V2e

CMSIS/stm32f4xx_it.c

@@ -30,12 +30,20 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f4xx_it.h"
 #include "main.h"
-
+#include "gimbal_task.h"
 #include "USART_comms.h"
+#include <string.h>
+#include <stdio.h>
 
-volatile char buffer_rx[100];
+volatile char buffer_rx[BUFFER_SIZE]; //holds 100 bytes
 int count_rx = 0;
 
+volatile char UART8_buffer_rx[100];
+int UART8_count_rx = 0;
+
+char rando[] = "hello\n\r";
+char new_line[] = "\n\r";
+int atoi(const char *str);
 /** @addtogroup Template_Project
   * @{
   */
@@ -171,10 +179,11 @@ void SysTick_Handler(void)
 /**
   * @}
   */ 
-	
+  
 
 // Interrupt handler for USART 6. This is called on the reception of every
 // byte on USART6
+// Note: USART_Data only holds 1 byte of data despite being a uint16_t variable
 void USART6_IRQHandler(void)
 {
 	// make sure USART6 was intended to be called for this interrupt
@@ -206,4 +215,48 @@ void USART6_IRQHandler(void)
 }
 
 
+void clear_gimbal_buffer(void) {
+    Gimbal_Angles *gimbal_angles = get_gimbal_angle_struct();
+
+    int angle = atoi(gimbal_angles->buffer_rx);
+
+    if (angle<-180) angle=-180;
+    else if (angle>180) angle=180;
+
+    gimbal_angles->yaw_angle = angle; 
+    gimbal_angles->new_angle_flag = 1;
+    gimbal_angles->count_rx = 0;
+
+    for (int i = 0; i < BUFFER_SIZE; i++) {
+        gimbal_angles->buffer_rx[i] = 0;
+    }
+}
+
+// Interrupt handler for UART 8. This is called on the reception of every
+// byte on UART8
+// Note: USART_Data only holds 1 byte of data despite being a uint16_t variable
+void UART8_IRQHandler(void)
+{
+	// make sure UART8 was intended to be called for this interrupt
+	if(USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) {
+		uint16_t UART_Data = USART_ReceiveData(UART8);
+        Gimbal_Angles *gimbal_angles = get_gimbal_angle_struct();
+
+		// Once a carriage return is read or the buffer full, move 
+        // data into struct, and clear the buffer
+		if (UART_Data == 13 || gimbal_angles->count_rx >= BUFFER_SIZE-1) {
+            //vision_send_string(gimbal_angles->buffer_rx); //echo
+            //vision_send_string(new_line);
+            clear_gimbal_buffer();
+            //vision_send_string(gimbal_angles->buffer_rx); //echo
+            //vision_send_string(new_line);
+		} 
+        else {
+			gimbal_angles->buffer_rx[gimbal_angles->count_rx++] = UART_Data;
+		} 
+	}
+}
+
+
+
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

CMSIS/system_stm32f4xx.c

@@ -34,9 +34,9 @@
      through STLINK MCO pin of STM32F103 microcontroller. The frequency cannot be changed
      and is fixed at 8 MHz. 
      Hardware configuration needed for Nucleo Board:
-     � SB54, SB55 OFF
-     � R35 removed
-     � SB16, SB50 ON */
+     �1�7 SB54, SB55 OFF
+     �1�7 R35 removed
+     �1�7 SB16, SB50 ON */
 /* #define USE_HSE_BYPASS */
 
 #if defined(USE_HSE_BYPASS)     
@@ -180,7 +180,7 @@ void SystemInit(void)
   *           frequency in the chip. It is calculated based on the predefined 
   *           constant and the selected clock source:
   *             
-  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
+  *           - If  source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
   *                                              
   *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
   *                          

