EFeru · p-h-a-i-l · Jun 14, 2020 · Jun 14, 2020 · Jun 21, 2020 · Jun 21, 2020
diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "Src/bipropellantProtocol"]
+	path = Src/bipropellantProtocol
+	url = https://github.com/bipropellant/hbprotocol.git
diff --git a/Inc/bipropellantProtocolMachine.h b/Inc/bipropellantProtocolMachine.h
@@ -0,0 +1,12 @@
+// Define to prevent recursive inclusion
+#ifndef BIPROPELLANTPROTOCOLMACHINE_H
+#define BIPROPELLANTPROTOCOLMACHINE_H
+
+#include "protocol.h"
+
+int setup_protocol(PROTOCOL_STAT *s);
+
+extern PROTOCOL_STAT sUSART2;
+extern PROTOCOL_STAT sUSART3;
+
+#endif
diff --git a/Inc/bipropellantProtocolStructs.h b/Inc/bipropellantProtocolStructs.h
@@ -0,0 +1,94 @@
+/*
+* This file is part of the hoverboard-firmware-hack project.
+*
+* Copyright (C) 2018 Simon Hailes <btsimonh@googlemail.com>
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+////////////////////////////////////////////////////////////////////
+// structures used in main repo which may mirror protocol structures
+////////////////////////////////////////////////////////////////////
+
+// Define to prevent recursive inclusion
+#ifndef BIPROPELLANTPROTOCOLSTRUCTS_H
+#define BIPROPELLANTPROTOCOLSTRUCTS_H
+
+#include "protocol.h"
+
+//// control structures used in firmware
+
+// used in main
+extern PROTOCOL_SPEED_DATA SpeedData;
+
+extern PROTOCOL_PWM_DATA PWMData;
+
+
+#pragma pack(push, 4)  // int32_t and float are 4 byte each
+typedef struct tag_HALL_DATA_STRUCT{
+    int32_t HallPosn; // 90 per revolution
+    int32_t HallSpeed; // speed part calibrated to speed demand value
+
+    float HallPosnMultiplier; // m per hall segment
+
+    int32_t HallPosn_lastread; // posn offset set via protocol in raw value
+    int32_t HallPosn_mm; // posn in mm
+    int32_t HallPosn_mm_lastread; // posn offset set via protocol in mm
+    int32_t HallSpeed_mm_per_s; // speed in m/s
+
+    uint32_t HallTimeDiff;
+    uint32_t HallSkipped;
+} HALL_DATA_STRUCT;
+#pragma pack(pop)
+
+#pragma pack(push, 4) // all used types (float and int) are 4 bytes
+
+typedef struct tag_MOTOR_ELECTRICAL{
+        float dcAmps;
+        float dcAmpsAvgAcc;
+        float dcAmpsAvg;
+        int r1;
+        int r2;
+        int q;
+
+        int dcAmpsx100;
+
+        int pwm_limiter;
+        int pwm_requested;
+        int pwm_actual;
+
+        unsigned int limiter_count;
+} MOTOR_ELECTRICAL;
+#pragma pack(pop)
+
+#pragma pack(push, 4) // all used types (float and int) are 4 bytes
+typedef struct tag_ELECTRICAL_PARAMS{
+    int bat_raw;
+    float batteryVoltage;
+
+    int board_temp_raw;
+    float board_temp_filtered;
+    float board_temp_deg_c;
+
+    int charging;
+
+    int dcCurLim; // amps*100
+    int dc_adc_limit; // limit expressed in terms of ADC units.
+
+    MOTOR_ELECTRICAL motors[2];
+
+} ELECTRICAL_PARAMS;
+#pragma pack(pop)
+
+#endif
diff --git a/Inc/bldc.h b/Inc/bldc.h
@@ -0,0 +1,12 @@
+#ifndef BLDC_H
+#define BLDC_H
+
+#include <stdint.h>
+
+uint8_t bldc_getMotorsEnable(void);
+void bldc_setMotorsEnable(uint8_t enable);
+
+extern int16_t batVoltage;
+extern int32_t batVoltageFixdt;
+
+#endif
diff --git a/Inc/comms.h b/Inc/comms.h
@@ -23,7 +23,6 @@
 #ifndef COMMS_H
 #define COMMS_H
 
-#include "stm32f1xx_hal.h"
 
 void setScopeChannel(uint8_t ch, int16_t val);
 void consoleScope(void);

diff --git a/Inc/config.h b/Inc/config.h
@@ -19,6 +19,7 @@
   //#define VARIANT_HOVERCAR    // Variant for HOVERCAR build
   //#define VARIANT_HOVERBOARD  // Variant for HOVERBOARD build
   //#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
+  //#define VARIANT_BIPROPELLANT// Variant for Bipropellant Protocol
 #endif
 // ########################### END OF VARIANT SELECTION ############################
 
@@ -73,7 +74,7 @@
 #define BAT_BLINK_INTERVAL      80        // battery led blink interval (80 loops * 5ms ~= 400ms)
 #define BAT_LVL5                (390 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Green blink:  no beep
 #define BAT_LVL4                (380 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Yellow:       no beep
-#define BAT_LVL3                (370 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Yellow blink: no beep 
+#define BAT_LVL3                (370 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Yellow blink: no beep
 #define BAT_LVL2                (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Red:          gently beep at this voltage level. [V*100/cell]. In this case 3.60 V/cell
 #define BAT_LVL1                (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // Red blink:    fast beep. Your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
 #define BAT_DEAD                (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // All leds off: undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell
@@ -252,6 +253,21 @@
 #endif
 // ######################## END OF VARIANT_USART SETTINGS #########################
 
