EFeru/hoverboard-firmware-hack-FOC
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Baud rate to 115200

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- updated baud rate to 115200
- minor updates to match sideboard data
This commit is contained in:
EmanuelFeru
2020-12-07 20:33:22 +01:00
parent e114e49dfe
commit 3fcae4fc8b
5 changed files with 61 additions and 61 deletions
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4
Src/util.c
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@@ -870,7 +870,7 @@ void readInput(void) {
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
// Handle received data validity, timeout and fix out-of-sync if necessary
#ifdef CONTROL_IBUS
#ifdef CONTROL_IBUS
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
}
@@ -1184,7 +1184,7 @@ void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sid
{
uint16_t checksum;
if (Sideboard_in->start == SERIAL_START_FRAME) {
checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->roll ^ Sideboard_in->pitch ^ Sideboard_in->yaw ^ Sideboard_in->sensors);
checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->pitch ^ Sideboard_in->dPitch ^ Sideboard_in->cmd1 ^ Sideboard_in->cmd2 ^ Sideboard_in->sensors);
if (Sideboard_in->checksum == checksum) {
*Sideboard_out = *Sideboard_in;
if (usart_idx == 2) { // Sideboard USART2