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ADD: control via uart. Send two int16 (4 bytes) to usart 2 to control the motors with an arduino or a raspberry pi

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Niklas Fauth
2018-06-11 14:29:39 +02:00
parent 9332f59f82
commit b3fe48a832
6 changed files with 786 additions and 1005 deletions
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14
Src/control.c
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@@ -17,6 +17,12 @@ extern I2C_HandleTypeDef hi2c2;
DMA_HandleTypeDef hdma_i2c2_rx;
DMA_HandleTypeDef hdma_i2c2_tx;
typedef struct{
float motorR;
float motorL;
//uint32_t crc;
} Serialcommand;
#ifdef CONTROL_PPM
uint16_t ppm_captured_value[PPM_NUM_CHANNELS + 1] = {500, 500};
uint16_t ppm_captured_value_buffer[PPM_NUM_CHANNELS+1] = {500, 500};
@@ -24,8 +30,16 @@ uint32_t ppm_timeout = 0;
bool ppm_valid = true;
volatile Serialcommand command;
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
#ifdef CONTROL_SERIAL_USART2
void Telemetry_Init(){
HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 8);
}
#endif
void PPM_ISR_Callback() {
// Dummy loop with 16 bit count wrap around
uint16_t rc_delay = TIM2->CNT;