);
return LCD_OK;
}
LCD_RESULT LCD_WriteCMD(LCD_PCF8574_HandleTypeDef* handle, uint8_t cmd) {
if (!LCDerrorFlag) {
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
LCD_WriteToDataBus(handle, cmd >> 4);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_WriteToDataBus(handle, cmd);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_WaitForBusyFlag(handle);
return LCD_OK;
} return LCD_ERROR;
}
LCD_RESULT LCD_WriteDATA(LCD_PCF8574_HandleTypeDef* handle, uint8_t data) {
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_StateWriteBit(handle, 1, LCD_PIN_RS);
LCD_WriteToDataBus(handle, data >> 4);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_WriteToDataBus(handle, data);
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
LCD_WaitForBusyFlag(handle);
return LCD_OK;
}
LCD_RESULT LCD_SetLocation(LCD_PCF8574_HandleTypeDef* handle, uint8_t x,
uint8_t y) {
uint8_t add = 0x40 * y + x;
uint8_t cmd = 1 << 7;
cmd = cmd | add;
return LCD_WriteCMD(handle, cmd);
}
LCD_RESULT LCD_WriteString(LCD_PCF8574_HandleTypeDef* handle, char *s) {
int i = 0;
if (s != 0) {
while (i < 80 && s[i] != 0) {
LCD_WaitForBusyFlag(handle);
LCD_WriteDATA(handle, s[i]);
i++;
}
}
return LCD_OK;
}
LCD_RESULT LCD_ClearDisplay(LCD_PCF8574_HandleTypeDef* handle) {
return LCD_WriteCMD(handle, 1);
}
LCD_RESULT LCD_DisplayON(LCD_PCF8574_HandleTypeDef* handle) {
handle->D = 1;
uint8_t cmd = 0;
cmd = cmd | (1 << 3);
cmd = cmd | (handle->D << 2);
cmd = cmd | (handle->C << 1);
cmd = cmd | handle->B;
return LCD_WriteCMD(handle, cmd);
}
LCD_RESULT LCD_DisplayOFF(LCD_PCF8574_HandleTypeDef* handle) {
handle->D = 0;
uint8_t cmd = 0;
cmd = cmd | (1 << 3);
cmd = cmd | (handle->D << 2);
cmd = cmd | (handle->C << 1);
cmd = cmd | handle->B;
return LCD_WriteCMD(handle, cmd);
}
LCD_RESULT LCD_CursorON(LCD_PCF8574_HandleTypeDef* handle, uint8_t blink) {
handle->C = 1;
blink &= 1;
handle->B = blink;
uint8_t cmd = 0;
cmd = cmd | (1 << 3);
cmd = cmd | (handle->D << 2);
cmd = cmd | (handle->C << 1);
cmd = cmd | handle->B;
return LCD_WriteCMD(handle, cmd);
}
LCD_RESULT LCD_CursorOFF(LCD_PCF8574_HandleTypeDef* handle) {
handle->C = 0;
uint8_t cmd = 0;
cmd = cmd | (1 << 3);
cmd = cmd | (handle->D << 2);
cmd = cmd | (handle->C << 1);
cmd = cmd | handle->B;
return LCD_WriteCMD(handle, cmd);
}
LCD_RESULT LCD_ShiftCursor(LCD_PCF8574_HandleTypeDef* handle, uint8_t direction,
uint8_t steps) {
direction &= 1;
uint8_t cmd = 0;
cmd |= 1 << 4;
cmd |= direction << 2;
int i = 0;
for (i = 0; i < steps; i++) {
if (LCD_WriteCMD(handle, cmd) != LCD_OK) {
//handle->errorCallback(LCD_ERROR);
return LCD_ERROR;
}
}
return LCD_OK;
}
LCD_RESULT LCD_ShiftDisplay(LCD_PCF8574_HandleTypeDef* handle,
uint8_t direction, uint8_t steps) {
direction &= 1;
uint8_t cmd = 0;
cmd |= 1 << 4;
cmd |= 1 << 3;
cmd |= direction << 2;
int i = 0;
for (i = 0; i < steps; i++) {
if (LCD_WriteCMD(handle, cmd) != LCD_OK) {
//handle->errorCallback(LCD_ERROR);
return LCD_ERROR;
}
}
return LCD_OK;
}
LCD_RESULT LCD_WriteNumber(LCD_PCF8574_HandleTypeDef* handle, unsigned long n,
uint8_t base) {
char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
char *str = &buf[sizeof(buf) - 1];
*str = '\0';
// prevent crash if called with base == 1
if (base < 2)
base = 10;
do {
unsigned long m = n;
n /= base;
char c = m - base * n;
*--str = c < 10 ? c + '0' : c + 'A' - 10;
} while (n);
return LCD_WriteString(handle, str);
}
LCD_RESULT LCD_WriteFloat(LCD_PCF8574_HandleTypeDef* handle, double number,
