Merge pull request #10 from EmanuelFeru/hovercar-variant

Hovercar variant
EFeru · Dec 7, 2020 · b5de1a6 · b5de1a6
2 parents d80bde1 + 46d10a0
commit b5de1a6
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diff --git a/.travis.yml b/.travis.yml
@@ -45,14 +45,13 @@ jobs:
       - export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
       before_script: arm-none-eabi-gcc --version
 
-    # # Not yet supportted, see https://community.platformio.org/t/build-gd32-project-with-platformio/11944
-    # - name: platformio
-      # script: platformio run
-      # language: python
-      # python:
-      # - "2.7"
-      # install:
-      # - pip install -U platformio
-      # - platformio update
-      # cache:
-      # - directories: "~/.platformio"
+    - name: platformio
+      script: platformio run
+      language: python
+      python:
+      - "2.7"
+      install:
+      - pip install -U platformio
+      - platformio update
+      cache:
+      - directories: "~/.platformio"
diff --git a/Inc/config.h b/Inc/config.h
@@ -27,8 +27,9 @@
 // Ubuntu: define the desired build variant here if you want to use make in console
 // or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_DEBUG". Select only one at a time.
 #if !defined(PLATFORMIO)
-  // #define VARIANT_DEBUG                       // Variant for debugging and checking the capabilities of the side-board
-  // #define VARIANT_HOVERBOARD                  // Variant for using the side-boards connected to the Hoverboard mainboard
+  // #define VARIANT_DEBUG                    // Variant for debugging and checking the capabilities of the side-board
+  // #define VARIANT_HOVERCAR                 // Variant for using the side-boards connected to the Hoverboard mainboard
+  // #define VARIANT_HOVERBOARD               // Variant for using the side-boards connected to the Hoverboard mainboard
 #endif
 
 /* ==================================== DO NOT TOUCH SETTINGS ==================================== */
@@ -40,7 +41,6 @@
 // #define PRINTF_FLOAT_SUPPORT                  // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
 /* =============================================================================================== */
 
-
 /* ==================================== SETTINGS MPU-6050 ==================================== */
 #define MPU_SENSOR_ENABLE                     // [-] Enable flag for MPU-6050 sensor. Comment-out this flag to Disable the MPU sensor and reduce code size.
 #define MPU_DMP_ENABLE                        // [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality.
@@ -59,32 +59,57 @@
 #define DMP_SHAKE_REJECT_TIME     40          // [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
 #define DMP_SHAKE_REJECT_TIMEOUT  10          // [ms] Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter.
 
-
 /* ==================================== SETTINGS USART ==================================== */
-#if defined(VARIANT_DEBUG)
-  #define SERIAL_DEBUG                        // [-] Define for Serial Debug via the serial port
-#elif defined(VARIANT_HOVERBOARD)
-  #define SERIAL_CONTROL                      // [-] Define for Serial Control via the serial port
-  #define SERIAL_FEEDBACK                     // [-] Define for Serial Feedback via the serial port
-#endif
-#define USART_MAIN_BAUD           38400       // [bit/s] MAIN Serial Tx/Rx baud rate
 #define SERIAL_START_FRAME        0xABCD      // [-] Start frame definition for reliable serial communication
 #define SERIAL_BUFFER_SIZE        64          // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the 'Feedback' structure size
 #define SERIAL_TIMEOUT            600         // [-] Number of wrong received data for Serial timeout detection. Depends on DELAY_IN_MAIN_LOOP
-
+#define USART_MAIN_BAUD           115200      // [bit/s] MAIN Serial Tx/Rx baud rate
+#define USART_AUX_BAUD            115200      // [bit/s] AUX Serial Tx/Rx baud rate
 
