Luka Slapnik / hoverserial

final

hoverserial.h@0:ca040e149431, 2020-06-29 (annotated)

Committer:
sllez
Date:
Mon Jun 29 15:54:28 2020 +0000
Revision:
0:ca040e149431
final

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sllez 0:ca040e149431 1 #include "mbed.h"
sllez 0:ca040e149431 2 #include "BufferedSerial.h"
sllez 0:ca040e149431 3
sllez 0:ca040e149431 4 #define HOVERSERIAL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
sllez 0:ca040e149431 5 #define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
sllez 0:ca040e149431 6 //#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
sllez 0:ca040e149431 7
sllez 0:ca040e149431 8 class HoverSerial {
sllez 0:ca040e149431 9 public:
sllez 0:ca040e149431 10 // @parm tx communication tx pin
sllez 0:ca040e149431 11 // rx communocation rx pin
sllez 0:ca040e149431 12 HoverSerial(PinName tx, PinName rx);
sllez 0:ca040e149431 13
sllez 0:ca040e149431 14 typedef struct { //Structure for sending data to hoverboard
sllez 0:ca040e149431 15 uint16_t start;
sllez 0:ca040e149431 16 int16_t steer;
sllez 0:ca040e149431 17 int16_t speed;
sllez 0:ca040e149431 18 uint16_t checksum;
sllez 0:ca040e149431 19 } SerialCommand;
sllez 0:ca040e149431 20 SerialCommand Command;
sllez 0:ca040e149431 21
sllez 0:ca040e149431 22 typedef struct { //Structure for feedback from hoverboard
sllez 0:ca040e149431 23 uint16_t start;
sllez 0:ca040e149431 24 int16_t cmd1;
sllez 0:ca040e149431 25 int16_t cmd2;
sllez 0:ca040e149431 26 int16_t speedR_meas;
sllez 0:ca040e149431 27 int16_t speedL_meas;
sllez 0:ca040e149431 28 int16_t batVoltage;
sllez 0:ca040e149431 29 int16_t boardTemp;
sllez 0:ca040e149431 30 uint16_t cmdLed;
sllez 0:ca040e149431 31 uint16_t checksum;
sllez 0:ca040e149431 32 } SerialFeedback;
sllez 0:ca040e149431 33 SerialFeedback Feedback;
sllez 0:ca040e149431 34 SerialFeedback NewFeedback;
sllez 0:ca040e149431 35
sllez 0:ca040e149431 36 void sendData(int16_t uSteer, int16_t uSpeed);
sllez 0:ca040e149431 37
sllez 0:ca040e149431 38 void receiveData();
sllez 0:ca040e149431 39
sllez 0:ca040e149431 40 private:
sllez 0:ca040e149431 41 BufferedSerial hoverserial;
sllez 0:ca040e149431 42 };