uint8_t digits) {
// Handle negative numbers
if (number < 0.0) {
LCD_WriteString(handle,"-");
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
double rounding = 0.5;
for (uint8_t i = 0; i < digits; ++i)
rounding /= 10.0;
number += rounding;
// Extract the integer part of the number and print it
unsigned long int_part = (unsigned long) number;
double remainder = number - (double) int_part;
LCD_WriteNumber(handle,int_part,10);
// Print the decimal point, but only if there are digits beyond
if (digits > 0) {
LCD_WriteString(handle,".");
}
// Extract digits from the remainder one at a time
while (digits-- > 0) {
remainder *= 10.0;
int toPrint = (int)(remainder);
LCD_WriteNumber(handle,toPrint,10);
remainder -= toPrint;
}
return LCD_OK;
}
LCD_RESULT LCD_EntryModeSet(LCD_PCF8574_HandleTypeDef* handle,
LCD_DIRECTION_INC_DEC direction, LCD_SHIFT shift) {
uint8_t cmd = 0;
cmd |= 1 << 2;
cmd |= direction << 1;
cmd |= shift;
return LCD_WriteCMD(handle, cmd);
}
LCD_RESULT LCD_CustomChar(LCD_PCF8574_HandleTypeDef* handle, uint8_t *pattern,
uint8_t address) {
uint8_t a = 0;
int i = 0;
a = 8 * address;
LCD_WriteCMD(handle, a | 0x40);
for (i = 0; i < 8; i++) {
LCD_WriteDATA(handle, pattern[i]);
}
return LCD_OK;
}

509
Src/main.c
View File

@ -26,7 +26,14 @@
#include "setup.h"
#include "config.h"
#include "comms.h"
//#include "hd44780.h"
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
#include "hd44780.h"
#endif
#ifdef TRANSPOTTER
#include "eeprom.h"
#endif
// Matlab includes and defines - from auto-code generation
// ###############################################################################
@ -60,11 +67,37 @@ extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern volatile adc_buf_t adc_buffer;
//LCD_PCF8574_HandleTypeDef lcd;
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
LCD_PCF8574_HandleTypeDef lcd;
#endif
extern I2C_HandleTypeDef hi2c2;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
static UART_HandleTypeDef huart;
#ifndef TRANSPOTTER
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
static UART_HandleTypeDef huart;
#endif
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
extern uint8_t LCDerrorFlag;
#endif
#ifdef TRANSPOTTER
uint8_t nunchuck_connected = 0;
float steering;
int feedforward;
void saveConfig(void);
/* Virtual address defined by the user: 0xFFFF value is prohibited */
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337};
uint16_t VarDataTab[NB_OF_VAR] = {0};
uint16_t VarValue = 0;
uint16_t saveValue = 0;
uint16_t counter = 0;
#else
uint8_t nunchuck_connected = 1;
#endif
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
typedef struct{
@ -95,20 +128,22 @@ static SerialFeedback Feedback;
#endif
static uint8_t serialSendCounter; // serial send counter
#if defined(CONTROL_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
static uint8_t button1, button2;
#endif
uint8_t ctrlModReqRaw = CTRL_MOD_REQ;
uint8_t ctrlModReq = CTRL_MOD_REQ; // Final control mode request
static int cmd1; // normalized input value. -1000 to 1000
static int cmd2; // normalized input value. -1000 to 1000
static int16_t steer; // local variable for steering. -1000 to 1000
static int16_t speed; // local variable for speed. -1000 to 1000
static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter
static int16_t speedFixdt; // local fixed-point variable for speed low-pass filter
static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