Project/embed-infantry.uvprojx

@@ -11,6 +11,7 @@
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
       <pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
+      <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F427IIHx</Device>
@@ -183,6 +184,7 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -323,6 +325,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>3</v6Lang>
             <v6LangP>3</v6LangP>
@@ -335,7 +338,7 @@
               <MiscControls></MiscControls>
               <Define>STM32F427_437xx,USE_STDPERIPH_DRIVER,__FPU_USED,__FPU_PRESENT,ARM_MATH_CM4,__CC_ARM,ARM_MATH_MATRIX_CHECK,ARM_MATH_ROUNDING</Define>
               <Undefine></Undefine>
-              <IncludePath>..\CMSIS;..\FWLIB\inc;..\User;..\User\AHRS;..\User\DSP\Include;..\User\FreeRTOS\include;..\User\FreeRTOS\portable;..\User\FreeRTOS\portable\RVDS\ARM_CM4F;..\user\user_lib;..\User\hardware\ADC;..\User\hardware\BUZZER;..\User\hardware\delay;..\User\hardware\EXIT_Init;..\User\hardware\CAN;..\User\hardware\LED;..\User\hardware\FLASH;..\User\hardware\FRIC;..\User\hardware\LASER;..\User\hardware\POWER_CTRL;..\User\hardware\RC;..\User\hardware\RNG;..\User\hardware\SPI;..\User\hardware\SYS;..\user\hardware\timer;..\User\APP\CAN_Receive;..\User\APP\FreeRTOS_Middleware;..\User\APP\pid;..\User\APP\Remote_Control;..\User\TASK\start_task;..\User\APP\USART_comms;..\User\hardware\usart;..\User\TASK\revolver_task;..\User\TASK\INS_task;..\User\TASK\chassis_task;..\User\TASK\gimbal_task;..\User\TASK\shoot_task</IncludePath>
+              <IncludePath>..\CMSIS;..\FWLIB\inc;..\User;..\User\AHRS;..\User\DSP\Include;..\User\FreeRTOS\include;..\User\FreeRTOS\portable;..\User\FreeRTOS\portable\RVDS\ARM_CM4F;..\user\user_lib;..\User\hardware\ADC;..\User\hardware\BUZZER;..\User\hardware\delay;..\User\hardware\EXIT_Init;..\User\hardware\CAN;..\User\hardware\LED;..\User\hardware\FLASH;..\User\hardware\FRIC;..\User\hardware\LASER;..\User\hardware\POWER_CTRL;..\User\hardware\RC;..\User\hardware\RNG;..\User\hardware\SPI;..\User\hardware\SYS;..\user\hardware\timer;..\User\APP\CAN_Receive;..\User\APP\FreeRTOS_Middleware;..\User\APP\pid;..\User\APP\Remote_Control;..\User\TASK\start_task;..\User\APP\USART_comms;..\User\hardware\usart;..\User\TASK\revolver_task;..\User\TASK\INS_task;..\User\TASK\chassis_task;..\User\TASK\gimbal_task;..\User\TASK\shoot_task;..\User\APP\vision</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>

user/APP/CAN_receive/CAN_receive.c

@@ -35,17 +35,26 @@
 
 /******************** Private Defines for Receiving ********************/
 
-#define get_motor_measure(ptr, rx_message)                                                     \
+#define fill_motor_readings(ptr, rx_message)                                                     \
     {                                                                                          \
         (ptr)->last_ecd = (ptr)->ecd;                                                          \
         (ptr)->ecd = (uint16_t)((rx_message)->Data[0] << 8 | (rx_message)->Data[1]);           \
         (ptr)->speed_rpm = (uint16_t)((rx_message)->Data[2] << 8 | (rx_message)->Data[3]);     \
-        (ptr)->given_current = (uint16_t)((rx_message)->Data[4] << 8 | (rx_message)->Data[5]); \
+        (ptr)->current_read = (uint16_t)((rx_message)->Data[4] << 8 | (rx_message)->Data[5]); \
         (ptr)->temperate = (rx_message)->Data[6];                                              \
     }
 
-
-		/// TODO: Make similar get_motor_measure for M3508 and P36
+#define fill_gimbal_motor_readings(ptr, rx_message)                                              \
+    {                                                                                          \
+        (ptr)->last_ecd = (ptr)->ecd;                                                          \
+        (ptr)->ecd = (uint16_t)((rx_message)->Data[0] << 8 | (rx_message)->Data[1]);           \
+        (ptr)->current_read = (uint16_t)((rx_message)->Data[2] << 8 | (rx_message)->Data[3]); \
+        (ptr)->speed_rpm = (uint16_t)((rx_message)->Data[4] << 8 | (rx_message)->Data[5]);     \
+        (ptr)->temperate = (rx_message)->Data[6];                                              \
+    }
+		// TODO: Check real message format -> most likely delete the gimbal version
+        // The ordering of current_read and speed_rpm in the documentation and the dji code do not match
+
 
 
 
@@ -254,22 +263,22 @@ static void CAN_hook(CanRxMsg *rx_message)
     {
     case CAN_YAW_MOTOR_ID:
     {
-        get_motor_measure(&motor_yaw, rx_message);
+        fill_gimbal_motor_readings(&motor_yaw, rx_message);
         break;
     }
     case CAN_PIT_MOTOR_ID:
     {
-        get_motor_measure(&motor_pit, rx_message);
+        fill_gimbal_motor_readings(&motor_pit, rx_message);
         break;
     }
     case CAN_TRIGGER_MOTOR_ID:
     {
-        get_motor_measure(&motor_trigger, rx_message);
+        fill_motor_readings(&motor_trigger, rx_message);
         break;
     }
 		case CAN_HOPPER_MOTOR_ID:
     {
-        get_motor_measure(&motor_hopper, rx_message);
+        fill_motor_readings(&motor_hopper, rx_message);
         break;
     }
     case CAN_3508_M1_ID:
@@ -279,7 +288,7 @@ static void CAN_hook(CanRxMsg *rx_message)
     {
         static uint8_t i = 0;
         i = rx_message->StdId - CAN_3508_M1_ID; //get motor ID
-        get_motor_measure(&motor_chassis[i], rx_message); //Use motor ID as index of array
+        fill_motor_readings(&motor_chassis[i], rx_message); //Use motor ID as index of array
         break;
     }
 

