Improvements and clean-up

- clean-up printfs
- removed consoleLog function with respective files
- removed Delay when using printf
- renamed speedL, speedR to cmdL, cmdR
- corrected Arduino baud rate
- updated FLASH write pointer cast int16_t to uint16_t

Author: EFeru

Arduino/hoverserial/hoverserial.ino

@@ -23,15 +23,15 @@
 // *******************************************************************
 
 // ########################## DEFINES ##########################
-#define HOVER_SERIAL_BAUD   38400       // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
+#define HOVER_SERIAL_BAUD   115200      // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
 #define SERIAL_BAUD         115200      // [-] Baud rate for built-in Serial (used for the Serial Monitor)
 #define START_FRAME         0xABCD     	// [-] Start frme definition for reliable serial communication
 #define TIME_SEND           100         // [ms] Sending time interval
 #define SPEED_MAX_TEST      300         // [-] Maximum speed for testing
-//#define DEBUG_RX                        // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
+// #define DEBUG_RX                        // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
 
 #include <SoftwareSerial.h>
-SoftwareSerial HoverSerial(2,3); 		    // RX, TX
+SoftwareSerial HoverSerial(2,3);        // RX, TX
 
 // Global variables
 uint8_t idx = 0;                        // Index for new data pointer
@@ -41,7 +41,7 @@ byte incomingByte;
 byte incomingBytePrev;
 
 typedef struct{
-   uint16_t	start;
+   uint16_t start;
    int16_t  steer;
    int16_t  speed;
    uint16_t checksum;
@@ -50,12 +50,12 @@ SerialCommand Command;
 
 typedef struct{
    uint16_t start;
-   int16_t 	cmd1;
-   int16_t 	cmd2;
-   int16_t 	speedR_meas;
-   int16_t 	speedL_meas;
-   int16_t 	batVoltage;
-   int16_t 	boardTemp;
+   int16_t  cmd1;
+   int16_t  cmd2;
+   int16_t  speedR_meas;
+   int16_t  speedL_meas;
+   int16_t  batVoltage;
+   int16_t  boardTemp;
    uint16_t cmdLed;
    uint16_t checksum;
 } SerialFeedback;
@@ -67,7 +67,7 @@ void setup()
 {
   Serial.begin(SERIAL_BAUD);
   Serial.println("Hoverboard Serial v1.0");
-    
+
   HoverSerial.begin(HOVER_SERIAL_BAUD);
   pinMode(LED_BUILTIN, OUTPUT);
 }
@@ -88,59 +88,59 @@ void Send(int16_t uSteer, int16_t uSpeed)
 // ########################## RECEIVE ##########################
 void Receive()
 {
-	// Check for new data availability in the Serial buffer
-	if (HoverSerial.available()) {
-		incomingByte 	  = HoverSerial.read();		                              // Read the incoming byte
-		bufStartFrame	= ((uint16_t)(incomingByte) << 8) | incomingBytePrev;	  // Construct the start frame		
-	}
-	else {
-		return;
-	}
+    // Check for new data availability in the Serial buffer
+    if (HoverSerial.available()) {
+        incomingByte 	  = HoverSerial.read();                                   // Read the incoming byte
+        bufStartFrame	= ((uint16_t)(incomingByte) << 8) | incomingBytePrev;       // Construct the start frame
+    }
+    else {
+        return;
+    }
 
   // If DEBUG_RX is defined print all incoming bytes
   #ifdef DEBUG_RX
-		Serial.print(incomingByte);
-		return;
-	#endif    	
-	
-	// Copy received data
-	if (bufStartFrame == START_FRAME) {	                    // Initialize if new data is detected
-		p 		= (byte *)&NewFeedback;
-    *p++  = incomingBytePrev;
-		*p++ 	= incomingByte;
-		idx 	= 2;	
-	} else if (idx >= 2 && idx < sizeof(SerialFeedback)) {	// Save the new received data
-		*p++ 	= incomingByte; 
-		idx++;
-	}	
-	
-	// Check if we reached the end of the package
-	if (idx == sizeof(SerialFeedback)) {  	
-		uint16_t checksum;
-		checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
-					^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
-	
-		// Check validity of the new data
-		if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
-			// Copy the new data
-			memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
-		  
-			// Print data to built-in Serial
-			Serial.print("1: ");   Serial.print(Feedback.cmd1);
-			Serial.print(" 2: ");  Serial.print(Feedback.cmd2);
-			Serial.print(" 3: ");  Serial.print(Feedback.speedR_meas);
-			Serial.print(" 4: ");  Serial.print(Feedback.speedL_meas);
-			Serial.print(" 5: ");  Serial.print(Feedback.batVoltage);
-			Serial.print(" 6: ");  Serial.print(Feedback.boardTemp);
-			Serial.print(" 7: ");  Serial.println(Feedback.cmdLed);
-		} else {
-		  Serial.println("Non-valid data skipped");
-		}
-		idx = 0;	// Reset the index (it prevents to enter in this if condition in the next cycle)
-	}
- 	
-	// Update previous states
-	incomingBytePrev 	= incomingByte;
+        Serial.print(incomingByte);
+        return;
+    #endif
+
+    // Copy received data
+    if (bufStartFrame == START_FRAME) {	                    // Initialize if new data is detected
+        p       = (byte *)&NewFeedback;
+        *p++    = incomingBytePrev;
+        *p++    = incomingByte;
+        idx     = 2;	
+    } else if (idx >= 2 && idx < sizeof(SerialFeedback)) {  // Save the new received data
+        *p++    = incomingByte; 
+        idx++;
+    }	
+    
+    // Check if we reached the end of the package
+    if (idx == sizeof(SerialFeedback)) {
+        uint16_t checksum;
+        checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
+                            ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
+
+        // Check validity of the new data
+        if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
+            // Copy the new data
+            memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
+
+            // Print data to built-in Serial
+            Serial.print("1: ");   Serial.print(Feedback.cmd1);
+            Serial.print(" 2: ");  Serial.print(Feedback.cmd2);
+            Serial.print(" 3: ");  Serial.print(Feedback.speedR_meas);
+            Serial.print(" 4: ");  Serial.print(Feedback.speedL_meas);
+            Serial.print(" 5: ");  Serial.print(Feedback.batVoltage);
+            Serial.print(" 6: ");  Serial.print(Feedback.boardTemp);
+            Serial.print(" 7: ");  Serial.println(Feedback.cmdLed);
+        } else {
+          Serial.println("Non-valid data skipped");
+        }
+        idx = 0;    // Reset the index (it prevents to enter in this if condition in the next cycle)
+    }
+
+    // Update previous states
+    incomingBytePrev = incomingByte;
 }
 
