From 3c53159bd0771d149c1b027d51ea31311176c10a Mon Sep 17 00:00:00 2001 From: Candas1 Date: Tue, 9 Mar 2021 12:34:41 +0100 Subject: [PATCH] Updated Variant USART (markdown) --- Variant-USART.md | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/Variant-USART.md b/Variant-USART.md index c2de5a0..90e7aa0 100644 --- a/Variant-USART.md +++ b/Variant-USART.md @@ -8,8 +8,11 @@ You can also test this variant with following [Web Tool](https://candas1.github. ⚠ Red wire from sensor cable delivers 15v !!! +## Usart configuration: +The default baud rate is 115200. + ## Input: -Those commands are send as binary frames with following structure:
+Commands are send as binary frames with following structure:
- Start frame(unsigned int16) : 0xABCD - Steer(signed int16) : Steer or Brake(hovercar) with range -1000 to 1000 - Speed(signed int16) : Speed or Throttle(hovercar) with range -1000 to 1000 @@ -19,7 +22,7 @@ The FOC firmware will discard frames that are not starting with proper start fra A timeout will be triggered if no correct frame is received during the time specified with parameter SERIAL_TIMEOUT in config.h (160ms by default).
## Feedback: -Following feedback is sent back: +Following feedback is sent: - Start frame(unsigned int16) : 0xABCD - Cmd1(signed int16) : Steer or Brake(hovercar) after normalizing and mixing - Cmd2(signed int16): Speed or Throttle(hovercar) after normalizing and mixing @@ -27,7 +30,7 @@ Following feedback is sent back: - SpeedL(signed int16) : Measured left wheel speed - Battery Voltage(signed int16) : Calibrated Battery Voltage *100 - Temperature(signed int16) : Temperature in °C *10 -- Led(unsigned int16) : used to control the leds on the sideboard +- Led(unsigned int16) : Used to control the leds on the sideboard - Checksum(unsigned int16) : XOR checksum