static int cmd1; // normalized input value. -1000 to 1000
static int cmd2; // normalized input value. -1000 to 1000
static int16_t speed; // local variable for speed. -1000 to 1000
#ifndef TRANSPOTTER
static int16_t steer; // local variable for steering. -1000 to 1000
static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter
static int16_t speedFixdt; // local fixed-point variable for speed low-pass filter
static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
#endif
extern volatile int pwml; // global variable for pwm left. -1000 to 1000
extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
@ -232,6 +267,24 @@ int main(void) {
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
#ifdef TRANSPOTTER
int lastDistance = 0;
enable = 1;
uint8_t checkRemote = 0;
HAL_FLASH_Unlock();
/* EEPROM Init */
EE_Init();
EE_ReadVariable(VirtAddVarTab[0], &saveValue);
HAL_FLASH_Lock();
float setDistance = saveValue / 1000.0;
if (setDistance < 0.2) {
setDistance = 1.0;
}
#endif
#ifdef CONTROL_PPM
PPM_Init();
@ -254,7 +307,7 @@ int main(void) {
HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
#endif
#ifdef DEBUG_I2C_LCD
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
I2C_Init();
HAL_Delay(50);
lcd.pcf8574.PCF_I2C_ADDRESS = 0x27;
@ -271,11 +324,33 @@ int main(void) {
LCD_ClearDisplay(&lcd);
HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Hover V2.0");
#ifdef TRANSPOTTER
LCD_WriteString(&lcd, "TranspOtter V2.1");
#else
LCD_WriteString(&lcd, "Hover V2.0");
#endif
LCD_SetLocation(&lcd, 0, 1);
LCD_WriteString(&lcd, "Initializing...");
#endif
#if defined(TRANSPOTTER) && defined(SUPPORT_LCD)
LCD_ClearDisplay(&lcd);
HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 1);
LCD_WriteString(&lcd, "Bat:");
LCD_SetLocation(&lcd, 8, 1);
LCD_WriteString(&lcd, "V");
LCD_SetLocation(&lcd, 15, 1);
LCD_WriteString(&lcd, "A");
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Len:");
LCD_SetLocation(&lcd, 8, 0);
LCD_WriteString(&lcd, "m(");
LCD_SetLocation(&lcd, 14, 0);
LCD_WriteString(&lcd, "m)");
#endif
int16_t lastSpeedL = 0, lastSpeedR = 0;
int16_t speedL = 0, speedR = 0;
@ -288,13 +363,92 @@ int main(void) {
while(1) {
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
#ifdef CONTROL_NUNCHUCK
Nunchuck_Read();
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
#ifdef TRANSPOTTER
if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
HAL_Delay(10);
}
shortBeep(5);
HAL_Delay(300);
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
HAL_Delay(10);
}
longBeep(5);
HAL_Delay(350);
poweroff();
} else {
setDistance += 0.25;
if (setDistance > 2.6) {
setDistance = 0.5;
}
shortBeep(setDistance / 0.25);
saveValue = setDistance * 1000;
saveConfig();
}
}
button1 = (uint8_t)nunchuck_data[5] & 1;
button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
#ifdef GAMETRAK_CONNECTION_NORMAL
uint16_t distance = CLAMP((adc_buffer.l_rx2) - 180, 0, 4095);
steering = (adc_buffer.l_tx2 - 2048) / 2048.0;
#endif
#ifdef GAMETRAK_CONNECTION_ALTERNATE
uint16_t distance = CLAMP((adc_buffer.l_tx2) - 180, 0, 4095);
steering = (adc_buffer.l_rx2 - 2048) / 2048.0;
#endif
feedforward = ((distance - (int)(setDistance * 1345)));
if (nunchuck_connected == 0) {
speedL = speedL * 0.8f + (CLAMP(feedforward + ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
speedR = speedR * 0.8f + (CLAMP(feedforward - ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
if (distance - (int)(setDistance * 1345) > 0) {
