update for github

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}

README.rst

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+..  Copyright 2014-present PlatformIO <contact@platformio.org>
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+       http://www.apache.org/licenses/LICENSE-2.0
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+
+How to build PlatformIO based project
+=====================================
+
+1. `Install PlatformIO Core <http://docs.platformio.org/page/core.html>`_
+2. Download `development platform with examples <https://github.com/platformio/platform-ststm32/archive/develop.zip>`_
+3. Extract ZIP archive
+4. Run these commands:
+
+.. code-block:: bash
+
+    # Change directory to example
+    > cd platform-ststm32/examples/arduino-blink
+
+    # Build project
+    > platformio run
+
+    # Upload firmware
+    > platformio run --target upload
+
+    # Build specific environment
+    > platformio run -e maple
+
+    # Upload firmware for the specific environment
+    > platformio run -e maple --target upload
+
+    # Clean build files
+    > platformio run --target clean

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:generic STM32F103TB]
+platform = ststm32
+framework = arduino
+board = genericSTM32F103TB
+upload_protocol = stlink
+debug_tool = stlink
+board_build.f_cpu = 72000000L
+monitor_speed = 115200
+lib_deps = 
+	danya0x07/NRF24L01_SimpleLibrary@^1.0.0
+	pkourany/MPU6050@^1.0.3
+	sstaub/Ticker@^3.2.0

src/MC34933.cpp

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+#include <Arduino.h>
+#include "MC34933.h"
+
+void MC34933::begin(void)
+{
+    pinMode(m_MA, OUTPUT);
+    pinMode(m_MB, OUTPUT);
+    //init pins Hi-Z
+    digitalWrite(m_MA, 1);
+    digitalWrite(m_MB, 1);  
+
+
+}
+
+void MC34933::setDirection(e_direction dir)
+{
+  m_prevDirection = m_direction;
+  m_direction = dir;
+}
+
+void MC34933::start( void )
+{
+  m_startCmd = true;
+}
+
+bool MC34933::start( int speed )
+{
+  if(setSpeed(speed))
+  {
+    m_startCmd = true;
+    return true;
+  }
+  return false;
+}
+
+bool MC34933::start( int speed, int duration_ms)
+{
+  if(setSpeed(speed))
+  {
+    m_startCmd = true;
+    return true;
+  }
+  return false;
+}
+
+bool MC34933::setSpeed(int speed)
+{
+  if(speed <= 255)
+  {
+    m_speed = speed;
+    return true;
+  }
+  return false;
+}
+
+void MC34933::stop ( void )
+{
+  m_stopCmd = true;
+}
+
+void MC34933::forward(int speed)
+{
+  setDirection(LEFT);
+  if(setSpeed(speed))
+  {
+    start();
+  }
+  
+}
+
+void MC34933::backward(int speed)
+{
+  setDirection(RIGHT);
+  if(setSpeed(speed))
+  {
+    start();
+  }
+}
+
+
+//motor statemachine
+void MC34933::run( void )
+{
+  switch(m_status)
+  {
+    case STARTING:
+    {
+      m_startCmd = false;     //clear start flag
+      if(m_direction == LEFT)
+      {
+        analogWrite(m_MA, m_speed);
+        digitalWrite(m_MB, 1); 
+      }
+      if(m_direction == RIGHT)
+      {
+        analogWrite(m_MB, m_speed);
+        digitalWrite(m_MA, 1); 
+      }
+      m_status = RUN;
+    }
+    break;
+
+    case RUN:
+    {
+      if(m_stopCmd )
+      {
+        m_status = STOPPING;
+        
+      }
+
+      if(m_direction != m_prevDirection)
+      {
+        m_status = STOPPING;
+        m_startCmd = true;
+      }
+    }
+    break;
+
+    case STOPPING:
+    {
+      m_stopCmd = false;      //clear stopflag
+      //set both pins to break;
+      analogWrite(m_MA, 0);
+      analogWrite(m_MB, 0);
+      digitalWrite(m_MA, 0);
+      digitalWrite(m_MB, 0); 
+      m_status = IDLE;
+    }
+    break;
+
+    default:
+    case IDLE:
+    {
+      if(m_startCmd)
+      {
+        m_status = STARTING;
+      }
+      //write pins Hi-z
+      analogWrite(m_MA, 255);
+      analogWrite(m_MB, 255);
+      digitalWrite(m_MA, 1);
+      digitalWrite(m_MB, 1); 
+    }
+    break;
+  }
+}