 // ########################## LOOP ##########################

Inc/config.h

@@ -124,7 +124,7 @@
     - button1 and button2: digital input values. 0 or 1
     - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
    Outputs:
-    - speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
+    - cmdL and cmdR: normal driving INPUT_MIN to INPUT_MAX
 */
 #define COM_CTRL        0               // [-] Commutation Control Type
 #define SIN_CTRL        1               // [-] Sinusoidal Control Type
@@ -205,38 +205,30 @@
  * Be careful not to use the red wire of the cable. 15v will destroy everything.
  * If you are using VARIANT_NUNCHUK, disable it temporarily.
  * enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
- * and DEBUG_SERIAL_ASCII use asearial terminal.
  *
  *
  * DEBUG_SERIAL_ASCII output is:
- * // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
+ * // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
  *
- * 1:   (int16_t)input1);                                                   raw input1: ADC1, UART, PWM, PPM, iBUS
- * 2:   (int16_t)input2);                                                   raw input2: ADC2, UART, PWM, PPM, iBUS
- * 3:   (int16_t)speedR);                                                   output command: [-1000, 1000]
- * 4:   (int16_t)speedL);                                                   output command: [-1000, 1000]
- * 5:   (int16_t)adc_buffer.batt1);                                         Battery adc-value measured by mainboard
- * 6:   (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC));    Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
- * 7:   (int16_t)board_temp_adcFilt);                                       for board temperature calibration
- * 8:   (int16_t)board_temp_deg_c);                                         Temperature in celcius for verifying board temperature calibration
+ * in1:     (int16_t)input1);                                                   raw input1: ADC1, UART, PWM, PPM, iBUS
+ * in2:     (int16_t)input2);                                                   raw input2: ADC2, UART, PWM, PPM, iBUS
+ * cmdL:    (int16_t)speedL);                                                   output command: [-1000, 1000]
+ * cmdR:    (int16_t)speedR);                                                   output command: [-1000, 1000]
+ * BatADC:  (int16_t)adc_buffer.batt1);                                         Battery adc-value measured by mainboard
+ * BatV:    (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC));    Battery calibrated voltage multiplied by 100 for verifying battery voltage calibration
+ * TempADC: (int16_t)board_temp_adcFilt);                                       for board temperature calibration
+ * Temp:    (int16_t)board_temp_deg_c);                                         Temperature in celcius for verifying board temperature calibration
  *
 */
 
 // #define DEBUG_SERIAL_USART2          // left sensor board cable, disable if ADC or PPM is used!
-#if defined(VARIANT_ADC)
-  #define DEBUG_SERIAL_USART3          // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
-#endif
-
-#ifndef VARIANT_TRANSPOTTER
-  //#define DEBUG_SERIAL_SERVOTERM
-  #define DEBUG_SERIAL_ASCII
-#endif
+// #define DEBUG_SERIAL_USART3          // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
 // ########################### END OF DEBUG SERIAL ############################
 
 
 
 // ############################### DEBUG LCD ###############################
-//#define DEBUG_I2C_LCD             // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
+// #define DEBUG_I2C_LCD                // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
 // ########################### END OF DEBUG LCD ############################
 
 
@@ -276,6 +268,8 @@
   #define INPUT2_MID            0         // mid ADC2-value while poti at mid-position (INPUT2_MIN - INPUT2_MAX)
   #define INPUT2_MAX            4095      // max ADC2-value while poti at max-position (0 - 4095)
   #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+
+  #define DEBUG_SERIAL_USART3          // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
   // #define SUPPORT_BUTTONS_LEFT            // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT           // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif
@@ -293,13 +287,13 @@
   #define CONTROL_SERIAL_USART3      // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
   #define FEEDBACK_SERIAL_USART3     // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        1       // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
+  #define INPUT1_TYPE        3       // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)
   #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
 
-  #define INPUT2_TYPE        1       // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
+  #define INPUT2_TYPE        3       // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -1000    // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000    // (0 - 1000)