+// ############################ VARIANT_BIPROPELLANT SETTINGS ############################
+#ifdef VARIANT_BIPROPELLANT
+//  #define USART2_ENABLE
+  #define USART3_ENABLE
+  #define USART2_BAUD 115200
+  #define USART3_BAUD 115200
+  #undef TIMEOUT
+  #define TIMEOUT                30     // number of wrong / missing input commands before emergency off
+  #undef BEEPS_BACKWARD
+  #define BEEPS_BACKWARD          	0       // 0 or 1
+  #define SERIAL_BUFFER_SIZE      64                      // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the structure size
+  #define USART2_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
+  #define USART3_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
+#endif
+// ######################## END OF VARIANT_BIPROPELLANT SETTINGS #########################
 
 
 // ################################# VARIANT_NUNCHUK SETTINGS ############################
@@ -318,7 +334,7 @@
   #define PWM_CH1_MAX         1000    // (0 - 1000)
   #define PWM_CH1_MIN        -1000    // (-1000 - 0)
   #define PWM_CH2_MAX         1000    // (0 - 1000)
-  #define PWM_CH2_MIN        -1000    // (-1000 - 0)  
+  #define PWM_CH2_MIN        -1000    // (-1000 - 0)
   #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
   #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
   #define STEER_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
@@ -333,7 +349,7 @@
 
 // ################################# VARIANT_IBUS SETTINGS ##############################
 #ifdef VARIANT_IBUS
-/* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL 
+/* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL
 * Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed.
 */
   #define CONTROL_IBUS                                  // use IBUS as input
@@ -384,10 +400,10 @@
 // Communication:         [DONE]
 // Balancing controller:  [TODO]
 #ifdef VARIANT_HOVERBOARD
-  #define SIDEBOARD_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used! 
+  #define SIDEBOARD_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
   #define FEEDBACK_SERIAL_USART2
-  #define SIDEBOARD_SERIAL_USART3       // right sensor board cable, disable if I2C (nunchuk or lcd) is used!        
-  #define FEEDBACK_SERIAL_USART3        
+  #define SIDEBOARD_SERIAL_USART3       // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
+  #define FEEDBACK_SERIAL_USART3
 #endif
 // ######################## END OF VARIANT_HOVERBOARD SETTINGS #########################
 
@@ -429,6 +445,12 @@
   #define USART3_BAUD             38400                   // UART3 baud rate (short wired cable)
   #define USART3_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
 #endif
+#if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2)
+  #define USART2_ENABLE
+#endif
+#if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3)
+  #define USART3_ENABLE
+#endif
 // ########################### UART SETIINGS ############################
 
 
@@ -452,7 +474,7 @@
 
 // ############################### VALIDATE SETTINGS ###############################
 #if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_PWM) && \
-    !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
+    !defined(VARIANT_IBUS) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_BIPROPELLANT)
   #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
 #endif
 

diff --git a/Inc/setup.h b/Inc/setup.h
@@ -24,6 +24,7 @@
 #define SETUP_H
 
 #include "stm32f1xx_hal.h"
+#include "defines.h"
 
 void MX_GPIO_Init(void);
 void MX_TIM_Init(void);
@@ -32,5 +33,7 @@ void MX_ADC2_Init(void);
 void UART2_Init(void);
 void UART3_Init(void);
 
+extern volatile adc_buf_t adc_buffer;
+
 #endif
 
diff --git a/Inc/util.h b/Inc/util.h
@@ -26,20 +26,20 @@
 
 // Rx Structures USART
 #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
-  #ifdef CONTROL_IBUS    
+  #ifdef CONTROL_IBUS
     typedef struct{
       uint8_t  start;
-      uint8_t  type; 
+      uint8_t  type;
       uint8_t  channels[IBUS_NUM_CHANNELS*2];
       uint8_t  checksuml;
-      uint8_t  checksumh;    
+      uint8_t  checksumh;
     } SerialCommand;
   #else
     typedef struct{
-      uint16_t  start; 
+      uint16_t  start;
       int16_t   steer;
       int16_t   speed;
-      uint16_t  checksum;    
+      uint16_t  checksum;
     } SerialCommand;
   #endif
 #endif
@@ -79,15 +79,6 @@ void poweroffPressCheck(void);
 void readCommand(void);
 void usart2_rx_check(void);
 void usart3_rx_check(void);
-#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
-void usart_process_debug(uint8_t *userCommand, uint32_t len);
-#endif
-#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
-void usart_process_command(SerialCommand *command_in, SerialCommand *command_out, uint8_t usart_idx);
-#endif
-#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
-void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sideboard_out, uint8_t usart_idx);
-#endif
 
 // Sideboard functions
 void sideboardLeds(uint8_t *leds);
@@ -107,5 +98,7 @@ typedef struct {
 } MultipleTap;
 void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
 
+extern uint8_t ctrlModReq;
+
 #endif
 
diff --git a/Makefile b/Makefile
@@ -46,6 +46,12 @@ Src/hd44780.c \
 Src/pcf8574.c \
 Src/comms.c \
 Src/stm32f1xx_it.c \
+Src/bipropellantProtocol/protocol.c \
+Src/bipropellantProtocol/machine_protocol.c \
+Src/bipropellantProtocol/ascii_protocol.c \
+Src/bipropellantProtocol/cobsr.c \
+Src/bipropellantProtocolASCII.c \
+Src/bipropellantProtocolMachine.c \
 Src/BLDC_controller_data.c \
 Src/BLDC_controller.c
 
@@ -97,6 +103,7 @@ AS_INCLUDES =
 # C includes
 C_INCLUDES =  \
 -IInc \
+-ISrc/bipropellantProtocol \
 -IDrivers/STM32F1xx_HAL_Driver/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include \

diff --git a/Src/bipropellantProtocol b/Src/bipropellantProtocol