EFeru/hoverboard-firmware-hack-FOC
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Updated Variant USART (markdown)

Candas1
2021-03-09 12:34:41 +01:00
parent 43a101af0b
commit 3c53159bd0
1 changed files with 6 additions and 3 deletions
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9
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 !!! ⚠ Red wire from sensor cable delivers 15v !!!
## Usart configuration:
The default baud rate is 115200.
## Input: ## Input:
Those commands are send as binary frames with following structure:<br /> Commands are send as binary frames with following structure:<br />
- Start frame(unsigned int16) : 0xABCD - Start frame(unsigned int16) : 0xABCD
- Steer(signed int16) : Steer or Brake(hovercar) with range -1000 to 1000 - Steer(signed int16) : Steer or Brake(hovercar) with range -1000 to 1000
- Speed(signed int16) : Speed or Throttle(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).<br /> 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).<br />
## Feedback: ## Feedback:
Following feedback is sent back: Following feedback is sent:
- Start frame(unsigned int16) : 0xABCD - Start frame(unsigned int16) : 0xABCD
- Cmd1(signed int16) : Steer or Brake(hovercar) after normalizing and mixing - Cmd1(signed int16) : Steer or Brake(hovercar) after normalizing and mixing
- Cmd2(signed int16): Speed or Throttle(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 - SpeedL(signed int16) : Measured left wheel speed
- Battery Voltage(signed int16) : Calibrated Battery Voltage *100 - Battery Voltage(signed int16) : Calibrated Battery Voltage *100
- Temperature(signed int16) : Temperature in °C *10 - 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 - Checksum(unsigned int16) : XOR checksum