enable = 1;
}
if (distance - (int)(setDistance * 1345) > -300) {
#ifdef INVERT_R_DIRECTION
pwmr = -speedR;
#endif
#ifndef INVERT_R_DIRECTION
pwmr = speedR;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
#endif
#ifndef INVERT_L_DIRECTION
pwml = speedL;
#endif
if (checkRemote) {
if (!HAL_GPIO_ReadPin(LED_PORT, LED_PIN)) {
//enable = 1;
} else {
enable = 0;
}
}
} else {
enable = 0;
}
}
lastSpeedL = speedL;
lastSpeedR = speedR;
timeout = 0;
}
#endif
#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK)
if (nunchuck_connected != 0) {
Nunchuck_Read();
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
button1 = (uint8_t)nunchuck_data[5] & 1;
button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
}
#endif
#ifdef CONTROL_PPM
@ -364,47 +518,123 @@ int main(void) {
#endif
#ifndef TRANSPOTTER
// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
shortBeep(6); // make 2 beeps indicating the motor enable
shortBeep(4); HAL_Delay(100);
enable = 1; // enable motors
}
// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
buzzerPattern = 0;
buzzerFreq = 6; HAL_Delay(100); // make 2 beeps indicating the motor enable
buzzerFreq = 4; HAL_Delay(200);
buzzerFreq = 0;
enable = 1; // enable motors
consoleLog("-- Motors enabled --\r\n");
}
// ####### LOW-PASS FILTER #######
rateLimiter16(cmd1, RATE, &steerRateFixdt);
rateLimiter16(cmd2, RATE, &speedRateFixdt);
filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt);
filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt);
steer = steerFixdt >> 4; // convert fixed-point to integer
speed = speedFixdt >> 4; // convert fixed-point to integer
// ####### LOW-PASS FILTER #######
rateLimiter16(cmd1, RATE, &steerRateFixdt);
rateLimiter16(cmd2, RATE, &speedRateFixdt);
filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt);
filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt);
steer = steerFixdt >> 4; // convert fixed-point to integer
speed = speedFixdt >> 4; // convert fixed-point to integer
// ####### MIXER #######
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above
// ####### MIXER #######
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above
// ####### SET OUTPUTS (if the target change is less than +/- 50) #######
if ((speedL > lastSpeedL-50 && speedL < lastSpeedL+50) && (speedR > lastSpeedR-50 && speedR < lastSpeedR+50) && timeout < TIMEOUT) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
#else
pwmr = -speedR;
#ifdef ADDITIONAL_CODE
ADDITIONAL_CODE;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
#else
pwml = speedL;
#endif
}
// ####### SET OUTPUTS (if the target change is less than +/- 50) #######
if ((speedL > lastSpeedL-50 && speedL < lastSpeedL+50) && (speedR > lastSpeedR-50 && speedR < lastSpeedR+50) && timeout < TIMEOUT) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
#else
pwmr = -speedR;
#endif
#ifdef INVERT_L_DIRECTION
pwml = -speedL;
#else
pwml = speedL;
#endif
}
#endif
lastSpeedL = speedL;
lastSpeedR = speedR;
#ifdef TRANSPOTTER
if (timeout > TIMEOUT) {
pwml = 0;
pwmr = 0;
enable = 0;
#ifdef SUPPORT_LCD
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Len:");
LCD_SetLocation(&lcd, 8, 0);
LCD_WriteString(&lcd, "m(");
LCD_SetLocation(&lcd, 14, 0);
LCD_WriteString(&lcd, "m)");
#endif
HAL_Delay(1000);
nunchuck_connected = 0;
}
if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
enable = 0;
longBeep(5);
#ifdef SUPPORT_LCD
LCD_ClearDisplay(&lcd);
HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Emergency Off!");
LCD_SetLocation(&lcd, 0, 1);
LCD_WriteString(&lcd, "Keeper too fast.");
#endif
poweroff();
}
#ifdef SUPPORT_NUNCHUCK
if (counter % 500 == 0) {
if (nunchuck_connected == 0 && enable == 0) {
if (Nunchuck_Ping()) {
HAL_Delay(500);
Nunchuck_Init();
#ifdef SUPPORT_LCD
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Nunchuck Control");
#endif
timeout = 0;
HAL_Delay(1000);
nunchuck_connected = 1;
}
}
}
#endif
#ifdef SUPPORT_LCD
if (counter % 100 == 0) {
if (LCDerrorFlag == 1 && enable == 0) {
} else {
if (nunchuck_connected == 0) {
LCD_SetLocation(&lcd, 4, 0);
LCD_WriteFloat(&lcd,distance/1345.0,2);
LCD_SetLocation(&lcd, 10, 0);
LCD_WriteFloat(&lcd,setDistance,2);
}
LCD_SetLocation(&lcd, 4, 1);
LCD_WriteFloat(&lcd,batVoltage, 1);
LCD_SetLocation(&lcd, 11, 1);
//LCD_WriteFloat(&lcd,MAX(ABS(currentR), ABS(currentL)),2);
}
}
#endif
counter++;
#endif
// ####### CALC BOARD TEMPERATURE #######
filtLowPass16(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
@ -415,41 +645,41 @@ int main(void) {
if (serialSendCounter > 20) { // Send data every 100 ms = 20 * 5 ms, where 5 ms is approximately the main loop duration
serialSendCounter = 0; // Reset the counter
// ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
#ifdef CONTROL_ADC
setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1
setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2
#endif
setScopeChannel(2, (int16_t)speedR); // 1: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 2: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
consoleScope();
// ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
#ifdef CONTROL_ADC
setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1
setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2
#endif
setScopeChannel(2, (int16_t)speedR); // 1: output command: [-1000, 1000]
setScopeChannel(3, (int16_t)speedL); // 2: output command: [-1000, 1000]
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
consoleScope();
// ####### FEEDBACK SERIAL OUT #######
#elif defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
if(UART_DMA_CHANNEL->CNDTR == 0) {
Feedback.start = (uint16_t)START_FRAME;
Feedback.cmd1 = (int16_t)cmd1;
Feedback.cmd2 = (int16_t)cmd2;
Feedback.speedR = (int16_t)speedR;
Feedback.speedL = (int16_t)speedL;
Feedback.speedR_meas = (int16_t)rtY_Left.n_mot;
Feedback.speedL_meas = (int16_t)rtY_Right.n_mot;
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
Feedback.boardTemp = (int16_t)board_temp_deg_c;
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL
^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp);
// ####### FEEDBACK SERIAL OUT #######
#elif defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
if(UART_DMA_CHANNEL->CNDTR == 0) {
Feedback.start = (uint16_t)START_FRAME;
Feedback.cmd1 = (int16_t)cmd1;
Feedback.cmd2 = (int16_t)cmd2;
Feedback.speedR = (int16_t)speedR;
Feedback.speedL = (int16_t)speedL;
Feedback.speedR_meas = (int16_t)rtY_Left.n_mot;
Feedback.speedL_meas = (int16_t)rtY_Right.n_mot;
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
Feedback.boardTemp = (int16_t)board_temp_deg_c;
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL
^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp);
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);
UART_DMA_CHANNEL->CMAR = (uint32_t)&Feedback;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
}
#endif
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);
