forked from krisstakos/Hoverboard-Firmware-Hack-Gen2.1
-
Notifications
You must be signed in to change notification settings - Fork 27
/
hoverserial.h
262 lines (228 loc) · 8.15 KB
/
hoverserial.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
/*
// Variables todo
uint8_t upperLEDMaster = 0;
uint8_t lowerLEDMaster = 0;
uint8_t mosfetOutMaster = 0;
uint8_t upperLEDSlave = 0;
uint8_t lowerLEDSlave = 0;
uint8_t mosfetOutSlave = 0;
uint8_t beepsBackwards = 0;
uint8_t activateWeakening = 0;
*/
template <typename O,typename I> void HoverSetupEsp32(O& oSerial, I iBaud, I pin_RX, I pin_TX)
{
// Serial2.begin(baud-rate, protocol, RX pin, TX pin);
oSerial.begin(iBaud, SERIAL_8N1, pin_RX, pin_TX); //Serial1 = 0, 4 Serial2 = 16,17;
}
template <typename O,typename I> void HoverSetupArduino(O& oSerial, I iBaud)
{
oSerial.begin(iBaud);
}
uint16_t CalcCRC(uint8_t *ptr, int count)
{
uint16_t crc;
uint8_t i;
crc = 0;
while (--count >= 0)
{
crc = crc ^ (uint16_t) *ptr++ << 8;
i = 8;
do
{
if (crc & 0x8000)
{
crc = crc << 1 ^ 0x1021;
}
else
{
crc = crc << 1;
}
} while(--i);
}
return (crc);
}
#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
#ifdef REMOTE_UARTBUS
typedef struct __attribute__((packed, aligned(1))) {
uint16_t cStart = START_FRAME; // = '/';
uint8_t iSlave; // the slave id this message is sent from
int16_t iSpeed; // 100* km/h
uint16_t iVolt; // 100* V
int16_t iAmp; // 100* A
int32_t iOdom; // hall steps
uint16_t checksum;
} SerialHover2Server;
//typedef struct{ // new version
// uint16_t cStart = START_FRAME; // new version
typedef struct __attribute__((packed, aligned(1))) { // old version
uint8_t cStart = '/';
uint8_t iDataType = 0; // unique id for this data struct
uint8_t iSlave; // contains the slave id this message is intended for
int16_t iSpeed = 0;
uint8_t wState = 0; // 1=ledGreen, 2=ledOrange, 4=ledRed, 8=ledUp, 16=ledDown , 32=Battery3Led, 64=Disable, 128=ShutOff
uint16_t checksum;
} SerialServer2Hover;
typedef struct __attribute__((packed, aligned(1))) { // old version
uint8_t cStart = '/';
uint8_t iDataType = 1; // unique id for this data struct
uint8_t iSlave; // contains the slave id this message is intended for
int16_t iSpeed = 0;
int16_t iSteer = 0;
uint8_t wState = 0; // 1=ledGreen, 2=ledOrange, 4=ledRed, 8=ledUp, 16=ledDown , 32=Battery3Led, 64=Disable, 128=ShutOff
uint8_t wStateSlave = 0; // 1=ledGreen, 2=ledOrange, 4=ledRed, 8=ledUp, 16=ledDown , 32=Battery3Led, 64=Disable, 128=ShutOff
uint16_t checksum;
} SerialServer2HoverMaster;
template <typename O,typename D> void HoverSendData(O& oSerial, D& oData)
{
oData.checksum = CalcCRC((uint8_t*)&oData, sizeof(oData)-2); // first bytes except crc
oSerial.write((uint8_t*) &oData, sizeof(oData));
//DEBUGN(oData.iSlave, sizeof(oData));
}
template <typename O,typename I> void HoverSend(O& oSerial, uint8_t iSlave, I iSpeed, uint8_t wState=32)
{
//DEBUGT("iSteer",iSteer);DEBUGN("iSpeed",iSpeed);
SerialServer2Hover oData;
oData.iSlave = iSlave;
oData.iSpeed = (int16_t)iSpeed;
oData.wState = wState;
oData.checksum = CalcCRC((uint8_t*)&oData, sizeof(SerialServer2Hover)-2); // first bytes except crc
oSerial.write((uint8_t*) &oData, sizeof(SerialServer2Hover));
//DebugOut((uint8_t*) &oData, sizeof(oData));
}
void HoverLog(SerialHover2Server& oData)
{
DEBUGT("iSlave",oData.iSlave);
DEBUGT("iOdom",oData.iOdom);
DEBUGT("\tiSpeed",(float)oData.iSpeed/100.0);
DEBUGT("\tiAmp",(float)oData.iAmp/100.0);
DEBUGN("\tiVolt",(float)oData.iVolt/100.0);
}
#else
typedef struct __attribute__((packed, aligned(1))) {
uint16_t cStart = START_FRAME; // = '/';
int16_t iSpeedL; // 100* km/h
int16_t iSpeedR; // 100* km/h
uint16_t iVolt; // 100* V
int16_t iAmpL; // 100* A
int16_t iAmpR; // 100* A