 /* ==================================== SETTINGS AUX ==================================== */
 // #define AUX45_USE_GPIO                        // [-] Use AUX4, AUX5 as GPIO ports
 // #define AUX45_USE_I2C                         // [-] Use AUX4, AUX5 as I2C port
-#define AUX45_USE_USART                       // [-] Use AUX4, AUX5 as USART port
-#ifdef AUX45_USE_USART
-  #define USART_AUX_BAUD          38400       // [bit/s] AUX Serial Tx/Rx baud rate
-#endif
 #ifdef AUX45_USE_I2C
   #define AUX_I2C_SPEED           100000      // [bit/s] Define I2C speed for communicating via AUX45 wires
 #endif
 
 
+
+/* ==================================== VARIANT DEBUG ==================================== */
+#ifdef VARIANT_DEBUG
+  #define SERIAL_DEBUG                        // [-] Define for Serial Debug via the serial port
+  #define SERIAL_AUX_RX                       // [-] Use AUX4, AUX5 as USART port
+  // #define SERIAL_AUX_TX                       // [-] Use AUX4, AUX5 as USART port
+
+  #define CONTROL_IBUS
+  #define IBUS_NUM_CHANNELS   14              // Total number of IBUS channels to receive, even if they are not used.
+  #define IBUS_LENGTH         0x20
+  #define IBUS_COMMAND        0x40
+#endif
+
+
+/* ==================================== VARIANT HOVERCAR ==================================== */
+#ifdef VARIANT_HOVERCAR
+  #define SERIAL_CONTROL                      // [-] Define for Serial Control via the serial port
+  #define SERIAL_FEEDBACK                     // [-] Define for Serial Feedback via the serial port
+  #define SERIAL_AUX_RX                       // [-] Use AUX4, AUX5 as USART port
+  // #define SERIAL_AUX_TX                       // [-] Use AUX4, AUX5 as USART port
+
+  #define CONTROL_IBUS
+  #define IBUS_NUM_CHANNELS   14              // Total number of IBUS channels to receive, even if they are not used.
+  #define IBUS_LENGTH         0x20
+  #define IBUS_COMMAND        0x40
+#endif
+
+
+/* ==================================== VARIANT HOVERBOARD ==================================== */
+#ifdef VARIANT_HOVERBOARD
+  #define SERIAL_CONTROL                      // [-] Define for Serial Control via the serial port
+  #define SERIAL_FEEDBACK                     // [-] Define for Serial Feedback via the serial port
+#endif
+
+
+
 /* ==================================== VALIDATE SETTINGS ==================================== */
 #if defined(SERIAL_DEBUG) && defined(SERIAL_CONTROL)
   #error SERIAL_DEBUG and SERIAL_CONTROL not allowed. It is on the same cable.
@@ -94,7 +119,8 @@
   #error SERIAL_DEBUG and SERIAL_FEEDBACK not allowed. It is on the same cable.
 #endif
 
-#if defined(AUX45_USE_GPIO) && (defined(AUX45_USE_USART) || defined(AUX45_USE_I2C)) || (defined(AUX45_USE_USART) && defined(AUX45_USE_I2C))
+#if defined(AUX45_USE_GPIO) && (defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX) || defined(AUX45_USE_I2C)) \
+  || ((defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX)) && defined(AUX45_USE_I2C))
   #error AUX45_USE_(GPIO,USART,I2C) not allowed in the same time. It is on the same cable.
 #endif
 

diff --git a/Inc/defines.h b/Inc/defines.h
@@ -28,156 +28,158 @@
 #include "util.h"
 
 #if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
-	asm(".global _printf_float"); 		// this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
+    asm(".global _printf_float");       // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
 #endif
 