src/MC34933.h

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+#ifndef MC34933MOTORH
+#define MC34933MOTORH
+
+enum e_direction
+{
+  LEFT,
+  RIGHT
+};
+
+enum e_status
+{
+  IDLE,
+  STARTING,
+  RUN,
+  STOPPING
+};
+
+class MC34933
+{
+  private:
+    const int m_MA;
+    const int m_MB;
+    e_direction m_direction = LEFT;
+    e_direction m_prevDirection;
+    int m_speed;
+    e_status m_status;
+    bool m_startCmd = false;
+    bool m_stopCmd = false;
+
+  
+  public:
+    MC34933( int pin_ma,  int pin_mb) 
+        : m_MA{pin_ma}, m_MB{pin_mb} {}
+
+    void begin( void );
+    void setDirection( e_direction dir);
+    e_direction getDirection( void ) {return m_direction;}
+    bool setSpeed( int speed );
+    int getSpeed( void ) {return m_speed;}
+    void start( void );
+    bool start( int speed );
+    bool start( int speed, int duration_ms);
+    void stop ( void );
+    void forward(int speed);
+    void backward(int speed);
+    e_status getStatus( void ) { return m_status;}
+
+    void run(void);
+
+};
+
+#endif //MC34933MOTORH

src/hall.cpp

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+#include "Arduino.h"
+#include "hall.h"
+#include "rc_board.h"
+#include "Wire.h"
+
+
+void init_cpu( void )
+{
+  //setup system clock (12Mhz xtal)
+  RCC->CR |= (RCC_CR_PLLON_Msk & !RCC_CR_PLLON);        //Turn PLL off
+  RCC->CR |= RCC_HSE_ON;
+  while (!(RCC->CR & RCC_CR_HSERDY));
+  RCC->CFGR &= ~RCC_CFGR_PLLXTPRE;  
+  RCC->CFGR |= (RCC_CFGR_PLLMULL_Msk & RCC_PLL_MUL6);  //Set PLL multiplier
+  RCC->CFGR &= ~RCC_CFGR_PLLSRC; //set PLL to HSE
+// Turn On PLL Clock
+  RCC->CR |= RCC_CR_PLLON;
+  // Wait Until PLL Is Ready
+  while (!(RCC->CR & RCC_CR_PLLRDY));
+  // Set System To PLL CLock
+  RCC->CFGR |= RCC_CFGR_SW_PLL;
+  // Clear All Interrupts
+  RCC->CIR = 0x009F0000;
+
+}
+
+void init_gpio( void )
+{
+  // initialize LED digital pin as an output.
+  pinMode(PIN_SPARE2, OUTPUT);
+}
+
+void init_serial( void )
+{
+  // initialize serial communication
+  Serial.begin(SERIAL_BAUDRATE);
+  USART1->BRR = 0x271;
+  Serial.printf("init serial to %i baud",SERIAL_BAUDRATE);
+}
+
+void init_i2c( void )
+{
+  Wire.begin();
+  Wire.setClock(CLOCK_SPEED_400KHZ);
+}
+
+
+void hall_init()
+{
+  init_cpu();
+  init_gpio();
+  init_serial();
+  init_i2c();
+}

src/hall.h

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+#ifndef HALLH
+#define HALLH
+
+void hall_init();
+
+#endif //HALLH

