ADD: re-initialize I2C after comms error
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8be7681ebf
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ca525abe96
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@ -74,4 +74,11 @@ else { \
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// #define SPEED_COEFFICIENT 0.5
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// #define STEER_COEFFICIENT -0.2
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// #define ADDITIONAL_CODE if (button1 && scale > 0.8) { /* field weakening at high speeds */ \
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weakl = speedL - 600; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = speedR - 600; } \
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else {\
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weakl = 0;\
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weakr = 0;
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// #define BEEPS_BACKWARD
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@ -76,13 +76,18 @@ void Nunchuck_Init() {
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void Nunchuck_Read() {
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i2cBuffer[0] = 0x00;
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HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
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HAL_Delay(2);
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HAL_Delay(5);
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if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) {
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timeout = 0;
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} else {
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timeout++;
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}
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if (timeout > 3) {
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HAL_Delay(50);
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Nunchuck_Init();
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}
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//setScopeChannel(0, (int)nunchuck_data[0]);
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//setScopeChannel(1, (int)nunchuck_data[1]);
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//setScopeChannel(2, (int)nunchuck_data[5] & 1);
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51
Src/main.c
51
Src/main.c
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@ -23,6 +23,7 @@
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#include "defines.h"
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#include "setup.h"
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#include "config.h"
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//#include "hd44780.h"
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void SystemClock_Config(void);
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@ -32,11 +33,15 @@ extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc2;
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extern volatile adc_buf_t adc_buffer;
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extern volatile adc_buf_t adc_buffer;
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//LCD_PCF8574_HandleTypeDef lcd;
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extern I2C_HandleTypeDef hi2c2;
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int cmd1;
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int cmd2;
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int cmd3;
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uint8_t button1, button2;
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int steer; // global variable for steering. -1000 to 1000
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int speed; // global variable for speed. -1000 to 1000
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@ -87,7 +92,10 @@ int main(void) {
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MX_TIM_Init();
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MX_ADC1_Init();
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MX_ADC2_Init();
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UART_Init();
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#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
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UART_Init();
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#endif
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HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
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@ -115,23 +123,48 @@ int main(void) {
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Nunchuck_Init();
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#endif
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#ifdef DEBUG_I2C_LCD
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I2C_Init();
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HAL_Delay(50);
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lcd.pcf8574.PCF_I2C_ADDRESS = 0x27;
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lcd.pcf8574.PCF_I2C_TIMEOUT = 5;
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lcd.pcf8574.i2c = hi2c2;
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lcd.NUMBER_OF_LINES = NUMBER_OF_LINES_2;
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lcd.type = TYPE0;
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if(LCD_Init(&lcd)!=LCD_OK){
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// error occured
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//TODO while(1);
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}
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LCD_ClearDisplay(&lcd);
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HAL_Delay(5);
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LCD_SetLocation(&lcd, 0, 0);
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LCD_WriteString(&lcd, "Hover V2.0");
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LCD_SetLocation(&lcd, 0, 1);
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LCD_WriteString(&lcd, "Initializing...");
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#endif
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enable = 1;
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while(1) {
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HAL_Delay(2);
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HAL_Delay(5);
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#ifdef CONTROL_NUNCHUCK
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Nunchuck_Read();
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cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
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cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis
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uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
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uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
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button1 = (uint8_t)nunchuck_data[5] & 1;
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button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
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#endif
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#ifdef CONTROL_PPM
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cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, -1000, 1000);
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cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, -1000, 1000);
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button1 = ppm_captured_value[5] > 500;
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float scale = ppm_captured_value[2] / 1000.0f;
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#endif
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#ifdef CONTROL_ADC
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@ -141,17 +174,11 @@ int main(void) {
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timeout = 0;
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#endif
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// ####### ADDITIONAL CODE #######
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#ifdef ADDITIONAL_CODE
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ADDITIONAL_CODE;
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#endif
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// ####### LOW-PASS FILTER #######
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steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
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speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
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setScopeChannel(0, (int)speed);
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setScopeChannel(1, (int)steer);
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// ####### MIXER #######
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speedR = CLAMP(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT, -1000, 1000);
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@ -160,6 +187,10 @@ int main(void) {
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setScopeChannel(2, (int)speedR);
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setScopeChannel(3, (int)speedL);
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#ifdef ADDITIONAL_CODE
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ADDITIONAL_CODE;
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#endif
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// ####### SET OUTPUTS #######
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if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
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pwmr = speedR;
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1656
build/hover.hex
1656
build/hover.hex
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