Use buttons on PB10 & PB11.

Inc/config.h

@@ -14,6 +14,7 @@
 
 // ################################################################################
 
+//#define RIGHT_BUTTONS				        // Use PB10=Right_sensor_board_TX and PB11=Right_sensor_board_RX as button input.
 #define DEBUG_SERIAL_USART2         // left sensor board cable, disable if ADC or PPM is used!
 //#define DEBUG_SERIAL_USART3         // right sensor board cable, disable if I2C (nunchuck) is used!
 #define DEBUG_BAUD       115200     // UART baud rate
@@ -106,6 +107,14 @@ else {\
 
 // validate settings (do not touch this):
 
+#if defined DEBUG_SERIAL_ASCII && defined RIGHT_BUTTONS
+  #error DEBUG_SERIAL_ASCII and RIGHT_BUTTONS not allowed. Use only one of them.
+#endif
+
+#if defined DEBUG_SERIAL_USART3 && defined RIGHT_BUTTONS
+  #error DEBUG_SERIAL_USART3 and RIGHT_BUTTONS not allowed. Use only one of them.
+#endif
+
 #if defined DEBUG_SERIAL_USART2 && defined CONTROL_ADC
   #error CONTROL_ADC and DEBUG_SERIAL_USART2 not allowed. use DEBUG_SERIAL_USART3 instead.
 #endif

Inc/defines.h

@@ -118,6 +118,11 @@
 #define BUTTON_PIN GPIO_PIN_1
 #define BUTTON_PORT GPIOA
 
+#define BUTTON_R_TX_PIN GPIO_PIN_10
+#define BUTTON_R_TX_PORT GPIOB
+#define BUTTON_R_RX_PIN GPIO_PIN_11
+#define BUTTON_R_RX_PORT GPIOB
+
 #define CHARGER_PIN GPIO_PIN_12
 #define CHARGER_PORT GPIOA
 

Src/comms.c

@@ -25,6 +25,7 @@ void setScopeChannel(uint8_t ch, int16_t val) {
 }
 
 void consoleScope() {
+  #ifndef RIGHT_BUTTONS
   #ifdef DEBUG_SERIAL_SERVOTERM
     uart_buf[0] = 0xff;
     uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
@@ -56,6 +57,7 @@ void consoleScope() {
       UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
     }
   #endif
+  #endif
 }
 
 void consoleLog(char *message)

Src/control.c

@@ -17,6 +17,46 @@ extern I2C_HandleTypeDef hi2c2;
 DMA_HandleTypeDef hdma_i2c2_rx;
 DMA_HandleTypeDef hdma_i2c2_tx;
 
+#ifdef RIGHT_BUTTONS
+  #define DEBOUNCE 10
+  uint8_t in1_0, in1_1, in2_0, in2_1;
+  extern uint8_t button3, button4;
+
+// SysTick executes once each ms
+void SysTick_Callback() {
+  if (HAL_GPIO_ReadPin(BUTTON_R_TX_PORT, BUTTON_R_TX_PIN) == 0) { //button3
+	  in1_0++;
+	  in1_1 = 0;
+	  if (in1_0 >= DEBOUNCE) {
+		  in1_0 = DEBOUNCE;
+		  button3 = 0;
+	  }
+  } else {
+	  in1_0 = 0;
+	  in1_1++;
+	  if (in1_1 >= DEBOUNCE) {
+		  in1_1 = DEBOUNCE;
+		  button3 = 1;
+	  }
+  }
+  if (HAL_GPIO_ReadPin(BUTTON_R_RX_PORT, BUTTON_R_RX_PIN) == 0) { //button4
+	  in2_0++;
+	  in2_1 = 0;
+	  if (in2_0 >= DEBOUNCE) {
+		  in2_0 = DEBOUNCE;
+		  button4 = 0;
+	  }
+  } else {
+	  in2_0 = 0;
+	  in2_1++;
+	  if (in2_1 >= DEBOUNCE) {
+		  in2_1 = DEBOUNCE;
+		  button4 = 1;
+	  }
+  }
+}
+#endif
+
 #ifdef CONTROL_PPM
 uint16_t ppm_captured_value[PPM_NUM_CHANNELS + 1] = {500, 500};
 uint16_t ppm_captured_value_buffer[PPM_NUM_CHANNELS+1] = {500, 500};