 /* =========================== Defines General =========================== */
-// #define _BV(bit) 					(1 << (bit)) 
-#define ARRAY_LEN(x) 				(uint32_t)(sizeof(x) / sizeof(*(x)))
-#define min(a, b) 					(((a) < (b)) ? (a) : (b))
-#define max(a, b) 					(((a) > (b)) ? (a) : (b))
-#define i2c_write   				i2c_writeBytes
-#define i2c_read    				i2c_readBytes 
-#define delay_ms    				delay_1ms
-#define get_ms      				get_tick_count_ms
-#define log_i       				printf			// redirect the log_i debug function to printf
+// #define _BV(bit)                     (1 << (bit)) 
+#define ARRAY_LEN(x)                (uint32_t)(sizeof(x) / sizeof(*(x)))
+#define CLAMP(x, low, high)         (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
+#define min(a, b)                   (((a) < (b)) ? (a) : (b))
+#define max(a, b)                   (((a) > (b)) ? (a) : (b))
+#define i2c_write                   i2c_writeBytes
+#define i2c_read                    i2c_readBytes 
+#define delay_ms                    delay_1ms
+#define get_ms                      get_tick_count_ms
+#define log_i                       printf          // redirect the log_i debug function to printf
 
 
 /* =========================== Defines LEDs =========================== */
-#define LED1_GPIO_Port 				GPIOA
-#define LED1_Pin 					GPIO_PIN_0		// RED
-#define LED2_GPIO_Port 				GPIOB
-#define LED2_Pin 					GPIO_PIN_9		// GREEN
-#define LED3_GPIO_Port 				GPIOB
-#define LED3_Pin 					GPIO_PIN_8		// YELLOW
-#define LED4_GPIO_Port 				GPIOB
-#define LED4_Pin 					GPIO_PIN_5		// BLUE1
-#define LED5_GPIO_Port 				GPIOB
-#define LED5_Pin 					GPIO_PIN_4		// BLUE2
-
-#define LED1_SET     				(0x01)
-#define LED2_SET     				(0x02)
-#define LED3_SET     				(0x04)
-#define LED4_SET     				(0x08)
-#define LED5_SET     				(0x10)
+#define LED1_GPIO_Port              GPIOA
+#define LED1_Pin                    GPIO_PIN_0      // RED
+#define LED2_GPIO_Port              GPIOB
+#define LED2_Pin                    GPIO_PIN_9      // GREEN
+#define LED3_GPIO_Port              GPIOB
+#define LED3_Pin                    GPIO_PIN_8      // YELLOW
+#define LED4_GPIO_Port              GPIOB
+#define LED4_Pin                    GPIO_PIN_5      // BLUE1
+#define LED5_GPIO_Port              GPIOB
+#define LED5_Pin                    GPIO_PIN_4      // BLUE2
+
+#define LED1_SET                    (0x01)
+#define LED2_SET                    (0x02)
+#define LED3_SET                    (0x04)
+#define LED4_SET                    (0x08)
+#define LED5_SET                    (0x10)
 
 
 /* =========================== Defines SENSORS =========================== */
-#define SENSOR1_GPIO_Port 			GPIOA
-#define SENSOR1_Pin 				GPIO_PIN_4
-#define SENSOR2_GPIO_Port 			GPIOC
-#define SENSOR2_Pin 				GPIO_PIN_14
+#define SENSOR1_GPIO_Port           GPIOA
+#define SENSOR1_Pin                 GPIO_PIN_4
+#define SENSOR2_GPIO_Port           GPIOC
+#define SENSOR2_Pin                 GPIO_PIN_14
 
 
 /* =========================== Defines USART =========================== */
-#define USART_GPIO_PORT     		GPIOA
-#define USART_GPIO_CLK      		RCU_GPIOA
-#define USART_AF            		GPIO_AF_1
+#define USART_GPIO_PORT             GPIOA
+#define USART_GPIO_CLK              RCU_GPIOA
+#define USART_AF                    GPIO_AF_1
 
