Diff: hoverserial.cpp

Revision:

0:ca040e149431

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hoverserial.cpp	Mon Jun 29 15:54:28 2020 +0000
@@ -0,0 +1,36 @@
+// CONFIGURATION on the hoverboard side in config.h:
+// • Option 1: Serial on Left Sensor cable (long wired cable)
+//   #define CONTROL_SERIAL_USART2
+//   #define FEEDBACK_SERIAL_USART2
+//   // #define DEBUG_SERIAL_USART2
+// • Option 2: Serial on Right Sensor cable (short wired cable) - recommended, so the ADCs on the other cable are still available
+//   #define CONTROL_SERIAL_USART3
+//   #define FEEDBACK_SERIAL_USART3
+//   // #define DEBUG_SERIAL_USART3
+// *******************************************************************
+
+// ########################## INCLUDES ##########################
+
+#include "mbed.h"
+#include "hoverserial.h"
+#include "BufferedSerial.h"
+
+HoverSerial::HoverSerial(PinName tx, PinName rx) :
+hoverserial(tx, rx)
+
+{
+    hoverserial.baud(38400);
+}
+
+void HoverSerial::sendData(int16_t uSteer, int16_t uSpeed) {
+    // Create command
+    Command.start    = (uint16_t)START_FRAME;
+    Command.steer    = (int16_t)uSteer;
+    Command.speed    = (int16_t)uSpeed;
+    Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed);
+    // Write to Serial
+    hoverserial.write((uint8_t *) &Command, sizeof(Command));
+}
+
+void HoverSerial::receiveData() {
+}
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