mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 09:39:33 +00:00
46ee23e975
- iBUS implementation - changed default baud rate to 115200 - updated platformio.ini, the chip is now supported by Platformio
110 lines
3.1 KiB
C
110 lines
3.1 KiB
C
/**
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* This file is part of the hoverboard-sideboard-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef UTIL_H
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#define UTIL_H
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#include <stdint.h>
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/* Tx structure USART MAIN */
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#ifdef SERIAL_CONTROL
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typedef struct{
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uint16_t start;
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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uint16_t sensors;
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uint16_t checksum;
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} SerialSideboard;
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#endif
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/* Rx structure USART MAIN */
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#ifdef SERIAL_FEEDBACK
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typedef struct{
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedR_meas;
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int16_t speedL_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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#endif
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/* Tx structure USART AUX */
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#ifdef SERIAL_AUX_TX
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typedef struct{
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uint16_t start;
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int16_t signal1;
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int16_t signal2;
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uint16_t checksum;
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} SerialAuxTx;
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#endif
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/* Rx structure USART AUX */
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#ifdef SERIAL_AUX_RX
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#ifdef CONTROL_IBUS
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typedef struct{
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uint8_t start;
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uint8_t type;
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uint8_t channels[IBUS_NUM_CHANNELS*2];
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uint8_t checksuml;
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uint8_t checksumh;
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} SerialCommand;
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#endif
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#endif
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/* general functions */
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void consoleLog(char *message);
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void toggle_led(uint32_t gpio_periph, uint32_t pin);
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void intro_demo_led(uint32_t tDelay);
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/* input initialization function */
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void input_init(void);
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/* usart read functions */
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void usart0_rx_check(void);
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void usart1_rx_check(void);
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#ifdef SERIAL_DEBUG
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void usart_process_debug(uint8_t *userCommand, uint32_t len);
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#endif
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#ifdef SERIAL_FEEDBACK
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void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
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#endif
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#ifdef SERIAL_AUX_RX
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void usart_process_command(SerialCommand *command_in, SerialCommand *command_out);
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#endif
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/* i2c write/read functions */
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int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);
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int8_t i2c_writeBit (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
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int8_t i2c_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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int8_t i2c_readByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t *data);
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int8_t i2c_readBit (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data);
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#ifdef AUX45_USE_I2C
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int8_t i2c_aux_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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int8_t i2c_aux_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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#endif
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#endif
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