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bipropellant-hoverboard-firmware

★ 203 Open GitHub ↗

OpenSource Hoverboard firmware based on Niklas Fauth's one https://github.com/NiklasFauth/hoverboard-firmware-hack

// repository documentation

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![Bipropellant](https://raw.githubusercontent.com/bipropellant/bipropellant-hoverboard-firmware/master/.github/logo.png)

bipropellant[ bahy-pruh-pel-uh nt ] - Most liquid-propellant rockets use bipropellant systems — i.e., those in which an oxidizer and a fuel are tanked separately and mixed in the combustion chamber.

This repo, when mixed with the [protocol](https://github.com/bipropellant/bipropellant-protocol) repo, rocket-propels your hoverboard derived projects, now with added sinusoidal motor control.

[![Build Status](https://travis-ci.com/bipropellant/bipropellant-hoverboard-firmware.svg?branch=master)](https://travis-ci.com/bipropellant/bipropellant-hoverboard-firmware)

This firmware is a heavily modified version of [Niklas Fauth's hoverboard firmware](https://github.com/NiklasFauth/hoverboard-firmware-hack) which allows you to:
 * Use the hoverboard AS A HOVERBOARD
 * Control externaly the hoverboard with a reliable serial protocol.

This project was started by [btsimonh](https://github.com/btsimonh)

It branched from Niklas Fauth's hoverboard firmware at this commit: [Aug 24, 2018](https://github.com/bipropellant/hoverboard-firmware/commit/28287b9acc53b68ff4dede0de61852188838da51)

# Added:

### Software serial:
This allows you to use ANY GPIO pins (with modififcation) as serial.  Probably best to stay at 9600 baud, as the receive interrupt is serviced at 8x the bitrate.

### Sensor reading:
It reads the original serial data (9 bit) from the original sensor boards from USART2&3.

### Sensor control:
Sensor data can control the PWM demands (power to the wheels).  Double tap on pads to enable.

### Serial diagnostic control:
Protocol.c implements a [simple ASCII serial protocol](https://github.com/bipropellant/hoverboard-firmware/wiki/Simple-ASCII-interface) which allows for manual control of the board.

### Serial Machine control:
Protocol.c implements the bones of an acked/checksummed serial protocol.  Embryonic as yet, but intended to be a generic control protocol for the hoverboard.

Sample C++ code to send pwm and steer:

` setHoverboardPWM(300,-300); // sends 300 (=30% duty cycle forward) to one wheel and -300 (=30% duty cycle backwards) to the other `
```

typedef struct MsgToHoverboard_t{
  unsigned char SOM;  // Start of Message
  unsigned char CI;   // continuity counter
  unsigned char len;  // len is len of bytes to follow, NOT including CS
  unsigned char cmd;  // read or write
  unsigned char code; // code of value to write
  int32_t pwm1;           // absolute value ranging from -1000 to 1000 .. Duty Cycle *10 for first wheel
  int32_t pwm2;           // absolute value ranging from -1000 to 1000 .. Duty Cycle *10 for second wheel
  unsigned char CS;   // checksumm
};

typedef union UART_Packet_t{
  MsgToHoverboard_t msgToHover;
  byte UART_Packet[sizeof(MsgToHoverboard_t)];
};

char hoverboardCI = 0;  // Global variable which tracks CI

void setHoverboardPWM( int32_t pwm1, int32_t pwm2 )
{
  UART_Packet_t ups;

ups.msgToHover.SOM = 4 ;    // Start of Message, 4 for No ACKs;
  ups.msgToHover.CI = ++hoverboardCI; // Message Continuity Indicator. Subsequent Messages with the same CI are discarded, need to be incremented.
  ups.msgToHover.len = 1 + 1 + 4 + 4 ; // cmd(1), code(1), pwm1(4) and pwm2(4)
  ups.msgToHover.cmd  = 'r';  // Pretend to send answer to read request. This way HB will not reply. Change to 'W' to get confirmation from board
  ups.msgToHover.code = 0x0E; // "simpler PWM"
  ups.msgToHover.pwm1 = pwm1;
  ups.msgToHover.pwm2 = pwm2;
  ups.msgToHover.CS = 0;

for (int i = 0; i < (2 + ups.msgToHover.len); i++){  // Calculate checksum. 2 more for CI and len.
    ups.msgToHover.CS -= ups.UART_Packet[i+1];
  }

Serial.write(ups.UART_Packet,sizeof(UART_Packet_t));
}
```
This code is only able to write values to the board, replies can not be parsed. For more information check the [hoverboard protocol wiki](https://github.com/bipropellant/bipropellant-protocol/wiki) and [examples](https://github.com/bipropellant/bipropellant-protocol/tree/master/examples).
An Arduino compatible C++ module which can communicate in both directions can be found at [bipropellant-hoverboard-api](https://github.com/bipropellant/bipropellant-hoverboard-api).

### PID Control:
PID control loops for control of Speed (in mm/sec) and Position (in mm).  Currently separate control modes, and parameter need better tuning.

### Hall Interupts:
Used to read Position and Speed data.

### Flash settings:
Implements a flash page available for efficitent storage of parameters (currently unused, but tested).

*Should work with original control settings (in config.h), but not tested...*

### ADC inputs
Multiple inputs like Joystick, speed throttle and Gametrak can be easily configured. Check out the [wiki](https://github.com/bipropellant/bipropellant-hoverboard-firmware/wiki/ADC-Configurations)

# Hardware
![Motherboard](https://raw.githubusercontent.com/bipropellant/bipropellant-hoverboard-firmware/master/.github/pinout.png)

The original Hardware supports two 4-pin cables that originally were connected to the two sensor boards. They break out GND, 12/15V and USART2&3 of the Hoverboard mainboard.
Both USART2 & 3 can be used for UART and I2C, PA2&3 can be used as 12bit ADCs.

The reverse-engineered schematics of the mainboard can be found here:
http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf

# Building and flashing
The repository uses a submodule for the serial protocol.
Clone with submodules: ´git clone --recurse-submodules´
Or afterwards: ´git submodule update --init --recursive´

[Take a look at our wiki](https://github.com/bipropellant/hoverboard-firmware/wiki/Building-and-flashing)

# Any other problems ?
First [take a look at our wiki](https://github.com/bipropellant/hoverboard-firmware/wiki) and [open issues](https://github.com/bipropellant/hoverboard-firmware/issues), if you still have any problem/question, feel free to [open a new issue](https://github.com/bipropellant/hoverboard-firmware/issues/new)!

bipropellant-hoverboard-firmware

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