user/APP/CAN_receive/CAN_receive.h

@@ -51,7 +51,7 @@ typedef struct
 {
     uint16_t ecd;
     int16_t speed_rpm;
-    int16_t given_current;
+    int16_t current_read;
     uint8_t temperate;
     int16_t last_ecd;
 } motor_measure_t;

user/APP/USART_comms/USART_comms.c

@@ -2,6 +2,8 @@
 #include "USART_comms.h"
 #include <stdio.h>
 
+// Debugging
+
 // Sends one string over USART
 // Example usage: serial_send_string("Nando eats Nando's at Nando's");
 void serial_send_string(volatile char *str)
@@ -48,3 +50,16 @@ int num_digits(int n) {
 
 	return count;	
 }
+
+// Vision
+
+// Sends one string over UART8
+void vision_send_string(volatile char *str)
+{
+	while (*str) {
+		// Once previous byte is finished being transmitted, transmit next byte
+		while (USART_GetFlagStatus(UART8, USART_FLAG_TC) == RESET);
+		USART_SendData(UART8, *str);
+		str++;
+	}
+}

user/APP/USART_comms/USART_comms.h

@@ -1,9 +1,11 @@
 #ifndef USART_COMMS_H
 #define USART_COMMS_H
+#include "main.h"
 
 extern void serial_send_string(volatile char *str);
 extern void serial_send_int_array(volatile int *arr, int length);
 extern void serial_send_int(int num);
 extern int num_digits(int n);
+extern void vision_send_string(volatile char *str);
 
 #endif

user/APP/remote_control/remote_control.c

@@ -1,13 +1,13 @@
 /**
   ****************************(C) COPYRIGHT 2016 DJI****************************
   * @file       remote_control.c/h
-  * @brief      ң����������ң������ͨ������SBUS��Э�鴫�䣬����DMA���䷽ʽ��ԼCPU
-  *             ��Դ�����ô��ڿ����ж���������������ͬʱ�ṩһЩ��������DMA������
-  *             �ķ�ʽ��֤�Ȳ�ε��ȶ��ԡ�
-  * @note       ��������ͨ�������ж�����������freeRTOS����
+  * @brief      ?????????????????????????SBUS???????????DMA????????CPU
+  *             ????????�???????????????????????????h?????????DMA??????
+  *             ?k????????e???????
+  * @note       ????????????????????????????freeRTOS????
   * @history
   *  Version    Date            Author          Modification
-  *  V1.0.0     Dec-26-2018     RM              1. ���
+  *  V1.0.0     Dec-26-2018     RM              1. ???
   *
   @verbatim
   ==============================================================================
@@ -27,7 +27,7 @@
 #include <stdio.h>
 
 // #include "Detect_Task.h" 		// see todo l.134
-//ң����������������
+//?????????????????
 #define RC_CHANNAL_ERROR_VALUE 700
 
 // Function prototypes
@@ -123,38 +123,38 @@ void USART1_IRQHandler(void)
 
         if(DMA_GetCurrentMemoryTarget(DMA2_Stream2) == 0)
         {
-            //��������DMA
+            //????????DMA
             DMA_Cmd(DMA2_Stream2, DISABLE);
             this_time_rx_len = SBUS_RX_BUF_NUM - DMA_GetCurrDataCounter(DMA2_Stream2);
             DMA_SetCurrDataCounter(DMA2_Stream2, SBUS_RX_BUF_NUM);
             DMA2_Stream2->CR |= DMA_SxCR_CT;
-            //��DMA�жϱ�־
+            //??DMA?????
             DMA_ClearFlag(DMA2_Stream2, DMA_FLAG_TCIF2 | DMA_FLAG_HTIF2);
             DMA_Cmd(DMA2_Stream2, ENABLE);
             if(this_time_rx_len == RC_FRAME_LENGTH)
             {
-                //����ң��������
+                //?????????????
                 SBUS_TO_RC(SBUS_rx_buf[0], &rc_ctrl);
-                //��¼���ݽ���ʱ��
+                //??�??????????
 							  //TODO - need to implement this
                 // DetectHook(DBUSTOE);
             }
         }
         else
         {
-            //��������DMA
+            //????????DMA
             DMA_Cmd(DMA2_Stream2, DISABLE);
             this_time_rx_len = SBUS_RX_BUF_NUM - DMA_GetCurrDataCounter(DMA2_Stream2);
             DMA_SetCurrDataCounter(DMA2_Stream2, SBUS_RX_BUF_NUM);
             DMA2_Stream2->CR &= ~(DMA_SxCR_CT);
-            //��DMA�жϱ�־
+            //??DMA?????
             DMA_ClearFlag(DMA2_Stream2, DMA_FLAG_TCIF2 | DMA_FLAG_HTIF2);
             DMA_Cmd(DMA2_Stream2, ENABLE);
             if(this_time_rx_len == RC_FRAME_LENGTH)
             {
-                //����ң��������
+                //?????????????
                 SBUS_TO_RC(SBUS_rx_buf[1], &rc_ctrl);
-                //��¼���ݽ���ʱ��
+                //??�??????????
                 // DetectHook(DBUSTOE);
             }
 

