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Added Hovercar variant

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- hovercar variant
- iBUS receiver support
- updated baud rate to 115200
This commit is contained in:
EmanuelFeru
2020-12-07 20:30:38 +01:00
parent 786baa4c06
commit 323e30b5bb
95 changed files with 35305 additions and 22056 deletions
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54
Inc/util.h
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@@ -24,17 +24,19 @@
#include <stdint.h>
/* Rx Structures USART */
/* Tx structure USART MAIN */
#ifdef SERIAL_CONTROL
typedef struct{
uint16_t start;
int16_t roll;
int16_t pitch;
int16_t yaw;
uint16_t sensors;
int16_t pitch; // Angle
int16_t dPitch; // Angle derivative
int16_t cmd1; // RC Channel 1
int16_t cmd2; // RC Channel 2
uint16_t sensors; // RC Switches and Optical sideboard sensors
uint16_t checksum;
} SerialSideboard;
#endif
/* Rx structure USART MAIN */
#ifdef SERIAL_FEEDBACK
typedef struct{
uint16_t start;
@@ -49,17 +51,46 @@ typedef struct{
} SerialFeedback;
#endif
/* Tx structure USART AUX */
#ifdef SERIAL_AUX_TX
typedef struct{
uint16_t start;
int16_t signal1;
int16_t signal2;
uint16_t checksum;
} SerialAuxTx;
#endif
/* Rx structure USART AUX */
#ifdef SERIAL_AUX_RX
#ifdef CONTROL_IBUS
typedef struct{
uint8_t start;
uint8_t type;
uint8_t channels[IBUS_NUM_CHANNELS*2];
uint8_t checksuml;
uint8_t checksumh;
} SerialCommand;
#endif
#endif
/* general functions */
void consoleLog(char *message);
void get_tick_count_ms(unsigned long *count);
void intro_demo_led(uint32_t tDelay);
uint8_t switch_check(uint16_t ch, uint8_t type);
/* input initialization function */
void input_init(void);
void UART_DisableRxErrors(UART_HandleTypeDef *huart);
/* usart read functions */
void usart_rx_check(void);
/* handle functions */
void handle_mpu6050(void);
void handle_sensors(void);
void handle_usart(void);
void handle_leds(void);
/* usart2 read functions */
void usart2_rx_check(void);
#ifdef SERIAL_DEBUG
void usart_process_debug(uint8_t *userCommand, uint32_t len);
#endif
@@ -67,6 +98,15 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len);
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
#endif
/* usart1 read functions */
void usart1_rx_check(void);
#ifdef SERIAL_AUX_RX
void usart_process_command(SerialCommand *command_in, SerialCommand *command_out);
#endif
/* AUX Serial Print data */
void aux_print_to_console(void);
/* i2c write/read functions */
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);