 // USART ports number
-#define USARTn              		2
-
-
-// USART to Auxiliary, connected to USART0
-#define USART_AUX           		USART0
-#define USART_AUX_CLK       		RCU_USART0
-#define USART_AUX_TX_PIN   			GPIO_PIN_9
-#define USART_AUX_RX_PIN    		GPIO_PIN_10
-
-
-// USART to Mainboard, connected to USART1
-#define USART_MAIN     				USART1
-#define USART_MAIN_CLK    			RCU_USART1
-#define USART_MAIN_TX_PIN   		GPIO_PIN_2
-#define USART_MAIN_RX_PIN   		GPIO_PIN_3
-
-// USART address for DMA defines
-#define USART0_TDATA_ADDRESS    	((uint32_t)0x40013828)  // USART0: 0x4001 3800 - 0x4001 3BFF
-#define USART0_RDATA_ADDRESS    	((uint32_t)0x40013824)
-#define USART1_TDATA_ADDRESS   	 	((uint32_t)0x40004428) 	// USART1: 0x4000 4400 - 0x4000 47FF
-#define USART1_RDATA_ADDRESS    	((uint32_t)0x40004424)
-
+#define USARTn                      2
+
+// USART AUX, connected to USART0
+#define USART_AUX                   USART0
+#define USART0_CLK                  RCU_USART0
+#define USART0_TX_PIN               GPIO_PIN_9
+#define USART0_RX_PIN               GPIO_PIN_10
+#define USART0_TX_DMA_CH            DMA_CH1
+#define USART0_RX_DMA_CH            DMA_CH2
+#define USART0_TDATA_ADDRESS        ((uint32_t)0x40013828)  // USART0: 0x4001 3800 - 0x4001 3BFF, Rx offset: 0x28, Tx offset: 0x24
+#define USART0_RDATA_ADDRESS        ((uint32_t)0x40013824)
+
+// USART MAIN, connected to USART1
+#define USART_MAIN                  USART1
+#define USART1_CLK                  RCU_USART1
+#define USART1_TX_PIN               GPIO_PIN_2
+#define USART1_RX_PIN               GPIO_PIN_3
+#define USART1_TX_DMA_CH            DMA_CH3
+#define USART1_RX_DMA_CH            DMA_CH4
+#define USART1_TDATA_ADDRESS        ((uint32_t)0x40004428)  // USART1: 0x4000 4400 - 0x4000 47FF, Rx offset: 0x28, Tx offset: 0x24
+#define USART1_RDATA_ADDRESS        ((uint32_t)0x40004424)
+
+#define PRINT_AUX                   (0x01)
 
 /* =========================== Defines AUX =========================== */
-#define AUX1_PU_GPIO_Port			GPIOC
-#define AUX1_PU_Pin					GPIO_PIN_15
-#define AUX2_GPIO_Port 				GPIOA
-#define AUX2_Pin 					GPIO_PIN_1
-#define AUX3_GPIO_Port 				GPIOB
-#define AUX3_Pin 					GPIO_PIN_10
+#define AUX1_PU_GPIO_Port           GPIOC
+#define AUX1_PU_Pin                 GPIO_PIN_15
+#define AUX2_GPIO_Port              GPIOA
+#define AUX2_Pin                    GPIO_PIN_1
+#define AUX3_GPIO_Port              GPIOB
+#define AUX3_Pin                    GPIO_PIN_10
 #ifdef AUX45_USE_GPIO
-	#define AUX4_GPIO_Port 			GPIOA
-	#define AUX4_Pin 				GPIO_PIN_10
-	#define AUX5_GPIO_Port 			GPIOA
-	#define AUX5_Pin 				GPIO_PIN_9
+    #define AUX4_GPIO_Port          GPIOA
+    #define AUX4_Pin                GPIO_PIN_10
+    #define AUX5_GPIO_Port          GPIOA
+    #define AUX5_Pin                GPIO_PIN_9
 #endif
 
