mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-STM.git
synced 2025-07-27 17:29:32 +00:00
2e0eebb47a
- In case of an Rx error instead of stopping the complete UART, only the Rx DMA is aborted and restarted.
81 lines
2.4 KiB
C
81 lines
2.4 KiB
C
/**
|
|
* This file is part of the hoverboard-sideboard-hack project.
|
|
*
|
|
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
// Define to prevent recursive inclusion
|
|
#ifndef UTIL_H
|
|
#define UTIL_H
|
|
|
|
#include <stdint.h>
|
|
|
|
|
|
/* Rx Structures USART */
|
|
#ifdef SERIAL_CONTROL
|
|
typedef struct{
|
|
uint16_t start;
|
|
int16_t roll;
|
|
int16_t pitch;
|
|
int16_t yaw;
|
|
uint16_t sensors;
|
|
uint16_t checksum;
|
|
} SerialSideboard;
|
|
#endif
|
|
#ifdef SERIAL_FEEDBACK
|
|
typedef struct{
|
|
uint16_t start;
|
|
int16_t cmd1;
|
|
int16_t cmd2;
|
|
int16_t speedR_meas;
|
|
int16_t speedL_meas;
|
|
int16_t batVoltage;
|
|
int16_t boardTemp;
|
|
uint16_t cmdLed;
|
|
uint16_t checksum;
|
|
} SerialFeedback;
|
|
#endif
|
|
|
|
/* general functions */
|
|
void consoleLog(char *message);
|
|
void get_tick_count_ms(unsigned long *count);
|
|
void intro_demo_led(uint32_t tDelay);
|
|
|
|
/* input initialization function */
|
|
void input_init(void);
|
|
|
|
/* usart read functions */
|
|
void usart_rx_check(void);
|
|
#ifdef SERIAL_DEBUG
|
|
void usart_process_debug(uint8_t *userCommand, uint32_t len);
|
|
#endif
|
|
#ifdef SERIAL_FEEDBACK
|
|
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
|
|
#endif
|
|
void UART_EndRxTransfer(UART_HandleTypeDef *huart);
|
|
|
|
/* 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);
|
|
int8_t i2c_writeBit (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
|
|
int8_t i2c_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
|
|
int8_t i2c_readByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t *data);
|
|
int8_t i2c_readBit (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data);
|
|
|
|
|
|
#endif
|
|
|