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Added iBUS schematic

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This commit is contained in:
EmanuelFeru
2020-12-07 20:20:08 +01:00
parent ff9a135344
commit 46d10a045d
9 changed files with 24 additions and 13 deletions
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10
Src/mpu6050.c
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@@ -3720,19 +3720,19 @@ void mpu_print_to_console(void)
{
#ifdef SERIAL_DEBUG
if (hal.report & PRINT_ACCEL) {
log_i( "Accel[XYZ]: %d %d %d\r\n", mpu.accel.x, mpu.accel.y, mpu.accel.z);
log_i( "accX:%d accY:%d accZ:%d\r\n", mpu.accel.x, mpu.accel.y, mpu.accel.z);
}
if (hal.report & PRINT_GYRO) {
log_i( "Gyro[XYZ]: %d %d %d\r\n", mpu.gyro.x, mpu.gyro.y, mpu.gyro.z);
log_i( "gyrX:%d gyrY:%d gyrZ:%d\r\n", mpu.gyro.x, mpu.gyro.y, mpu.gyro.z);
}
if (hal.report & PRINT_QUAT) {
log_i( "Quat[WXYZ]: %ld %ld %ld %ld\r\n", (long)mpu.quat.w, (long)mpu.quat.x, (long)mpu.quat.y, (long)mpu.quat.z);
log_i( "qW:%ld qX:%ld qY:%ld qZ:%ld\r\n", (long)mpu.quat.w, (long)mpu.quat.x, (long)mpu.quat.y, (long)mpu.quat.z);
}
if (hal.report & PRINT_EULER) {
log_i( "Euler[RPY]: %d %d %d\r\n", mpu.euler.roll, mpu.euler.pitch, mpu.euler.yaw);
log_i( "Roll:%d Pitch:%d Yaw:%d\r\n", mpu.euler.roll, mpu.euler.pitch, mpu.euler.yaw);
}
if (hal.report & PRINT_TEMP) {
log_i( "Temp: %d\r\n", mpu.temp);
log_i( "Temp:%d\r\n", mpu.temp);
}
if (hal.report & PRINT_PEDO) {
unsigned long timestamp;

13
Src/util.c
View File

@@ -110,6 +110,7 @@ volatile int8_t i2c_aux_nRABytes;
#endif
/* =========================== General Functions =========================== */
void consoleLog(char *message)
@@ -182,10 +183,10 @@ void intro_demo_led(uint32_t tDelay)
uint8_t switch_check(uint16_t ch, uint8_t type) {
if (type) { // 3 position switch
if (ch > 850) return 2; // switch in position 2
else if (ch > 250) return 1; // switch in position 1
else return 0; // switch in position 0
if (type) { // 3 positions switch
if (ch < 250) return 0; // switch in position 0
else if (ch < 850) return 1; // switch in position 1
else return 2; // switch in position 2
} else { // 2 positions switch
return (ch > 850);
}
@@ -376,7 +377,7 @@ void handle_usart(void) {
/*
* Handle of the sideboard LEDs
*/
void handle_leds(void){
void handle_leds(void) {
#ifdef SERIAL_FEEDBACK
if (!timeoutFlagSerial1) {
if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); }
@@ -463,7 +464,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
*/
#ifdef SERIAL_FEEDBACK
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out)
{
{
uint16_t checksum;
if (Feedback_in->start == SERIAL_START_FRAME) {
checksum = (uint16_t)(Feedback_in->start ^ Feedback_in->cmd1 ^ Feedback_in->cmd2 ^ Feedback_in->speedR_meas ^ Feedback_in->speedL_meas