user/TASK/INS_task/INS_task.c

@@ -373,7 +373,8 @@ void INS_task(void *pvParameters)
 
 extern Gimbal_t gimbal;
 extern Gimbal_Motor_t gimbal_pitch_motor;
-extern char str[];
+
+static char message[32];
 
 /**
  * @brief  Reading angle, gyro, and accelerometer data and printing to serial
@@ -390,34 +391,34 @@ void test_imu_readings(uint8_t angle, uint8_t gyro, uint8_t accel){
 
     if (angle == TRUE) {        
         //Sending angle data via UART
-        sprintf(str, "Angle yaw: %f\n\r", gimbal.angle_update[INS_YAW_ADDRESS_OFFSET]);
-        serial_send_string(str);
-        sprintf(str, "Angle pitch: %f\n\r", gimbal.angle_update[INS_PITCH_ADDRESS_OFFSET]);
-        serial_send_string(str);
-        sprintf(str, "Angle roll: %f\n\r", gimbal.angle_update[INS_ROLL_ADDRESS_OFFSET]);
-        serial_send_string(str);
+        sprintf(message, "Angle yaw: %f\n\r", gimbal.angle_update[INS_YAW_ADDRESS_OFFSET]);
+        serial_send_string(message);
+        sprintf(message, "Angle pitch: %f\n\r", gimbal.angle_update[INS_PITCH_ADDRESS_OFFSET]);
+        serial_send_string(message);
+        sprintf(message, "Angle roll: %f\n\r", gimbal.angle_update[INS_ROLL_ADDRESS_OFFSET]);
+        serial_send_string(message);
         serial_send_string("\n");
     }
 
     if (gyro == TRUE) {
         //Sending gyro data via UART
-        sprintf(str, "Gyro X: %f\n\r", gimbal.gyro_update[INS_GYRO_X_ADDRESS_OFFSET]);
-        serial_send_string(str);
-        sprintf(str, "Gyro Y: %f\n\r", gimbal.gyro_update[INS_GYRO_Y_ADDRESS_OFFSET]);
-        serial_send_string(str);
-        sprintf(str, "Gyro Z: %f\n\r", gimbal.gyro_update[INS_GYRO_Z_ADDRESS_OFFSET]);
-        serial_send_string(str);
+        sprintf(message, "Gyro X: %f\n\r", gimbal.gyro_update[INS_GYRO_X_ADDRESS_OFFSET]);
+        serial_send_string(message);
+        sprintf(message, "Gyro Y: %f\n\r", gimbal.gyro_update[INS_GYRO_Y_ADDRESS_OFFSET]);
+        serial_send_string(message);
+        sprintf(message, "Gyro Z: %f\n\r", gimbal.gyro_update[INS_GYRO_Z_ADDRESS_OFFSET]);
+        serial_send_string(message);
         serial_send_string("\n");
     }
 
     if (accel == TRUE) {        
         //Sending accelerometer data via UART
-        sprintf(str, "Acce X: %f\n\r", gimbal.accel_update[INS_ACCEL_X_ADDRESS_OFFSET]);
-        serial_send_string(str);
-        sprintf(str, "Acce Y: %f\n\r", gimbal.accel_update[INS_ACCEL_Y_ADDRESS_OFFSET]);
-        serial_send_string(str);
-        sprintf(str, "Acce Z: %f\n\r", gimbal.accel_update[INS_ACCEL_Z_ADDRESS_OFFSET]);
-        serial_send_string(str);
+        sprintf(message, "Acce X: %f\n\r", gimbal.accel_update[INS_ACCEL_X_ADDRESS_OFFSET]);
+        serial_send_string(message);
+        sprintf(message, "Acce Y: %f\n\r", gimbal.accel_update[INS_ACCEL_Y_ADDRESS_OFFSET]);
+        serial_send_string(message);
+        sprintf(message, "Acce Z: %f\n\r", gimbal.accel_update[INS_ACCEL_Z_ADDRESS_OFFSET]);
+        serial_send_string(message);
         serial_send_string("\n");
     }
 }