 
 /* =========================== Defines I2C =========================== */
 typedef enum {READ = 0, WRITE = !READ} i2c_cmd;
-#define MPU_I2C 					I2C0
-#define MPU_RCU_I2C					RCU_I2C0
-#define MPU_SCL_GPIO_Port 			GPIOB
-#define MPU_SCL_Pin 				GPIO_PIN_6
-#define MPU_SDA_GPIO_Port 			GPIOB
-#define MPU_SDA_Pin 				GPIO_PIN_7
-#define I2C_OWN_ADDRESS7    		0x24
+#define MPU_I2C                     I2C0
+#define MPU_RCU_I2C                 RCU_I2C0
+#define MPU_SCL_GPIO_Port           GPIOB
+#define MPU_SCL_Pin                 GPIO_PIN_6
+#define MPU_SDA_GPIO_Port           GPIOB
+#define MPU_SDA_Pin                 GPIO_PIN_7
+#define I2C_OWN_ADDRESS7            0x24
 
 #ifdef AUX45_USE_I2C
-	#define AUX_I2C 				I2C1
-	#define AUX_RCU_I2C				RCU_I2C1
-	#define AUX_SCL_GPIO_Port 		GPIOA
-	#define AUX_SCL_Pin 			GPIO_PIN_9
-	#define AUX_SDA_GPIO_Port 		GPIOA
-	#define AUX_SDA_Pin 			GPIO_PIN_10
-	#define AUX_I2C_OWN_ADDRESS7 	0x34
+    #define AUX_I2C                 I2C1
+    #define AUX_RCU_I2C             RCU_I2C1
+    #define AUX_SCL_GPIO_Port       GPIOA
+    #define AUX_SCL_Pin             GPIO_PIN_9
+    #define AUX_SDA_GPIO_Port       GPIOA
+    #define AUX_SDA_Pin             GPIO_PIN_10
+    #define AUX_I2C_OWN_ADDRESS7    0x34
 #endif
 
 /* =========================== Defines MPU-6050 =========================== */
-#define RAD2DEG 					57.295779513082323  	// RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
-#define q30 						1073741824  			// 1073741824 = 2^30
-#define ACCEL_ON        			(0x01)
-#define GYRO_ON         			(0x02)
-#define COMPASS_ON      			(0x04)
-
-#define PRINT_ACCEL     			(0x01)
-#define PRINT_GYRO      			(0x02)
-#define PRINT_QUAT      			(0x04)
-#define PRINT_EULER     			(0x08)
-#define PRINT_TEMP     				(0x10)
-#define PRINT_PEDO      			(0x20)
+#define RAD2DEG                     57.295779513082323      // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
+#define q30                         1073741824              // 1073741824 = 2^30
+#define ACCEL_ON                    (0x01)
+#define GYRO_ON                     (0x02)
+#define COMPASS_ON                  (0x04)
+
+#define PRINT_ACCEL                 (0x01)
+#define PRINT_GYRO                  (0x02)
+#define PRINT_QUAT                  (0x04)
+#define PRINT_EULER                 (0x08)
+#define PRINT_TEMP                  (0x10)
+#define PRINT_PEDO                  (0x20)
 
 typedef struct{
-	int16_t  	x;
-	int16_t  	y;
-	int16_t  	z; 
+    int16_t     x;
+    int16_t     y;
+    int16_t     z; 
 } Gyro;
 
 typedef struct{
-	int16_t  	x;
-	int16_t  	y;
-	int16_t  	z; 
+    int16_t     x;
+    int16_t     y;
+    int16_t     z; 
 } Accel;
 
 typedef struct{
-	int32_t  	w;
-	int32_t  	x;
-	int32_t  	y;
-	int32_t  	z; 
+    int32_t     w;
+    int32_t     x;
+    int32_t     y;
+    int32_t     z; 
 } Quaternion;
 
 typedef struct{
-	int16_t  	roll;
-	int16_t  	pitch;
-	int16_t  	yaw;
+    int16_t     roll;
+    int16_t     pitch;
+    int16_t     yaw;
 } Euler;
 
 typedef struct {
-	Gyro 		gyro;
-	Accel 		accel;
-	Quaternion 	quat;
-	Euler 		euler;
-	int16_t 	temp;
+    Gyro        gyro;
+    Accel       accel;
+    Quaternion  quat;
+    Euler       euler;
+    int16_t     temp;
 } MPU_Data;
 
 #endif //  DEFINES_H