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Serial protocol, watchdog, ADC Input, platform.io #72

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Serial protocol, watchdog, ADC Input, platform.io #72

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p-h-a-i-l
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Lots of improvements with a focus on serial communication and parallel use of ADCs as input. "transpotter" like control can be configured just via parameters. Huge thanks to @btsimonh, serial protocol is mostly his work.

Deviations from master

  • Build Environment is platform.io. Old Makefile based system should work too, but not tested.
  • UART Control can be configured to Connect to USART2 or USART3
  • Added CRC Checksum to UART Control. This way, the protocol just loses sync but the board does not try to kill you anymore (at least less often)
  • UART Control and Debug can be active on the same cable
  • Extended ADC Input Control config options. Default is platooning / "transpotter"
  • ADC Input Control can coexist with all other control Methods as long as the other Method uses the other cable
  • Watchdog Implemented which monitors if main is still running. Stops motors and shuts down if not.
  • Serial Protocol implemented (very shrunk down version from btsimonhs pidcontrol)
    • PWM can be set and read
    • Human readable ASCII Protocol can coexist with machine parseable Messages
    • Buzzer commands
    • Hall Interrupts for Speed Feedback

btsimonh and others added 30 commits August 31, 2018 16:02
@btsimonh
Add platformio.ini file, update README.md, and .gitignore
b21e6dd
@p-h-a-i-l
case sensitive Folder names, small changes
765f890
@p-h-a-i-l
Merge remote-tracking branch 'origin/master' into pio
9e38f2b
@p-h-a-i-l
Integrate interrupt based uart an minimal version of serial protocol …
fcd76b3 
…from btsimonh
@p-h-a-i-l
soft watchdog
ffe0744
@p-h-a-i-l
kicking the watchdog can be prevented while debugging
3de2294
@p-h-a-i-l
main can be put into infinite loop via debugger
d413928
@p-h-a-i-l
set watchdog period to 100ms
b4a22a5
@p-h-a-i-l
added human protocol password
522d21e
@p-h-a-i-l
no crashes... stashing commit
106aba6
@BruegelN
Changed config to work with woodenboard.
9fa4f8e 
* decreased baudrades to 19200
* invert L & R
* disabled backwards beeping
@BruegelN
Added smaller struct to protocol.
78dd341 
Containg only two int's PWM_STEER_CMD is smaller, thus won't block the bus longer than needed.
Less time is wasted for communication.
@BruegelN
Added temporary fix to turn off the board using the buildin buttons w…
7a62877 
…ithout the softWatchDog interfering.

Because beep sound took longer than 100ms (WatchDog timeout) we haven't been able to turn of the board
but had to unplug the battery everytime.
@p-h-a-i-l
Softatchdog polished and included in config
70532b9
@p-h-a-i-l
poweroff on watchdog and activate on first event
799f34a
@p-h-a-i-l
Merge branch 'testSoftWatchdog' of git.hacknology.de:phel/bewegungsap…
48fdacd 
…par.at_hoverboard-fw into testSoftWatchdog
@p-h-a-i-l
Merge branch 'testSoftWatchdog' into serialprotocol
4ced4be
@p-h-a-i-l
Merge remote-tracking branch 'niklasfauth/master' into serialprotocol
c087153
@p-h-a-i-l
readme
2761c01
@p-h-a-i-l
added crc check
78e8f4b
@p-h-a-i-l
hybrid nunchuck and ADC input
9867145
@p-h-a-i-l
CONTROL_USART can no be selected to be on any sensor cable
d0f0b27
@p-h-a-i-l
Debug and Control can coexist on same uarts now. Untested.
9083e15
@p-h-a-i-l
ADC can coexist with other Input Methos, Platooning configured
1ba495f
@p-h-a-i-l
readme
b680b9c
@p-h-a-i-l
Merge branch 'serialprotocol' into bewegungsappar.at
37dac01
@p-h-a-i-l
readme
4d7148c
@p-h-a-i-l
add timeout to protocol base pwms
6f05495
@p-h-a-i-l
include guards for serial protocol, rename serial uarts, crc selectable
bec572d
@p-h-a-i-l
config can now be done with platformio environments
9583cc7
@p-h-a-i-l p-h-a-i-l mentioned this pull request Dec 10, 2018
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This was referenced Dec 11, 2018
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@p-h-a-i-l p-h-a-i-l mentioned this pull request Feb 4, 2019
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3 participants
@p-h-a-i-l @btsimonh @BruegelN