Src/main.c

@@ -40,6 +40,9 @@ int cmd2;
 int cmd3;
 
 uint8_t button1, button2;
+#ifdef RIGHT_BUTTONS
+uint8_t button3, button4;
+#endif
 
 int steer; // global variable for steering. -1000 to 1000
 int speed; // global variable for speed. -1000 to 1000
@@ -187,7 +190,6 @@ int main(void) {
     speedR = CLAMP(speed * SPEED_COEFFICIENT -  steer * STEER_COEFFICIENT, -1000, 1000);
     speedL = CLAMP(speed * SPEED_COEFFICIENT +  steer * STEER_COEFFICIENT, -1000, 1000);
 
-
     // ####### DEBUG SERIAL OUT #######
     #ifdef CONTROL_ADC
       setScopeChannel(0, (int)adc_buffer.l_tx2);  // ADC1
@@ -200,19 +202,41 @@ int main(void) {
       ADDITIONAL_CODE;
     #endif
 
-    // ####### SET OUTPUTS #######
-    if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
-    #ifdef INVERT_R_DIRECTION
-      pwmr = speedR;
-    #else
-      pwmr = -speedR;
+    // ####### EXAMPLE CASE FOR BUTTONS ON PB10 & PB11 #######
+    #ifdef RIGHT_BUTTONS
+      if (button3) {
+      }	else {
+      }
+      if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
+        if (button4) {
+          LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;  //disable left
+          RIGHT_TIM->BDTR |= TIM_BDTR_MOE;  //enable right
+          pwml = 0; //pwml = -speedL;
+          pwmr = speedR;
+        } else {
+          LEFT_TIM->BDTR |= TIM_BDTR_MOE;   //enable left
+          RIGHT_TIM->BDTR |= TIM_BDTR_MOE;  //enable right
+          pwml = -speedL;
+          pwmr = speedR;
+        }
+      }
     #endif
-    #ifdef INVERT_L_DIRECTION
-      pwml = -speedL;
-    #else
-      pwml = speedL;
+
+    // ####### SET OUTPUTS #######
+    #ifndef RIGHT_BUTTONS
+      if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
+      #ifdef INVERT_R_DIRECTION
+        pwmr = speedR;
+      #else
+        pwmr = -speedR;
+      #endif
+      #ifdef INVERT_L_DIRECTION
+        pwml = -speedL;
+      #else
+        pwml = speedL;
+      #endif
+      }
     #endif
-    }
 
     lastSpeedL = speedL;
     lastSpeedR = speedR;

Src/setup.c

@@ -266,6 +266,14 @@ void MX_GPIO_Init(void) {
   GPIO_InitStruct.Pin = BUTTON_PIN;
   HAL_GPIO_Init(BUTTON_PORT, &GPIO_InitStruct);
 
+  #ifdef RIGHT_BUTTONS
+    //Use an external pullup or pulldown of 100k on pins.
+    GPIO_InitStruct.Pin = BUTTON_R_TX_PIN;
+    HAL_GPIO_Init(BUTTON_R_TX_PORT, &GPIO_InitStruct);
+    GPIO_InitStruct.Pin = BUTTON_R_RX_PIN;
+    HAL_GPIO_Init(BUTTON_R_RX_PORT, &GPIO_InitStruct);
+  #endif
+
 
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 

Src/stm32f1xx_it.c

@@ -161,6 +161,10 @@ void PendSV_Handler(void) {
 #ifdef CONTROL_PPM
 void PPM_SysTick_Callback(void);
 #endif
+#ifdef RIGHT_BUTTONS
+void SysTick_Callback(void);
+#endif
+
 void SysTick_Handler(void) {
   /* USER CODE BEGIN SysTick_IRQn 0 */
 
@@ -170,6 +174,9 @@ void SysTick_Handler(void) {
   /* USER CODE BEGIN SysTick_IRQn 1 */
 #ifdef CONTROL_PPM
   PPM_SysTick_Callback();
+#endif
+#ifdef RIGHT_BUTTONS
+  SysTick_Callback();
 #endif
   /* USER CODE END SysTick_IRQn 1 */
 }