src/main.cpp

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+/*
+ * Blink
+ * Turns on an LED on for one second,
+ * then off for one second, repeatedly.
+ */
+
+#include <Arduino.h>
+#include <ticker.h>
+#include "hall.h"
+#include "rc_board.h"
+#include <math.h>
+#include <I2Cdev.h>
+#include <MPU6050_6Axis_MotionApps20.h>
+//#include "Wire.h"
+#include "MC34933.h"
+
+
+bool ms_task_flag = false;
+bool decims_task_flag = false;
+bool second_task_flag = false;
+
+//function prototypes
+void Tick_handle_msTask (void)
+{
+  ms_task_flag = true;
+}
+void Tick_handle_10msTask( void )
+{
+  decims_task_flag = true;
+}
+void Tick_handle_1sTask( void )
+{
+  second_task_flag = true;
+}
+
+
+Ticker ms_ticker(Tick_handle_msTask, 1, 0, MILLIS);
+Ticker decims_ticker(Tick_handle_10msTask, 10, 0, MILLIS);
+Ticker second_ticker(Tick_handle_1sTask, 1000,0, MILLIS);
+
+
+
+MPU6050 mpu;
+MC34933 motor1(PIN_M1A,PIN_M1B);
+MC34933 steering(PIN_M2A, PIN_M2B);
+
+bool blinkState = false;
+// Variables will change:
+int ledState = LOW;             // ledState used to set the LED
+unsigned long previousMillis = 0;        // will store last time LED was updated
+const long interval = 1000;           // interval at which to blink (milliseconds)
+const long main_loop_interval = 10;
+const long second_interval = 100;     //number of decims-ticks
+unsigned long decims_counter = 0;
+
+#define MOTORSPEED  1
+
+
+// ================================================================
+// ===                      INITIAL SETUP                       ===
+// ================================================================
+
+void handle_msTask (void)
+{
+ms_task_flag = true;
+}
+
+void handle_10msTask( void )
+{
+  motor1.run();
+}
+
+void handle_1sTask (void )
+{
+ if (ledState == LOW) 
+    {
+      ledState = HIGH;
+      motor1.forward(MOTORSPEED);
+    } 
+    else 
+    {
+      ledState = LOW;
+      motor1.backward(MOTORSPEED);
+    }
+    Serial.print(".");
+    digitalWrite(PIN_SPARE2, ledState);  
+}
+
+void init_mpu( void )
+{
+// //MPU6050 init
+//   Serial.println("Initializing I2C devices...");
+//   mpu.initialize();
+
+//   Serial.println(F("Initializing DMP..."));
+//     devStatus = mpu.dmpInitialize();
+
+//     // supply your own gyro offsets here, scaled for min sensitivity
+//     mpu.setXGyroOffset(220);
+//     mpu.setYGyroOffset(76);
+//     mpu.setZGyroOffset(-85);
+//     mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
+
+//     // make sure it worked (returns 0 if so)
+//     if (devStatus == 0) {
+//         // turn on the DMP, now that it's ready
+//         Serial.println(F("Enabling DMP..."));
+//         mpu.setDMPEnabled(true);
+
+//         // enable Arduino interrupt detection
+//         Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
+
+//         attachInterrupt(0, dmpDataReady, RISING);
+
+//         mpuIntStatus = mpu.getIntStatus();
+
+//         // set our DMP Ready flag so the main loop() function knows it's okay to use it
+//         Serial.println(F("DMP ready! Waiting for first interrupt..."));
+//         dmpReady = true;
+
+//         // get expected DMP packet size for later comparison
+//         packetSize = mpu.dmpGetFIFOPacketSize();
+//     } else {
+//         // ERROR!
+//         // 1 = initial memory load failed
+//         // 2 = DMP configuration updates failed
+//         // (if it's going to break, usually the code will be 1)
+//         Serial.print(F("DMP Initialization failed (code "));
+//         Serial.print(devStatus);
+//         Serial.println(F(")"));
+//     }
+}
+
+
+void setup()
+{
+  hall_init();
+
+  motor1.begin();
+  delay(5000);
+
+
+
+
+
+  ms_ticker.start();
+  decims_ticker.start();
+  second_ticker.start();
+}
+
+
+void loop()
+{
+
+  ms_ticker.update();
+  decims_ticker.update();
+  second_ticker.update();
+
+  if( ms_task_flag)
+  {
+    ms_task_flag = false;
+    handle_msTask();
+  }
+
+  if( decims_task_flag)
+  {
+    decims_task_flag = false;
+    handle_10msTask();
+  }
+
+  if( second_task_flag)
+  {
+    second_task_flag = false;
+    handle_1sTask();
+  }
+
+}

src/rc_board.h

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+#ifndef RCBOARDH
+#define RCBOARDH
+
+#define PIN_ADC_VBAT    PA0
+//NRF24 pins
+#define PIN_NRF_CE      PA1
+#define PIN_NRF_CSN     PA3
+#define PIN_NRF_SCK     PA5
+#define PIN_NRF_MISO    PA6
+#define PIN_NRF_MOSI    PA7
+#define PIN_NRF_IRQ     PB1
+
+//MPU6050 pins
+#define PIN_MPU_INT     PB0
+#define PIN_MPU_SDA     PB7
+#define PIN_MPU_SCL     PB6
+
+//MC34933 motordrive pins
+#define PIN_M2A         PA15
+#define PIN_M2B         PA12
+#define PIN_M1A         PA10
+#define PIN_M1B         PA11
+
+//CPU pins
+#define PIN_MCU_BOOT1   PB2
+#define PIN_MCU_SWCLK   PA14
+#define PIN_MCU_SWDIO   PA13
+#define PIN_MCU_TX      PA9     //testpoint (label swapped on board v1)
+#define PIN_MCU_RX      PA8     //testpoint (label swapped on board v1)
+
+//spare pins
+#define PIN_SPARE1      PA4     //testpoint
+#define PIN_SPARE2      PA2     //testpoint
+
+//board settings
+#define SERIAL_BAUDRATE    115200
+#define SERIAL_USART1_BRR  0x271
+#define CLOCK_SPEED_400KHZ 400000
+
+#endif //RCBOARDH

test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html