Diff: hoverserial.h

Revision:

0:ca040e149431

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hoverserial.h	Mon Jun 29 15:54:28 2020 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+
+#define HOVERSERIAL_BAUD    38400       // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
+#define START_FRAME         0xABCD      // [-] Start frme definition for reliable serial communication
+//#define DEBUG_RX                      // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
+
+class HoverSerial {
+    public:
+        // @parm    tx  communication tx pin
+        //          rx  communocation rx pin
+        HoverSerial(PinName tx, PinName rx);
+        
+        typedef struct {                        //Structure for sending data to hoverboard
+            uint16_t  start;
+            int16_t  steer;
+            int16_t  speed;
+            uint16_t checksum;
+        } SerialCommand;
+        SerialCommand Command;
+
+        typedef struct {                       //Structure for feedback from hoverboard
+            uint16_t start;
+            int16_t   cmd1;
+            int16_t   cmd2;
+            int16_t   speedR_meas;
+            int16_t   speedL_meas;
+            int16_t   batVoltage;
+            int16_t   boardTemp;
+            uint16_t cmdLed;
+            uint16_t checksum;
+        } SerialFeedback;
+        SerialFeedback Feedback;
+        SerialFeedback NewFeedback;
+        
+        void sendData(int16_t uSteer, int16_t uSpeed);
+        
+        void receiveData();
+        
+    private:
+        BufferedSerial hoverserial;
+};
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