UART_DMA_CHANNEL->CMAR = (uint32_t)&Feedback;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
}
#endif
}
HAL_GPIO_TogglePin(LED_PORT, LED_PIN);
@ -501,50 +731,25 @@ int main(void) {
}
}
/** System Clock Configuration
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
#ifdef TRANSPOTTER
void saveConfig() {
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0], saveValue);
HAL_FLASH_Lock();
}
#endif
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
// PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8; // 8 MHz
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV4; // 16 MHz
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
void longBeep(uint8_t freq){
buzzerFreq = freq;
HAL_Delay(500);
buzzerFreq = 0;
}
void shortBeep(uint8_t freq){
buzzerFreq = freq;
HAL_Delay(100);
buzzerFreq = 0;
}
// ===========================================================
/* Low pass filter fixed-point 16 bits: fixdt(1,16,4)
@ -661,4 +866,48 @@ void rateLimiter16(int16_t u, int16_t rate, int16_t *y)
*y = q0 + *y;
}
// ===========================================================
// ===========================================================
/** System Clock Configuration
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
// PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8; // 8 MHz
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV4; // 16 MHz
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

58
Src/pcf8574.c Normal file
View File

@ -0,0 +1,58 @@
/*
* pcf8574.c
*
* Created on: Dec 30, 2014
* Author: peter
*/
#include "pcf8574.h"
PCF8574_RESULT PCF8574_Init(PCF8574_HandleTypeDef* handle) {
handle->PCF_I2C_ADDRESS &= 0x07;
/*if (handle->i2c.State == HAL_I2C_STATE_RESET) {
handle->i2c.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
handle->i2c.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
handle->i2c.Init.DutyCycle = I2C_DUTYCYCLE_2;
handle->i2c.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
handle->i2c.Init.OwnAddress1 = 0xFE;
if (HAL_I2C_Init(&handle->i2c) != HAL_OK) {
handle->errorCallback(PCF8574_ERROR);
return PCF8574_ERROR;
}
}*/
return PCF8574_OK;
}
PCF8574_RESULT PCF8574_DeInit(PCF8574_HandleTypeDef* handle) {
HAL_I2C_DeInit(&handle->i2c);
return PCF8574_OK;
}
PCF8574_RESULT PCF8574_Write(PCF8574_HandleTypeDef* handle, uint8_t val) {
if (HAL_I2C_Master_Transmit(&handle->i2c,
(handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, &val, 1,
handle->PCF_I2C_TIMEOUT) != HAL_OK) {
//handle->errorCallback(PCF8574_ERROR);
return PCF8574_ERROR;
}
/*if (HAL_I2C_Master_Transmit_DMA(&handle->i2c,
(handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, &val, 1) != HAL_OK) {
handle->errorCallback(PCF8574_ERROR);
//<return PCF8574_ERROR;
}*/
//HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2);
return PCF8574_OK;
}
PCF8574_RESULT PCF8574_Read(PCF8574_HandleTypeDef* handle, uint8_t* val) {
if (HAL_I2C_Master_Receive(&handle->i2c,
(handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, val, 1,
handle->PCF_I2C_TIMEOUT) != HAL_OK) {
return PCF8574_ERROR;
}
return PCF8574_OK;
}

2
Src/setup.c
View File

@ -241,7 +241,7 @@ void I2C_Init(void)
HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
hi2c2.Instance = I2C2;
hi2c2.Init.ClockSpeed = 100000;
hi2c2.Init.ClockSpeed = 200000;
hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c2.Init.OwnAddress1 = 0;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;