copy own changes from old version

Inc/config.h

@@ -8,7 +8,8 @@
 
 #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.
 
-#define TIMEOUT          5          // number of wrong / missing input commands before emergency off
+#define TIMEOUT          20          // number of wrong / missing input commands before emergency off. default: 5
+//for uart control: new serial control data needs to be send within every TIMEOUT*DELAY_IN_MAIN_LOOP milliseconds, otherwise motors will be disabled
 
 // ############################### GENERAL ###############################
 
@@ -53,7 +54,7 @@
 // ############################### INPUT ###############################
 
 // ###### CONTROL VIA UART (serial) ######
-//#define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
+#define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
 #define CONTROL_BAUD       19200    // control via usart from eg an Arduino or raspberry
 // for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }
 
@@ -76,7 +77,7 @@
 
 // ###### MOTOR TEST MODE ######
 // slowly move both wheels forward and backward, ignoring all inputs
-#define CONTROL_MOTOR_TEST
+//#define CONTROL_MOTOR_TEST
 #define CONTROL_MOTOR_TEST_MAX_SPEED 300         // sweep slowly from -MAX_SPEED to MAX_SPEED (0 - 1000)
 
 // ############################### DRIVING BEHAVIOR ###############################
@@ -89,12 +90,12 @@
 // - speedR and speedL: normal driving -1000 to 1000
 // - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400
 
-#define FILTER              0.1  // lower value == softer filter. do not use values <0.01, you will get float precision issues.
-#define SPEED_COEFFICIENT   0.5  // higher value == stronger. 0.0 to ~2.0?
+#define FILTER              0.05  // lower value == softer filter. do not use values <0.01, you will get float precision issues.
+#define SPEED_COEFFICIENT   1  // higher value == stronger. 0.0 to ~2.0?
 #define STEER_COEFFICIENT   0.5  // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
-#define INVERT_R_DIRECTION
-#define INVERT_L_DIRECTION
-#define BEEPS_BACKWARD 1    // 0 or 1
+//#define INVERT_R_DIRECTION
+//#define INVERT_L_DIRECTION
+#define BEEPS_BACKWARD 0    // 0 or 1
 
 //Turbo boost at high speeds while button1 is pressed:
 //#define ADDITIONAL_CODE \

Makefile

@@ -50,7 +50,7 @@ startup_stm32f103xe.s
 #######################################
 # binaries
 #######################################
-PREFIX = arm-none-eabi-
+PREFIX = ~/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-
 CC = $(PREFIX)gcc
 AS = $(PREFIX)gcc -x assembler-with-cpp
 CP = $(PREFIX)objcopy

Src/control.c

@@ -8,7 +8,8 @@
 
 TIM_HandleTypeDef TimHandle;
 uint8_t ppm_count = 0;
-uint32_t timeout = 100;
+//uint32_t timeout = 100;
+uint32_t timeout = 0; //start with 0, because if once timeout>TIMEOUT board will stay disabled
 uint8_t nunchuck_data[6] = {0};
 
 uint8_t i2cBuffer[2];

Src/main.c

@@ -44,6 +44,7 @@ typedef struct{
    int16_t steer;
    int16_t speed;
    //uint32_t crc;
+   uint8_t checksum; //simple checksum for error handling and connection break check. 0 disables motors
 } Serialcommand;
 
 volatile Serialcommand command;
@@ -157,7 +158,7 @@ int main(void) {
 
   #ifdef CONTROL_SERIAL_USART2
     UART_Control_Init();
-    HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 4);
+    HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 5); //size 5= 2x16bit + 1x8bit (checksum)
   #endif
 
   #ifdef DEBUG_I2C_LCD
@@ -219,10 +220,23 @@ int main(void) {
     #endif
 
     #ifdef CONTROL_SERIAL_USART2
-      cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
-      cmd2 = CLAMP((int16_t)command.speed, -1000, 1000);
+      uint8_t calcchecksum = ((uint8_t) ((uint8_t)command.steer)*((uint8_t)command.speed)); //simple checksum
+      if (calcchecksum==0 || calcchecksum==255){ calcchecksum=1; } //cannot be 0 or 255 (special purpose)
 
-      timeout = 0;
+      if (command.checksum==0 || command.checksum==calcchecksum){ //motor off or correct checksum
+      	if (timeout<TIMEOUT){ //reset only if no error detected
+      		timeout = 0; //values ok, reset timeout
+      	}
+
+        cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
+        cmd2 = CLAMP((int16_t)command.speed, -1000, 1000);
+        if (command.checksum==0){ //received checksum 0 disables motors
+          enable=0;
+        }else{ //checksum ok and not intended to disable motors
+          enable=1;
+        }
+      }
+      command.checksum=255; //set 255 as flag "values read"
     #endif
 
     #ifdef CONTROL_MOTOR_TEST
@@ -326,7 +340,10 @@ int main(void) {
     }
 
     main_loop_counter += 1;
-    timeout++;
+
+    if (timeout<=TIMEOUT+10){ //do not increase if value is high enough (prevent overflow)
+      timeout++; //timeout>TIMEOUT disables motors
+    }
   }
 }