int32_t iOdomL; // hall steps
int32_t iOdomR; // hall steps
uint16_t checksum;
} SerialHover2Server;
//typedef struct{ // new version
// uint16_t cStart = START_FRAME; // new version
typedef struct __attribute__((packed, aligned(1))) { // old version
uint8_t cStart = '/'; // old version
int16_t iSpeed = 0;
int16_t iSteer = 0;
uint8_t wStateMaster = 0; // 1=ledGreen, 2=ledOrange, 4=ledRed, 8=ledUp, 16=ledDown , 32=Battery3Led, 64=Disable, 128=ShutOff
uint8_t wStateSlave = 0; // 1=ledGreen, 2=ledOrange, 4=ledRed, 8=ledUp, 16=ledDown , 32=Battery3Led, 64=Disable, 128=ShutOff
uint16_t checksum;
} SerialServer2Hover;
template <typename O,typename I> void HoverSend(O& oSerial, I iSteer, I iSpeed,uint8_t wStateMaster=32, uint8_t wStateSlave=0)
{
//DEBUGT("iSteer",iSteer);DEBUGN("iSpeed",iSpeed);
SerialServer2Hover oData;
oData.iSpeed = (int16_t)iSpeed;
oData.iSteer = (int16_t)iSteer;
oData.wStateMaster = wStateMaster;
oData.wStateSlave = wStateSlave;
oData.checksum = CalcCRC((uint8_t*)&oData, sizeof(SerialServer2Hover)-2); // first bytes except crc
oSerial.write((uint8_t*) &oData, sizeof(SerialServer2Hover));
//DebugOut((uint8_t*) &oData, sizeof(oData));
}
template <typename O,typename I> void HoverSendLR(O& oSerial, I iSpeedLeft, I iSpeedRight) // -1000 .. +1000
{
// speed coeff in config.h must be 1.0 : (DEFAULT_)SPEED_COEFFICIENT 16384
// steer coeff in config.h must be 0.5 : (DEFAULT_)STEER_COEFFICIENT 8192
HoverSend(oSerial,iSpeedRight - iSpeedLeft,(iSpeedLeft + iSpeedRight)/2);
}
void HoverLog(SerialHover2Server& oData)
{
DEBUGT("iOdomL",oData.iOdomL);
DEBUGT("\tiOdomR",oData.iOdomR);
DEBUGT("\tiSpeedL",(float)oData.iSpeedL/100.0);
DEBUGT(" iSpeedR",(float)oData.iSpeedR/100.0);
DEBUGT("\tiAmpL",(float)oData.iAmpL/100.0);
DEBUGT(" iAmpR",(float)oData.iAmpR/100.0);
DEBUGN("\tiVolt",(float)oData.iVolt/100.0);
}
void HoverDebug(SerialHover2Server& oData)
{
DEBUGTX("0",oData.iVolt);
DEBUGTB("1",oData.iAmpL);
DEBUGTB("2",oData.iAmpR);
DEBUGTB("3",oData.iSpeedL);
DEBUGN("4",oData.iSpeedR);
}
#endif
void DebugOut(uint8_t aBuffer[], uint8_t iSize)
{
for (int i=0; i<iSize; i++)
{
uint8_t c = aBuffer[i];
Serial.print((c < 16) ? " 0" : " ");Serial.print(c,HEX);
}
Serial.println();
}
#ifdef DEBUG_RX
unsigned long iLastRx = 0;
#endif
//boolean Receive(Serial& oSerial, SerialFeedback& Feedback)
template <typename O,typename OF> boolean Receive(O& oSerial, OF& Feedback)
{
int iTooMuch = oSerial.available() - sizeof(SerialHover2Server) + 1;
int8_t bFirst = 1;
while (iTooMuch >= bFirst )
{
byte c = oSerial.read(); // Read the incoming byte
iTooMuch--;
#ifdef DEBUG_RX
//if (millis() > iLastRx + 50) Serial.println();
Serial.print((c < 16) ? " 0" : " ");Serial.print(c,HEX);
iLastRx = millis();
#endif
if (bFirst) // test first START byte
{
if (c == (byte)START_FRAME) //if (c == 0xCD)
{
bFirst = 0;
}
}
else // test second START byte
{
if (c == START_FRAME >>8 ) //if (c == 0xAB)
{
//DEBUGT(" avail",oSerial.available())
SerialHover2Server tmpFeedback;
byte* p = (byte *)&tmpFeedback+2; // start word already read
for (int i = sizeof(SerialHover2Server); i>2; i--)
*p++ = oSerial.read();
//while(oSerial.available()) oSerial.read();
#ifdef DEBUG_RX
//Serial.print(" -> ");
//HoverLog(tmpFeedback);
#endif
uint16_t checksum = CalcCRC((byte *)&tmpFeedback, sizeof(SerialHover2Server)-2);
if (checksum == tmpFeedback.checksum)
{
memcpy(&Feedback, &tmpFeedback, sizeof(SerialHover2Server));
#ifdef DEBUG_RX
Serial.println(" :-)");
#endif
return true;
}
#ifdef DEBUG_RX
Serial.print(tmpFeedback.checksum, HEX);
Serial.print(" != ");
Serial.print(checksum,HEX);
Serial.println(" :-(");
#endif
return false;
}
if (c != (byte)START_FRAME) //if (c != 0xCD)
bFirst = 1;
}
}
return false;
}